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IEEE International Conference on Mechatronics and Automation

作者： Yan Zhao Enshu Liu Junchao Zhu Baofeng Zhang Juan Wang Huan Tian Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China Research Institute of Physical and Chemical Engineering of Nuclear Industry Tianjin China Dagang Oilfield Thermal Power Company Tianjin China

ISBN: (纸本)9781479970995

The rub-impact fault is one of the important faults of the rotating machinery. The rub-impact fault signal may be nonlinear and non-stationary. The Hilbert-Huang transform (HHT) is based on time-frequency signal processing technology, which is suitable for nonlinear and non-stationary signals. In this paper, the HHT transform is used to analyze the time-frequency characteristic of the rub-impact fault signal of a rotor test rig. The velocity sensor is used to measure the vibration signal of the rub-impact fault rotor. The experimental result shows that the HHT transform can effectively detect the rub-impact fault of the rotor, which implies great potential of the HHT transform in the fault diagnosis of rotor system.

关键词： Rotors Vibrations Transforms Time-frequency analysis Signal processing Fault diagnosis

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Disrupted bandcount doubling in an AC-DC boost PFC circuit modeled by a time varying map

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Journal of Physics: Conference Series 2016年第1期692卷

作者： Viktor Avrutin Zhanybai T. Zhusubaliyev Abdelali El Aroudi Danièle Fournier-Prunaret Germain Garcia Erik Mosekilde Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Computer Science Southwest State University Kursk Russia Department of Electronics Electrical Engineering Automatic Control Universitat Rovira i Virgili Tarragona Spain INSA LAAS-CNRS Université de Toulouse Toulouse France INSA LAAS-CNRS Université de Toulouse Toulouse France Department of Physics The Technical University of Denmark Lyngby Denmark

Power factor correction converters are used in many applications as AC-DC power supplies aiming at maintaining a near unity power factor. Systems of this type are known to exhibit nonlinear phenomena such as sub-harmonic oscillations and chaotic regimes that cannot be described by traditional averaged models. In this paper, we derive a time varying discretetime map modeling the behavior of a power factor correction AC-DC boost converter. This map is derived in closed-form and is able to faithfully reproduce the system behavior under realistic conditions. In the chaotic regime the map exhibits a sequence of bifurcation similar to a bandcount doubling cascade on the low frequency. However, the observed scenario appears in some sense incomplete, with some gaps in the bifurcation diagram, whose appearance to our knowledge has never been reported before. We show that these gaps are caused by high frequency oscillations.

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Simulation of holonomic mechanical systems by means of automatic differentiation 14

Simulation of holonomic mechanical systems by means of autom...

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6th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools, EOOLT 2014

作者： Röbenack, Klaus Winkler, Jan Franke, Mirko Institute of Control Theory Faculty of Electrical and Computer Engineering Technische Universität Dresden DresdenD-01062 Germany

ISBN: (纸本)9781450332477

We discuss both the theoretical framework and implementation issues for the simulation of holonomic mechanical systems using automatic differentiation. Our approach allows the direct simulation of such systems based on its Lagrangian. The Lagrangian may be given as explicit equations or as an algorithm containing control structures such as loops. The method is illustrated by the well-known ball and beam system. Copyright is held by the owner/author(s).

关键词： Lagrange multipliers

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Structural hysteresis model of transmitting mechanical systems

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Journal of Physics: Conference Series 2015年第1期585卷

作者： M Ruderman T Bertram Institute of Control Theory and Systems Engineering TU-Dortmund Dortmund Germany

We present a structural hysteresis model which describes the dynamic behavior of transmitting mechanical systems with a hysteretic spring and damped bedstop element, both connected in series. From the application point view this approach can be used for predicting the transmitted mechanical force based only on the known kinematic excitation. Using the case study of an elastic gear transmission we show and identify a hysteresis response which multivariate behavior depends on an internal state of the bedstop motion.

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Optimal motion planning with temporal logic and switching constraints

Optimal motion planning with temporal logic and switching co...

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European control Conference

作者： Vladislav Nenchev Calin Belta Jorg Raisch Control Systems Group Technische Universitat Berlin Department of Mechanical Engineering and the Division of Systems Engineering Boston University Control Systems Group Technische Universitat Berlin and the Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems

ISBN: (纸本)9781467371605

This paper proposes a method for automatic generation of time-optimal robot motion trajectories for the task of collecting and moving a finite number of objects to particular spots in space, while maintaining predefined temporal logic constraints. The continuous robot dynamics change upon an object pick-up or drop-off. The temporal constraints are expressed as syntactically co-safe Linear Temporal Logic (scLTL) formulas over the set of object and drop-off sites. We propose an approach based on constructing a discrete abstraction of the hybrid system modeling the robot in the form of a finite weighted transition system. Then, by employing tools from automata-based model checking, we obtain an automaton containing only paths that satisfy the specification. The shortest path in this automaton is found by graph search and corresponds directly to the time-optimal hybrid trajectory. The method is applied to a case study with a mobile ground robot and a case study involving a quadrotor moving in an environment with obstacles, thus reflecting its computational advantage over a direct optimization approach.

关键词： Automata Trajectory Optimal control Yttrium Vehicle dynamics Planning

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A numerical evaluation of state reconstruction methods for heterogeneous cell populations

A numerical evaluation of state reconstruction methods for h...

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European control Conference

作者： Steffen Waldherr Robert Frysch Tim Pfeiffer Theresa Jakuszeit Shen Zeng Georg Rose Institute for Automation Engineering Otto-von-Guericke-University Institute for Medical Engineering Otto-von-Guericke-University Institute for Systems Theory and Automatic Control University of Stuttgart

ISBN: (纸本)9781467371605

Heterogeneity among cells is a common characteristic of living systems. For mathematical modeling of heterogeneous cell populations, one typically has to reconstruct the underlying heterogeneity from measurements on the population level. Based on recent insights into the mathematical nature of this problem as an inverse problem of tomographic type, we evaluate numerical methods to perform such a reconstruction in basic case studies. We compare a kernel density based optimization approach, filtered back projection, and algebraic reconstruction techniques. The latter two are well established methods in computed tomography.

关键词： cell population numerical calculation Reconstruction algorithm living systems Cells Numerical methods Inverse method mathematical modeling Population levels Heterogeneous backprojection Reconstructive Surgical Procedures

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Wheel-Legged Robot – Construction and obstacle detection sensors

Wheel-Legged Robot – Construction and obstacle detection se...

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作者： Gronowicz, A. Sperzyński, P. Szrek, J. Jakubiak, J. Wroclaw University of Technology Division of Machine Theory and Mechatronic Systems Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Poland

ISBN: (纸本)9789400774841

This paper presents the general structure of wheel-legged robot module and sensory systems. The scheme, interfaces and system components will be presented. Basing on initial experiments the sensor properties and suitability for a particular task – detection, identification and overcoming encountered obstacles on the robot’s path were assessed. © Springer Science+Business Media Dordrecht 2014.

关键词： Wheels

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An intelligent hybrid BFO-PSO algorithm for multi-loop robust controller design in discrete-time networked control systems

An intelligent hybrid BFO-PSO algorithm for multi-loop robus...

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International Conference on Mechatronics and control, ICMC 2014

作者： Jiaqi, Liu Xianlin, Huang Xiaojun, Ban Gao, X.Z. Zenger, K. Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Electrical Engineering and Automation Aalto University Espoo Finland

ISBN: (纸本)9781479925384

In this paper, the effectiveness of hybrid bacteria foraging optimization (BFO) algorithm and particle swarm optimization (PSO) algorithm have been tested for multi-loop robust controller design in discrete-time networked control systems (NCSs). Of particular interest is the case that varying transmission delays and varying transmission intervals in NCSs cause the optimal function to be nonconvex and even the gradient is not easily computed. The new intelligent hybrid BFO-PSO algorithm is employed to search for the optimal controller parameters, and then to minimize the constrained object function subject to robust control specifications by using a randomized technique is developed which does not need any gradient information. For this purpose, we first extend the results in robust controller synthesis via parameter-dependent Lyapunov function, where the study of interplay between the stability and robust performance of NCSs feedback loops are investigated. Next, the hybrid BFO-PSO algorithm is introduced to minimize the robust control function with communication constraints. Finally, the proposed method is applied to some typical numerical examples. Simulation results show that the system oscillations are effectively damped by the proposed approach. © 2014 IEEE.

关键词： Networked control systems

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Modeling and simulating for congestion evacuation based on multi-agent approach 33

Modeling and simulating for congestion evacuation based on m...

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第三十三届中国控制会议

作者： WANG Jinhuan SHI Qiongyu HU Xiaoming YANG Peng School of Sciences Hebei University of Technology School of Control Science and Engineering Hebei University of Technology Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology

ISBN: (纸本)9781479947249

A new multi-agent based congestion evacuation model is proposed in this paper to simulate the pedestrian evacuation process in stadium with or without obstacles, in which each agent's state can be normal, being overtaked and dead. In this model,all the pedestrians are divided into four kinds and each kind has six different classes of competitive ability. The individual action direction is affected by their competitive ability, the distance to the exits and the occupant number and density within the view field of the agent. In the simulation, we present the congestion and death phenomenon as well as the effects of obstacles in evacuation process. We also add a virtual leader to regulate the evacuation effectively. Simulation results show that the proposed model can reproduce exactly the real evacuation process in stadium.

关键词： Congestion Evacuation,Multi-agent,Cellular Automaton

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CPG’s Parameters and Topology Co-Evolution for Walking control of Biped Robots

CPG’s Parameters and Topology Co-Evolution for Walking Cont...

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作者： XIAO Hui CHEN Qijun LIU Chengju Department of Electronic and Information Engineering Institute of Control Theory and Control EngineeringTongji University

In this paper,we focus on the bipedal walking that can be achieved by using a bio-inspired controller based on central pattern generator（CPG）.The challenge of this work is to determine the topology of neural network and the setting of the *** this,by using neural oscillators to generate joint position control signals directly,a proper distributed oscillator network which consists of a body network and a leg network is *** realize stable biped walking,the sensory feedback loop is designed and the parameters of the system are evolved by multi-objective genetic algorithm（MOGA）.The presented control method is validated through an ODE-based physically simulated *** the controller,NAO can realize basic walking pattern,which demonstrate the effectiveness of the presented bio-inspired control method.

关键词： Central pattern generator biped robot walking control evolutionary algorithm

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