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IEEE International Symposium on Industrial Electronics (ISIE)

作者： S. Gerksic D. Juricic S. Strmcnik Department of Computer Automation and Control Jožef Stefan Institute Ljubljana Slovenia

This paper discusses issues of model adaptation in a Wiener model based nonlinear predictive control (WNPC). WNPC is an extension of state-space generalized predictive control with a Wiener model. It combines the advantages of predictive control with the ability to control highly nonlinear processes, while retaining a moderate level of computational demand. It is aimed at a class of nonlinear processes that can be described with a Wiener structure. Model adaptation is required when the process is affected by nonmeasurable disturbances that severely affect the nonlinear characteristics of the system. It is shown that better disturbance rejection performance can be achieved at the cost of an increased computational demand, and that robust tuning of the estimator is a difficult problem. The method is evaluated with a pH neutralisation process case study.

关键词： Programmable control Adaptive control Predictive models Predictive control Adaptation model Process control control systems Robustness Industrial control automation

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Estimation of constant parameters in a class of time varying plants by means of smoothing

Estimation of constant parameters in a class of time varying...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： D. Juricic Department of Computer Automation and Control Jožef Stefan Institute Ljubljana Slovenia

The problem addressed in this paper is as follows. Consider a nonlinear discrete time system with parameters, which can be a priori classified into two groups: constant parameters and time varying ones. It is also assumed that loose attributes like "slow" or "fast" express the only prior information concerning the dynamics of varying parameters. The question of interest is how to estimate the constant parameters of the process (on the basis of a recorded batch of input and output data) so that possible alterations of the parameters that are expected to vary with time are taken into account. To deal with this kind of nonlinear fixed-interval smoothing problem a two-level procedure based on rectangular window technique and Gauss-Newton method is presented. All the computations are performed offline. The procedure is applicable in a pre-processing stage of adaptive parameter estimation where the parameters that are evidently time invariant are identified from past records. Thus the number of parameters that have to be tracked (i.e. estimated) on-line is reduced. The efficiency of the scheme is illustrated on a simulated industrial process.

关键词： Parameter estimation Smoothing methods Bellows Raw materials Noise measurement Time measurement automation Automatic control Discrete time systems Time varying systems

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Qualitative diagnostic toolbox employing propagation models

Qualitative diagnostic toolbox employing propagation models

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European control Conference (ECC)

作者： M. Kavčič D. Juričić Department of Computer Automation and Control J. Stefan Institute Jamova 391000 Ljubljana Slovenia

The main motivation of the presented work is to realise a prototype of the CAD tool that supports the whole life cycle of the diagnostic system development process. In the proposed approach, the fault trees are automatically derived from component models. The automatic synthesis incorporates the feedback control loop structure. Fault trees are then transformed into diagnostic rules. The implemented CAD tool allows for rule processing by using the Transferable Belief Model (TBM). The limitations of the component-based synthesis of fault trees are discussed.

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A multithreaded Java microcontroller for thread-oriented real-time event-handling

A multithreaded Java microcontroller for thread-oriented rea...

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International Conference on Parallel Architecture and Compilation Techniques (PACT)

作者： U. Brinkschulte C. Krakowski J. Kreuzinger T. Ungerer Institute of Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany Institute of Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany

We propose a multithreaded Java microcontroller (called Komodo microcontroller) with a new hardware event handling mechanism that allows handling of simultaneous overlapping events with hard real-time requirements. Real-time Java threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed Komodo microcontroller supports multiple ISTs with zero-cycle context switching overhead. We evaluate the basic architectural attributes using real-time event parameters of an autonomous guided vehicle. When calculating the maximum vehicle speed without violating the real-time constraints, ISTs dominate ISRs by a speed increase of 28%.

关键词： Java Microcontrollers Switches Embedded system Yarn Application software Real time systems Hardware Multithreading Process control

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A toolbox for model-based fault detection and isolation

A toolbox for model-based fault detection and isolation

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1999 European control Conference, ECC 1999

作者： Tesar, L. Berec, L. Dolanc, G. Szederkenyi, G. Kadlec, J. Juricic, D. Hangos, K. Kinnaert, M. Institute of Information Theory and Automation AV CR P.O.B. 18 Prague 8182 08 Czech Republic Department of Theoretical Biology Institute of Entomology AV CR Branišovská 31 České Budějovice370 05 Czech Republic Department of Computer Automation and Control J. Stefan Institute Jamova 39 LjubljanaSI 1001 Slovenia Computer and Automation Research Institute MTA P.O.B. 63 BudapestH-1518 Hungary Laboratoire d'Automatique et d'Analyse des Systèmes Université Libre de Bruxelles CP 165/55 50 Av. F.D. Roosevelt BrusselsB-1050 Belgium

ISBN: (纸本)9783952417355

A toolbox for model-based fault detection and isolation (FDI) has been developed in the MATLAB/SIMULINK environment. It includes methods relying on analytical or qualitative models of the supervised process. A demonstration of each approach can be performed on a simulation of either a three-tank system, a cocurrent or a countercurrent heat exchanger. The results are displayed in a common format, which allows performance comparison. A user manual including guidelines for tuning method specific parameters is available. © 1999 EUCA.

关键词： computer aided software engineering

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D-step-ahead nonlinear predictors using neural networks

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IFAC Proceedings Volumes 1999年第2期32卷 8584-8589页

作者： Yonghong Tan Achiel R. Van Cauwenberghe School of Computer Sciences Guilin Institute of Electronic Technology 541004 Guilin P.R. China Dept. of Control Engineering and Automation University of Ghent Technologiepark 9 B-9052 Ghent Belgium

In this paper, three neural network based d-step-ahead prediction strategies, i.e. a recursive d-step-ahead neural predictor, a non-recursive d-step-ahead neural predictor, and a Smith type neural predictor are presented for time-delay compensation for nonlinear systems. Both the recursive and the non-recursive predictors have been extended to the case of long-range prediction. Finally, the proposed neural network based predictors are applied to the prediction of the manifold pressure process in an automotive engine. The predictive result of the corresponding first principles model based nonlinear predictor is also illustrated for comparison. The experimental results show that the neural network based predictive methods have obtained better performance.

关键词： Neural networks prediction nonlinearity time delay modelling

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Detection Filter Design in Uncertain Linear Systems: Application of The Generalized Observer Scheme

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IFAC Proceedings Volumes 1999年第2期32卷 7802-7807页

作者： A. Edelmayer J. Bokor F. Szigeti Systems and Control Laboratory Computer and Automation Institute Hungarian Academy of Sciences Budapest Kende u. 13-17. H-1111 Hungary Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.p. 11. La Hechicera Venezuela

In this paper the robust fault detection and isolation (FDI) problem in linear systems, which are subjected to multiple faults and time varying system perturbations is discussed. The detection and isolation problem is treated by using algebraic methods and geometric design concepts. The idea of the classical Luenberger observer is generalized in an attempt that residual generators for solving the robust FDI problem can be designed.

关键词： Bilinear systems (c, a)-invariant subspaces luenberger observers matrix lie algebra time varying systems

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Realization algorithms for expansions in generalized orthonormal basis functions

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IFAC Proceedings Volumes 1999年第2期32卷 4153-4158页

作者： P.S.C. Heuberger Z. Szabó T.J. de Hoog P.M.J. Van den Hof J. Bokor Mechanical Engineering Systems and Control Group Delft University of Technology Mekelweg 2 2628 CD Delft. The Netherlands Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H 1502 Budapest Hungary

In this paper a realization theory and associated algorithms are presented for the construction of minimal realizations on the basis of a sequence of expansion coefficients in a generalized orthonormal basis. Both the exact and the partial realization problem are addressed and solved, leading to extended versions of the classical Ho-Kalman *** the construction of the realization algorithms, fruitful use is made of a system analysis in the transform domain, being induced by the choice of basis functions. The resulting algorithms can also be applied in approximate realization and in system approximation.

关键词： Orthogonal basis functions discrete-time systems system approximation realization Identification

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A toolbox for model-based fault detection and isolation

A toolbox for model-based fault detection and isolation

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European control Conference (ECC)

作者： L. Tesař L. Berec G. Dolanc G. Szederkényi J. Kadlec D. Juričić K. Hangos M. Kinnaert Oblast ved o zive prirode a chemickych ved AV CR Praha CZ Department of Computer Automation and Control J. Stefan Institute Jamova 39 SI 1001 Ljubljana Slovenia Computer and Automation Research Institute MTA P.O.B. 63 H-1518 Budapest Hungary Universite Libre de Bruxelles Bruxelles Bruxelles BE

关键词： Computational modeling Mathematical model Fault detection Data models MATLAB Heating

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Interactive on-line evaluation of robot motion control

Interactive on-line evaluation of robot motion control

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Valera A. Robertsson K. Nilsson R. Johansson Department of System Engineering & Automation Valencia Technical University Valencia Spain Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Lund Institute of Technology Department of Computer Science Lund University Lund Sweden

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.

关键词： Robot motion Motion control Robot control Industrial control control systems Electrical equipment industry Service robots Robot sensing systems Safety Logic

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