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Robust Hybrid PI Controller with a Simple Adaptation in the Integrator Reset State

IFAC-PapersOnLine 2017年第1期50卷 1457-1462页

作者： Scola I.R. Quadros M.M. Leite V.J.S. Electrical Engineering Graduate Program CEFET-MG UFSJ Belo Horizonte MG 30510-000 Brazil Mechatronics Engineering Department CEFET-MG campus Divinópolis Divinopólis MG 35503-822 Brazil

In this paper, we consider the implementation and the robust stability analysis of a new hybrid PI controller. Two laboratory processes are used, one to control the level in water reservoir system with capacity of 200 liters, and the other to control the temperature in a continuous oven of one meter long. The robust stability analysis conditions are proposed in terms of convex optimization procedures and can be used to certify the robust closed-loop stability. The dynamics of the processes are approximated by a first order system plus delay and, because of this, a Smith predictor is jointly used with all controllers. Concerning the hybrid PI implementation, we compare the performances achieved by a classical linear PI, by a hybrid controller found in the literature and by a new hybrid controller with adaptation of the reset value. We illustrate the performance, robustness and disturbance rejection of all three controllers in a prototype by control real time tests. The achieved performance of each controller is quantified by means of typical industrial indexes. © 2017

关键词： Hybrid control Reset adaptation Robust control Time delay systems

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Simulation of a master-slave tele-operated system for people with muscular atrophy in upper limbs 2

Simulation of a master-slave tele-operated system for people...

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2nd Workshop on Regional Consortium for Foundations, Research and 5th Spread of Emerging Technologies in Computing Sciences, RCCSS-PIDTEC2 2017

作者： Luna, Francesco García Bull, Karla Gómez Mechatronics Engineering Program Industrial and Manufacturing Department Ciudad Juárez Autonomous University Campus CU Ciudad Juárez CHI Mexico Industrial Engineering Program Industrial and Manufacturing Department Ciudad Juárez Autonomous University Campus CU Ciudad Juárez CHI Mexico

In the present paper it was developed and programmed a simple 6 DoF tele-operated slave system that can track in real-time a master system. The arm's length parameters were calculated using a database of 196 male and female students from 18 to 22 years old. A classic control scheme were used in the slave system for the position tracking. The master system movement modifies the end effector's Euclidean position of the slave system. Experimental results of the system are provided including the desired trajectory and the robot behavior, showing the trajectory error.

关键词： Manipulators

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Comparisons of controller performance for small-scale vertical axis wind turbines

Comparisons of controller performance for small-scale vertic...

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American Control Conference

作者： Aykut O Onol Ahmet Onat Serhat Yesilyurt Computer Engineering Department in Northeastern University United States of America Mechatronics Program in the Faculty of Engineering and Natural Sciences in Sabanci University Turkey Mechatronics Program in Faculty of Engineering and Natural Sciences in Sabanci University Turkey

ISBN: (纸本)9781509045839

Small-scale vertical axis wind turbines (VAWTs) are attractive for portable power generation. Controller performance is very important in rapidly varying gusty winds commonly observed in urban and rural areas. In this paper, a hill-climb searching (HSC) maximum power point tracking (MPPT), an energy-maximizing model predictive control (MPC) and a simple nonlinear control (SNC) as an MPC surrogate are presented. The control algorithms are tested through a software-only electromechanical model and with hardware-in-the-loop test-bed that includes electromechanical and power electronics components. Effects of power coefficient oscillations on dynamic performance are investigated. Results show that proposed controllers perform satisfactorily for wind gust and real wind profiles;the SNC serves as a viable surrogate for the MPC;the model-free, wind speed sensorless MPPT is favorable for small-scale applications;and power coefficient oscillations do not have a significant impact on the dynamic performance of the controllers.

关键词： Comparisons Controller Performance

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Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels 10

Design, implementation and control of dual axis self balanci...

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10th International Conference on Electrical and Electronics engineering, ELECO 2017

作者： Türkmen, Abdullah Korkut, M. Yusuf Erdem, Mustafa Gönül, Ömer Sezer, Volkan Mechatronics Graduate Program Istanbul Technical University Istanbul Turkey Energy Institute Istanbul Technical University Istanbul Turkey Dept. of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9786050107371

Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled. © 2017 EMO (Turkish Chamber of Electrical Enginners).

关键词： Inverted pendulum

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Non-newtonian Rabinowitsch Fluid Effects on the Lubrication Performances of Sine Film Thrust Bearings

Non-newtonian Rabinowitsch Fluid Effects on the Lubrication ...

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2017第二届电气工程，机械工程与自动化国际会议

作者： Jaw-Ren Lin Hsiu-Lu Chiang Yu-Kang Chiu Department of Mechanical Engineering Nanya Institute of Technology Master Program of Mechanical and Mechatronics Engineering Nanya Institute of Technology

Thrust bearings are generally developed to sustain axial load generated from rotating machinery. Predicting lubrication performances of thrust bearings plays an important role in engineering applications. Taking into account the effects of non-Newtonian rheology, the lubrication performances for a sine film thrust bearing are investigated in the present paper. By employing a small perturbation technique to the nonlinear non-Newtonian Reynolds equation, analytical solutions of the film pressure, the load-carrying capacity, the friction parameter and the required volume flow rate are derived. Comparing with the case lubricated with a Newtonian lubricant, the non-Newtonian Rabinowitsch fluids(including the pseudo-plastic fluids and the dilatant fluids) show significant influences on the lubrication performances of a sine film thrust bearing, especially for a larger value of the non-Newtonian parameter.

关键词： Non-newtonian Rheology Sine Film Thrust Bearings Load Performances

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Localization of an autonomous personnel carrying vehicle in indoor environments 17

Localization of an autonomous personnel carrying vehicle in ...

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2017 International Conference on mechatronics Systems and Control engineering, ICMSCE 2017

作者： Altuǧ, Erdinç Gelbal, Şükrü Yaren Keçeci, Emin Faruk Gültekin, Mehmet Kabil Faculty of Mechanical Engineering Istanbul Technical University Gümüşsuyu Istanbul Turkey Mechatronics Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey Department of Mechanical Engineering Abdullah Gül University Kayseri Turkey System Dynamics and Control Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey

ISBN: (纸本)9781450352079

There is an emerging need of intelligent vehicles on indoor environments such as university campuses, airports or shopping malls. These intelligent vehicles can help elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can be used indoor as well as outdoor areas for this purpose. Finding the exact location for indoor robots is not an easy task, since Global Positioning System (GPS) is not available indoors. In this work onboard sensors such as motor encoder and steering-wheel encoder were used to obtain localization estimates. The errors are determined to be low even when the vehicle travels long distances. © 2017 ACM.

关键词： Vehicles

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Track Modelling and Control of a Railway Vehicle

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IFAC-PapersOnLine 2016年第21期49卷 274-281页

作者： Leblebici, Asli Soyiç Türkay, Semiha Mechatronics Program Eskisehir Osmangazi University Eskisehir Turkey Electrical Engineering Department Anadolu University Eskisehir Turkey

In this paper, a railway vehicle AM96 train developed by Bombardier, Belgium is represented as a half-car model. First, random road defect inputs are modelled as track class 6 from Federal Railroad Administration (FRA) reports and vehicle vibration characteristics are studied for ten-degree-of freedom vehicle model. Next, lumped track model in terms of ballast and soil parameters is added to the structure and the vehicle response to random vibrations are studied. An active suspension problem is formulated and solved by using Linear-Quadratic Gaussian methodology. The improvement in root-mean-square (rms) vertical and pitch accelerations, the suspension travels and the tire deflections are obtained by active suspension design. © 2016

关键词： Suspensions (components) Automobile suspensions Degrees of freedom (mechanics) Locomotives Lumped parameter networks Magnetic levitation vehicles Model automobiles Railroad plant and structures Railroad transportation Railroads Vibration analysis Active suspension AM96 Bombardier High speed railways LQG control Lumped parameter modeling

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MG-MMG Care System for Muscle Rehabilitation Therapies in Upper Limb using Video Game

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Research Journal of Applied Sciences, engineering and Technology 2017年第7期14卷 271-275页

作者： C.A. Perdomo O.J. Perdomo O.F. Avilés Department of Electronic Engineering Distrital Francisco Jos� de Caldas University Department of Systems Engineering Distrital Francisco Jos� de Caldas University Mechatronics Engineering Program Militar Nueva Granada University Colombia

This study presents the design and development of a hardware/software to assist an arm rehabilitation therapy. Electromyography (EMG) and Mechanomyography (MMG) were used to calibrate the muscle activity according to the movements required by the therapist. The system has a video game with different difficulty levels, that generates the patients progress report in realtime to the medical personal with possibility to changing some parameters during the therapy.

关键词： EMG MMG muscle activity rehabilitation therapy

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Design of conveyor utilization monitoring system: a case study of powder coating line in sheet metal fabrication

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IOP Conference Series: Materials Science and engineering 2018年第1期319卷

作者： Hoedi Prasetyo Yohanes Sugiarto Cucuk Nur Rosyidi Master Study Program of Industrial Engineering Faculty of Engineering Universitas Sebelas Maret Surakarta 57126 Indonesia and Mechatronics Department Politeknik ATMI Surakarta Surakarta 57145 Indonesia Mechatronics Department Politeknik ATMI Surakarta Surakarta 57145 Indonesia Master Study Program of Industrial Engineering Faculty of Engineering Universitas Sebelas Maret Surakarta 57126 Indonesia

Conveyor is a very useful equipment to replace manpower in transporting the goods. It highly influences the productivity, production capacity utilization and eventually the production cost. This paper proposes a system to monitor the utilization of conveyor at a low cost through a case study at powder coating process line in a sheet metal fabrication. Preliminary observation was conducted to identify the problems. The monitoring system was then built and executed. The system consists of two sub systems. First is sub system for collecting and transmitting the required data and the second is sub system for displaying the data. The system utilizes sensors, wireless data transfer and windows-based application. The test results showed that the whole system works properly. By this system, the productivity and status of the conveyor can be monitored in real time. This research enriches the development of conveyor monitoring system especially for implementation in small and medium enterprises.

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Rules all PIs should follow

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Science (New York, N.Y.) 2022年第6588期376卷 24-26页

作者： Jennifer S Chen Chih Ying Huang Shantanu Lanke Michael Sanjay Fernandopulle Yongsheng Ji Yuan Zhi Sara Granado Rodríguez Andrea Y Frommel Martin Lukačišin Yida Zhang Christina N Zdenek Xiao-Yu Wu Senthilkumar Seenuvasaragavan Yan Zhuang Cathrine Bergh Jaime Coulbois Salam Salloum-Asfar Bo Cao Katherine Davis Fernanda Oda Nikos Konstantinides Liping Zhang Divyansh Agarwal Joseph Nicholas Rainaldi Jan Kadlec Jelle Vekeman Vishal Anirudh Kanigicherla Kathryn Oi Kyle J Isaacson Rakesh Ganji Emma Dawson-Glass Yale School of Medicine New Haven CT 06510 USA. Department of Physics National Cheng Kung University Tainan 70101 Taiwan (Republic of China). Maharashtra 422101 India. Medical Scientist Training Program Northwestern University Feinberg School of Medicine Chicago IL 60611 USA. Division of Life Sciences and Medicine University of Science and Technology of China Hefei Anhui 230026 China. School of Economics Guizhou University Guiyang Guizhou 550025 China. Department of Biology Universidad Autónoma de Madrid Madrid Madrid 28049 Spain. Faculty of Land and Food Systems University of British Columbia Vancouver BC V6T 1Z4 Canada. Faculty of Medicine Technion Haifa 3525433 Israel. Department of Biomedical Informatics Harvard University Brookline MA 02445 USA. School of Biological Sciences The University of Queensland St Lucia QLD 4072 Australia. Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON N2L 3G1 Canada. Mumbai 400076 India. Peking-Tsinghua Center for Life Sciences Peking University Beijing 100871 China. KTH Royal Institute of Technology 11428 Stockholm Sweden. Departamento de Ciencia Política y Relaciones Internacionales Universidad Autónoma de Madrid Ciudad Universitaria de Cantoblanco Madrid Spain. Qatar Biomedical Research Institute Hamad Bin Khalifa University Qatar Foundation Doha Qatar. Core Research Laboratory The Second Affiliated Hospital School of Medicine Xi'an Jiaotong University Xi'an Shaanxi 710004 China. Imperial College London London UK. Department of Applied Behavioral Science University of Kansas Lawrence KS 66045 USA. Université Paris Cité Centre National de la Recherche Scientifique Institut Jacques Monod F-75013 Paris France. Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 China. Harvard Medical School Massachusetts General Hospital Boston MA 02114 USA. Department of Biomedical Science University of Calif

We asked young scientists to write a rule that all principal investigators (PIs) should be required to follow to improve the experience of young scientists in their lab. Read a selection of their suggestions below. Fo...

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