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第四届国际机械工程与力学会议

作者： Haonan YE Qiang CHEN Guolai YANG Department of Systems and Control Engineering Department of Systems and Control EngineeringNanjing University Department of Mechanical Design and Automation School of Mechanical EngineeringNanjing University of Science and Technology

Friction system is one of the most familiar objects in mechanical system which has nonlinear characteristics. For precise-position and low-speed control, control strategy often relies on friction parameter identification. Considering the limitation of cantilever itself, its friction parameter identification is far more difficult than general. During the research in this paper, real experiment environment and virtual simulation are combined to enhance the understanding of whole mechanical system which is called Augmented Reality Method （ARM）. But when ARM is applied to cognize the system motor process, it is found that traditional method which uses Coulomb Model （CM） is hard to satisfy precision requirement during the system-modeling stage. Because the object of study in this paper is a high-speed process, it is necessary to consider the impact of collision and vibration on cantilever. According to that, sine components are brought in to perfect CM which is called Augmented Coulomb Model （ACM） in order to get a more precise system friction model. After setting up ACM, Genetic Algorithm （GA） is used to realize the parameter identification of the cantilever system. The result points out that the identification precision of using ACM is more precise than CM for high-speed system modeling.

关键词： Cantilever Parameter identification Friction Genetic algorithm

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Auto-tuning PID module of robot motion system

Auto-tuning PID module of robot motion system

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Huafei Xiao Shaoping Wang School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beijing China

In order to make the movement of mobile robot more smoothly, this paper designs a Auto-tuning PID module for mobile robot motion system. Based on the systematic mathematical model, this paper presents a least-square real-time parameter estimation algorithm with forgetting factor and incremental PID controller algorithm, and provides PID parameters optimization algorithm for the minimization of objective function. The digital signal controller Microchip dsPIC30F4011 is chosen as the core of master control system to accomplish the design of system software and hardware. The results of spot test in mobile robot's platform indicates that self-tuning PID control system can real-time estimate the controlled object parameter, real-time set adjust the controller parameters, then adapt to controlled object variance. So the auto-tuning PID control module is robust with good performance and anti-disturbance capability.

关键词： Brushless DC motors Mobile robots Motion control Algorithm design and analysis Torque

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Disturbance Rejection in iron and steel process: Problems and current solutions

Disturbance Rejection in iron and steel process: Problems an...

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作者： Wang, Lijun Tong, Chaonan Li, Qing Yin, Yixin Gao, Zhiqiang School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education University of Science and Technology Beijing Beijing 100083 China Center for Advanced Control Technologies Fenn College of Engineering Cleveland State University Cleveland OH 44115 United States

ISBN: (纸本)9789881725592

It is shown in this paper that the quality of control in iron and steel process, hinges upon how well various disturbances are rejected. Characteristics of the disturbances and the current design solutions are presented, together with pending problems. In the evaluation of design options, Active Disturbance Rejection control stands out as the most viable solution - in its practicality and the ability to handle both internal and external disturbances in one simple manner. © 2011 Chinese Assoc of Automati.

关键词： Disturbance rejection

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The Research on Time-varying Parameter Identification in Support Beam under Moving Mass

The Research on Time-varying Parameter Identification in Sup...

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第四届国际机械工程与力学会议

作者： Minzhuo WANG Qiang CHEN Guolai YANG Department of Systems and Control Engineering School of Management and EngineeringNanjing University Department of Mechanical Design and Automation School of Mechanical EngineeringNanjing University of Science and Technology

This paper reviews the current knowledge about time-varying parameter identification in support beam under moving mass. The basic models of support beam are described first. Then three classical methods of identification are introduced. Finally, Interpretive Method (IM) is applied to the cantilever and the inertia force which is between the beam and moving mass has been numerical calculated. According to comparison of numerical calculation with different parameters model by using Interpretive Method (IM), relative percentage error is defined. In calculation, only one parameter can be changed, i.e. changing sampling frequency, accuracy of natural frequency or the order of modal. According to the results of identification, the effect of different parameters on the result of identification is discussed and an optimal set of parameters is obtained.

关键词： Time-varying parameter, Inertia force, Identification, Cantilever, Interpretive Method

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Fault prognosis for process industry based on information synchronization

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IFAC Proceedings Volumes 2011年第1期44卷 4296-4301页

作者： Ningyun Lu Lei Wang Bin Jiang Jianhua Lu Xi Chen College of Automation Engineering Nanjing Univ. of Aeronautics and Astronautics Nanjing China School of Computer Science and Engineering Southeast Univ. Nanjing China Department of Control Science and Engineering Zhejiang Univ. Hangzhou China

Abstract Information delay problem connected with the nature of flowing information in process industry is studied. An information synchronization technique is proposed using time-delayed mutual information, to determine the information's directionality and time delays between process variables. Signed Digraph model is derived to represent the information's directionality and lags. A principle component analysis (PCA) based fault prognosis method is finally proposed to achieve early detection of plant-wide process abnormalities. The proposed method was applied to an air separation unit and achieved satisfying results in predicting the frequently occurred nitrogen-block faults.

关键词： Fault prognosis information synchronization mutual information signed digraph principle component analysis air separation unit

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Practical and robust control for precision positioning systems

Practical and robust control for precision positioning syste...

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IEEE International Conference on Mechatronics

作者： Chong, Shin-Horng Sato, Kaiji Department of Control Instrumentation and Automation Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Malaysia Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology 4259 Nagatsuta Midori-ku Yokohama 226-8502 Japan

ISBN: (纸本)9781612849836

This paper presents a practical and improved practical controller for enhancing precision motion performance. For practical use, high motion control performance, ease of design and controller adjustment are desired. A nominal characteristic trajectory following (NCTF) control has been studied to realize high performance and ease of application. The NCTF controller consists of a nominal characteristic trajectory (NCT) which is the reference motion of a control system and determined from experimental open-loop time responses of the mechanism and a compensator which makes the motion of the controlled object to follow NCT. The controller parameters can be determined easily, without any given model parameters. In the present paper, the Acceleration-Reference - Continuous Motion (AR-CM) NCTF controller has been proposed and implemented. The AR-CM NCTF considers the acceleration reference for object motion as additional controller elements besides the velocity reference. The AR-CM NCTF controller provides the advantage of high overshoot reduction and disturbance reduction characteristics. This paper then highlights how robustness the controller in the precision positioning systems. The issues considered include (i) variation of mass object;(ii) variation of disturbance force such as coulomb and viscosity frictions. The design procedure of the AR-CM NCTF controller remains easy, practical and is independent of friction characteristics. Validation and implementation of the AR-CM NCTF controller with a mechanism with friction are carried out in order to confirm its effectiveness. The robustness of the AR-CM NCTF controller is examined by comparing its motion performance with the PDDO (PD + disturbance observer) controllers. The comparative experimental results illustrate the achievable performance of the AR-CM NCTF controller in positioning and tracking control and the higher robustness to plant parameter variations, as compared to the PDDO controllers. © 2011 IEEE.

关键词： controllers

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PID sliding mode control based on disturbance observer

PID sliding mode control based on disturbance observer

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2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Huibo Liu Yun jie Wu Jipeng Zhang school of automation science and electrical engineering Science and Technology on Aircraft Control L school of automation science and electrical engineering and are also with Science and Technology on Baotou ChangAn Permanent Magnet Machine Co.ltd 014010 Baotou People's Republic of china

Because of time and space delay switch, system inertia, system delay, measurement error and other factors in practical application, which leads to the high-frequency chattering of variable structure control under dynamical sliding mode. This paper analyzes the chattering effect on system performance and cause. To disturbances and uncertainty of servo system, this paper proposed sliding mode control algorithm of PID-type switching function and using disturbance observer to observe disturbance and uncertainty to select the appropriate approach speed. This algorithm is well weaken the chattering. Simulation results show that the algorithm can not only suppress the vibration but also improve the dynamic and static quality of servo system.

关键词： chattering sliding mode control disturbance observer

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Robust H∞ control for networked control systems with limited media access channel

Robust H∞ control for networked control systems with limite...

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World Congress on Intelligent control and automation (WCICA)

作者： Engang Tian Dong Yue Chen Peng School of Electrical and Automation engineering Nanjing Normal University Nanjing China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

This paper considers the robust H ∞ controller design for the networked control systems with medium access limitation and network-induced delay. That is, only limited sensors or control inputs are allowed to communicate with the controller or actuator at one time. By using Lyapunov functional method and linear matrix inequality technology, sufficient conditions for the robustly mean square stable (RMSS) of the NCS with an H ∞ norm bound γ are obtained. A simulation example is given to demonstrate the efficiency and application of the proposed method.

关键词： Actuators Sensors Delay Robustness Stochastic processes Media Networked control systems

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Study on the BeiHang keystroke dynamics database

Study on the BeiHang keystroke dynamics database

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2011 International Joint Conference on Biometrics, IJCB 2011

作者： Li, Yilin Zhang, Baochang Cao, Yao Zhao, Sanqiang Gao, Yongsheng Liu, Jianzhuang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing lO0191 China IllS Griffith University Brisbane Australia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781457713583

This paper introduces a new BeiHang (BH) Keystroke Dynamics Database for testing and evaluation of biometric approaches. Different from the existing keystroke dynamics researches which solely rely on laboratory experiments, the developed database is collected from a real commercialized system and thus is more comprehensive and more faithful to human behavior. Moreover, our database comes with ready-to-use benchmark results of three keystroke dynamics methods, Nearest Neighbor classifier, Gaussian Model and One-Class Support Vector Machine. Both the database and benchmark results are open to the public and provide a significant experimental platform for international researchers in the keystroke dynamics area. © 2011 IEEE.

关键词： Database systems

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ADRC based freeway traffic density control via ramp metering

ADRC based freeway traffic density control via ramp metering

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2011 China control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Jia Li Ronghu Chi Zhongsheng Hou Shangtai Jin School of Automation and Electrical Engineering Qingdao University of Science and Technology Qingd Advanced Control Systems Lab School of Electronics & Information Engineering Beijing Jiaotong Univ

Based on the idea of the active disturbance rejection control (ADRC), a novel freeway traffic density control scheme is developed via ramp metering. By the designed tracking differentiator (TD) of ADRC, we can arrange a transition process to avoid system overshoot, and by designing an extended state observer (ESO) of ADRC, the state variables and comprehensive disturbances can be estimated and compensated. As a result, the ADRC can produce the on-ramp entering traffic flow to realize the desired traffic density without requring any information about the freeway traffic model. Furthermore, the capability and feasibility of the proposed ADRC is tested by some simulations.

关键词： Active disturbance rejection control (ADRC) Traffic density control Macroscopic traffic flow Ramp metering

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