检索结果-内蒙古大学图书馆

Real-time MHE-based nonlinear MPC of a Pendubot system

IFAC-PapersOnLine 2015年第23期48卷 422-427页

作者： Gulan, M. Salaj, M. Abdollahpouri, M. Rohal-Ilkiv, B. Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

This paper addresses the real-time optimal control of a Pendubot using nonlinear model predictive control (NMPC) combined with nonlinear moving horizon estimation (MHE). This fast, under-actuated nonlinear mechatronic system apparently poses a challenging benchmark problem that may benefit from a nonlinear optimization scheme. To overcome the related computational difficulties we make use of the ACADO Code Generation tool allowing to export a highly efficient Gauss-Newton real-time iteration algorithm tailored to the nonlinear optimal control and estimation problem while respecting the imposed *** show experimental results illustrating the overall closed-loop control performance, as well as the advantages of the nonlinear MHE-based NMPC scheme. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear analysis Computational efficiency Iterative methods Model predictive control Nonlinear programming Optimal systems Predictive control systems Real time control Robots Closed loop control performance fast NMPC Moving horizon estimation Non linear optimal control Non linear optimization Nonlinear model predictive control Pendubots Under actuated systems

来源：评论

学校读者我要写书评

暂无评论

Trends in Simulation and Planning of Manufacturing Companies

引用

Procedia Engineering 2016年 149卷 571-575页

作者： Branislav Bako Pavol Božek Slovak University of Technology Faculty of Materials Science and Technology Institute of Applied Informatics Automation and Mechatronics J. Bottu 25 Trnava 91724 Slovakia

Increasing the efficiency of production planning is a very hot topic from the perspective of introducing lean production into manufacturing. Simulation study dealing with simulation application for production planning support is a fundament for enhancing production systems and reduction of bottleneck occurrences. The article describes the possibilities of using computer simulation during production scheduling. A developed simulation model is adapted for dynamic loading of production plans for a given time period. Based on the simulation output, it is possible to verify production process and conduct additional simulation experiments. Changes in simulation model inputs result in changes on simulation (production) outputs, these can be easily compared with outputs of the original versions of production plans due to their archiving. The aim was to develop a simulation model which, after consequent adapting, will be used for creation of production plans in the future. The created model is ready for swift loading of incoming data and their consecutive evaluation through simulations with subsequent imaging diagram and output statistics. The developed simulation model can be fully controlled via a GUI (Graphical User Interface) which is fully opened for implementation of further optimization and scheduling algorithm with the aim of future enhancement of the simulation model. The simulation was created in collaboration with INNOV8 Ltd. via Plants Simulation software.

关键词： simulation optimization production scheduling Plant Simulation.

来源：评论

学校读者我要写书评

暂无评论

Construction of convex liftings based on halfspace representation

Construction of convex liftings based on halfspace represent...

引用

American Control Conference

作者： N. A. Nguyen S. Olaru P. Rodriguez-Ayerbe M. Gulan the Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria the Laboratory of Signals and Systems (L2S UMR CNRS 8506) CentraleSupélec-CNRS-Université Paris Sud 3 rue Joliot Curie Plateau de Moulon 91192 Gif-sur-Yvette France. Sorin. Olaru the Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781509045839

This paper presents a new algorithm to construct convex lifting for a given polyhedral partition whenever it exists. This algorithm exclusively relies on the halfspace representation of the regions in the respective partition. Also, this algorithm is applicable for the general polyhedral partitions of polyhedra, and thus overcomes the limitation on the polytopic partitions of the existing algorithm based on the vertex representation. Finally, the importance of the proposed algorithm is clarified via some numerical examples, in particular in implementation of piecewise affine controllers. Accordingly, the convex lifting concept is shown to be useful to both avoid storing the state-space partition and to facilitate the online evaluation.

关键词： whenever exists algorithm

来源：评论

学校读者我要写书评

暂无评论

Optimizing Management of the Measurement System of the Technological Process

Manufacturing Technology

引用

Manufacturing Technology 2016年第1期16卷 32-32页

作者： Jenčuráková, Dana Palenčár, Rudolf Institute of automation measurement and applied informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Námestie Slobody 17 Bratislava812 31 Slovakia

The present contribution represents the analysis and optimizing management of the measurement system of the technological process of pressing. It has been chosen the combination of appropriate methods for achieving the objective to minimize the cost of quality assurance of the measurement process by means its management. The quality of the measurement process has been verified by the reference standard (etalon). The optimization of evaluation measurement has been searched by utilizing QFD method (Quality Function Deployment). The subsequent optimization has been implemented by the taking into account the results of the use of the control charts and the deployment of QFD method and Kalman filter. Copyright © 2016. Published by Manufacturing Technology. All rights reserved.

关键词： Control charts

来源：评论

学校读者我要写书评

暂无评论

Isolated RS485 communication interface for the metal working fluids monitoring system

Isolated RS485 communication interface for the metal working...

引用

2016年材料科学、能源技术和环境工程国际学术会议

作者： T.kulavík K.Gerulová Faculty of Materials Science and Technology in Trnava Institute of Applied InformaticsAutomation and MechatronicsSlovak Technical University in Bratislava Faculty of Materials Science and Technology in Trnava Institute of Integrated SafetySlovak Technical University in Bratislava

This paper deals with the proposal of the communication interface of the Real Time Monitoring and Control System(RMACS) for metalworking *** RMACS will be a complex decentralized system,of which some components will be mounted in different sections of the 5 axis *** user interface of the RMACS will be located at the greater *** industrial environment and the greater distances between the components have an important role during the design of the communication interface and the network topology.

关键词：

来源：评论

学校读者我要写书评

暂无评论

New method for calculation of the harmonics in the residual earth fault current in isolated and compensated networks

New method for calculation of the harmonics in the residual ...

引用

Power Quality and Supply Reliability Conference, PQ

作者： Uwe Schmidt Karla Frowein Gernot Druml Peter Schegner University of applied sciences Institute of Electrical engineering and Informatics Zittau Goerlitz Germany University of Technology Institute of Electrical Power Systems and High Voltage Engineering Dresden Germany Sprecher Automation GmbH Linz Austria

In European distribution networks the resonant-ground system dominates. The advantages of the resonance neutral earthing are based mainly on the very low single-pole fault current, the residual earth fault current IRES. The growing use of both, cables and power electronics, increases the residual earth fault current IRES. In the case of a single-pole earth fault, harmonic components in residual earth fault current IRES can reach values, which can violate the limits defined by standards. Up to now, the estimation of the residual earth fault current IRES is usually done with measurements in the field by solid grounding of one phase at the bus bar in the substation. However, these measurements do not correspond to the real fault conditions. Ground faults occur anywhere in the network with relatively high fault resistances. In this paper a new method is presented to enable an accurate estimation of the residual earth fault current IRES during the earth fault by using the harmonics measurement of the voltages during the healthy state of the network, the network configuration and the expected impedance at the fault location. The results of the new method were verified in real field tests and will be also presented in this paper.

关键词： Earth Harmonic analysis Fault currents Impedance Circuit faults Grounding Frequency dependence

来源：评论

学校读者我要写书评

暂无评论

Tracking of non-stationary biological signals with utilizing of adaptive filtering method 20

Tracking of non-stationary biological signals with utilizing...

引用

20th International Conference on Process Control, PC 2015

作者： Honek, Marek Malinovský, Ľudovít Ondrejkovič, Karol Rohaľ-Ilkiv, Boris Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

ISBN: (纸本)9781467366274

This paper presents an approach intended for tracking of biological non-stationary signals. The proposed approach utilizes a Kalman filter autoregressive model together with a method for estimation of covariance matrices of the uncorrelated process noise and measurement noise. The method was tested in simulations, where the ability of tracking of a class of time varying autoregressive processes was the subject of our interest. The obtained results are promising in the meaning that the suggested algorithm is suitable to track the time varying autoregressive processes with sufficient accuracy. © 2015 IEEE.

关键词： Adaptive filtering

来源：评论

学校读者我要写书评

暂无评论

Using Bee Algorithm in the Problem of Mapping

引用

Procedia Engineering 2016年 149卷 305-312页

作者： Timur Mazitov Pavol Božek Andrey Abramov Yuri Nikitin Ivan Abramov Kalashnikov Izhevsk State Technical University Department of Mechatronic Systems Studencheskaya 42 Izhevsk 426069 Russia Slovak University of Technology Faculty of Materials Science and Technology Institute of Applied Informatics Automation and Mechatronics J. Bottu 25 Trnava 91724 Slovakia

Innovative algorithm for solving simultaneous location and mapping problem in unknown environment is considered. The algorithm is based on the comparison of point clouds with bee swarm algorithm. The algorithm obtained was experimentally tested. The algorithm increases the number of calculations in several times as compared to standard methods of minimization (algorithm of gradient descent and others), but the function calculations in random points are similar operations and it enables the efficient application of parallel computations, thus resulting in increased performance.

关键词： SLAM ICP swarm algoritms bee algorithm location mapping.

来源：评论

学校读者我要写书评

暂无评论

Efficiency and performance of embedded model predictive control for active vibration attenuation

Efficiency and performance of embedded model predictive cont...

引用

European Control Conference

作者： Gergely Takács Pablo Zometa Rolf Findeisen Boris Rohal'-Ilkiv Institute of Automation Measurement and Applied Informatics Faculty of Mechanical Engineering Slovak University of Technology in Bratislava Nám. slobody 17 812 31 Bratislava Slovakia Institute for Automation Engineering Otto-von-Guericke University Magdeburg Universitatsplatz 2 (G07) 39106 Magdeburg Germany

ISBN: (纸本)9781509025923

The development of efficient solution approaches and technological advances facilitate the use of predictive control on embedded systems, even for fast systems or on computationally limited hardware platforms. The practical implementation of predictive control is, however, still often very time consuming and demands insight into the formulation and solution strategies for predictive control. Tools for automatic code generation tailored for deployment on embedded systems promise to overcome these problems and thus enable the fast and reliable implementation of predictive control. This paper exploits the efficiency and performance of automatic code generation for linear model predictive control for the embedded active vibration control of a flexible mechanical structure. μAO-MPC is used to automatically generate C code, based on a high level problem description. The resulting code is used for real-time implementation on an embedded platform. The embedded model predictive controller efficiently computes the voltage input for a piezoceramic actuator based on state estimates from a Kalman filter. The performance, computational efficiency, memory requirements, task execution timing and other properties of practical interest are examined via experiments on the embedded controller for active vibration control.

关键词： Efficiency performance embedded model predictive control

来源：评论

学校读者我要写书评

暂无评论

Trends in Control of NC Machines

引用

Procedia Engineering 2016年 149卷 352-358页

作者： Yuri Nikitin Yuri Turygin Ella Sosnovich Pavol Božek Kalashnikov Izhevsk State Technical University Department of Mechatronic Systems 7 Studencheskaya St. 426069 Izhevsk Russia Slovak University of Technology Materials Science and Technology Institute of Applied Informatics Automation and Mechatronics J. Bottu 25 917 24 Trnava Slovakia

The paper comments on the new possibilities of utilizing the inertial navigation system in robototechnics. It deals with the application of a new inertial measurement system for a robotic workplace calibration. The calibration is necessary so that the simulation model of the production device can adjust to the real geometric conditions. The aim is to investigate and develop a new combined inertial navigation system based on electronic gyroscopes, magnetic and barometric sensors. The crucial activity is focused on three basic fields: 1. the first goal is to analyze accelerometer and gyroscopic sensors and their possibilities of utilization for inertial navigation. The simulation of the effect of sensors with different metrological parameters and their effect on the properties of the proposed combined navigation system, 2. the second goal is to optimize a specialized processor system for processing the data from the defined sensors in connection with controlling items of an industrial robot. The proposal of an algorithm of combined navigation with respect to the used processor system and 3. the third goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.

关键词： inertial navigation system sensors control system robot processor system machines operations

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：