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Networked control approaches for a nuclear power plant pressurizer subsystem *

IFAC Proceedings Volumes 2009年第20期42卷 316-321页

作者： G. Szederkényi T. Péni P. Gáspár J. Bokor Systems and Control Laboratory Computer and Automation Research Institute of the Hungarian Academy of Sciences PO. Box 63 H-1518 Budapest Hungary

This paper extends former results about the networked reference tracking control of a pressurizer in a pressurized water nuclear power plant. An L2-gain based method is used in a deterministic framework to compute the maximum allowable transmit intervals (MATIs) for the actually implemented dynamic inversion based controller that still guarantee the required performance. Furthermore, a stochastic linear quadratic regulator with a state estimator is also designed that can take packet losses into consideration. It is shown through the comparison that both methods are applicable for networked control but the LQ controller combined with a Kalman filter has better output variance properties.

关键词： networked control LQG control dynamic inversion

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Uncertainty remodeling for robust control of linear time-invariant plants1

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Periodica Polytechnica Electrical Engineering 2009年第1-2期53卷 55-62页

作者： Rödönyi, Gábor Bokor, József Systems and Control Laboratory of the Computer Automation Research Institute MTA P.O. Box 63 H-1518 Budapest Hungary

The paper proposes a measure of robust performance based on frequency domain experimental data that allows nonconservative modeling of uncertainty. Given the nominal model of the plant and closed-loop performance specifications the iterative control design and remodeling of model uncertainty based on that measure leads to a controller with improved robust performance. The structured dynamic uncertainty is allowed to act on the nominal model in a linear fractional transformation (LFT) form. The proposed method is a modification of the structured singular value with implicit constraints on model consistency. The usefulness of the method is demonstrated on a vehicle control simulation example. © Periodica Polytechnica 2009.

关键词： Robust control

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Model predictive control for the hybrid primary circuit dynamics of a pressurized water nuclear power plant1

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Periodica Polytechnica Electrical Engineering 2009年第1-2期53卷 37-44页

作者： Péni, Tamás Szederkényi, Gábor Systems and Control Laboratory of the Computer Automation Research Institute MTA P.O. Box 63 H-1518 Budapest Hungary

In this paper, a model predictive controller is developed for controlling the main primary circuit dynamics of pressurized water nuclear power plants during load-change transients. The hybrid model of the plant is successfully embedded into a nonhybrid discrete time LPV form. The designed controller is able to handle the hard constraints for the state and input variables while keeping the plant stable and producing satisfactory timedomain behavior. © Periodica Polytechnica 2009.

关键词： Hybrid systems

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On the identification of LPV traffic flow model 10

On the identification of LPV traffic flow model

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2009 10th European control Conference, ECC 2009

作者： Luspay, T. Kulcsar, B. Van Wingerden, J.W. Verhaegen, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13.-17 BudapestH-1111 Hungary Delft Center for System and Control Faculty of Mechanical Maritime and Materials Engineering Technical University of Delft Mekelweg 2 Delft Netherlands

ISBN: (纸本)9783952417393

关键词： LPV Identification Linear Parameter Varying (LPV) systems freeway traffic modeling Traffic flow Authentication Subspace systems comparison Loop detector nonlinearity Flow models

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Applying hyperbolic wavelet constructions in the identification of signals and systems

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IFAC Proceedings Volumes 2009年第10期42卷 1334-1339页

作者： Alexandros Soumelidis József Bokor Ferenc Schipp Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Numerical Analysis Eötvös Loránd University Budapest Hungary

This paper is devoted to the construction of wavelet-type transforms with the purpose to represent functions belonging to the Hardy-space H 2 . The concept of the affine wavelet-transform defined in the space L 2 is extended to the Hardy space H 2 on the basis of the Blaschke group. A discrete hyperbolic wavelet scheme is also constructed that results in computable forms. The wavelet construction obtained possesses good localization properties with respect to functions in H 2 , hence forms an adequate tool for signal and system identification purposes.

关键词： Signal analysis Transforms Discretization Nonparametric identification

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An alternative formulation of the interpolation based constrained H∞ control of discrete-time LPV systems 10

An alternative formulation of the interpolation based constr...

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2009 10th European control Conference, ECC 2009

作者： Peni, Tamas Kulcsar, Balazs Bokor, Jozsef Systems and Control Laboratory Computer Automation Research Institute Hungarian Academy of Sciences P.O.Box 63 BudapestH-1518 Hungary Delft Center for System and Control Faculty of Mech. Maritime and Materials Eng. Technical University of Delft Mekelweg 2 Delft2628CD Netherlands

ISBN: (纸本)9783952417393

The paper presents an alternative formulation of the interpolation based constrained H∞ control presented originally in [16], [12], [17]. The concept itself has not been changed: by interpolating among unconstrained state feedback gains both the H∞ performance and the satisfaction of the hard state, input and output constraints can be guaranteed. The novelty is in the computation of the region of applicability of the controller. It is now based on the d-invariant sets of the individual controllers and not on the high dimensional extended system comprising all of the closed loops generated by the controllers. © 2009 EUCA.

关键词： controllers

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Estimating the State of Distributed Dynamical systems Based on Limited Measurements by means of Cooperative Filtering with Application to ad-hoc Vehicle Network

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IFAC Proceedings Volumes 2009年第8期42卷 929-934页

作者： A. Edelmayer M. Miranda Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Faculty of Engineering University of Los Andes Mérida Venezuela

In this paper a decentralized approach to state estimation of distributed dynamical systems over unreliable communication network subject to uncertain and limited measurements is addressed. Specifically, a distributed filtering concept for enhancing the estimation accuracy of vehicles state from uncertain position data in ad-hoc vehicle networks is presented. The filter relies on a variety of position measurements obtained from the on-board vehicle positioning system, from other nearby cooperating vehicles, as well as from the immediate roadside environment via communication. Direct distance measurements between vehicles as well as between vehicles and the static elements of the roadside infrastructure can be used, if available, as highly accurate reference measurements. The paper demonstrates how successfully the idea of cooperative filtering in addressing the demands of both sensor fault tolerance and enhanced estimation accuracy in distributed systems over ad-hoc communication networks can be used.

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Discrete time minimax tracking control with state and disturbance estimation II: Time-varying reference and disturbance signals

Discrete time minimax tracking control with state and distur...

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Mediterranean Conference on control and automation (MED)

作者： P. Bauer B. Kulcsar J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Delft Center for System and Control Faculty 3ME Delft University of Technnology Delft Netherlands

The paper characterizes the properties of discrete time minimax tracking control problem in the case of time varying references and disturbances. Hereunder, a multi step tracking control synthesis is suggested for linear time invariant (LTI) plants when the reference signal could be time dependent. Moreover, instead of directly rejecting the effect of the (time varying) disturbance signal, an intermediate estimation and centering step is proposed. This step eliminates the main part of the disturbance by its unbiased estimate. The solution combines the state and disturbance estimation with linear quadratic and optimal minimax tracking design. The resulted unified control solution is LQ optimal on infinite horizon with constant references and disturbances and sub-optimal on large horizons with time-varying references and disturbances. The paper clarify the effect of the time varying signals on the stability and performance criteria. The multi step procedure is illustrated via an ascending spiral trajectory tracking simulation of a quadrotor helicopter.

关键词： Minimax techniques State estimation Automatic control control systems Optimal control Trajectory Helicopters Stochastic systems Fuzzy logic Noise measurement

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Throwing motion generation using nonlinear optimization on a 6-degree-of-freedom robot manipulator

Throwing motion generation using nonlinear optimization on a...

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International Conference on Mechatronics (ICM)

作者： Ferenc Lombai Gabor Szederkenyi Faculty of Information Technology Pázmány Péter Catholic University Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

A 6-degree-of-freedom rigid robot arm and its throwing motion generation is described in this paper. The trajectories for the joint variables are generated off-line as a cubic spline obtained using general constrained nonlinear optimization, taking into consideration limitations (position, speed, acceleration and jerk) of the joint actuators, and the current limit of the whole structure. The obtained trajectories are previously checked to avoid collisions using oriented bounding boxes and their separating axis theorem tests. The trajectory tracking of the individual joint is done using a discrete-time constrained optimal control technique.

关键词： Robots Manipulators Constraint optimization Trajectory Motion planning Robotics and automation Humans Motion measurement Mechatronics Automatic control

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The properties of an infinite horizon LQ optimal tracker with time varying references

The properties of an infinite horizon LQ optimal tracker wit...

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作者： Bauer, Péter Systems and Control Laboratory Computer and Automation Research Institute H. A. S Kende u. 13-17 K219 H-1111 Budapest Hungary

ISBN: (纸本)9789633130117

In [1] a new solution is given for the discrete time, LQ optimal, infinite horizon output tracking problem. It applies one step preview of the reference signal originally, but for smooth references it can be used with extrapolation. The properties of the tracker for constant reference signals are examined and an application is presented which uses time varying (ramp) references also in [1]. The tracking error is satisfactorily small for both constant and ramp signals (using either preview or extrapolation). So, the need to examine the properties for time varying references directly arises. This article examines these properties for ramp-type, bounded (l∞), l1 and l2 signals. 1. For ramp-type signals the existence of finite tracking error is examined and proven. 2. For bounded inputs, the boundedness of controlled system states, outputs and tracking error are proven. This means BIBO stability of the controlled system. 3. For l1 and l2 signals the l1 and l2 stability of system states, outputs and tracking error are proven. Results were derived with both one step preview and extrapolation. Here, only the results with extrapolation are published because this is the useful case. Simulations with a simple system are done to compare the derived finite upper bounds (for states, outputs and tracking error) with simulation results. All these results prove that the suggested method is useful in trajectory tracking control, but unfortunately its optimality was lost during the derivation. So, in the form given in [1] it is not LQ optimal even for constant references. This means that it should be further developed to achieve optimality.

关键词： Extrapolation

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