Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046932
K. Kołek, M. Rosół
This paper addresses the problem of velocity estimation for slow motion elements equipped with encoders. The slow movement causes rare pulses generated from the encoder, rarer than the sampling frequency. In such conditions, the velocity calculation by numeric derivative or Luenbergera observer fails. For that, it is proposed a new velocity estimation algorithm that uses information specific for encoder operating mode. Simulation and real-time experiments have shown a significant reduction in velocity error estimation of the proposed algorithm in comparison to conventional algorithms.
{"title":"Velocity estimation for slow motion devices equipped with encoder","authors":"K. Kołek, M. Rosół","doi":"10.1109/MMAR.2017.8046932","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046932","url":null,"abstract":"This paper addresses the problem of velocity estimation for slow motion elements equipped with encoders. The slow movement causes rare pulses generated from the encoder, rarer than the sampling frequency. In such conditions, the velocity calculation by numeric derivative or Luenbergera observer fails. For that, it is proposed a new velocity estimation algorithm that uses information specific for encoder operating mode. Simulation and real-time experiments have shown a significant reduction in velocity error estimation of the proposed algorithm in comparison to conventional algorithms.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127014401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046924
E. Girejko, D. Mozyrska, M. Wyrwas
The behaviour of fractional-order systems with two agents is considered. In the paper, interactions between agents are defined like in Cucker-Smale models, where equations related to the position are the ordinary differential equations and velocities of agents are described by fractional differential equations. It allows us to take into account the memory that is included by taking the fractional-order, what seems to significantly improve the classical model. The conditions for achieving the consensus for the considered models are formulated based on the stability analysis of the appropriate linear systems. Finally, the behaviours of systems are illustrated by examples.
{"title":"Behaviour of the fractional Cucker-Smale type model for a couple of agents","authors":"E. Girejko, D. Mozyrska, M. Wyrwas","doi":"10.1109/MMAR.2017.8046924","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046924","url":null,"abstract":"The behaviour of fractional-order systems with two agents is considered. In the paper, interactions between agents are defined like in Cucker-Smale models, where equations related to the position are the ordinary differential equations and velocities of agents are described by fractional differential equations. It allows us to take into account the memory that is included by taking the fractional-order, what seems to significantly improve the classical model. The conditions for achieving the consensus for the considered models are formulated based on the stability analysis of the appropriate linear systems. Finally, the behaviours of systems are illustrated by examples.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125208253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046956
K. Pieńkosz
In the paper the Cardinality Constrained Knapsack Problem is considered. It is a variant of the Continuous Knapsack Problem in which no more than a specified number of variables are allowed to have positive values. This problem arises when a limited resource is allocated among competing activities, and an upper bound is imposed on the number of activities that can be selected in a solution. The Cardinality Constrained Knapsack Problem is NP-hard. We analyze the structural properties of its optimal solutions and propose procedure allowing to reduce the size of the original problem.
{"title":"Reduction strategies for the Cardinality Constrained Knapsack problem","authors":"K. Pieńkosz","doi":"10.1109/MMAR.2017.8046956","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046956","url":null,"abstract":"In the paper the Cardinality Constrained Knapsack Problem is considered. It is a variant of the Continuous Knapsack Problem in which no more than a specified number of variables are allowed to have positive values. This problem arises when a limited resource is allocated among competing activities, and an upper bound is imposed on the number of activities that can be selected in a solution. The Cardinality Constrained Knapsack Problem is NP-hard. We analyze the structural properties of its optimal solutions and propose procedure allowing to reduce the size of the original problem.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124674432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046802
K. Markowski, K. Hryniów
This paper presents the first proposition of a method allowing the determination of a set of (A, B, C, D) realizations of the one-dimensional single-input multi-output (SIMO) dynamic system from created digraph. The algorithm presented is the extension of previously published algorithm that finds a complete set of all possible realizations, instead of only a few realizations, as was in case of canonical form methods. The advantages of the proposed method are the possibilities of obtaining a set of state matrices directly from digraph form of the system and using fast parallel computing method. The algorithm is presented in pseudo-code and illustrated with example.
{"title":"Finding a set of (A, B, C, D) realizations for single-input multiple-output dynamic system: First approach using digraph-based method for solutions with intersection vertex","authors":"K. Markowski, K. Hryniów","doi":"10.1109/MMAR.2017.8046802","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046802","url":null,"abstract":"This paper presents the first proposition of a method allowing the determination of a set of (A, B, C, D) realizations of the one-dimensional single-input multi-output (SIMO) dynamic system from created digraph. The algorithm presented is the extension of previously published algorithm that finds a complete set of all possible realizations, instead of only a few realizations, as was in case of canonical form methods. The advantages of the proposed method are the possibilities of obtaining a set of state matrices directly from digraph form of the system and using fast parallel computing method. The algorithm is presented in pseudo-code and illustrated with example.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116534870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046931
R. Bieda, M. Blachuta, R. Grygiel
A detailed analysis of PID level control in the second tank of the cascade of two tanks is performed with respect to both, load disturbance attenuation and set-point change. Approximate formulas for extrema of time responses and for certain performance indices are derived, giving guidelines for controller settings. A simple method of choosing controller parameters is proposed that bases on time scale separation. For a reasonable transfer from one operating point to another, under control signal limitations, command signal generators with a feedforward from the reference are proposed and the effect of anti-windup controller augmentation is examined.
{"title":"High performance PID control of a cascade tanks system as an example for control teaching","authors":"R. Bieda, M. Blachuta, R. Grygiel","doi":"10.1109/MMAR.2017.8046931","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046931","url":null,"abstract":"A detailed analysis of PID level control in the second tank of the cascade of two tanks is performed with respect to both, load disturbance attenuation and set-point change. Approximate formulas for extrema of time responses and for certain performance indices are derived, giving guidelines for controller settings. A simple method of choosing controller parameters is proposed that bases on time scale separation. For a reasonable transfer from one operating point to another, under control signal limitations, command signal generators with a feedforward from the reference are proposed and the effect of anti-windup controller augmentation is examined.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114947826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046883
Dariusz Majchrzak, Przemyslaw Siwek
This paper presents a comparison between Field Oriented Control and Direct Torque Control methods of a Matrix Converter-fed (MC) Permanent Magnet Synchronous Motor (PMSM). MC is becoming widely used because of the unity power factor and the lack of energy storage element. FOC method calculates the duty of MC states with use of geometric relations between voltage and current vectors. DTC method, on the other hand, is based on controlling the length and angle of a stator flux linkage vector with MC states chosen from a Switching Table. Simulation research of control algorithms was performed in MATLAB/Simulink 2013b. Authors compared the quality of moment regulation in both methods, including the electromagnetic torque rise time and torque variance. Moreover, influence of a control algorithm on the power grid current was researched in frequency domain by FFT and THD. DTC method for MC proved to be faster in torque control. FOC method, however, has visibly lower torque ripples and lower THD. Both methods performed well in a torque regulation of a MC fed motor.
{"title":"Comparison of FOC and DTC methods for a Matrix Converter-fed permanent magnet synchronous motor","authors":"Dariusz Majchrzak, Przemyslaw Siwek","doi":"10.1109/MMAR.2017.8046883","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046883","url":null,"abstract":"This paper presents a comparison between Field Oriented Control and Direct Torque Control methods of a Matrix Converter-fed (MC) Permanent Magnet Synchronous Motor (PMSM). MC is becoming widely used because of the unity power factor and the lack of energy storage element. FOC method calculates the duty of MC states with use of geometric relations between voltage and current vectors. DTC method, on the other hand, is based on controlling the length and angle of a stator flux linkage vector with MC states chosen from a Switching Table. Simulation research of control algorithms was performed in MATLAB/Simulink 2013b. Authors compared the quality of moment regulation in both methods, including the electromagnetic torque rise time and torque variance. Moreover, influence of a control algorithm on the power grid current was researched in frequency domain by FFT and THD. DTC method for MC proved to be faster in torque control. FOC method, however, has visibly lower torque ripples and lower THD. Both methods performed well in a torque regulation of a MC fed motor.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129873230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046888
W. Hunek, J. Korniak
The paper presents an approach to the synthesis of MV control systems with respect to minimum-energy of the control inputs. Due to the reason, a recently introduced polynomial matrix σ-inverse is applied to LTI nonsquare systems described by discrete-time state-space framework. It is shown that classical minimum-norm right inverse is not sufficient to obtain the minimum-energy of control runs. Thus, the σ-inverse with parameter/polynomial, so-called degrees of freedom, gives better results than typical Moore-Penrose inverse in terms of said lower energy. The effectiveness of the presented method is confirmed by simulation examples in Matlab environment.
{"title":"Inverse-based methods to minimum-energy MV control for nonsquare state-space systems","authors":"W. Hunek, J. Korniak","doi":"10.1109/MMAR.2017.8046888","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046888","url":null,"abstract":"The paper presents an approach to the synthesis of MV control systems with respect to minimum-energy of the control inputs. Due to the reason, a recently introduced polynomial matrix σ-inverse is applied to LTI nonsquare systems described by discrete-time state-space framework. It is shown that classical minimum-norm right inverse is not sufficient to obtain the minimum-energy of control runs. Thus, the σ-inverse with parameter/polynomial, so-called degrees of freedom, gives better results than typical Moore-Penrose inverse in terms of said lower energy. The effectiveness of the presented method is confirmed by simulation examples in Matlab environment.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133733059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046844
A. Rauh, R. Prabel, H. Aschemann
Oscillation attenuation is an essential task for practically any crane application. Classically, such control strategies make use of the actuation of a crane trolley to counteract the motion of a swinging payload. As an alternative to controlling trolley motions, variations of the rope length can be considered. In contrast to scenarios where trolley motions are used to attenuate oscillations, the control of the rope length is a more challenging task due to non-negligible nonlinearities and due to the presence of points in the state-space for which controllability is not guaranteed. In this paper, a novel extended linearization approach is presented for the oscillation attenuation in crane systems, where the feedback gains are determined by using a robust optimization procedure which employs a formulation of the control task in terms of linear matrix inequalities. Simulation results and an experimental validation highlight the practical applicability of the proposed control procedure.
{"title":"Oscillation attenuation for crane payloads by controlling the rope length using extended linearization techniques","authors":"A. Rauh, R. Prabel, H. Aschemann","doi":"10.1109/MMAR.2017.8046844","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046844","url":null,"abstract":"Oscillation attenuation is an essential task for practically any crane application. Classically, such control strategies make use of the actuation of a crane trolley to counteract the motion of a swinging payload. As an alternative to controlling trolley motions, variations of the rope length can be considered. In contrast to scenarios where trolley motions are used to attenuate oscillations, the control of the rope length is a more challenging task due to non-negligible nonlinearities and due to the presence of points in the state-space for which controllability is not guaranteed. In this paper, a novel extended linearization approach is presented for the oscillation attenuation in crane systems, where the feedback gains are determined by using a robust optimization procedure which employs a formulation of the control task in terms of linear matrix inequalities. Simulation results and an experimental validation highlight the practical applicability of the proposed control procedure.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132219053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046850
G. Mzyk, M. Bieganski, Bartlomiej Kozdras
In the paper we consider a problem of Hammerstein-Wiener (N-L-N) system identification in the presence of random input and random noise. The proposed strategy combines both parametric (e.g. least squares) and nonparametric (kernel) estimates (cf. [6]). First, the impulse response of the linear block, and the composition of two nonlinear characteristics are identified independently. Next, the nonlinear function composition is splited into two parts to obtain the models of all individual blocks of the system. The consistency of the proposed estimates is analyzed and simple simulation example is presented.
{"title":"Multistage identification of an N-L-N Hammerstein-Wiener system","authors":"G. Mzyk, M. Bieganski, Bartlomiej Kozdras","doi":"10.1109/MMAR.2017.8046850","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046850","url":null,"abstract":"In the paper we consider a problem of Hammerstein-Wiener (N-L-N) system identification in the presence of random input and random noise. The proposed strategy combines both parametric (e.g. least squares) and nonparametric (kernel) estimates (cf. [6]). First, the impulse response of the linear block, and the composition of two nonlinear characteristics are identified independently. Next, the nonlinear function composition is splited into two parts to obtain the models of all individual blocks of the system. The consistency of the proposed estimates is analyzed and simple simulation example is presented.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128572446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046954
M. Pazera, M. Witczak, J. Korbicz
The paper deals with the problem of simultaneous estimation of the state as well as actuator and sensor faults for non-linear dynamic systems. The actuator and sensor faults can appear simultaneously, at the same time. The proposed strategy is based on quadratic boundedness approach allowing the convergence analysis of the proposed estimator. The final part of the paper shows an illustrative example based on a real multi-tank system, which clearly exhibits the performance of the proposed approach.
{"title":"Combined estimation of actuator and sensor faults for non-linear dynamic systems","authors":"M. Pazera, M. Witczak, J. Korbicz","doi":"10.1109/MMAR.2017.8046954","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046954","url":null,"abstract":"The paper deals with the problem of simultaneous estimation of the state as well as actuator and sensor faults for non-linear dynamic systems. The actuator and sensor faults can appear simultaneously, at the same time. The proposed strategy is based on quadratic boundedness approach allowing the convergence analysis of the proposed estimator. The final part of the paper shows an illustrative example based on a real multi-tank system, which clearly exhibits the performance of the proposed approach.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129388704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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