Explores the application of nonlinear tuning rules estimators to a known relay-oscillation tuner. Two approaches were tested. One uses nonlinear functions to approximate the desirable controller parameters. The other incorporates a neural network for computing the process model and controller parameters. As a basis for computation, the ultimate gain, ultimate period, and process dead time are defined during the tuning experiment. The neural network is trained in simulation using these process parameters as inputs and known process model parameters and desired PID controller tuning parameters as outputs. The PID tuning parameters are defined from the simulation process model using IMC or lambda tuning rules. This concept was implemented in a scalable industrial control system. Simulation test results show a vast improvement in model identification and control loop performance as compared to previous relay-oscillation based tuning approaches.
{"title":"Neural network assisted control loop tuner","authors":"W. Wojsznis, T. Blevins, D. Thiele","doi":"10.1109/CCA.1999.806673","DOIUrl":"https://doi.org/10.1109/CCA.1999.806673","url":null,"abstract":"Explores the application of nonlinear tuning rules estimators to a known relay-oscillation tuner. Two approaches were tested. One uses nonlinear functions to approximate the desirable controller parameters. The other incorporates a neural network for computing the process model and controller parameters. As a basis for computation, the ultimate gain, ultimate period, and process dead time are defined during the tuning experiment. The neural network is trained in simulation using these process parameters as inputs and known process model parameters and desired PID controller tuning parameters as outputs. The PID tuning parameters are defined from the simulation process model using IMC or lambda tuning rules. This concept was implemented in a scalable industrial control system. Simulation test results show a vast improvement in model identification and control loop performance as compared to previous relay-oscillation based tuning approaches.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129895852","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}
We compare linear and nonlinear controllers for an axial flow compressor. The control laws are designed for asymmetric interstage bleed valve actuation. We show that a nonlinear L/sub g/V controller achieves a larger region of attraction than that achieved by an LQR controller.
{"title":"Linear vs. nonlinear control of an axial flow compressor","authors":"D. Fontaine, S. Liao, J. Paduano, P. Kokotovic","doi":"10.1109/CCA.1999.800920","DOIUrl":"https://doi.org/10.1109/CCA.1999.800920","url":null,"abstract":"We compare linear and nonlinear controllers for an axial flow compressor. The control laws are designed for asymmetric interstage bleed valve actuation. We show that a nonlinear L/sub g/V controller achieves a larger region of attraction than that achieved by an LQR controller.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"412 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126690545","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}
First, the structure of the trial production of the mechanical system of a noncontact hold and transfer control system consisting of a magnetic robot hand and a mobile robot with two independent drive wheels is expressed. Then, the state equation of the magnetic robot hand attached to the mobile robot is derived, and the robust noncontact hold control system with magnetic levitation control is designed by use of the mixed sensitivity method based on H/sub /spl infin// control theory. On the other hand, the disturbance observer for the mobile robot is designed using the equation of motion of the mobile robot, and the trajectory tracking control system of the mobile robot is constructed by use of PD control and the disturbance observer. Furthermore, the experimental results concerning the noncontact hold and transfer control of a steel sphere are demonstrated, and the usefulness of the present noncontact hold and transfer control system with the magnetic robot hand attached to the mobile robot is confirmed.
{"title":"Noncontact hold and transfer control by a magnetic robot hand attached to a mobile robot with two independent drive wheels","authors":"H. Kojima, Y. Yuasa, T. Kobayashi","doi":"10.1109/CCA.1999.800955","DOIUrl":"https://doi.org/10.1109/CCA.1999.800955","url":null,"abstract":"First, the structure of the trial production of the mechanical system of a noncontact hold and transfer control system consisting of a magnetic robot hand and a mobile robot with two independent drive wheels is expressed. Then, the state equation of the magnetic robot hand attached to the mobile robot is derived, and the robust noncontact hold control system with magnetic levitation control is designed by use of the mixed sensitivity method based on H/sub /spl infin// control theory. On the other hand, the disturbance observer for the mobile robot is designed using the equation of motion of the mobile robot, and the trajectory tracking control system of the mobile robot is constructed by use of PD control and the disturbance observer. Furthermore, the experimental results concerning the noncontact hold and transfer control of a steel sphere are demonstrated, and the usefulness of the present noncontact hold and transfer control system with the magnetic robot hand attached to the mobile robot is confirmed.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123520967","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 concept of plug and play has become increasingly popular in consumer electronics because of the ease of use and low maintenance, it now appears possible to apply this concept to motor drive design. New generations of DSP controllers, such as the Texas Instruments TMS320C240 ('C240) DSP controller, by integrating the high performance of a DSP core and the powerful on-chip peripherals of a microcontroller into a single-chip solution, have made this possible. The paper describes the practical implementation of a linear induction motor drive, which consists of power module and a single DSP controller, which will both reduce the cost and the complexity of the design. In order to save space and enable continuous operation, a linear induction motor has been specifically built for this study.
{"title":"A practical implementation of a linear induction motor drive using new generation DSP controller","authors":"M. Tsai, Jeng Hu Chen","doi":"10.1109/CCA.1999.800930","DOIUrl":"https://doi.org/10.1109/CCA.1999.800930","url":null,"abstract":"The concept of plug and play has become increasingly popular in consumer electronics because of the ease of use and low maintenance, it now appears possible to apply this concept to motor drive design. New generations of DSP controllers, such as the Texas Instruments TMS320C240 ('C240) DSP controller, by integrating the high performance of a DSP core and the powerful on-chip peripherals of a microcontroller into a single-chip solution, have made this possible. The paper describes the practical implementation of a linear induction motor drive, which consists of power module and a single DSP controller, which will both reduce the cost and the complexity of the design. In order to save space and enable continuous operation, a linear induction motor has been specifically built for this study.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121361285","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}
Jing Sun, I. Kolmanovsky, D. Brehob, J. Cook, J. Buckland, M. Haghgooie
In this paper, we present a phenomenological nonlinear dynamic model for direct injection stratified charge (DISC) gasoline engines and discuss several key control problems for this advanced technology powertrain. The model is developed and validated using dynamometer engine mapping data obtained from a 4-cylinder DISC engine. It captures the static behavior of the key components of a DISC engine, such as the torque and emissions generation and volumetric efficiency, as well as the essential dynamics for the intake manifold and engine rotational inertia. It is shown that the multimode operation of a DISC engine dictates a hybrid model structure and also requires a coordinated multivariable control strategy to achieve expected performance.
{"title":"Modeling and control of gasoline direct injection stratified charge (DISC) engines","authors":"Jing Sun, I. Kolmanovsky, D. Brehob, J. Cook, J. Buckland, M. Haghgooie","doi":"10.1109/CCA.1999.806685","DOIUrl":"https://doi.org/10.1109/CCA.1999.806685","url":null,"abstract":"In this paper, we present a phenomenological nonlinear dynamic model for direct injection stratified charge (DISC) gasoline engines and discuss several key control problems for this advanced technology powertrain. The model is developed and validated using dynamometer engine mapping data obtained from a 4-cylinder DISC engine. It captures the static behavior of the key components of a DISC engine, such as the torque and emissions generation and volumetric efficiency, as well as the essential dynamics for the intake manifold and engine rotational inertia. It is shown that the multimode operation of a DISC engine dictates a hybrid model structure and also requires a coordinated multivariable control strategy to achieve expected performance.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114309536","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}
Tracking a target from a dynamic platform (i.e. aircraft, ground vehicle) requires a servo architecture that includes an outer track loop and an inner rate loop that stabilizes the line of sight (LOS). This paper focuses on the rate loop design and the effects of friction and cable restraint on it's performance. Adaptive friction and feedback compensators are designed to improve tracking performance. The adaptive feedback compensator is tuned so that the gimbal response follows that of a reference model.
{"title":"Adaptive compensation for pointing and tracking systems applications","authors":"P. Kennedy, R. L. Kennedy, Ian Agard","doi":"10.1109/CCA.1999.806641","DOIUrl":"https://doi.org/10.1109/CCA.1999.806641","url":null,"abstract":"Tracking a target from a dynamic platform (i.e. aircraft, ground vehicle) requires a servo architecture that includes an outer track loop and an inner rate loop that stabilizes the line of sight (LOS). This paper focuses on the rate loop design and the effects of friction and cable restraint on it's performance. Adaptive friction and feedback compensators are designed to improve tracking performance. The adaptive feedback compensator is tuned so that the gimbal response follows that of a reference model.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"516 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116225152","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}
We analyze the problem of real-time thickness estimation for patterned wafers during an etching process using in situ spectroscopic ellipsometry. For that, a two-stage estimation algorithm is proposed. The first stage is an automatic model calibration algorithm that uses the data collected during an initial interval. The second stage is a nonlinear state estimation system designed for the tuned model. We study the sensitivity of this estimation strategy to variations in the wafer parameters and the process conditions.
{"title":"Real-time estimation of patterned wafer parameters using in situ spectroscopic ellipsometry","authors":"C. Galarza, P. Khargonekar, F. L. Terry","doi":"10.1109/CCA.1999.807759","DOIUrl":"https://doi.org/10.1109/CCA.1999.807759","url":null,"abstract":"We analyze the problem of real-time thickness estimation for patterned wafers during an etching process using in situ spectroscopic ellipsometry. For that, a two-stage estimation algorithm is proposed. The first stage is an automatic model calibration algorithm that uses the data collected during an initial interval. The second stage is a nonlinear state estimation system designed for the tuned model. We study the sensitivity of this estimation strategy to variations in the wafer parameters and the process conditions.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121473860","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}
One of the typical nonlinear system is a pendulum. Cause of difficulties of controlling a pendulum is mismatching of number between inputs and outputs, that is to say, single input and double outputs. The feature of a pendulum is nonlinear as to angle and linear as to cart position. Another point is that state equations do not have terms of position of a cart. In addition, the angle of a pendulum must satisfy the dynamic equation at horizontal line. In order to swing up a pendulum of these properties, first, we define a reference angle of a pendulum which satisfies the dynamic equation at horizontal line. After the pendulum goes up around upright position, we change the curve of reference angle so that the pendulum standstill at the origin. In other word, when the pendulum system becomes a linear time-invariant system, we define the ideal curves of both angle and position which will converge to the origin. The angle of the pendulum is controlled by SFC (simulator-based foresight control) all the way which can be applicable for a nonaffine nonlinear system.
{"title":"Swing up of an inverted pendulum by simulator-based foresight control","authors":"M. Uchida, K. Nakano","doi":"10.1109/CCA.1999.801152","DOIUrl":"https://doi.org/10.1109/CCA.1999.801152","url":null,"abstract":"One of the typical nonlinear system is a pendulum. Cause of difficulties of controlling a pendulum is mismatching of number between inputs and outputs, that is to say, single input and double outputs. The feature of a pendulum is nonlinear as to angle and linear as to cart position. Another point is that state equations do not have terms of position of a cart. In addition, the angle of a pendulum must satisfy the dynamic equation at horizontal line. In order to swing up a pendulum of these properties, first, we define a reference angle of a pendulum which satisfies the dynamic equation at horizontal line. After the pendulum goes up around upright position, we change the curve of reference angle so that the pendulum standstill at the origin. In other word, when the pendulum system becomes a linear time-invariant system, we define the ideal curves of both angle and position which will converge to the origin. The angle of the pendulum is controlled by SFC (simulator-based foresight control) all the way which can be applicable for a nonaffine nonlinear system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124085517","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}
We consider LPV systems and an LPV controller with varying parameters is proposed. This controller has less conservativity against H/sub /spl infin// controllers. We reveal the condition to be able to design the LPV controller. Next we apply the LPV controller to the ALFLEX longitudinal motion control problem when running on the ground. By simulation we confirm the utility of the proposed method to stabilization. Also we check the property for disturbance rejection.
{"title":"LPV controller design for ALFLEX by using LMI","authors":"Y. Ando, H. Tsuge, M. Suzuki","doi":"10.1109/CCA.1999.801144","DOIUrl":"https://doi.org/10.1109/CCA.1999.801144","url":null,"abstract":"We consider LPV systems and an LPV controller with varying parameters is proposed. This controller has less conservativity against H/sub /spl infin// controllers. We reveal the condition to be able to design the LPV controller. Next we apply the LPV controller to the ALFLEX longitudinal motion control problem when running on the ground. By simulation we confirm the utility of the proposed method to stabilization. Also we check the property for disturbance rejection.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"15 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127633472","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}
Longitudinal and lateral control of heavy duty trucks for vehicle following is presented. A manually driven leading truck is followed at a very small distance by another truck automatically. No additional road infrastructure is necessary. For longitudinal and lateral control, information about the relative position of the leading and following truck is determined by an onboard image processing system. Additionally, a vehicle to vehicle communication system gives information about the state of the leading truck. Longitudinal control has a two layered structure. In the inner control loop, a model based nonlinear acceleration controller linearises the essential nonlinearities of the drive train. Based on this linearisation, the outer control loop (a linear state space controller) controls a small and safe distance to the leading truck. Lateral control is done by an electronic tow bar approach where the rear truck follows the same track as the leading truck. Practical results with two 40 tonne semitrailer trucks are given.
{"title":"Longitudinal and lateral control of heavy duty trucks for automated vehicle following in mixed traffic: experimental results from the CHAUFFEUR project","authors":"H. Fritz","doi":"10.1109/CCA.1999.801168","DOIUrl":"https://doi.org/10.1109/CCA.1999.801168","url":null,"abstract":"Longitudinal and lateral control of heavy duty trucks for vehicle following is presented. A manually driven leading truck is followed at a very small distance by another truck automatically. No additional road infrastructure is necessary. For longitudinal and lateral control, information about the relative position of the leading and following truck is determined by an onboard image processing system. Additionally, a vehicle to vehicle communication system gives information about the state of the leading truck. Longitudinal control has a two layered structure. In the inner control loop, a model based nonlinear acceleration controller linearises the essential nonlinearities of the drive train. Based on this linearisation, the outer control loop (a linear state space controller) controls a small and safe distance to the leading truck. Lateral control is done by an electronic tow bar approach where the rear truck follows the same track as the leading truck. Practical results with two 40 tonne semitrailer trucks are given.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125759431","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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