Temat: controller design - Prolib Integro

Skocz do pozycji: 1.

Tytuł:: ODE Based Joint Controller Design For Legged Robots
Autorzy:: Arslan, Erdem
Yildirim, Şahin
Wydawca:: BGJ Consulting
Cytata wydawnicza:: Yildirim Ş., Arslan E., ODE Based Joint Controller Design For Legged Robots, [in:] Journal of Current Construction Issues. CIVIL ENGINEERING PRESENT PROBLEMS, INNOVATIVE SOLUTIONS - Optimization in Business and Engineering, ed. Jarosław Górecki, BGJ Consulting, 2017
Opis:: "On legged robot controller design researchers mostly use a dynamic model for adjusting the controller parameters. The dynamic model of legged mobile robots has highly complex and nonlinear equations. With physics simulators like Open Dynamics Engine (ODE) this modeling can be accomplished simply by using iterative methods without the need for analytic solution of complex equations. In this investigation a real-time model based structure is preferred for legged robot control. The dynamic model required for model-reference adaptive control is designed as discrete-time by using ODE. This paper focuses on proving that the joint controllers used in model-based control work correctly when ODE is selected as reference model. In addition to this, the developed ODE based identical joint controllers for six legged robot has explained. The results of proposed discrete time P, PI, PID controllers are given in details on graphs."
Dostawca treści:: Repozytorium Centrum Otwartej Nauki

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Skocz do pozycji: 2.

Tytuł:: Projektowanie odpornego regulatora PID, oparte o przyblizoną identyfikację modelu dla procesów z opóźnieniem
Design of PID controllers based on approximate process model identification for processes with time delay.
Autorzy:: Skoczowski, S.
Tematy:: regulacja odporna PID
uproszczona identyfikacja i modelowanie
robust PID control
controller design
PID tuning; Pokaż więcej
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Powiązania:: https://bibliotekanauki.pl/articles/158325.pdf Link otwiera się w nowym oknie
Opis:: Przedstawiono dwa sposoby projektowania regulatora PID dla procesów aperiodycznych z opóźnieniem, istotnie różne - regulatora odpornego, gwarantującego w oparciu o kryterium Nyquista stabilność w obecności ograniczonych perturbacji nieznanego obiektu, przy znanym modelu nominalnym, oraz regulatora gwarantującego założone przeregulowanie, przy aproksymacji obiektu zastepczymi transmitancjami inercji I i II rzędu z opóźnieniem. Przedstawiono też przybliżony sposób identyfikacji tych aproksymacji. Metody mogą być także wykorzystane w regulatorach samonastrajających PID.
Two approximate methods for design of PID controllers for aperiodic processes with time delay are presented. The first method is based on the Nyquist stability criterion, and yields a robust controller that ensures system stability in the presence of constrained perturbations experienced by the unknown process with the known nominal model. The second method yields a controller that ensures a specified overshoot while the controlled process is approximated by first and second order time lags with time delay. An approximate method for identification of these models is also presented. The methods considered are also suitable for being used for self-tuning of PID controllers.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: An LMI-based heuristic algorithm for vertex reduction in LPV systems
Autorzy:: Sanjuan, Adrián
Rotondo, Damiano
Nejjari, Fatiha
Sarrate, Ramon
Tematy:: linear parameter varying
linear matrix inequality
Gershgorin circles
gain scheduling
controller design
układ liniowy niestacjonarny
liniowa nierówność macierzowa
twierdzenie Gerszgorina
harmonogramowanie wzmocnienia; Pokaż więcej
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Powiązania:: https://bibliotekanauki.pl/articles/331436.pdf Link otwiera się w nowym oknie
Opis:: The linear parameter varying (LPV) approach has proved to be suitable for controlling many non-linear systems. However, for those which are highly non-linear and complex, the number of scheduling variables increases rapidly. This fact makes the LPV controller implementation not feasible for many real systems due to memory constraints and computational burden. This paper considers the problem of reducing the total number of LPV controller gains by determining a heuristic methodology that combines two vertices of a polytopic LPV model such that the same gain can be used in both vertices. The proposed algorithm, based on the use of the Gershgorin circles, provides a combinability ranking for the different vertex pairs, which helps in solving the reduction problem in fewer attempts. Simulation examples are provided in order to illustrate the main characteristics of the proposed approach.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Simulation-based design of monotonically convergent iterative learning control for nonlinear systems
Autorzy:: Delchev, K.
Tematy:: simulation-based design
iterative learning control
nonlinear dynamic systems
learning controller
feedback controller; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/229340.pdf Link otwiera się w nowym oknie
Opis:: This paper deals with a simulation-based design of model-based iterative learning control (ILC) for multi-input, multi-output nonlinear time-varying systems. The main problem of the implementation of the nonlinear ILC in practice is possible inadmissible transient growth of the tracking error due to a non-monotonic convergence of the learning process. A model-based nonlinear closed-loop iterative learning control for robot manipulators is synthesized and its tuning depends on only four positive gains of both controllers - the feedback one and the learning one. A simulation-based approach for tuning the learning and feedback controllers is proposed to achieve fast and monotonic convergence of the presented ILC. In the case of excessive growth of transient errors this approach is the only way for learning gains tuning by using classical engineering techniques for practical online tuning of feedback gains.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Impulse identification and discrete P/PD control of electro-hydraulic servodrive
Autorzy:: Możaryn, Jakub
Winnicki, Arkadiusz
Suski, Damian
Tematy:: PD controller
identification for control
analytic design
identification
control methods
kontroler PD
identyfikacja
metody kontroli; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/384417.pdf Link otwiera się w nowym oknie
Opis:: This article presents the systematic design methodology of a discrete Proportional and Proportional-Derivative (PD) controller for the electro-hydraulic servodrive position control. The controller is based on the identified linear model of the system, with P/PD parameters adjusted with the help of different methods given in the literature. There are compared experimental results of the proposed control system with different controller parameters.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Parallel robot controlled by PLC and its digital twin
Autorzy:: Michalík, R.
Hrbček, J.
Janota, A.
Tematy:: digital twin
human machine interface
PLC Controllers
computer aided design
paralled robot
CAD
programmable logic controller
PLC; Pokaż więcej
Wydawca:: Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Powiązania:: https://bibliotekanauki.pl/articles/2063983.pdf Link otwiera się w nowym oknie
Opis:: Modern ways of device development use the concept of a digital twin. A digital twin is an accurate digital copy of something that exists or is planned to be realized in the physical world. The digital twin is not only a virtual model of the physical system, but also a dynamic data and status information carrier obtained through a series of IoT-connected sensors that collect data from the physical world and send it to machines. The digital twin provides an overview of what is happening to the device in real time. This is very important in industry as this information is helpful to reduce maintenance issues and ensure production performance. This work focuses on the design and creation of a cybernetic physical system and its digital twin, based on CAD system modeling in conjunction with simulation and programming tools connected to real and simulated control systems. This process accelerates the development of the application implementation with the possibility to create a PLC control program and tune the system already in the design phase. Thus, the physical realization can be done in parallel with the programming and creation of the HMI interface. Modular programming will further accelerate software development [1]. The created system and its digital twin serve as a unified teaching tool without the need for real devices to be used by many students and users. This approach allows testing of program algorithms without the risk of damaging physical devices and is also suitable for distance learning.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: FOMCOM: a MATLAB toolbox for fractional-order system identification and control
Autorzy:: Tepljakov, A.
Petlenkov, E.
Belikov, J.
Tematy:: pochodna ułamkowa
sterowanie automatyczne
biblioteka MATLAB
regulator PID
identyfikacja
projektowanie systemów sterowania
fractional calculus
MATLAB toolbox
automatic control
PID controller
identification
control system design; Pokaż więcej
Wydawca:: Politechnika Łódzka. Wydział Mikroelektroniki i Informatyki
Powiązania:: https://bibliotekanauki.pl/articles/398065.pdf Link otwiera się w nowym oknie
Opis:: FOMCON is a new fractional-order modeling and control toolbox for MATLAB. It offers a set of tools for researchers in the field of fractional-order control. In this paper, we present an overview of the toolbox, motivation for its development and relation to other toolboxes devoted to fractional calculus. We discuss all of the major modules of the FOMCON toolbox as well as relevant mathematical concepts. Three modules are presented. The main module is used for fractional-order system analysis. The identification module allows identifying a fractional system from either time or frequency domain data. The control module focuses on fractional-order FID controller design, tuning and optimization, but also has basic support for design of fractional lead-lag compensators and TID controllers. Finally, a Simulink blockset is presented. It allows more sophisticated modeling tasks to be carried out.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Recognition Characteristics of Interface Designed for Gesture Operations of 3D Objects
Autorzy:: Sekine, Tsutomu
Tematy:: gesture interface
computer-aided design
human-computer interaction
leap motion controller
motion sensor
interfejs gestowy
projektowanie wspomagane komputerowo
interakcja człowiek-komputer
kontroler ruchu skokowego
czujnik ruchu; Pokaż więcej
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Powiązania:: https://bibliotekanauki.pl/articles/103272.pdf Link otwiera się w nowym oknie
Opis:: This study focuses on the development of an interface for gesture control and Boolean operation of 3D objects in 3D computer-aided design (CAD). Although mouse and keyboard have been mainly used as computer input devices, novel computer interfaces are becoming increasingly popular with rapid development of computer technologies. Among several computer interfaces, the gesture interface is well-known as an system operable through the natural human behavior. However, the application to 3D CAD has been scarcely studied so far. From the backgrounds, a simple gesture interface was developed to operate a 3D object in 3D CAD. Leap Motion Controller (LMC) was used as a motion sensor device. A dialog-based graphical user interface (GUI) was also created for the parameter setting. As a result, several operational functions could be successfully executed through various hand-finger motions. Moreover, the system enabled us to experience an intuitive interaction with 3D CAD. Then, the several demonstrations were performed to identify the recognition characteristics of the gesture interface. The differences in the recognition rate were revealed as the results. Especially, it confirmed that a combination of static and dynamic gestures could help to enhance the recognition rate in the gesture interface using LMC. In accordance with the findings, the functions for Boolean operation were also implemented for the manipulation of a 3D object, such as extrusion and hole making.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Model i projekt instalacji dla procesu wydobycia i wstępnego przygotowania gazu ziemnego
Model and design of installation for the process of extraction and preliminary preparation of natural gas
Autorzy:: Bączyk, R.
Jóźwiak, M.
Tematy:: wydobycie gazu ziemnego
redukcja ciśnienia
projektowanie i modelowanie instalacji automatyki
dobór nastaw regulatorów
extraction and preconditioning of natural gas
pressure reduction
system design
modeling and simulation
selection of the controller parameters; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/276546.pdf Link otwiera się w nowym oknie
Opis:: W niniejszej pracy opisano przebieg kolejnych etapów procesu wydobycia i wstępnego przygotowania gazu ziemnego; przedstawiono problematykę projektowania instalacji dla tego procesu oraz jego modelowanie. Zaprezentowano dobór urządzeń technologicznych i pomiarowych. Przedstawiono wyprowadzenia modelu matematycznego dla kolejnych etapów procesu. Przeprowadzono symulacje i zaprezentowano wyniki. Pracę zakończono podsumowaniem oraz wnioskami.
In this paper we describe the subsequent steps of the process of extraction and preconditioning of natural gas. This paper discusses issues of the system design and its modeling. The choice of process equipment is presented. The paper presents the derivation of mathematical model of the process and the results of simulation are presented. At the end of the paper some conclusions are presented.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Specyfikacja sterowników cyfrowych zorientowana na niezawodność
Quality oriented specification of logic controllers
Autorzy:: Doligalski, M.
Adamski, M.
Tematy:: systemy wbudowane
Rekonfigurowalne Sterowniki Logiczne
Diagramy Maszyny Stanów UML
sieci Petriego
diagramy SFC
embedded systems
reconfigurable logic controller
UML state machine diagram
Petri net
sequential function chart
quality-driven design
formal verification; Pokaż więcej
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Powiązania:: https://bibliotekanauki.pl/articles/154557.pdf Link otwiera się w nowym oknie
Opis:: W artykule przedstawiono wdrażaną metodę projektowania rekonfigurowalnych sterowników logicznych, ukierunkowaną na jakość behawioralnej specyfikacji, a tym samym niezawodność pracy. Zamierzone funkcjonowanie sterownika jest opisane z wykorzystaniem równocześnie dwóch dualnych języków graficznych: diagramu maszyny stanów UML oraz komplementarnej sieci Petriego. Synergia spowodowana dwoma wzajemnie się uzupełniającymi podejściami do behawioralnego opisu tego samego sterownika daje szansę na otrzymanie uwiarygodnionej specyfikacji już we wstępnej fazie projektowania.
In the paper quality oriented approach to the design of digital embedded reconfigurable controllers is presented. The behaviour of a logic controller is described by means of dual related graphical languages: UML State machine diagram and Petri Net graph. The first one is well accepted among designers from the electronic industry, the second one among control engineers taking the advantage from similarities between Petri nets and Sequential Function Charts (SFC). The synergy of the view from two sides into the same project gives a chance to obtain validated specification at the design process beginning. It is shown in the second paragraph. Comparison of elementary models (Tab. 1) and design process with use of the dual specification (Fig. 1) are also presented. The third paragraph deals with mutual conversion of the elementary elements (Tab. 2) and shows their subsets in the form of class diagrams (Figs. 2 and 3). An example of the logic controller dual specification (Figs. 4 and 5) is given in the fourth paragraph. The practical use of dual specification is contingent upon implementation of tools for performing the conversion process in an automatic way.
Dostawca treści:: Biblioteka Nauki

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