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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Sören Georg Horst Schulte Harald Aschemann Control Group Department of Engineering HTW Berlin Berlin Germany Head of Control Group HTW Berlin Berlin Germany Chair of Mechatronics Universität Rostock Rostock Germany

ISBN: (纸本)9781467315074

For a horizontal-axis wind turbine (HAWT), a dynamic nonlinear model with four degrees of freedom is derived and transformed into a Takagi-Sugeno (TS) model structure using the sector nonlinearity approach. Thereby, an exact transformation of the nonlinear model is obtained as a weighted combination of linear models. This structure allows for a convenient design of controller and observer structures. The maps of the rotor thrust and torque coefficients can be implemented in the model as look-up tables or, alternatively, as analytical nonlinear functions. Open-loop simulation results of the derived TS model for a reference model turbine are compared to those obtained with the aero-elastic code FAST. The small deviations obtained demonstrate the high model quality of the control-oriented TS model. In future work, the derived TS model shall be used as a basis for the design of fault detection and isolation (FDI) concepts.

关键词： Wind turbines Aerodynamics Rotors Mathematical model Poles and towers Generators Blades

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Development of fuzzy logic water bath temperature controller using MATLAB

Development of fuzzy logic water bath temperature controller...

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2012 IEEE International Conference on control System, Computing and engineering, ICCSCE 2012

作者： Hasim, Norhaslinda Aras, Mohd Shahrieel Mohd Rashid, Mohd Zamzuri Ab Kassim, Anuar Mohamed Abdullah, Shahrum Shah Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia

ISBN: (纸本)9781467331432

In this paper, the development of a water bath temperature system to control the liquid's temperature in the water bath will be presented. In order to develop the water bath temperature control system, MATLAB fuzzy logic toolbox will be utilized. The Fuzzy Logic controller (FLC) is designed to control water temperature based on the input acquired from the thermal transducer sensor. The inference engines that are used are;Max-min (Mamdani) method and centre of gravity technique for defuzzification. The 4 × 4 matrix rules for the controller will be used in this project. In addition, the USB NI-DAQ card will be used as xPC target to link the MATLAB software and real time application. The real time output temperature is validated based on the simulation's temperature which is initially set by user. It can be concluded the performance of real time study is in par with the simulation result. © 2012 IEEE.

关键词： MATLAB

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Applicability comparison of three algorithms for electromechanical mode identification

Applicability comparison of three algorithms for electromech...

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IEEE Power and Energy Society General Meeting

作者： Chao Wu Junbo Zhang the College of Mechatronics and Control Engineering Shenzhen University Shenzhen P.R. China the Department of Electrical Engineering Tsinghua University Beijing P.R. China

ISBN: (纸本)9781467327275

Prony method, the autoregressive moving average (ARMA) method and the stochastic subspace method are three typical signal processing approaches for identifying the electromechanical mode properties in power grids. Based on the review of their elementary principles, the applicability of the three algorithms to different kinds of signals is comparatively assessed from the perspective of near real-time oscillation characteristic estimation. Their performances are evaluated using synthetic ringdown data and ambient data obtained from a 36-node benchmark system. Moreover, the methods are employed to process ambient signals with different SNR levels in order to systematically analyze their application in practical power systems. Some general conclusions are drawn from the analysis for several simulation cases.

关键词： electromechanical dynamic modal estimation applicability Prony method ARMA method stochastic subspace method Power grids signals power systems ring-down autoregressive moving average Perspective quasi-realtime language PRONY METHOD algorithms

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An operational algorithm for satellite attitude determination from GPS carrier phase

An operational algorithm for satellite attitude determinatio...

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

作者： C. Tatiyaworanun S. Purivigraipong Department of Control and Instrumentation and Mechatronics Engineering Mahanakorn University of Technology Bangkok Thailand Centre for Electronic System Design and Signal Processing Department of Electronic Engineering Mahanakorn University of Technology Bangkok Thailand

This paper presents an operational approach for determining satellite attitude from carrier phase GPS (Global Positioning System) measurements. A conventional recursive least square (RLS) estimator was implemented without requiring spacecraft dynamics. The proposed approach can be applicable for general space missions, particularly for real-time operation onboard-spacecraft. The attitude angles and electrical path difference (line bias) between antenna chains caused an offset error in GPS observables, can be estimated. The implemented estimator was tested with a simulated data, and the flight data collected onboard a mini-satellite orbiting in low Earth orbit.

关键词： Global Positioning System Position measurement Space vehicles Vectors Satellites Extraterrestrial measurements Antenna measurements

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Closed-loop stability and performance optimization in LPV control based on a reduced parameter set

Closed-loop stability and performance optimization in LPV co...

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IEEE Conference on Decision and control

作者： C. Hoffmann S. M. Hashemi H. S. Abbas H. Werner Institute of Control Systems Hamburg University of Technology Hamburg Germany Mechatronics and Robotics Engineering Department Egypt-Japan University of Science and Technology Alexandria Egypt

ISBN: (纸本)9781467320658

A difficulty encountered in applying linear parameter-varying (LPV) control is the complexity of synthesis and implementation for large numbers of scheduling parameters. Often, heuristic solutions involve neglecting individual scheduling parameters, such that LPV controller synthesis methods become applicable. However, stability and performance guarantees are rendered void, if a controller design based on an approximate model is implemented on the original plant. In this paper, a posteriori conditions are proposed to assess closed-loop stability and performance and possibly recover guarantees. The controller - synthesized based on a reduced parameter set - is first transformed back to depend on the original parameters. Then analysis is performed with respect to the original plant model, which is considered to be accurate. Moreover, an iterative approach for optimizing controllers with few scheduling parameters is sketched. A two-degrees-of-freedom (2-DOF) robotic manipulator is considered as an illustrative example. Experimental results indicate a significant increase in performance.

关键词： Stability analysis Vectors Optimization Robots Linear matrix inequalities Scheduling Approximation methods

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Model based control of series elastic actuators

Model based control of series elastic actuators

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Markus Grün Roman Müller Ulrich Konigorski Department of Control Engineering and Mechatronics Technische Universität Darmstadt Darmstadt Germany Institute of Electromechanical Design Technische Universität Darmstadt Darmstadt Germany

This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators. The controller is based on a linear model of the actuator, which can be reduced to a PT 2 element if a disturbance compensator is included. This allows for a straightforward design of a state space controller and an intuitive choice of the controller parameters. An actuator design is presented and the required system parameters are identified. The performance of the control structure is proven by experiment.

关键词： Torque Actuators Gears Force Springs DC motors Sea measurements

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Online subspace identification methods for MIMO model

Online subspace identification methods for MIMO model

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IEEE Conference on control, Systems & Industrial Informatics (ICCSII)

作者： I. W. Jamaludin N. A. Wahab M. F. Rahmat S. Sahlan Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Malaysia Control and Instrumentation Department Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia Universiti Teknologi Malaysia Skudai Johor MY

Subspace model identification (SMI) has been a highly interest of research topic in recent years. Subspace methods such as Multivariable Output Error State Space (MOESP) and Numerical algorithms for Subspace State Space System Identification (N4SID) algorithms are well known and often implemented especially for multivariable identification due to the use of robust numerical tools such as the QR decomposition and singular value decomposition (SVD). SMI algorithms are attractive not only because of their numerical stability and simplicity, but also for the state space form that is very suitable in estimating, predicting, filtering and control design. Several simulation studies for MOESP and N4SID algorithms performed in online version are presented. This paper focuses on computation time, order selection and the stability from both methods when performed online.

关键词： Matrix decomposition Numerical models Fitting Integrated circuits MATLAB

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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controller Design for Simulation control of Intelligent Pneumatic Actuators (IPA) System

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Procedia engineering 2012年 41卷 593-599页

作者： Ahmad ‘Athif Mohd Faudzi Khairuddin bin Osman M.F. Rahmat Nu’man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Malaysia Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

Intelligent Pneumatic Actuators (IPA) is a system for application that requires better control and accuracy. The purpose of this paper is to present a controller design for simulation control of an IPA system using Proportional-Integrative (PI) controller and pole-placement feedback controller. Before the controller is designed, a model identification is used to obtain the plant using transfer function. The flow for the controller design starts with the theory, mathematical calculation, procedures and the implementation of the simulation control by using MATLAB software. Furthermore, simulation results are compared and analyzed to illustrate the performance of the proposed controllers.

关键词： Intelligent Pneumatic Actuator (IPA) System Identification (SI) PI controller Feedback controller

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DSP-based cross-coupled synchronous control for dual linear motors via intelligent complementary sliding mode control

DSP-based cross-coupled synchronous control for dual linear ...

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IEEE Colloquium on Humanities, Science and engineering (CHUSER)

作者： Po-Huan Chou Faa-Jeng Lin Chin-Sheng Chen Feng-Chi Lee Department of Mechatronics Control Industrial Technology Research Institute Hsinchu Taiwan Department of Electrical Engineering National Central University Chung Li Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan

A digital signal processor (DSP)-based cross-coupled intelligent complementary sliding mode control (ICSMC) system is proposed in this study for the synchronous control of a dual linear motors servo system. The dual linear motors servo system with two parallel permanent magnet linear synchronous motors (PMLSMs) is installed in a gantry position stage. The dynamic model of single-axis motion control system with a lumped uncertainty, which comprises parameter variations, external disturbances and nonlinear friction force, is introduced first. Then, to achieve an accurate trajectory tracking performance with robustness, a cross-coupled ICSMC is developed. In this approach, a Takagi-Sugeno-Kang type fuzzy neural network (TSKFNN) estimator with accurate approximation capability is implemented to estimate the lumped uncertainty. Moreover, since a cross-coupled technology is incorporated into the proposed intelligent control scheme for the gantry position stage, both the position tracking error and synchronous error of the dual linear motors will converge to zero simultaneously. Finally, some experimental results are illustrated to show the validity of the proposed control approach.

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