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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Process control as an element in a CIM concept-a case study

Process control as an element in a CIM concept-a case study

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Mediterranean Electrotechnical Conference (MELECON)

作者： V. Jovan G. Dolanc Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

The paper describes the design and implementation of a control system which in 1996 was successfully installed in a Slovenian brickworks. Its primary function is efficient control of the drying process in the factory, and so far this system is conceived as a classic computer-based process control system. With regard to the possible need to incorporate this control system into a future CIM information system, a concept of flexible recipes was applied as a possible integration link between planning, which is a typical business-level activity and process control, which is a production level activity. Flexible recipes thus may provide a modest contribution to the integration of shop floor control and logistical functions.

关键词： Process control computer integrated manufacturing computer aided software engineering control systems Automatic control Production systems Design automation computer industry Manufacturing industries Application software

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Wiener Model Based Nonlinear Predictive control of a pH Neutralisation Process

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IFAC Proceedings Volumes 1998年第11期31卷 547-552页

作者： Samo Gerkšič Đani Juričić Department of Computer Automation and Control Jožef Stefan Institute Jamova 39 SI-1000 Ljubljana Slovenia

A case-study evaluation of a Wiener model based nonlinear predictive control method is presented. The approach makes use of Wiener model identification and does not require first-principles modelling. It was tested on a simulated model of a pH neutralisation process that was reconstructed from the literature. The obtained results are better than those resulting from the original physical model based nonlinear control and also of an artificial neural network (ANN) based approach. The performance is excellent also in the case of a considerable plant-to-model mismatch. There is a clear relation to the underlying linear model based method in a form of gain scheduling, so that the properties of the nonlinear control system can be analysed from the comprehensible linear control aspect. The method combines advantages of linear model based predictive control and gain scheduling while retaining a moderate level of computational complexity, thus it can be applied as the first next step in cases where performance of linear control is unsatisfactory due to process nonlinearity.

关键词： control algorithms nonlinear control optimization problems predictive control

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Improving the resolution and stability of diagnostic systems

Improving the resolution and stability of diagnostic systems

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IEEE Conference on control Technology and Applications (CCTA)

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

The paper addresses the problem of distinguishing between faults with the same fault signatures. It is shown that additional improvements in terms of resolution can be achieved if information about the sensitivity of the residuals with respect to faults is taken into account. When two fault signatures are qualitatively identical but have significantly different sensitivity terms, additional discrimination can be achieved by using the ratios of the underlying residuals. This extra isolability feature simplifies reasoning in the isolation stage. However, to achieve better overall performance, the diagnostic results should be stable, i.e. should not vary substantially under different operating conditions. Improved diagnostic stability is obtained by the approximate reasoning approach which relies on the transferable belief model. An outline of the ideas is given and some practical results obtained on a DC motor are provided.

关键词： Stability DC motors Fault diagnosis automation Automatic control control systems System performance Parameter estimation Equations Decision making

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Modelling and control of Water Supply Systems

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IFAC Proceedings Volumes 1998年第20期31卷 543-548页

作者： Nedjeljko Perić Ivan Petrović Ante Magzan University of Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Končar-Electrical Engineering Institute Zagreb Croatia

A dynamical mathematical model of a water supply plant based on lumped parameters is described. A concept of its control system is proposed that ensures output pressure stabilisation under conditions of variable water consumption and variable water recourses. The control system consists of inner control loops which control the flow of each pump station and of a superimposed control loop that controls the output pressure of the water supply plant. The pressure controller calculates the cumulative reference value of the water flow for all controlled pumps and from this value an algorithm for the flow distribution calculates the reference flow for each inner loop, taking into account the level of water accumulation in each water well. control performances of output pressure obtained by a conventional PI controller and a fuzzy logic based controller are compared.

关键词： Large-scale systems Pressure control Flow control Pipelines Plants Mathematical models Fuzzy control

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A Semi-Empirical and a Neural Network Model of a Batch Plant Dynamics for Flexible Recipes control

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IFAC Proceedings Volumes 1998年第11期31卷 289-294页

作者： Srečko Milanič Rihard Karba Davorka Šel Nadja Hvala Stanko Strmčnik Faculty of Electrical and Computer Engineering Tržaška 25 1000 Ljubljana Slovenia fax: +386 61 126 46 31 “Jožef Stefan” Institute Department of Computer Automation and Control Jamova 39 1001 Ljubljana Slovenia

In order to apply a model based control strategy such as flexible recipes control to an industrial batch process, a model of the process dynamics is needed. This paper presents the modelling procedure for two such models: a semi-empirical and an artificial neural network model. Both models predict precipitation rates of TiO 2 particles in an industrial hydrolysis process. Model properties and their prediction accuracy is compared. The artificial neural network is trained using the augmented training data set approach. A simulator has been designed to study the application Of flexible recipe instructions.

关键词： modelling identification neural network models batch control model-based control

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Integration of Business and Production Levels in Process Industries

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IFAC Proceedings Volumes 1998年第15期31卷 797-802页

作者： Vladimir Jovan Janko Černetič Gregor Dolanc Jozef Stefan Institute Department of Computer Automation and Control Jamova 39 1001 Ljubljana Slovenia internet: http://www-e2.ijs.si/people/vladimir.jovan.html

Process control systems are operated more or less in isolation from business systems relating to the same plant. As the potential benefits of integration have become clearer. there have been several attempts to link process control and business control systems. One aspect of linking is described in this paper. A primary function of a process control system, which was in 1996 successfully installed in a Slovenian brick/work, is efficient control of the drying process in the factory. and so far this system is conceived as classic computer-based process control systenl. With regard to the possible need to incorporate this control system into a future CIM information system, a concept of flexible recipes was applied as a possible integration link between planning. which is a typical business-level activity, and process control which is a production-level activity. Flexible recipes thus may provide a modest contribution to the integration of shop floor control and logistical functions.

关键词： Factory automation computer integrated manufacturing lntegration Process control system Management system

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SDG Model-Based Structures for Fault Detection

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IFAC Proceedings Volumes 1998年第10期31卷 243-248页

作者： I.P. Gál K.M. Hangos Systems and Control Research Laboratory Computer and Automation Institute Hungarian Academy of Sciences 1518 Budapest POBox. 63 Hungary. Phone: 36 1 1667 483 Fax: 36 1 1667 503

A signed directed graph (SDG) model-based approach is given in this paper for fault diagnosis of process systems. The proposed method is modular, the model for fault propagation is built from the mini SDGs of the units driven by the process flowsheet. Thus the fault detection is decomposed into two steps: off-line generation of the SOG model and its rule set equivalent and the step of on-line fault detection.

关键词： Fault detection Process models Graph theoretic models Rules Signed Directed Graphs Reasoning

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Axial flux circumferential current permanent magnet (AFCC) machine

Axial flux circumferential current permanent magnet (AFCC) m...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Jian Luo Dinyu Qin T.A. Lipo Shuxiang Li Surong Huang Department of Electrical & Computer Engineering University of Wisconsin Madison Madison WI USA Beijing Institute of Control Devices Beijing China College of Automation Shanghai University Shanghai China

Based on the concept of power converter fed machines (CFMs), high power density machines with nonsinusoidal current and back EMF waveforms are attracting more and more research interest. In this paper, a novel type of axial flux circumferential current permanent magnet (AFCC) machine topology is introduced. A sizing equation analysis, finite element analysis, optimization of parameters, performance simulation, details of the prototype and test data are included. In addition, a comparison of the power densities between the AFCC machine and the traditional induction machine based on the sizing and power density equations is also provided. Alternative manufacturing arrangements and the method to reduce torque ripple are discussed.

关键词： Permanent magnets Equations Magnetic analysis Performance analysis Topology Finite element methods Analytical models Virtual prototyping Testing Induction machines

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Specialised neural network for learning synonyms and related concepts in large document collections

Specialised neural network for learning synonyms and related...

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International Conference on Knowledge-Based Intelligent Electronic Systems (KES)

作者： P. Baranyi P. Aradi L.T. Koczy T.D. Gedeon Computer and Automation Institute Hungarian Academy of Sciences (ATOMKI) Hungary Department of Information Engineering University of New South Wales Sydney Australia Department of Automation Technical University of Budapest Budapest Hungary Department of Systems and Control Engineering Technical University of Budapest Budapest Hungary

For very large document collections or high volume streams of documents, finding relevant documents is a major information filtering problem. One of the main types of information retrieval systems produces a word frequency measure estimated by some important parts of the document using neural network approaches. This paper reports a new network structure for this task. It is specialised considering the main difficulties of these kinds of applications, namely, the calculation time complexity. It will be pointed out that the calculation, hence, the learning time is much reduced applying the new algorithm, however, the result is significantly improved compared to the former approaches, which offer a possibility to increase the number of considered words, hence, improve the effectiveness of information filtering systems.

关键词： Neural networks Intelligent networks Information retrieval Frequency estimation Frequency measurement automation Australia Information filtering Machine assisted indexing computer networks

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