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A Three-level Batching Strategy for the Planning of Steelmaking-continuous Casting Production

IFAC-PapersOnLine 2015年第25期48卷 144-149页

作者： Liangliang Sun Fangjun Luan Tianmu Ma Department of Information and Control Engineering Shenyang Jianzhu University Shenyang Liaoning Province China 110004 (Tel: +86(24)23998315 Key Laboratory of Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang Liaoning Province China 110004 (Tel: +86(24)23998315

This paper focuses on the optimal planning of steelmaking-continuous casting production in real steelmaking plant. The tasks of steelmaking planning are to make the decisions as how to determine the relation between slabs and charges, the sequence of charges in casts and the casting width of slabs while considering the known information about the contract properties, the size properties and processing properties, etc. Effective planning can satisfy the capacity of downstream and continuously casting the steel molten. A three-level batching policy consisting of charge planning, tundish planning, cast planning is proposed in this paper. The different requirement of width in charge planning, tundish planning, cast planning are considered as the performance indicators and constraints equations respectively to formulate the problems. A hybrid optimal strategy combined with the iterated local search (ILS), variable neighborhood search (VNS), and the hybrid optimal strategy with ant colony optimization is adopted. Numerical experiments are done to verify the effectiveness of the three-level batching strategy by using practical data set collected from the steelmaking plant in Baosteel which is one of the most advanced iron and steel enterprises in China. Computational experiments demonstrate that the models and algorithms developed can make an optimal planning in a computationally efficient manner to improve the steel production.

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Hovering control of a Nano Quadrotor Unmanned Aerial Vehicle Using Optical Flow 33

Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle...

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第三十三届中国控制会议

作者： XIAN Bin LIU Yang ZHANG Xu CAO Meihui Wang Fu The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479947249

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle(UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Nano Quadrotor UAV,Optical Flow,Autonomous control

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On control design and tuning for first order plus time delay plants with significant uncertainties

On control design and tuning for first order plus time delay...

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American control Conference

作者： Lijun Wang Qing Li Chaonan Tong Yixin Yin Zhiqiang Gao Qinling Zheng Weicun Zhang School of Automation & Electrical Engineering University of Science and Technology Beijing Beijing 100083 China Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Beijing 100083 China Center for Advanced Control Technologies Cleveland State University Cleveland OH 44115 USA

ISBN: (纸本)9781479917730

A novel active disturbance rejection control (ADRC) solution and a particular tuning method are presented for a class of time delay system (TDS) with uncertainty. First, the complicated process dynamics is modeled as a simple first order plus large time delay (FOPTD) plant, with the difference between the actual dynamics and its model treated as disturbances to be rejected. Then the reduced order linear extended state observer (RLESO) with input delay is proposed to estimate the time delay state and disturbance. It is shown how the time delay could be eliminated from the characteristic equation of the closed-loop system by manipulations of controller parameters. Secondly, the one parameter tuning (OPT) technique is developed where all controller parameters are made function of a single coefficient. In comparison with optimal proportional-integral-derivative (PID) controller and twice optimum controller (TOC), the simulation results show that the proposed method not only has better accuracy and faster response, but also ensures better robustness and adaptability against uncertain model parameters and external disturbances, especially for the plant with very large time delays.

关键词： tuning design control model parameters process dynamics Characteristic equation one-parameter external disturbance FIRST ORDER controllers Closed loop systems

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Performance evaluation and structure optimization of an inner-outer electrical resistance tomography sensor

Performance evaluation and structure optimization of an inne...

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International Conference on Mechatronics and control, ICMC 2014

作者： Shangjie, Ren Chao, Tan Yanbin, Xu Feng, Dong Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

ISBN: (纸本)9781479925384

Electrical resistance tomography is a useful visualization technique to imaging the conductivity distribution inside a closed pipeline from the boundary measurements. Due to its advantages of high speed, low cost and high safety, the technique has been successfully applied in the measurement of many industrial processes. However, since the mathematical model is highly non-linear and ill-posed, the spatial resolution of ERT is low, especially in the center of the objective domain. To overcome the problem, an inner-outer ERT sensor structure was proposed. The structure is consisted by the internal and external electrodes, and can provided more independent measurements for high resolution image reconstruction. To test the performance of the inner-outer sensor structure, six inner-outer ERT sensors are designed, and the influences of the size, number and distribution of the internal electrodes are discussed. After several numerical tests, the inner-outer ERT sensor is proved having the ability of enhancing the spatial resolution of ERT, especially in the area near the internal electrodes. © 2014 IEEE.

关键词： Image reconstruction

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Automatic calibration method of voxel size for cone-beam 3D-CT scanning system

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Chinese Physics C 2014年第4期38卷 69-74页

作者：杨民王晓龙刘义鹏孟凡勇李兴东刘文丽魏东波 School of Mechanical Engineering and Automation Beijing Univ.of Aeronautics and Astronautics Department of Control Science and Engineering Harbin Institute of Technology State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of Sciences National Institute of Metrology

For a cone-beam three-dimensional computed tomography （3D-CT） scanning system, voxel size is an important indicator to guarantee the accuracy of data analysis and feature measurement based on 3D-CT images. Meanwhile, the voxel size changes with the movement of the rotary stage along X-ray direction. In order to realize the automatic calibration of the voxel size, a new and easily-implemented method is proposed. According to this method, several projections of a spherical phantom are captured at different imaging positions and the corresponding voxel size values are calculated by non-linear least-square fitting. Through these interpolation values, a linear equation is obtained that reflects the relationship between the voxel size and the rotary stage translation distance from its nominal zero position. Finally, the linear equation is imported into the calibration module of the 3D-CT scanning system. When the rotary stage is moving along X-ray direction, the accurate value of the voxel size is dynamically exported. The experimental results prove that this method meets the requirements of the actual CT scanning system, and has virtues of easy implementation and high accuracy.

关键词： cone-beam CT voxel size least square fitting automatic calibration

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A parallel data acquisition system based on CPCI for ERT 6

A parallel data acquisition system based on CPCI for ERT

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6th World Congress in Industrial process Tomography

作者： Xu, Cong Zhang, Zhiqiang Han, Jun Dong, Feng Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin300072 China

ISBN: (纸本)9780853163220

Electrical resistance tomography (ERT) is to achieve visual detection through boundary sensors array to obtain the realtime distribution of the sensing field. As a nonradiant and unperturbed 2D/3D boundary technique, ERT has wide application prospect in petroleum and chemical industrial processes with conductive continuous phase flow. For obtaining accurate information reflecting the sensing field, many data acquisition systems have been developed for online measurement. To better satisfy industrial requirements, ERT is presently expected to be more flexible, applicable and easier to extend. For this purpose, a system based on industrial bus standard is designed as a 16channel parallel data acquisition system, where FPGA and Compact PCI are adopted as the core components. FPGA is configured with logic control and basic algorithm’s implementation (including digital FIR filter and digital demodulation). Compact PCI, with identical electrical function with PCI but enhanced mechanic structure and hotplugging feature, is employed for highspeed datatransmission. Dedicated software with a userfriendly interface has been developed to configure the signal generator and data *** static experiments using this system have been done, and the results show that the data acquisition system works properly with SNR above 54dB, and the data acquisition rate of this ERT system could reach almost 1400 frames per second without affecting the performance. © 2010, International Society for Industrial process Tomography. All rights reserved.

关键词： Field programmable gate arrays (FPGA)

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Compressed sensing framework for electrical resistance tomography 7

Compressed sensing framework for electrical resistance tomog...

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7th World Congress in Industrial process Tomography, WCIPT7

作者： Zhao, J. Tan, C. Dong, F. Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin300072 China

ISBN: (纸本)9780853163237

Image reconstruction for electrical resistance tomography (ERT) is a nonlinear and ill-posed inverse problem. In order to improve the imaging quality, compressed sensing (CS) is applied to measured signal recovery and image reconstruction of ERT system in this paper. Firstly, CS is used to sample and recover the signal measured by ERT system. Secondly, a signal recovery algorithm of CS is used in the image reconstruction with the recovered signal. Simulation results show that CS can recover the voltage difference signal with a smaller sampling number, and the imaging results have less artifacts than other three imaging algorithms. © 2014 International Society for Industrial process Tomography.

关键词： Image reconstruction

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A continuous robust control design for a class of non-affine nonlinear dynamics with non-varnishing disturbance

A continuous robust control design for a class of non-affine...

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2014 American control Conference, ACC 2014

作者： Zhang, Yao Xian, Bin Zhao, Bo Liu, Xiang Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 Tianjin China

ISBN: (纸本)9781479932726

In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law. © 2014 American Automatic control Council.

关键词： Robust control

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ERT application software for multiphase flow measurement 6

ERT application software for multiphase flow measurement

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6th World Congress in Industrial process Tomography

作者： Ren, Shangjie Tan, Chao Han, Jun Dong, Feng Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin300072 China

ISBN: (纸本)9780853163220

Multiphase flow is commonly encountered and of paramount significance in both natural and industrial processes. Accurate measurement on its process parameters is difficult to achieve due to its rheological complexity. It has become an urgent issue to scientific researchers and industrial engineers. ERT is a promising technology to measure the multiphase flow due to its capability of producing two/three dimensional realtime information related to interior behaviours of medium within the closed process equipments, such as close pipes, vessels and so on. In this paper, an ERT application software for the measurement of multiphase flow is presented. It works with a high speed data acquisition system, which is based on CompactPCI and a 16channel parallel digital data acquisition strategy. To improve the speed and accuracy of online measurement, some techniques have been implemented in this software, such as modularized software structure, multithreading technology, multiprocessing technology, and Open Graphics Library. Additional, a DMA data transmission strategy based on CompactPCI communication protocol is developed and implemented in this software. It makes this system more conform to the industrystandard and the data transmission speed been improved greatly. This software is capable of acquiring 1400 frames data per second and reconstructing crosssection images at a rate of 60 frames per second on a Windows based PC with a 1.8GHz Pentium Dual CPU, while saving measurement results and extracting flow parameters synchronously. © 2010, International Society for Industrial process Tomography. All rights reserved.

关键词： Multiphase flow

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Research on Flow Diagnosis of Multipath Ultrasonic Flowmeter

Research on Flow Diagnosis of Multipath Ultrasonic Flowmeter

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IEEE International Instrumentation and Measurement Technology Conference

作者： Dan-Dan Zheng Jing-Li Zhang Shan-Shan Zhao Hua-Xiang Wang Zi-Qiang Cui Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

ISBN: (纸本)9781479961153

In the application of ultrasonic flowmeter, flow measurement has a low accuracy, since the length of straight pipe near the ultrasonic sensor is insufficient, especially the presence of the upstream disturbance. In this paper, in order to analyze the inherent relationship between the measurement error and the characteristics of flow field, two flow diagnostic criterions are proposed: asymmetry index (AR1, AR2) and cross flow (cf) indicator. Then the threshold range of the indexes is predicted by computational fluid dynamics numerical simulation in three non-ideal installations (single elbow, single elbow & rectifier, single elbow & 5 pipe diameter & rectifier). Finally, this diagnostic criterion is put forward to distinguish the three operating conditions, and verified by flow experiments. When AR1>0.019 or AR2 > 0.037 and cf > 0.005, the asymmetry and cross flow in the flow field cannot be ignored. At this time, flow measurement accuracy is greater than 1%. It is indicated that disturbance affect measurement accuracy. On the contrary, when diagnostic indexes are less than the threshold values, measurement accuracy can be guaranteed within 1%, which shows that disturbance have little impact on flow measurement.

关键词： Ultrasonic flowmeter Non-idealflowfield Asymmetric flow Cross flow

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