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Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing Robotics and automation Chirp Intelligent robots control systems Laboratories

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A model based compensator for rate-dependent hysteresis in piezoelectric actuators

A model based compensator for rate-dependent hysteresis in p...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Xinliang Zhang Yonghong Tan Ruili Dong Yangqiu Xie School of Electrical Engineering and Automation Henan Polytechnic University Henan China College of Mechanical and Electronic Engineering Shanghai Normal University Shanghai China Center of Precision Mechatronics and Control Engineering Shanghai Normal University Shanghai China School of Electronic Engineering Xidian University Xi'an China

A feedforward compensator for rate-dependent hysteresis in piezoelectric actuators (PEA) is proposed. In this method, a model with parallel structure is proposed to approximate both hysteretic behavior and rate-dependent feature of the PEA. In the model, the rate-independent hysteretic performance is approximated by a neural network based on the so called expanded input space method, while the rate-dependent behavior of the hysteresis is approximated by a network with the sum of weighted first-order difference operators. To transform the multi-valued mapping of the hysteresis into a one-to-one mapping, the expanded input space with a hysteretic operator is constructed. Then, the corresponding neural inverse sub-model is obtained. After that, a compensator is constructed to compensate for the effect of the rate-dependent hysteresis in the PEA. Finally, the experimental results of applying the proposed method to a piezoelectric actuator are presented.

关键词： Hysteresis Artificial neural networks Piezoelectric actuators Adaptation model Feedforward neural networks Training Trajectory

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Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode

Modular fuzzy control with input shaping technique for trans...

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IEEE Symposium on Industrial Electronics & Applications (ISIEA)

作者： Salmiah Ahmad M. O. Tokhi N. H. Siddique Department of Mechatronics International Islamic University Malaysia Kuala Lumpur Malaysia Automatic Control & Systems Engineering University of Sheffield Sheffield UK School of Computing & Intelligent System University of Ulster UK

This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to four-wheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in four-wheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy logic control configuration is designed and implemented on the wheelchair model. To improve the system performance, an input shaping technique is augmented inside the feedback loop. It is shown that the shaped signals have improved the system performance with promising results.

关键词： Wheelchairs Niobium Wheels Mathematical model Torque Fuzzy control Conferences

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Haptic primitives guidance based on the Kautham path planner

Haptic primitives guidance based on the Kautham path planner

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Carlos Vázquez Jan Rosell Luciano Chirinos Omar A. Domínguez Mechatronics Automotive Research Center (CIMA) ITESM Toluca Campus Mexico Institute of Industrial and Control Engineering - Technical University of Catalonia Barcelona Spain ITESM Mexico ITESM Hidalgo Campus Mexico

Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and haptic guidance. The main contribution of this paper is the development of a reliable method to haptically guide the user within a virtual robotic task, by means of: on-line, collision free, path planning generated trajectories. To accomplish haptic guidance three stages must be correctly done: the first one where the user selects the desired objects and obstacles within a virtual environment to set up the task, the second one, where a path planner looks for the task trajectory and, the third one, where the user is constrained to on-line generated local channels and solution paths that offer a reliable path guidance system to achieve the task movements.

关键词： Haptic interfaces Force Robots Harmonic analysis Trajectory Joining processes

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Coordinated Motion Planning of Multiple Mobile Robots in Formation

Coordinated Motion Planning of Multiple Mobile Robots in For...

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The 8th World Congress on Intelligent control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Shuang Liu Dong Sun Changan Zhu Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong and the Unive Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Ho Department of Precision Machinery and Instrumentations University of Science and Technology of China

This paper presents an approach to coordinating a group of mobile robots that move along the designed paths. Subject to the constraints of velocity/acceleration bounds and collision avoidance, the robots are required to maintain the formation relationship while moving. The coordination is realized by posing the coordination problem as a velocity optimization problem in motion planning and then properly planning robots’ velocities along the paths. The linear interactive and general optimizer (lingo) is utilized to achieve the velocity optimization goal. Simulations are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach in coordinated motion planning with the formation requirement.

关键词： Robot kinematics Collision avoidance Planning Optimization Mobile robots Acceleration

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Sensitivity analysis of a two-dimensional microbiological risk assessment

Sensitivity analysis of a two-dimensional microbiological ri...

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作者： Busschaert, Pieter Geeraerd, Annemie H. Uyttendaele, Mieke Van Impe, Jan F. CPMF2 - Flemish Cluster Predictive Microbiology in Foods Belgium Department of Chemical Engineering BioTeC - Chemical and Biochemical Process Technology and Control Katholieke Universiteit Leuven Leuven Belgium MeBioS - Division of Mechatronics Biostatistics and Sensors Katholieke Universiteit Leuven Leuven Belgium Department of Food Safety and Food Quality Laboratory of Food Microbiology and Food Preservation Ghent University Ghent Belgium

ISBN: (纸本)9783902661708

Quantitative microbiological risk assessment aims at estimating the risk of illness that is related to a certain pathogen and food type combination through the use of simulations. A recent trend can be seen in which uncertainty about the risk estimate is characterized separately from variability, generally implemented by means of a two-dimensional Monte Carlo simulation. This research aims at identifying the key parameters that contribute to the obtained risk while keeping the effect of uncertainty and variability separated using a methodology based on analysis of variance. The risk related to Listeria monocytogenes in meat preparations is used as a case study. It is found that uncertainty about the correct dose-response model is determining the output most. Also the variability distribution of storage duration and storage temperature have a major effect on the final risk. Furthermore, uncertainty about the location of the storage duration distribution is an important factor determining risk. These findings illustrate how the methodology proposed in this research enables identification of the relative importance of all model parameters such as temperature, storage duration, food contamination, etc., and also comparison of the impact of variability versus uncertainty about model parameters on the final risk estimate. © 2010 IFAC.

关键词： Sensitivity analysis

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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7th Annual International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward controller (FFC-PFC) are presented.

关键词： Friction

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Friction Computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Self-Tuning control Design Strategy for an Electronic Throttle with Experimental Robustness Analysis

Self-Tuning Control Design Strategy for an Electronic Thrott...

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American control Conference

作者： Benedikt Alt Jan Peter Blath Ferdinand Svaricek Matthias Schultalbers Department of Aeronautical Engineering Chair of Control Engineering at the University of the German Armed Forces 85577 Neubiberg Germany University of Applied Sciences and Arts 30459 Hannover Germany Department of Powertrain Mechatronics Development Gasoline Engines at IAV Gmbh 38518 Gifhorn Germany

ISBN: (纸本)9781424474264

In this paper a self-tuning control design strategy for the electronic throttle is introduced. The proposed control design consists of a modified PID controller and an additional nonlinear controller that helps to compensate the nonlinearities of the plant. The control parameters are calculated automatically using an appropriate process identification algorithm. The efficiency of the proposed control design strategy is shown by experimental results. In a next step the performance loss due to aging effects is analyzed. Finally, the robustness properties with regards to environmental influences are investigated.

关键词： control design Robust control Aging Automatic control Internal combustion engines Valves Three-term control control nonlinearities Robustness Torque

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Comparison of neuro-fuzzy approaches with artificial neural networks for the detection of Ischemia in ECG signals

Comparison of neuro-fuzzy approaches with artificial neural ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Hoda Tonekabonipour Ali Emam Mohamad Teshnelab Mehdi Aliyari Shoorehdeli Mechatronics Department Qazvin Islamic Azad University Qazvin Iran Electrical Engineering K.N. Toosi University of Technology Tehran Iran Electrical Engineering Advanced Process Automation and Control (APAC) K.N. Toosi University of Technology Tehran Iran

This paper compares different classification methods of ECG signals including their accuracies. First of all , Preprocessing for ECG signal is necessary in order to detect QRS complex. Then, with the intention of extract influential features in Ischemia disease, baseline wandering and noise suppression is done. Following to above mentioned target, two neuro-fuzzy classification algorithms incorporated with two artificial neural networks classifiers selected. They put under test to investigate their ability to recognize Ischemic Heart Disease (IHD) from ECG signals. Adaptive Neuro Fuzzy Inference System (ANFIS) and Locally Linear Model Tree (LOLIMOT), are two neuro-fuzzy networks used in the test. They have good capability of learning. Also Multi layer Perceptron (MLP) and Probabilistic Neural Networks (PNN) used as well in test. These are four structures totally used in this paper. The ECG sampled signals are taken from MIT-BIH database. They are used to train neural networks enabling them to classify Ischemia. All neuro-structures have been tested by using experimental ECG records of individuals. The results suggest that neuro-fuzzy classifiers perform better than the other types of classifiers.

关键词： Electrocardiography

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