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Modeling and simulation of discharging characteristics of external melt ice-on coil storage system

International Journal of Smart Home 2015年第2期9卷 179-192页

作者： Yi, Wang Dong, Wei Institute of Electricity and Information Engineering Beijing University of Civil Engineering and Architecture Beijing China College of Electrical and Information Engineering Beijing University of Civil Engineering and Architecture Beijing China Control Theory and Control Engineering Beijing University of Civil Engineering and Architecture Beijing China

In case of energy storage air conditioning system, due to load fluctuation, the traditional control methods can't obtain good effect, the model predictive control method can realize the optimization control system, and can overcome the influence of load fluctuation. In order to realize the predictive control, need to study model of air conditioning system. Ice storage air-conditioning system, by analyzing the mechanism of ice tank, ice melting system outside the tank model is established. First, analyzed the physical structure of ice bath, determine the parameters of ice bath, put forward the control as well as the output of the ice tank. Good model will be built using TRNSYS and MATLAB joint simulation, and the model simulation results and the widely used now BAC coil and TSQINGHUA TONGFANG ice coil characteristic has carried on the contrast, determine the tank model is built by ice in the most good ice tank was simulated under the condition of outlet temperature, and focused on the top 20% of the ice melted and the error of 20%, after put forward the reasonable solution, the interpretation of the ice tank established ice model has practical significance. © 2015 SERSC.

关键词： Ice

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Nonlinear Event-Triggered Platooning control with Exponential Convergence ∗

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IFAC-PapersOnLine 2015年第22期48卷 138-143页

作者： Steffen Linsenmayer Dimos V. Dimarogonas Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

In this paper the control of a platoon with a nonlinear controller under event-triggered communication is investigated. The proposed nonlinear controller is a predecessor-following controller for a certain class of nonlinear functions. For the event-triggered communication scheme every agent decides based on its own state when it transmits its state information. Therefore, a trigger rule is designed that guarantees exponential convergence of the state error while it excludes Zeno behavior. The results are extended to allow heterogeneous trigger rules under certain conditions. Furthermore the case of heterogeneous controllers is analyzed and exponential convergence and exclusion of Zeno behavior is still guaranteed. The theoretical results of the paper are supported by numerical simulations.

关键词： Event-triggered control Platooning Nonlinear control

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Pseudo-Predictor Feedback control of Discrete-Time Linear Systems with a Single Input Delay

Pseudo-Predictor Feedback Control of Discrete-Time Linear Sy...

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第三十四届中国控制会议

作者： Bin ZHOU Xuefei YANG James LAM Center for Control Theory and Guidance Technology Harbin Institute of Technology Department of Mechanical Engineering University of Hong Kong

ISBN: (纸本)9781467374439

This paper studies the problems of stabilization of discrete-time linear systems with a single input delay. By developing the methodology of pseudo-predictor feedback(PPF) which uses the(artificial) closed-loop system dynamics to predict the future state, memoryless state feedback control laws are constructed to solve the problem. Necessary and sufficient conditions are obtained to guarantee the stability of the closed-loop system in terms of the stability of a class difference equations. It is also shown that the proposed controller achieves semi-global stabilization of the system if its actuator is subject to either magnitude saturation or energy constraints under the condition that the open-loop system is only polynomially unstable. Numerical examples show the effectiveness of the proposed approaches.

关键词： Pseudo-predictor feedback Discrete-time systems Input delay Delay compensation Stabilization

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Resource-aware set-valued estimation for discrete-time linear systems

Resource-aware set-valued estimation for discrete-time linea...

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IEEE Annual Conference on Decision and control

作者： F. D. Brunner T. M. P. Gommans W. P. M. H. Heemels F. Allgowert Institute for Systems Theory and Automatic Control (IST) University of Stuttgart 70550 Stuttgart Germany Control System Technology group Department of Mechanical Engineering Eindhoven University of Technology

ISBN: (纸本)9781479978878

In this paper, we propose a self-triggered estimator for discrete-time linear systems subject to unknown but bounded disturbances affecting both the system states and outputs. The proposed self-triggered estimator is a set-valued estimator that employs rollout techniques to reduce the communication between the sensors and the estimator with respect to a periodic sampling strategy. Moreover, at each time instant it provides an estimate of the plant state and a guaranteed bound on the difference between the true plant state and the estimate.

关键词： Linear system discrete-time discrete time systems Unknown Sensors Communication Research

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Mathematical modelling and sensitivity analysis of multipolar radiofrequency ablation in the spine 9

Mathematical modelling and sensitivity analysis of multipola...

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9th IFAC Symposium on Biological and Medical Systems, BMS 2015

作者： Matschek, Janine Himmel, Andreas Von Haeseler, Friedrich Bullinger, Eric Skalej, Martin Findeisen, Rolf Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany Forschungscampus STIMULATE Magdeburg Germany Department of Process Systems Engineering Otto-von-Guericke University Magdeburg Germany Institute for Neuroradiology University Hospital of Magdeburg Germany

Mathematical models of the radiofrequency ablation enable to plan, monitor and control interventions allowing to predict and improve their outcome. A system of coupled partial differential equations suitable for planning, analysis and real time implementation is proposed to model the multipolar radiofrequency ablation under consideration of capillary blood perfusion in the spine. To address the multipolar operation, time dependent boundary conditions to the model are introduced. Accounting for the application in the spine, consisting of various tissue types, we consider spatially distributed model parameters. Since the spatially distributed parameters play a key role, analytic expressions for a sensitivity analysis are derived. Based on the model, simulations are performed underlining the quality of the approach and analysing the influence of the spatially distributed parameters. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Sensitivity analysis

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Robust output feedback NMPC with guaranteed constraint satisfaction

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IFAC-PapersOnLine 2015年第14期48卷 326-331页

作者： Sankaranarayanan Subramanian Sergio Lucia Radoslav Paulen Sebastian Engell Process Dynamics and Operations Group TU Dortmund Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

Nonlinear Model Predictive control (NMPC) employs a plant model to compute a sequence of optimal control inputs for a finite horizon. As, in reality, there always exists a plant-model mismatch and not all states of the plant can be measured, the NMPC scheme must be robust to plant uncertainties and to estimation errors. Different robust NMPC strategies have been proposed to deal with these uncertainties. Among them, a multi-stage NMPC, which is based upon a scenario tree of future plant evolutions, is less conservative compared to worst-case open-loop approaches because the presence of feedback at future sampling instants is explicitly considered. In multi-stage output feedback NMPC, additional scenarios are created by sampling the innovations that are used to estimate the future states of the plant along the scenario tree. In this paper, we refine our previously published approach to include state estimation errors. Moreover we extend the scheme to guarantee robust constraint satisfaction by calculating reachable sets using Taylor models. The method is demonstrated for a nonlinear chemical process example.

关键词： Predictive control Robust control Output feedback Nonlinear control systems

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Stabilizing Submanifolds with Passive Input-Output Relations

Stabilizing Submanifolds with Passive Input-Output Relations

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IEEE Annual Conference on Decision and control

作者： Jan Maximilian Montenbruck Murat Arcak Frank Allgower Department of Electrical Engineering and Computer Sciences University of California at Berkeley Institute for Systems Theory and Automatic Control University of Stuttgart

ISBN: (纸本)9781479978878

We study submanifold stabilization problems from an input-output perspective. For doing so, we consider feedback interconnections of relations of signals whose squared distance to a given submanifold has finite integral. In our framework, output feedback passivity of the feedforward relation and input strict passivity of the feedback relation with sufficiently large excess of passivity, both with respect to the integral squared distance of their signals to the submanifold under consideration, is sufficient for submanifold stabilization. We show that the distance of the signals in the feedback interconnection to the submanifold remains bounded for bounded exogenous inputs, thus extending the feedback theorem for passive systems to submanifold stabilization problems.

关键词： Integral equations Aerospace electronics Output feedback Synchronization Sections Conferences Feedforward neural networks

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Distributed filter design for cooperative ho-type estimation

Distributed filter design for cooperative ho-type estimation

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IEEE Conference on control and Applications, CCA 2015

作者： Wu, Jingbo Li, Li Ugrinovskii, Valery Allgower, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia School of Information Technology and Electrical Engineering University of New South Wales Australian Defence Force Academy Canberra Australia

ISBN: (纸本)9781479977871

In this paper, we consider the distributed robust filtering problem, where estimator design is based on a set of coupled linear matrix inequalities (LMIs). We separate the problem and show that the method of multipliers can be applied to obtain a solution efficiently and in a decentralized fashion, i.e. all local estimators can compute their filter gains locally, with communications restricted to their neighbors. © 2015 IEEE.

关键词： Linear matrix inequalities

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Physical Modelling of Energy Consumption of Industrial Articulated Robots

Physical Modelling of Energy Consumption of Industrial Artic...

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International Conference on control, Automation and Systems

作者： Akeel Othman Kvetoslav Belda Pavel Burget Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Department of Adaptive Systems Institute of Information Theory and Automation of the CAS

ISBN: (纸本)9781479999767

The paper deals with a modelling of the energy consumption of industrial articulated robots. The proposed modelling way is based on graphically-oriented computer-aided concept that exploits CAD software Solidworks and simulation environment MATLAB/Simulink with SimMechanics and SimPowerSystems libraries. These software tools are used for the composition of a dynamical simulation model that represents both mechanical robot structure and robot drives during robot motions. The paper addresses mathematical analysis and interpretation of the considered simulation model. Here, equations of the motion for the mechanical robot structure and appropriate dynamical equations of the robot drives are introduced. Using these equations, the energy consumption equation is defined. The proposed way is demonstrated by simulation experiments for several different velocities of the robot motion along a selected trajectory. For the experiments, industrial articulated robot KUKA KR 5 arc driven by PMSM drives is considered.

关键词： Industrial articulated robots Energy consumption Mathematical analysis Computer-aided modelling

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Link elasticity exploited for payload estimation and force control

Link elasticity exploited for payload estimation and force c...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： J. Malzahn R. Schloss T. Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany Jorn-Malzahn is with the Department of Advanced Robotics Istituto Italiano Di Tecnologia (IIT) Genova Italy Russell Schloss and Torsten Bertram are with the Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Link elasticity is commonly understood to be a detrimental side-effect of imperfect mechanical designs of robotic arms and comparable machinery. In contrast to this notion, this paper demonstrates a novel approach to exploit intrinsic robot link compliance in order to estimate a priori unknown payload masses, measure and also control end effector forces. In this way, the intrinsic link elasticity can be seen as an enabler for new sensing and control capabilities instead of a purely detrimental effect.

关键词： Strain Payloads Force Robot sensing systems Torque Elasticity

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