The paper presents one of the possibilities how to control selected mechatronic system using the fuzzy logic. The proposed solution is illustrated on the case study that is simulated in co-simulation of two different modeling environments - Matlab-Simulink and MSC Adams. This co-simulation consists of the data transfer between mentioned environments while the control part is realized in Matlab-Simulink by fuzzy controller and the dynamics of the mechatronic system is created in MSC Adams.
{"title":"Fuzzy logic control of mechatronic systems","authors":"J. Cigánek, F. Noge","doi":"10.1109/PC.2013.6581428","DOIUrl":"https://doi.org/10.1109/PC.2013.6581428","url":null,"abstract":"The paper presents one of the possibilities how to control selected mechatronic system using the fuzzy logic. The proposed solution is illustrated on the case study that is simulated in co-simulation of two different modeling environments - Matlab-Simulink and MSC Adams. This co-simulation consists of the data transfer between mentioned environments while the control part is realized in Matlab-Simulink by fuzzy controller and the dynamics of the mechatronic system is created in MSC Adams.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130028702","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}
Recent developments in the area of industrial programing software expand the potential of the automation programs considerably. In addition to IEC 61131-3 languages, programming languages like C and C++ are getting available for industrial controllers, which opens new possibilities of reusing existing programs for real time processing in these controllers. Paper deals with swing-up and online model predictive control of mechatronic device - reaction wheel inverted pendulum. Swing-up control uses convenient shape of exponential function over pendulum position for determination of required energy to be delivered to the system. For stabilization of pendulum in the upright position a predictive controller based on optimal control law with perturbation was used. An important part of the solution is PLC implementation of qpOASES package for numerical solution of quadratic optimization problem. Application is implemented and tested using industrial PLC connected to a laboratory pendulum.
{"title":"New possibilities of industrial programming software","authors":"P. Seman, M. Juhás, L. Tkác, M. Honek","doi":"10.1109/PC.2013.6581456","DOIUrl":"https://doi.org/10.1109/PC.2013.6581456","url":null,"abstract":"Recent developments in the area of industrial programing software expand the potential of the automation programs considerably. In addition to IEC 61131-3 languages, programming languages like C and C++ are getting available for industrial controllers, which opens new possibilities of reusing existing programs for real time processing in these controllers. Paper deals with swing-up and online model predictive control of mechatronic device - reaction wheel inverted pendulum. Swing-up control uses convenient shape of exponential function over pendulum position for determination of required energy to be delivered to the system. For stabilization of pendulum in the upright position a predictive controller based on optimal control law with perturbation was used. An important part of the solution is PLC implementation of qpOASES package for numerical solution of quadratic optimization problem. Application is implemented and tested using industrial PLC connected to a laboratory pendulum.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"81 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131495603","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}
Modeling, simulation and investigation of Active Magnetic Levitation Systems (AMLS) is the aim of this article. We designed the effective control law for the stable operation in the levitation mode because these devices are essentially unstable in nature. The stabilizing controller has to generate the appropriate value of electromagnetic force to levitate an object. It is very important to choose convenient form and parameters of the controllers. The design parameters and controller design are to be analyzed in a complex form at the modeling stage. Magnetic levitation system for 3 and 5 axis model of magnetic bearing is analyzed, because AMLS are specific mechatronics devices where the construction and control laws are joined strongly. Simulation results of 3 and 5-axis model are presented to check correct form and parameters of the controller.
{"title":"Mechatronic system of levitation system","authors":"G. Martin, Kozák Štefan","doi":"10.1109/PC.2013.6581386","DOIUrl":"https://doi.org/10.1109/PC.2013.6581386","url":null,"abstract":"Modeling, simulation and investigation of Active Magnetic Levitation Systems (AMLS) is the aim of this article. We designed the effective control law for the stable operation in the levitation mode because these devices are essentially unstable in nature. The stabilizing controller has to generate the appropriate value of electromagnetic force to levitate an object. It is very important to choose convenient form and parameters of the controllers. The design parameters and controller design are to be analyzed in a complex form at the modeling stage. Magnetic levitation system for 3 and 5 axis model of magnetic bearing is analyzed, because AMLS are specific mechatronics devices where the construction and control laws are joined strongly. Simulation results of 3 and 5-axis model are presented to check correct form and parameters of the controller.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122518479","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}
The on-line robust constrained MPC is able to handle the system uncertainties and optimize the control performance. The paper describes the case study of chemical reactor stabilization in unstable operating point using four robust MPC approaches. The control scenarios were based on the worst-case optimization and the nominal system optimization. Moreover, the control strategies differ in usage of the single Lyapunov function and the parameter-dependent Lyapunov functions. The simulation results confirmed that using the nominal system optimization improved the control performance and the value of the cost function was reduced.
{"title":"The control performance evaluation of the selected On-line robust MPC approaches","authors":"J. Oravec, M. Bakosová","doi":"10.1109/PC.2013.6581400","DOIUrl":"https://doi.org/10.1109/PC.2013.6581400","url":null,"abstract":"The on-line robust constrained MPC is able to handle the system uncertainties and optimize the control performance. The paper describes the case study of chemical reactor stabilization in unstable operating point using four robust MPC approaches. The control scenarios were based on the worst-case optimization and the nominal system optimization. Moreover, the control strategies differ in usage of the single Lyapunov function and the parameter-dependent Lyapunov functions. The simulation results confirmed that using the nominal system optimization improved the control performance and the value of the cost function was reduced.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121456973","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}
The paper deals with robotic manipulator for automated testing of shifting system which was developed for automotive industry. Procedure of modelling and control design for hybrid force/position motion control as well as construction of the test stand and experimental results are presented. The proposed control structure with minimum set of feature-based parameters allows rapid online tuning in case of variable testing conditions even by an unskilled operator.
{"title":"Control system design of robotic manipulator for testing of shifting system","authors":"M. Goubej, J. Mertl, P. Balda","doi":"10.1109/PC.2013.6581416","DOIUrl":"https://doi.org/10.1109/PC.2013.6581416","url":null,"abstract":"The paper deals with robotic manipulator for automated testing of shifting system which was developed for automotive industry. Procedure of modelling and control design for hybrid force/position motion control as well as construction of the test stand and experimental results are presented. The proposed control structure with minimum set of feature-based parameters allows rapid online tuning in case of variable testing conditions even by an unskilled operator.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127839840","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}
Some control systems are difficult or impossible to be tuned by other means than automatically. We present here examples of optimization of the parameters of a PID controller regulating velocity of a slot car to the given set point using evolutionary optimization and reinforcement learning. These methods are implemented on the micro-controller of the slot car. Experimental results and comparison are provided.
{"title":"Evolutionary algorithms and reinforcement learning in experiments with slot cars","authors":"Dan Martinec, M. Bundzel","doi":"10.1109/PC.2013.6581401","DOIUrl":"https://doi.org/10.1109/PC.2013.6581401","url":null,"abstract":"Some control systems are difficult or impossible to be tuned by other means than automatically. We present here examples of optimization of the parameters of a PID controller regulating velocity of a slot car to the given set point using evolutionary optimization and reinforcement learning. These methods are implemented on the micro-controller of the slot car. Experimental results and comparison are provided.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"24 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116611101","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}
The aim of this paper is to present a nonlinear model-based predictive control (NMPC) for air-fuel ratio (AFR) of spark ignited (SI) engines. Complexity of NMPC implementation causes that the computational requirements on storage space and online computation time have to be considered in the controller design. Especially a limitation on computation time makes often the optimal control law too complex to be implemented and some suboptimal solution has to be provided to meet the requirements. The point of the paper is to present the controller which utilizes the simplified control problem in a warm-start technique and allows to decrease the online computational effort caused by the nonlinear predictive controller.
{"title":"Nonlinear air-fuel ratio predictive control of spark ignited engines","authors":"S. Wojnar, M. Honek, B. Rohal’-Ilkiv","doi":"10.1109/PC.2013.6581413","DOIUrl":"https://doi.org/10.1109/PC.2013.6581413","url":null,"abstract":"The aim of this paper is to present a nonlinear model-based predictive control (NMPC) for air-fuel ratio (AFR) of spark ignited (SI) engines. Complexity of NMPC implementation causes that the computational requirements on storage space and online computation time have to be considered in the controller design. Especially a limitation on computation time makes often the optimal control law too complex to be implemented and some suboptimal solution has to be provided to meet the requirements. The point of the paper is to present the controller which utilizes the simplified control problem in a warm-start technique and allows to decrease the online computational effort caused by the nonlinear predictive controller.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123848624","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}
The paper presents the possibility of introducing artificial intelligence and especially artificial neural network methodology to students in interesting way. To be more specific, the artificial neural network is described through the design of NPCs artificial intelligence in simple computer game.
{"title":"Artificial neural network promotion","authors":"P. Doležel, Martin Manska, I. Taufer, L. Havlícek","doi":"10.1109/PC.2013.6581411","DOIUrl":"https://doi.org/10.1109/PC.2013.6581411","url":null,"abstract":"The paper presents the possibility of introducing artificial intelligence and especially artificial neural network methodology to students in interesting way. To be more specific, the artificial neural network is described through the design of NPCs artificial intelligence in simple computer game.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121427898","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}
The paper presents a method for robust PI controller design for a system affected by parametric uncertainty. The proposed method is based on plotting the stability boundary locus in the plane of controller parameters that is called (kp, ki)-plane. The design approach is verified using simulations of robust stabilization and control of the chemical continuous-time stirred tank reactor (CSTR) with hydrolysis of propylene glycol. The control input is the volumetric flow rate of the reaction mixture and the controlled output is the temperature of the reacting mixture. The reactor which has three uncertain parameters is controlled into its stable and unstable steady-state. Obtained results confirm that designed robust PI controllers ensure robust stability in both steady-states.
{"title":"Robust PI controller design for a continuous stirred tank reactor with multiple steady-states","authors":"J. Závacká, M. Bakosová, Katarína Matejičková","doi":"10.1109/PC.2013.6581455","DOIUrl":"https://doi.org/10.1109/PC.2013.6581455","url":null,"abstract":"The paper presents a method for robust PI controller design for a system affected by parametric uncertainty. The proposed method is based on plotting the stability boundary locus in the plane of controller parameters that is called (kp, ki)-plane. The design approach is verified using simulations of robust stabilization and control of the chemical continuous-time stirred tank reactor (CSTR) with hydrolysis of propylene glycol. The control input is the volumetric flow rate of the reaction mixture and the controlled output is the temperature of the reacting mixture. The reactor which has three uncertain parameters is controlled into its stable and unstable steady-state. Obtained results confirm that designed robust PI controllers ensure robust stability in both steady-states.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121577603","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}
The paper presents a novel concept of the anisotropy-based analysis for the stochastic sequences with nonzero mean. The formulas for the anisotropy of random vector and mean anisotropy of sequence are obtained. Basic types of shaping filter connections are presented.
{"title":"The concept of mean anisotropy of signals with nonzero mean","authors":"A. Kurdyukov, A. Kustov, M. Tchaikovsky, M. Kárný","doi":"10.1109/PC.2013.6581379","DOIUrl":"https://doi.org/10.1109/PC.2013.6581379","url":null,"abstract":"The paper presents a novel concept of the anisotropy-based analysis for the stochastic sequences with nonzero mean. The formulas for the anisotropy of random vector and mean anisotropy of sequence are obtained. Basic types of shaping filter connections are presented.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131542014","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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