Temat: state controller - Prolib Integro

Skocz do pozycji: 1.

Tytuł:: Porównanie metod estymacji zmiennych stanu w układzie kaskadowym dwóch zbiorników
Comparison of state variable estimation methods in a double tank cascade system
Autorzy:: Tomera, M.
Pozorski, K.
Tematy:: obserwatory
regulator stanu
regulator PID
observers
state controller
PID control; Pokaż więcej
Wydawca:: Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
Powiązania:: https://bibliotekanauki.pl/articles/268662.pdf Link otwiera się w nowym oknie
Opis:: W pracy przedstawiona została analiza porównawcza dokonana pomiędzy trzema obserwatorami stanu: obserwatorem liniowym Luengergera oraz dwoma filtrami Kalmana: liniowym i rozszerzonym (EKF - Extended Kalman Filter) opierająca się ocenie dokładności estymacji zmiennych stanu. Analizowany obiekt w którym estymowane są zmienne stanu, składa się z dwóch zbiorników zawieszonych kaskadowo. Rozpatrzony został przypadek w którym pomiar poziomu wody odbywa się tylko w dolnym zbiorniku, natomiast informacja o poziomie wody w górnym zbiorniku uzyskiwana jest w wyniku estymacji. Analizowane obserwatory wykorzystane zostały w układzie sterowania poziomem wody w dolnym zbiorniku przy użyciu regulatora stanu, który wymaga znajomości poziomu wody w obydwu zbiornikach. Dodatkowo dokonano porównania jakości sterowania układów regulacji z wykorzystaniem regulatora stanu w konfiguracji z wyżej wymienionymi obserwatorami oraz z użyciem regulatora PID, który wykorzystuje tylko pomiar poziomu wody w dolnym zbiorniku i nie potrzebuje obserwatora. Wstępnie przeprowadzone zostały badania symulacyjne z wykorzystaniem środowiska obliczeniowego MATLAB/Simulink. Badania docelowe wykonane zostały w układzie rzeczywistym, gdzie zaprojektowane obserwatory wraz z regulatorami zaprogramowane zostały w mikrokontrolerze sygnałowym TMS320F28335, wykorzystanym do automatycznego sterowania poziomem wody w zbiorniku dolnym.
The paper presents the comparative analysis made between the linear observer and two linear Kalman filters: linear and extended Kalman filter (EKF), which is based assessment of the accuracy of estimation of state variables. The analyzed object in the estimated state variables are composed of two cascaded tanks suspended. Was examined in a case in which the measurement of the water level takes place only in the botom tank, and information about the water level in the top tank is obtained by the estimation. Observers analyzed were used in the control water level in the lower tank with the control condition, which requires the knowledge of the water level in both tanks. In addition, a comparison of the quality control using the control systems of the controller with the above configuration, observers, and using the PID controller, which uses only the measurement of the water level in the bottom tank, and does not require the observer. Pre-simulation study was carried out using the computational environment MATLAB/Simulink. The research targets were made in a real time system, where the observers designed with controls are programmed in a digital signal processor TMS320F28335, deployed to automatically control the water level in the bottom tank.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Control effectiveness comparison of wheel loaders longitudinal vibrations by means of passive and active vibration stabilisers
Autorzy:: Kosiara, A.
Tematy:: wheel loader
longitudinal oscillations
active stabiliser
passive stabiliser
state controller synthesis; Pokaż więcej
Wydawca:: Instytut Techniczny Wojsk Lotniczych
Powiązania:: https://bibliotekanauki.pl/articles/244576.pdf Link otwiera się w nowym oknie
Opis:: When wheel loaders move with velocity higher than 10 km/h, they are subject to intense longitudinal vibrations. These vibrations are experienced particularly unpleasantly by an operator. Passive vibration stabilisers are used for controlling their intensity. They make outrigger's support more flexible so that outrigger's vibrations counteract the wheel loader's longitudinal oscillations when moving. Unfortunately, the effectiveness of passive stabilisers is insufficient and at present more effective alternative means are sought. One of the solutions for angular longitudinal vibrations includes the replacement of passive stabilisers with active stabilisers. Nevertheless, the possibility of active stabilisers’ use in minimising longitudinal vibrations requires a scientific assessment. Hence, this paper, meeting the needs, includes calculations, which allow for comparing the effectiveness of active and passive stabilisers in minimising the vibrations of a typical wheel loader. Active stabilisers, which are the subject of the study, worked based on state controller, whose synthesis was carried out on the basis of optimal control linear theory with square quality indicator. The calculations were conducted on linear models under stochastic road excitations. Stochastic excitations were defined by means of power spectral density of road's unevenness. Active stabiliser's effectiveness was analysed, both for a loader moving with an empty bucket, and for a loader transporting a 3-tonne load. In order to facilitate the analysis of the results obtained, vibrations minimising quality indicator was introduced, defined as a root of a vehicle longitudinal deflections power.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Discrete-time switching state-space controller of DC drive
Autorzy:: Sieklucki, G.
Bisztyga, B.
Sykulski, R.
Zdrojewski, A.
Orzechowski, T.
Tematy:: DC drive
state variable constraints
switching gain matrix controller
state variables controller; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/230000.pdf Link otwiera się w nowym oknie
Opis:: Control synthesis with state variables constraints for the DC drive is considered. Constraints are defined for the specific operating states of the DC motor during starting and braking in the presence of selected specific conditions. The control signal is based on the reference values and current state of the motor. The inverse dynamics method is applied. Closed-loop control law is realized by means of switching state-space controller.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: PMSM drive with adaptive state feedback speed controller
Autorzy:: Szczepanski, R.
Tarczewski, T.
Grzesiak, L. M.
Tematy:: adaptive control
state feedback controller
PMSM
Widrow-Hoff rule; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/200540.pdf Link otwiera się w nowym oknie
Opis:: In this paper, the issue related to control of the plant with nonconstant parameters is addressed. In order to assure the unchanged response of the system, an adaptive state feedback speed controller for permanent magnet synchronous motor is proposed. The model-reference adaptive system is applied while the Widrow-Hoff rule is used as adjustment mechanism of controller’s coefficients. Necessary modifications related to construction of the cost function and formulas responsible for adjustment of state feedback speed controller’s coefficients are depicted. The impact of adaptation gain, which is the only parameter in proposed adjustment mechanism, on system behaviour is experimentally examined. The discussion about computational resources consumption of the proposed adaptation algorithm and implementation issues is included. The proposed approach is utilized in numerous experimental tests on modern SiC based drive with nonconstant moment of inertia. Comparison between adaptive and nonadaptive control schemes is also shown.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Investigation of a new hovering autonomous underwater vehicle for underwater missions
Autorzy:: Amirkolai, Faryar Shamshiri
Ghasemi, Reza Hasanzadeh
Tematy:: Hovering type Autonomous Underwater Vehicle
HAUV
inspection
state feedback controller; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/2141881.pdf Link otwiera się w nowym oknie
Opis:: It is impossible to implement very tasks by diver, because of complexity of underwater environment and high pressure in the deep sea. These tasks can just be done by a vehicle that includes all special requirements such as: high maneuverability, precise controllability, and especially hovering capability. Underwater robots are integral parts of the industry and marine science. The application of the underwater vehicles has increased with the development of the activities in deep sea. This paper presents a special Hovering type Autonomous Underwater Vehicle (HAUV) for underwater missions. To provide the most suitable and efficient formation of vehicle thrusters for reduction of complexity of control strategies and control of the most degrees of freedom, in this paper, a new thrusters’ configuration is investigated, in terms of number of the thrusters, position and the thrust direction of the thrusters. The state feedback controller is designed according to the linear dynamic model and then applied to the non-linear model to validate the controller performance. Designed controller consists of three controllers: horizontal plane controller, vertical plane controller and surge controller. The last controller is developed to control the forward speed. For examination of the system behavior in presence of environmental disturbance and hydrodynamic coefficients uncertainty, the robustness of controller is also investigated.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Fuzzy adaptation in a state space controller applied for a two-mass system
Autorzy:: Żychlewicz, M.
Kamiński, M.
Tematy:: fuzzy gain scheduling
state space controller
gains adaptation
two-mass drive; Pokaż więcej
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Powiązania:: https://bibliotekanauki.pl/articles/1193391.pdf Link otwiera się w nowym oknie
Opis:: Application of a state space controller for two-mass system has been examined. However, the classical version of the controller was modified in order to improve properties of the whole system. For this purpose fuzzy model was implemented as an adaptation element for the parameters. The theoretical description of the control structure, numerical tests and experimental results (using dSPACE1103 card) have been presented.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Application of artificial bee colony algorithm to auto-tuning of state feedback controller for DC-DC power converter
Autorzy:: Tarczewski, T.
Niewiara, Ł. J.
Grzesiak, L M.
Tematy:: artificial bee colony algorithm
state feedback controller
DC-DC power converter
SiC MOSFET; Pokaż więcej
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Powiązania:: https://bibliotekanauki.pl/articles/1193254.pdf Link otwiera się w nowym oknie
Opis:: The article presents an auto-tuning method of state feedback voltage controller for DC-DC power converter. The penalty matrices employed for calculation of controller’s coefficients were obtained by using nature-inspired artificial bee colony (ABC) optimization algorithm. This overcomes the main drawback of state feedback control related to time-consuming trial-and-error tuning procedure. The optimization algorithm takes into account constraints of selected state and control variables of DC-DC power converter. In order to meet all control objectives (i.e., fast voltage response and chattering-free control signal) an appropriate performance index is proposed. Proper selection of state feedback controller (SFC) coefficients is proven by simulation and experimental tests of DC-DC power converter.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Artificial Neural Network-Based Gain-Scheduled State Feedback Speed Controller for Synchronous Reluctance Motor
Autorzy:: Tarczewski, Tomasz
Niewiara, Łukasz J.
Grzesiak, Lech M.
Tematy:: synchronous reluctance motor
state feedback controller
gain scheduling
artificial neural network
robustness analysis; Pokaż więcej
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Powiązania:: https://bibliotekanauki.pl/articles/1956002.pdf Link otwiera się w nowym oknie
Opis:: This paper focuses on designing a gain-scheduled (G-S) state feedback controller (SFC) for synchronous reluctance motor (SynRM) speed control with non-linear inductance characteristics. The augmented model of the drive with additional state variables is introduced to assure precise control of selected state variables (i.e. angular speed and d-axis current). Optimal, non-constant coefficients of the controller are calculated using a linear-quadratic optimisation method. Non-constant coefficients are approximated using an artificial neural network (ANN) to assure superior accuracy and relatively low usage of resources during implementation. To the best of our knowledge, this is the first time when ANN-based gain-scheduled state feedback controller (G-S SFC) is applied for speed control of SynRM. Based on numerous simulation tests, including a comparison with a signum-based SFC, it is shown that the proposed solution assures good dynamical behaviour of SynRM drive and robustness against q-axis inductance, the moment of inertia and viscous friction fluctuations.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Problems of designing state feedback controllers for objects with transfer function zeros
Autorzy:: Drozdov, V.
Abdullin, A.
Mamatov, A.
Tematy:: zeros of a transfer function
observability
controllability
Hankel matrix
state feedback controller
resultant
residues; Pokaż więcej
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Powiązania:: https://bibliotekanauki.pl/articles/1193449.pdf Link otwiera się w nowym oknie
Opis:: The analysis of the influence of transfer function zeros on the parameters of state feedback controllers has been conducted. If a transfer function of a control object has zeros which are located closely to poles, the control object tends to singularity, and the influence of the input control signal to the states of the control object becomes weaker. The problem of the state feedback controller synthesis becomes ill-conditioned, which leads to the appearance of extremely large state feedback coefficients. In this case, the state feedback coefficients are sensitive to the parameters of the control object. As a result, the parametric robustness of the control system is reduced. Known methods of structural analysis of control object models are included amongst different methods of the numerical evaluation of the controllability and the observability, as well as methods of the model order reduction. These methods have some disadvantages, such as dependence on the state space representation form of the control object, ignoring a part of the control object model. In this paper, some ways of the preliminary structural analysis of the state space models of control objects have been proposed. The singular (Hankel) matrix is proposed for analyzing the properties of control object models. The singular matrix is the invariant characteristic of the control object in various state space forms and it characterizes the property of the control object completeness. As a result of the research, it was found that the coefficients of the state feedback controller are inversely proportional to the determinant of the singular matrix, and the determinant of the singular matrix is equal to the resultant of the transfer function polynomials. Thus the value of the determinant of the singular matrix depends on the location of the zeros of the transfer function. The method of the structural transformation (decomposition) of the control object for the defining the need of the reducing the order of the control object model is proposed.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Application of the Grey Wolf Optimizer in the optimization of state space controller for three-mass drive
Autorzy:: Żychlewicz, M.
Tematy:: GWO
regulator stanu
układ trójmasowy
napęd elektryczny
Grey Wolf Optimizer
state space controller
three-mass system
electrical drive; Pokaż więcej
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Powiązania:: https://bibliotekanauki.pl/articles/1189934.pdf Link otwiera się w nowym oknie
Opis:: This article presents control structure of complex drive that contains two elastic couplings. In the outer control loop the state space controller was implemented. The main point of described work is optimization of parameters used in this part of the drive using metaheuristic algorithm called GWO (Grey Wolf Optimizer). The control structure, designed using mentioned optimization method, was compared to classic solution, known from control theory. High precision of reference speed tracking was achieved. An analysis of the system in the presence of mechanical parameters changes was also prepared. Theoretical considerations were confirmed in numerical tests.
Dostawca treści:: Biblioteka Nauki

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