Pub Date : 1990-05-23DOI: 10.1109/ACC.1990.4174256
P. S. Min
The control strategy in an electronically controlled engine critically relies on the proper functioning of the measuring components; sensors measuring the inputs to the controller are given a margin of error no more than a few percentages in order to achieve the performance constraints of the vehicle. For example, a 10% calibration error in the Mass Air Flow sensor will no longer provide the measurement that is accurate enough to satisfy the emission constraints of the vehicle. Diagnosis of sensors in an electronically controlled engine is a relatively new effort, for which some versions have been implemented to provide simpler tasks like identifying open or short circuits. The main purpose of this paper is to develop an analytical method for, and to demonstrate the feasibility of the failure detection for the sensors measuring the critical inputs to the engine controller. Unlike the previous attempts, however, the approach taken in this paper will employ a model-based method, refenred to as the Beard-Jones Detection Filter (BJDE), and will emphasize the capability of detecting a failure in its earliest stage, i.e., an incipient failure.
{"title":"Validation of Controller Inputs in Electronically Controlled Engines","authors":"P. S. Min","doi":"10.1109/ACC.1990.4174256","DOIUrl":"https://doi.org/10.1109/ACC.1990.4174256","url":null,"abstract":"The control strategy in an electronically controlled engine critically relies on the proper functioning of the measuring components; sensors measuring the inputs to the controller are given a margin of error no more than a few percentages in order to achieve the performance constraints of the vehicle. For example, a 10% calibration error in the Mass Air Flow sensor will no longer provide the measurement that is accurate enough to satisfy the emission constraints of the vehicle. Diagnosis of sensors in an electronically controlled engine is a relatively new effort, for which some versions have been implemented to provide simpler tasks like identifying open or short circuits. The main purpose of this paper is to develop an analytical method for, and to demonstrate the feasibility of the failure detection for the sensors measuring the critical inputs to the engine controller. Unlike the previous attempts, however, the approach taken in this paper will employ a model-based method, refenred to as the Beard-Jones Detection Filter (BJDE), and will emphasize the capability of detecting a failure in its earliest stage, i.e., an incipient failure.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125687521","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790945
R. Chang, T. C. Jiang
The dynamic equation of a robotic manipulator with joint irregularities is formulated and employed for the prediction of the positioning accuracy and precision of a robotic manipulator in high-speed operation. The mathematical model is derived by incorporating a dynamic model of irregular joints in an ideal robotic equation and employing the Lagrangian formulation. The joint irregularity is modeled as an elastic sliding pair which consists of a journal with irregular surface sliding on the surface of an elastic bearing. By employing Gaussian linearization methods, the operational accuracy and precision of the robotic manipulator are obtained from mean and covariance propagation equations of the robotic system. The operation of a single-arm robotic manipulator with joint irregularities is investigated for demonstrating the present techniques.
{"title":"Dynamic Model and Response of Robot Manipulators with Joint Irregularities","authors":"R. Chang, T. C. Jiang","doi":"10.23919/ACC.1990.4790945","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790945","url":null,"abstract":"The dynamic equation of a robotic manipulator with joint irregularities is formulated and employed for the prediction of the positioning accuracy and precision of a robotic manipulator in high-speed operation. The mathematical model is derived by incorporating a dynamic model of irregular joints in an ideal robotic equation and employing the Lagrangian formulation. The joint irregularity is modeled as an elastic sliding pair which consists of a journal with irregular surface sliding on the surface of an elastic bearing. By employing Gaussian linearization methods, the operational accuracy and precision of the robotic manipulator are obtained from mean and covariance propagation equations of the robotic system. The operation of a single-arm robotic manipulator with joint irregularities is investigated for demonstrating the present techniques.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130551875","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790799
H. Budman, C. Webb, M. Morari
An inferential robust control technique is applied to an experimental fixed bed reactor. The controlled variables are the exit concentration and the maximum bed temperature. Both controlled variables are inferred from one single temperature measurement. The location of this measurement is selected to optimize the performance of the closed-loop system when model uncertainty is allowed. Closed-loop experiments are conducted to test the robustness characteristics of the controller. From these experiments, the operating regions most sensitive to modelling uncertainty are determined. The nonlinear system characteristics can cause significant offset in the inferred controlled variables.
{"title":"Robust Inferential Control for a Packed-Bed Reactor","authors":"H. Budman, C. Webb, M. Morari","doi":"10.23919/ACC.1990.4790799","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790799","url":null,"abstract":"An inferential robust control technique is applied to an experimental fixed bed reactor. The controlled variables are the exit concentration and the maximum bed temperature. Both controlled variables are inferred from one single temperature measurement. The location of this measurement is selected to optimize the performance of the closed-loop system when model uncertainty is allowed. Closed-loop experiments are conducted to test the robustness characteristics of the controller. From these experiments, the operating regions most sensitive to modelling uncertainty are determined. The nonlinear system characteristics can cause significant offset in the inferred controlled variables.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132954580","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 : 1990-05-23DOI: 10.1109/ACC.1990.4173826
A. Georgiev
In this paper a certain nonlinear dynamic system is identified. The system is continuous-time, and a discrete-time nonparametric model is applied. The efficiency of proposed nonparametric model is demonstrated by modeling a turbogenerator set.
{"title":"Nonparametric Models for Nonlinear Dynamic Systems: A Case Study","authors":"A. Georgiev","doi":"10.1109/ACC.1990.4173826","DOIUrl":"https://doi.org/10.1109/ACC.1990.4173826","url":null,"abstract":"In this paper a certain nonlinear dynamic system is identified. The system is continuous-time, and a discrete-time nonparametric model is applied. The efficiency of proposed nonparametric model is demonstrated by modeling a turbogenerator set.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131981133","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 : 1990-05-23DOI: 10.23919/ACC.1990.4791020
B. Shafai, L. Keel
A simple and direct pole placement algorithm is introduced for dynamical systems having a block companion matrix A. The algorithm utilizes well established properties of matrix polynomials. Pole placement is achieved by appropriately assigning coefficient matrices of the corresponding matrix polynomial. This involves only matrix additions and multiplications without requiring matrix inversion. A numerical example is given for the purpose of illustration.
{"title":"New Pole Placement Algorithm: Polynomial Matrix Approach","authors":"B. Shafai, L. Keel","doi":"10.23919/ACC.1990.4791020","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791020","url":null,"abstract":"A simple and direct pole placement algorithm is introduced for dynamical systems having a block companion matrix A. The algorithm utilizes well established properties of matrix polynomials. Pole placement is achieved by appropriately assigning coefficient matrices of the corresponding matrix polynomial. This involves only matrix additions and multiplications without requiring matrix inversion. A numerical example is given for the purpose of illustration.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132052418","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790797
S. Phillips, R. Kosut
This paper describes a technique for applying the method of averaging to adaptive control systems which contain both parametric and nonparametric uncertainty. The usual averaging approaches require the explicit computation of an equilibrium point of the averaged system. Here we present a method which uses bounds on the nonparametric uncertainty of the plant to impose robustness constraints on the control design. This analysis motivates an interpretation of the problem as system identification for control design.
{"title":"On Computing the Equilibrium of the Averaged System for the Self-Tuning Regulator","authors":"S. Phillips, R. Kosut","doi":"10.23919/ACC.1990.4790797","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790797","url":null,"abstract":"This paper describes a technique for applying the method of averaging to adaptive control systems which contain both parametric and nonparametric uncertainty. The usual averaging approaches require the explicit computation of an equilibrium point of the averaged system. Here we present a method which uses bounds on the nonparametric uncertainty of the plant to impose robustness constraints on the control design. This analysis motivates an interpretation of the problem as system identification for control design.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132327040","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 : 1990-05-23DOI: 10.23919/ACC.1990.4790978
E. Collins, D. Phillips, D. Hyland
Many large space system concepts will requir active vibration control to satisfy critical performance requirements such as line-of-sight accuracy. In order for these concepts to become operational it is imperative that the benefits of active vibration control be practically demonstrated in ground-based experiments. This report describes an experiment conducted by Harris as part of the NASA CSI Guest Investigator Program. The results of this experiment successfully demonstrate active vibration control for a flexible structure. The testbed is the ACES structure at NASA Marshall Space Flight Center. The ACES structure is dynamically traceable to future space systems and especially allows the study of line-of-sight control issues.
{"title":"Design and Implementation of Robust Decentralized Control Laws for the ACES Structure at Marshall Space Flight Center","authors":"E. Collins, D. Phillips, D. Hyland","doi":"10.23919/ACC.1990.4790978","DOIUrl":"https://doi.org/10.23919/ACC.1990.4790978","url":null,"abstract":"Many large space system concepts will requir active vibration control to satisfy critical performance requirements such as line-of-sight accuracy. In order for these concepts to become operational it is imperative that the benefits of active vibration control be practically demonstrated in ground-based experiments. This report describes an experiment conducted by Harris as part of the NASA CSI Guest Investigator Program. The results of this experiment successfully demonstrate active vibration control for a flexible structure. The testbed is the ACES structure at NASA Marshall Space Flight Center. The ACES structure is dynamically traceable to future space systems and especially allows the study of line-of-sight control issues.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"24 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130993345","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 : 1990-05-23DOI: 10.23919/ACC.1990.4791110
S. L. Rivera, M. Karim
This paper discusses the application of dynamic Programming to the optimization of a batch fermentation for ethanol production. Using several experimental data sets available for Zymomonas mobilis culture at different environmental conditions, pH and temperature control policies are determined, which will maximize the yield of ethanol for batch culture. The influence of temperature was studied for the range from 30 to 40C and pH was varied from 5.0 to 7.5. A fermentation kinetics model was used in simulation studies to assess the positive effect of the time-varying profiles on the yield. The functionality with respect to temperature and pH was incorported in the specific growth rate constant. These results showed that it is possible to obtain an ethanol yield more than twice the value obtained when pH and temperature are kept constant throughout the experiment.
{"title":"Application of Dynamic Programming for Fermentative Ethanol Production by Zymomonas mobilis","authors":"S. L. Rivera, M. Karim","doi":"10.23919/ACC.1990.4791110","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791110","url":null,"abstract":"This paper discusses the application of dynamic Programming to the optimization of a batch fermentation for ethanol production. Using several experimental data sets available for Zymomonas mobilis culture at different environmental conditions, pH and temperature control policies are determined, which will maximize the yield of ethanol for batch culture. The influence of temperature was studied for the range from 30 to 40C and pH was varied from 5.0 to 7.5. A fermentation kinetics model was used in simulation studies to assess the positive effect of the time-varying profiles on the yield. The functionality with respect to temperature and pH was incorported in the specific growth rate constant. These results showed that it is possible to obtain an ethanol yield more than twice the value obtained when pH and temperature are kept constant throughout the experiment.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130219265","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 : 1990-05-23DOI: 10.23919/ACC.1990.4791028
E. Nebot, Alfredo Desagues, J. Romagnoli, G. Widmann
In order to achieve stability and gcod performance, the pole assignment technique has been recognized as a good theoretical method. This technique has received widespread attention, during the past few years, Kucera (1], Astrom and Wittenmark [2]. There has also been some criticism of this method because of the unrealistic assumptions made in various works with respect to complete state observation, Wonhain [3], and accuracy in the model determination, Horowitz [4]. Whenever the hole state vector is available, it has been shown that a controller of order r (i.e., n m I + 1) can assign the poles arbitrarily Kimura [5], Chen [6]. In this case, n, m, and I represents the number of states, inputs and outputs, respectively.
为了保证系统的稳定性和良好的性能，极点配置技术被认为是一种很好的理论方法。在过去的几年中，kuucera (1)， Astrom和Wittenmark[2]等人对该技术进行了广泛的关注。对于这种方法也有一些批评，因为在各种工作中对完全状态观察(Wonhain[3])和模型确定的准确性(Horowitz[4])做出了不切实际的假设。当空穴状态向量可用时，已经证明r阶控制器(即n m I + 1)可以任意分配极点Kimura [5]， Chen[6]。在本例中，n、m和I分别表示状态、输入和输出的数量。
{"title":"Robust Controller Application to Flexible Manipulators","authors":"E. Nebot, Alfredo Desagues, J. Romagnoli, G. Widmann","doi":"10.23919/ACC.1990.4791028","DOIUrl":"https://doi.org/10.23919/ACC.1990.4791028","url":null,"abstract":"In order to achieve stability and gcod performance, the pole assignment technique has been recognized as a good theoretical method. This technique has received widespread attention, during the past few years, Kucera (1], Astrom and Wittenmark [2]. There has also been some criticism of this method because of the unrealistic assumptions made in various works with respect to complete state observation, Wonhain [3], and accuracy in the model determination, Horowitz [4]. Whenever the hole state vector is available, it has been shown that a controller of order r (i.e., n m I + 1) can assign the poles arbitrarily Kimura [5], Chen [6]. In this case, n, m, and I represents the number of states, inputs and outputs, respectively.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128788673","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 : 1990-05-23DOI: 10.1109/ACC.1990.4174137
A. Nassirharand, James H. Taylor
We report on a new, systematic approach to the synthesis of linear multivariable controllers for use with multiple-input/multiple-output (MIMO) nonlinear systems. The approach is based on describing function models of the system followed by numerical optimization in the frequency domain. The end result is a closed-loop feedback system which is insensitive to the amplitude level of the excitation signal, and which approximates a set of user-defined performance criteria with minimum mean square error. We demonstrate the procedure by solving an example problem.
{"title":"Synthesis of Linear PID Controllers for Nonlinear Multivariable Systems","authors":"A. Nassirharand, James H. Taylor","doi":"10.1109/ACC.1990.4174137","DOIUrl":"https://doi.org/10.1109/ACC.1990.4174137","url":null,"abstract":"We report on a new, systematic approach to the synthesis of linear multivariable controllers for use with multiple-input/multiple-output (MIMO) nonlinear systems. The approach is based on describing function models of the system followed by numerical optimization in the frequency domain. The end result is a closed-loop feedback system which is insensitive to the amplitude level of the excitation signal, and which approximates a set of user-defined performance criteria with minimum mean square error. We demonstrate the procedure by solving an example problem.","PeriodicalId":307181,"journal":{"name":"1990 American Control Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125597609","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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