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Advanced Modelling and control using a Laboratory Plant with Hybrid Processes

IFAC Proceedings Volumes 2008年第2期41卷 14636-14641页

作者： J. Hlava B. Šulc Technical University Liberec Faculty of Mechatronics 461 17 Liberec Hálkova 4 Czech Republic Institute of Instrumentation and Control Engineering 166 07 Praha 6 Technická 4 Czech Republic

Advanced control theory is usually associated with the use of abstract mathematical tools. It requires much time and a good theoretical background to understand and explain these tools. In ordinary university courses or in continuing professional education organized by employers, it is not easy to meet these requirements. Widely used system simulation and virtual experiments can be a good aid to increase clarity, but they cannot fully demonstrate the problems that a control designer or user may encounter in practical implementation. A laboratory scale plant has been designed for this purpose in the framework of research activities focused on hybrid systems. It exhibits most of the hybrid phenomena typical of process control applications. The plant is also equipped with industrial control hardware, so that educational (as well as research) experiments can be carried out implementing advanced hybrid control algorithms in conditions close to real world applications. The instrumentation provides a remote web access facility. A mathematical and technical description of the pilot plant is included here, and this will enable readers to consider whether a similar device could be useful for their own educational and/or research purposes. Some examples of experimental results are also given.

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Vibration Analysis of Cavitation in Kaplan Water Turbines

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IFAC Proceedings Volumes 2008年第2期41卷 13420-13425页

作者： Sulo Lahdelma Esko K. Juuso Mechatronics and Machine Diagnostics Laboratory Department of Mechanical Engineering P.O. Box 4200 FI-90014 University of Oulu Finland Control Engineering Laboratory Department of Process and Environmental Engineering P.O. Box 4300 FI-90014 University of Oulu Finland

Cavitation is harmful to water turbines and may cause operation delays of several weeks. The real-time detection of cavitation risk is increasingly important, and even narrow cavitation-free power ranges can be utilised in load optimisation. Higher derivative signals x (3) and x (4) calculated from acceleration signals are very suitable for detecting impacts. This paper introduces a generalised moment which is defined by three parameters: the sensitivity of the moment improves when the order p of the moment increases, especially when short sample time τ is used. In this study, sufficently good results were obtained with moments where the order of derivation α = 4, p ≈ 4, and τ = 3 s . These moments detect the normal operating conditions, which are free of cavitation, and also provide a clear indication for cavitation risk at an early stage. Sufficiently long signals are required for producing reliable maximum moments and data for analysing short-term cavitation. On-line cavitation monitoring is feasible with this approach since the analysis does not need high frequency ranges and the sample times are very short. The moment can be analysed first, and it is then possible to obtain the cavitation index if the moment value exceeds the threshold. Data compression is very efficient as the detailed analysis only requires the feature values of the appropriate samples.

关键词： cavitation vibration analysis higher order derivatives feature extraction water turbine

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The Ground-based Validation Technology of Teleoperation for Space Robot

The Ground-based Validation Technology of Teleoperation for ...

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IEEE Conference on Robotics, Automation and mechatronics

作者： Xueqian Wang Bin Liang Cheng Li Wenfu Xu Division of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Guangdong China The Institute of Space Intelligent System Harbin Institute of Technology Harbin Heilongjiang China

This paper addresses a ground-based validation subsystem which verifies the functions and performance of the teleoperation system for space robot. The subsystem is comprised of three modules: the physics verification module, the onboard verification module and the communication simulator module. In the physics verification module, a hybrid experiment concept which combines the mathematical model with the physical model is used. The key issues of the physics verification module are dynamic emulation and kinematic equivalence, in which the behaviors of the space robotic system are calculated by its dynamic equations. The motion of its end-effector and the space target is realized by two industrial robots. The concept of hardware-in-the-loop simulation is used in the onboard verification module to verify the onboard computer's processing ability. The communication simulator can provide fidelity communication conditions which consist of time delays and communication bandwidth. Lastly, a teleoperation system is set up, and many experiments have been done on the system. The experiments verified the effectiveness of the work in the paper.

关键词： Space technology Orbital robotics Physics Mathematical model Service robots Computational modeling Emulation Kinematics Equations Aerospace industry

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Dual Robust controller Design for High Power AC Servo Drive

Dual Robust Controller Design for High Power AC Servo Drive

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LAB-RS, ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems

作者： Stone Cheng Yuan-Yong Huang Hsin-Hung Chou Department of Mechanical Engineering National Chiao Tung University Hsinchu Taiwan Mechatronics Control Department Intelligent Machinery Technology Division MSL ITRI Hsinchu Taiwan

ISBN: (纸本)9780769532721

High power AC motors have a highly interacting multivariable control structure, and it is difficult to design high dynamic performance AC drive with traditional PID-like controller for high power AC servo motor. This paper presents analysis, design and simulation of velocity loop dual robust controller for 11 kw permanent magnetic synchronous motor (PMSM) in the AC servo system. By combining PDFF-MA and H infin control algorithms with its own capability of achieving good performance criteria such as dynamic reference tracking and load torque disturbance rejection, the PDFF-MA controller is designed and analyzed in the forward loop to provide low frequency stiffness and overcome low-frequency disturbances like friction. To compensate the system response, moving average (MA) error filter is added. While in the feedback loop, H infin controller is designed to meet system robust stability with the existence of external disturbance and model perturbations. The proposed PDFF-MA and H infin controllers are designed based on the transfer function of the poly-phase synchronous machine in the synchronous reference frame at field orientation control (FOC). The parameter variations, load changes, and set-point variations of synchronous machine are taking into consideration to study the dynamic performance.

关键词： Servomotors Pd control Robustness Torque Permanent magnet motors AC motors Adaptive control

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A Method for Spherical Localization Using Modified Hough Transform

A Method for Spherical Localization Using Modified Hough Tra...

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International Symposium on Intelligent Information Technology Application, IITA

作者： He Guang-lin Huang Ke-wei Yuan Ben-sheng Department of Mechatronics Engineering School of Aerospace and Science Technology Beijing Institute of Technology Beijing China Department of Measurement and Control Technologies School of Information Engineering University of Science and Technology Beijing Beijing China

Two image sensors simulate directly the way of disposing images with the humanpsilas two eyes, so it has important value to apply to many domains, such as object identify, UAV detection, robot navigation, and so on. This paper focus on the object localization and distance detection based on two image sensors. It concentrates on how to apply two CCD image sensors to object localization of a sphere in complex environments. A space model of the two image sensors was set up, then an experiment platform was built in order to prove the correctness and feasibility of that localization algorithm, and the relationship between the coordinate localization accuracy and the sensor structural parameters was analyzed.

关键词： Image sensors Object detection Eyes Unmanned aerial vehicles Robot sensing systems Robot kinematics Orbital robotics Navigation Charge-coupled image sensors Structural engineering

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A novel design of flexible foot system for humanoid robot

A novel design of flexible foot system for humanoid robot

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2008 IEEE International Conference on Robotics, Automation and mechatronics, RAM 2008

作者： Yang, Hongqiao Shuai, Mei Zhen, Q.I.U. Hui, W.E.I. Zheng, Qi Information Center Second Affiliated Hospital of PLA General Hospital Beijing P. R China Department of Mechatronics Engineering Beihang University Beijing P. R China Department of Biomedical Engineering University of California Davis Davis CA United States Department of Measuring and Control Technology and Instrument Beihang University Beijing P. R China School of Automation Science and Electrical Engineering Beihang University Beijing P. R China

ISBN: (纸本)9781424416769

The Large-scale uneven ground is mostly unsmooth and in the irregular state in which the irregularity is usually unknown (such as footway, carriageway, unexplored desert, mountainous area, surface of the Mars). In order to walk steadily and rapidly on such ground, a chief problem to overcome is that the humanoid robot's foot is not matching with the unknown model of the ground. Therefore, the humanoid robot's foot should have the flexibility mimic the human's foot, and can adapt to and steadily interacted with any unsmooth ground. Also interferences and disjoints between soles and irregular unsmooth ground should be avoided. Aiming at solving the key problem for humanoid robot to steadily and rapidly walk on the large-scale and three- dimension uneven ground, we've set up a new multi-degree-of-freedom flexible foot mechanism which can make the humanoid robot's walking gesture and gait automatically adapt to the terrain, and then carry out the research of the globally stable control of the gait. The flexibility can obviously improve the humanoid robot's walking stability and speediness on the large-scale uneven ground. © 2008 IEEE.

关键词： Anthropomorphic robots

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Walking Pattern Design and Feedback control for Humanoid Robot

Walking Pattern Design and Feedback Control for Humanoid Rob...

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7th World Congress on Intelligent control and Automation (WCICA 2008), vol.17

作者： Xiangyu Chen Zexiang Li Division of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate School Shenzhen University Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Kowloon Hong Kong China

This paper proposes a smooth cooperated walking pattern design and feedback control based on tilt senor for biped humanoid robot. In this research, the smoothness and stability problem is the key work of the motion planning. We make the robot walk stably and naturally like a human using static Zero Moment Point (ZMP) theory and the inclination feedback control. Its basic idea is as follows: firstly, through the geometry and static ZMP analysis, we get separate smooth rotation trajectories of all joints of robot. Then a smooth cooperation action of all joints of robot will be calculated by interpolate breakpoints which are selected in each rotation trajectory. Lastly, using tilt feedback control, we can get a smooth and stable walking of humanoid robot. To make robot walk corporately, we use three methods of interpolation to get all trajectories of 18 joints. The design of walking contains single-support phase planning and double-support phase planning. The effectiveness of our proposed method was confirmed by Matlab simulation and walk experiments of an actual 18 DOF humanoid robot.

关键词： Biped Humanoid Robot Walking Pattern Design ZMP Feedback control

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Tracking controller design by relay method

Tracking controller design by relay method

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World Congress on Intelligent control and Automation (WCICA)

作者： Dongjun Zhang Jiangzhao Yang Zexiang Li Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Kowloon Hong Kong China Division of Control and Mechatronics Harbin Institute of Technology Shenzhen Graduate School Shenzhen China

For high speed high accuracy 3D machining, the controller design is very important. The object of the control system is to minimize the contour error which is related to the tracking error of each individual servo axis. From the analysis of the tracking error, both the phase delay and the gain difference generate tracking error. In this paper we propose a new relay auto-tuning method for the tracking control. First the critical points on the Nyquist graph of the servo dynamic is identified using the relay feedback method, then the PID controller and the feedforward controller is designed based on the system performance criteria. The simulation and the experimental results show the performance of the control system.

关键词： control systems Relays Delay Servomotors Gain Sensitivity Transfer functions

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Quotient kinematics machines: Concept, analysis and synthesis

Quotient kinematics machines: Concept, analysis and synthesi...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yuanqing Wu Zexiang Li Han Ding Yunjiang Lou Mechanical Engineering School Shanghai Jiaotong University Shanghai China Department of Electrical Engineering and Computer Science University of Science and Technology of Hong Kong Kowloon Hong Kong China Shenzhen Graduate School Control and Mechatronics Engineering Harbin Institute of Technology China

ISBN: (纸本)9781424420575

In mechanism and machine design, the notion of serial kinematics machine (SKM), parallel kinematics machine (PKM) and hybrid kinematics machine (HKM) is well understood. In this paper, we introduce a fourth type of kinematics machine, known as quotient kinematics machine(QKM). A QKM generating a subgroup motion G consists of two mechanisms (or motion modules) acting in unison, one synthesizing a subgroup H of G, and another that of a complement of G/H. Apparently, the two motion modules of a QKM have simpler kinematic structures than that of a SKM, PKM or HKM with the same motion type G, and thus is expected to have performance advantages in terms of stiffness (speed and accuracy), modularity and etc, over its SKM/PKM/HKM counterparts. The formulation of the QKM concept and its analysis and synthesis are considered in this paper.

关键词： Kinematics Joints Generators Robots Manifolds Geometry Educational institutions

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Electric transfer function model of switched reluctance motors and the model-based current control design

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IEEJ Transactions on Industry Applications 2008年第8期128卷 8+1029-1036页

作者： Ishikawa, Hiroki Komaki, Ryoko Naitoh, Haruo Yamaba, Akira Katoh, Hiroki Gifu University 1-1 Yanagido Gifu 501-1193 Japan JTEKT Corporation Controller Development Sect. Mechatronics Control Design Dept. 1-7 Kita-jizouyama Noda-cho Kariya Aichi 448-0803 Japan Toyota Auto Body Co. Ltd. Body Planning Dept. No. 1 Production Engineering Div. No 2 1-7 Kita-jizouyama Noda-cho Kariya Aichi 448-8666 Japan

This paper presents a current control design for switched reluctance motors (SRMs). The electric transfer characteristic of the motors is studied first. Their transfer function is brought out to be represented by a pure resistive component, which is not constant but varies depending on the motor current and speed. The current control design for SRMs follows the classical design technique used for dc machines, where the zero of PI controller cancels the pole of Ls+R. Because the transfer function of SRMs does not have any poles, an I controller is suitable for them. The integral gain should be adjusted in order to compensate the non-linearity, that is, the variation in the equivalent resistor of the SRMs' transfer function. The values of the integral gain are tuned and tabulated for the motor speed and current. Simulation and experiment demonstrate that the current and speed of the SRMs presents good responses without dependence on the motor speed and current. © 2008 The Institute of Electrical Engineers of Japan.

关键词： Electric current control

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