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IEEE Conference on control Technology and Applications (CCTA)

作者： Remko Baur Qi Zhao Jan Peter Blath Franz Kallage Matthias Schultalbers Christian Bohn Gasoline Engines Division IAV GmbH Gifhorn Germany Institute of Electrical Information Technology Clausthal University of Technology Clausthal-Zellerfeld Germany Department of Control Engineering and Mechatronics Hanover University of Applied Sciences and Arts Hanover Germany

ISBN: (纸本)9781479974108

The online estimation of fuel property parameters (density and bulk modulus) for use in automotive engine control is considered. The estimation is carried out through state augmentation (including the parameters in the state vector) and use of an Unscented Kalman Filter (UKF) that is based on a physical model of the common rail fuel injection system. As it is known that state augmentation usually leads to biased estimates and strongly depends on the filter tuning parameters, the method is first tested with data from a simulation model. Through this, it was found that it is possible to estimate the parameters with negligible bias and that the method is generally suitable. The method is then tested on experimental data from a fuel injection system test rig that was specifically constructed for this purpose. Several modifications of the physical model are considered to improve the accuracy of the estimation.

关键词： Fuels Estimation Rails Valves Mathematical model Data models Engines

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An Identification Based Optimization of Fractional-order Iterative Learning control

An Identification Based Optimization of Fractional-order Ite...

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第26届中国控制与决策会议(2014 CCDC)

作者： Yan Li Yang Zhao YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan 250061 Shandong PR China School of Engineering University of California Merced 5200 North Lake Road Merced CA 95343 USA Department of Mechatronics Gwangju Institute of Science and Technology (GIST) 261 Cheomdan-gwagiro

In this paper, a practical identification strategy is applied to the optimal design of fractional-order iterative learning control (FOILC). The initialized fractional-order gray-box system with commensurate order or non-commensurate order is identified by using the fractional-order iterative learning identification and the least square or instrumental variable method. The optimal Dα-type FOILC is derived from the estimated system and by the assumption that the fractional-order system is repeatable. Many other discussions on FOILC can be included as special cases of this paper. A number of illustrated examples are shown to validate the concepts.

关键词： Initialized fractional calculus Identification Data driven Iterative learning control Optimization

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Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties

Design of an optimized sliding mode control for loaded doubl...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Manar Lashin Ahmed Ramadan Hossam S. Abbass Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Egypt Computers and Automatic Control Dept. Tanta University Tanta Egypt Electrical Engineering Dept. Assuit University Assuit Egypt

In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented by payload variations is considered. Genetic Algorithms are used to optimize the parameters of the sliding mode controller based on a performance index containing the sum of squared errors. The proposed control scheme can significantly suppress chattering effect and improves the performance of the system against uncertainties. Simulation results show the effectiveness of the approach and the robustness of the system against payload changes.

关键词： Mathematical model Payloads Uncertainty MATLAB Robustness Optimization Vectors

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Passive Upper Limb Assessment Device

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Procedia Computer Science 2014年 42卷 287-292页

作者： H.A. Rahman K.X. Khor L.S. Sim C.F. Yeong E.L.M. Su Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of disability. Reaching movement is the most important movement for many daily activities routine. Rehabilitation is to encourage and enhanced recovery process. Conventional rehabilitation is one-to-one intervention where labour intensive and lack of repeatability. In addition, the stroke assessments by physiotherapist are subjective and not independent. Thus, this paper will describe the design and development of non-motorized system for assessing the patients’ motor function. This system will be used in the future to find the correlation between conventional assessments scales such Fugl-Mayer Assessment (FMA), Chedoke-McMaster Stroke Assessment Scale (CMSA) and Motor Assessment Scale (MAS) and robotic assessment.

关键词： Stroke assessment scale robotic upper limb rehabilitation.

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A Novel Hybrid Rehabilitation Robot for Upper and Lower Limbs Rehabilitation Training

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Procedia Computer Science 2014年 42卷 293-300页

作者： K.X. Khor H.A. Rahman S.K. Fu L.S. Sim C.F. Yeong E.L.M. Su Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of severe disability worldwide, with up to 15 million of people suffer stroke every year. Survivors of stroke can recover their physical strength, provided they undergo proper rehabilitation. However, most of the rehabilitation centres provide only basic tools as they can rarely afford the expensive and advanced rehabilitation devices. Besides that, training with therapists is limited to few hours per week due to the large number of patients and the stroke patients are generally sent home once they are mobile, although their upper limbs functions are not recovered. Stroke patients need to continue training after stroke to avoid muscle contraction, but due to large number of patients, they are not able to train frequently in the hospital. Therefore, the goal of this project is to develop a low-cost, simple yet compact rehabilitation robot for stroke patient to train both upper and lower limbs reaching movement. Compact Rehabilitation Robot (CR2) is expected to help the stroke patients training reaching movement in an enhanced virtual reality environment with haptic feedback and to provide the stroke patients with a faster track towards recovery.

关键词： Rehabilitation robot stroke propotional control biomechanics

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Multi-tracking of second order discrete-time multi-agent networks with aperiodic communication

Multi-tracking of second order discrete-time multi-agent net...

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World Congress on Intelligent control and Automation (WCICA)

作者： Guang-Song Han Xian-He Zhang Zhi-Hong Guan Ding-Xue Zhang Rui-Quan Liao College of Automation Huazhong University of Science and Technology Wuhan P. R. China College of Mechatronics and Control Engineering Hubei Normal University Huangshi P. R. China Petroleum Engineering College Yangtze University Jingzhou P. R. China

A novel multi-tracking problem is introduced in multi-agent networks. The states of multiple agents in each subnetwork asymptotically converge to the same desired trajectory in the presence of information exchanges among subnetworks. A protocol with aperiodic sampled-data is proposed to achieve the multi-tracking of second order discrete-time multi-agent networks. The stability of dynamic systems is equivalent to the robust asymptotic stability of discrete-time systems with time-varying matrix uncertainties of polyhedral type. Necessary and sufficient conditions are established. Simulation results illustrate the effectiveness of the developed theory.

关键词： Eigenvalues and eigenfunctions Trajectory Protocols Equations Educational institutions Asymptotic stability Discrete-time systems

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Driving simulator development for human adaptive mechatronics application 11

Driving simulator development for human adaptive mechatronic...

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2013 11th IEEE Student Conference on Research and Development, SCOReD 2013

作者： Ishak, Mohamad Hafis Izran Bin Kasai, Mohammad Fitri Alif Bin Mohammad Hisham, Amirah Aisha Binti Badrul Idris, Nurul Hawani Binti Department of Mechatronics and Control Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Johor81310 Malaysia

ISBN: (纸本)9781479926565

This paper discusses the development of the designed driving simulator for human adaptive mechatronics (HAM) application. Driving simulator is used to clarify the effect of skill, track patterns, disturbances and experience in the human machine system (HMS). There are three graphical user interfaces (GUI) of programs in driving simulator, which is the 'MapMaker', the 'Car Driving Simulator' and the 'Error Computational program'. The MapMaker program is used to design the tracks and comparing the tracks with the paths. Then, the Car Driving Simulator is mainly used to collect the data from the human subjects. Lastly, the Error Computational program is used to calculate the error between the paths of each subject and the actual tracks. © 2013 IEEE.

关键词： Errors

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A stator voltage oriented doubly fed induction generator control method with a disturbance observer

A stator voltage oriented doubly fed induction generator con...

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IEEE EuroCon 2013

作者： Özsoy, E. Emre Goluboviç, Edin Şabanoviç, Asif Gökaşan, Metin Control Engineering Istanbul Technical University Maslak Istanbul Turkey Mechatronics Engineering Sabanct University Orhanli Istanbul Turkey

ISBN: (纸本)9781467322324

Due to their robustness and cost effectiveness, double fed induction generator (DFIG) based wind turbines are becoming very popular in wind energy conversion systems. Robustness of any implemented control structure can easily be lost due to nonlinearities, variations in the DFIG parameters and network voltage failures. In this study, machine parameter dependent terms will be estimated with the first order low pass filter disturbance observer, and stator voltage orientation will be applied in the experimental test bed. DSPACE DS1103 platform is used as a digital controller. © 2013 IEEE.

关键词： Low pass filters

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GEM Algorithm Based Global Identification of LPV system with Time-delay and Missing Output Data

GEM Algorithm Based Global Identification of LPV system with...

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第25届中国过程控制会议

作者： Xianqiang Yang Biao Huang Huijun Gao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Department of Chemical and Materials Engineering University of AlbertaEdmonton Alberta T6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University

This paper is concerned with the parameter estimation for linear parameter varying(LPV)systems with time-delay and completely randomly missing *** the LPV system model is often obtained in the input-output setting,the LPV input-output model is considered *** problems of time-delay and missing output data are commonly experienced in practical industrial *** LPV time-delay modeling problem with incomplete data set is formulated in the scheme of the generalized expectation-maximization(GEM)algorithm in which the time-delay and the model parameters are estimated *** numerical example is presented to demonstrate the effectiveness of the proposed method.

关键词： Linear parameter varying systems,Time-delay,Missing output data,Generalized expectation-maximization algorithm

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Multi-Objective control of Balancing Systems for Li-Ion Battery Packs: A Paradigm Shift?

Multi-Objective Control of Balancing Systems for Li-Ion Batt...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jorge V. Barreras Claudio Pinto Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo Department of Energy Technology Aalborg University Aalborg Denmark INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany

While a great number of battery balancing circuit topologies have been proposed, the unique control objective typically pursued is equalization of single cell charge. However, a balancing circuit could offer potentially more control features, especially with topologies able to provide bidirectional power flow control. This has not been explored yet in literature or at least not with enough thoroughness. Thus, in addition to charge balancing, up to three more objectives could be pursued simultaneously. Firstly, virtual resistance control, in order to provide dynamic compensation for variations in terminal cell voltage. Secondly, thermal management, to achieve a more uniform temperature distribution within a battery pack. Third, on-board diagnosis or fault detection tools, e.g. to perform characterization tests or to identify and even isolate problematic cells. In this paper, this issue is discussed and evaluated for a battery pack made up of 48 large format Li-Ion cells in series in a e-mobility application. Simulation results demonstrate the technical feasibility of this newly defined concept.

关键词： Batteries System-on-chip Integrated circuit modeling Mathematical model control systems Voltage control Fault detection

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