This paper presents the use of gray-box modeling to model electric drives. In gray-box modeling the system model is partitioned into a known and an unknown part. The known part of the model is derived from physical principles while the unknown part is modeled using a black-box model. In the case of electrical machines the electric part of the system is well understood from the corresponding governing physical laws, while the mechanical part of the system could be too complex or unknown. The application of this approach is investigated on a DC drive system. We present the use of neural networks as the black-box model for an unknown static nonlinearity. We study the issues of network architecture and of algorithms for parameter estimation.
{"title":"Gray-box modeling of electric drive systems using neural networks","authors":"R. Rivera-Sampayo, M. Velez-Reyes","doi":"10.1109/CCA.2001.973854","DOIUrl":"https://doi.org/10.1109/CCA.2001.973854","url":null,"abstract":"This paper presents the use of gray-box modeling to model electric drives. In gray-box modeling the system model is partitioned into a known and an unknown part. The known part of the model is derived from physical principles while the unknown part is modeled using a black-box model. In the case of electrical machines the electric part of the system is well understood from the corresponding governing physical laws, while the mechanical part of the system could be too complex or unknown. The application of this approach is investigated on a DC drive system. We present the use of neural networks as the black-box model for an unknown static nonlinearity. We study the issues of network architecture and of algorithms for parameter estimation.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123076694","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}
Summarizes the authors experience from mechatronics and automatic control teaching at the undergraduate level. A hands-on remote Internet-based control laboratory project is discussed as way for training.
{"title":"Mechatronics hands-on training through the development of an Internet-based automatic control laboratory","authors":"J. C. Martínez-García, R. Garrido","doi":"10.1109/CCA.2001.973851","DOIUrl":"https://doi.org/10.1109/CCA.2001.973851","url":null,"abstract":"Summarizes the authors experience from mechatronics and automatic control teaching at the undergraduate level. A hands-on remote Internet-based control laboratory project is discussed as way for training.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121817235","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}
Extends a procedure for multiple leaks detection in a pipeline assuming a linear model to the nonlinear case. The residual generation problem is tackled in two parts. First, the nonlinear subsystem that is only decoupled from one leak and is coupled to the rest of the considered leaks is obtained. Since this subsystem for each leak satisfies a triangular form, the second part of the procedure involves the design of a set of nonlinear observers to generate the residuals which are sensitive to the leaks set. The procedure is validated taking real data of a water pilot pipeline 132mts long.
{"title":"Bank of nonlinear observers for the detection of multiple leaks in a pipeline","authors":"C. Verde, N. Visairo","doi":"10.1109/CCA.2001.973952","DOIUrl":"https://doi.org/10.1109/CCA.2001.973952","url":null,"abstract":"Extends a procedure for multiple leaks detection in a pipeline assuming a linear model to the nonlinear case. The residual generation problem is tackled in two parts. First, the nonlinear subsystem that is only decoupled from one leak and is coupled to the rest of the considered leaks is obtained. Since this subsystem for each leak satisfies a triangular form, the second part of the procedure involves the design of a set of nonlinear observers to generate the residuals which are sensitive to the leaks set. The procedure is validated taking real data of a water pilot pipeline 132mts long.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117349793","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 parameter uncertainties of the plant are considered as a fuzzy set. Designing the closed-loop control robustly, the controller parameters are selected referring to the membership function of the uncertainty and on the condition of guaranteed stability in the region of possible parameter uncertainties. For the sake of convenience, the design process is mapped to the space of the uncertain plant parameters although center-of-gravity defuzzification concerns the closed-loop parameters. The control problems are oriented on minimum disturbance feedforward under norm restriction of the controller matrix.
{"title":"Smart robustness based on the fuzziness of uncertainties","authors":"A. Weinmann","doi":"10.1109/CCA.2001.973882","DOIUrl":"https://doi.org/10.1109/CCA.2001.973882","url":null,"abstract":"The parameter uncertainties of the plant are considered as a fuzzy set. Designing the closed-loop control robustly, the controller parameters are selected referring to the membership function of the uncertainty and on the condition of guaranteed stability in the region of possible parameter uncertainties. For the sake of convenience, the design process is mapped to the space of the uncertain plant parameters although center-of-gravity defuzzification concerns the closed-loop parameters. The control problems are oriented on minimum disturbance feedforward under norm restriction of the controller matrix.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121132971","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}
In this paper, an adaptive impedance controller is presented for position/force control of mechanical systems subject to a set of classical nonholonomic constraints and with unknown dynamic model parameters. The controller is designed based on a reduced model and some properties of the dynamic model are exploited to facilitate the controller design. The controller guarantees that the motion tracking errors and force errors asymptotically converge to the desired manifold, and regulates the motion/force relationship to the desired impedance dynamics. Simulation studies show the effectiveness of the proposed method.
{"title":"Adaptive impedance control of mechanical systems with classical nonholonomic constraints","authors":"S. S. Ge, T.H. Lee, James Ze Wang","doi":"10.1109/CCA.2001.973994","DOIUrl":"https://doi.org/10.1109/CCA.2001.973994","url":null,"abstract":"In this paper, an adaptive impedance controller is presented for position/force control of mechanical systems subject to a set of classical nonholonomic constraints and with unknown dynamic model parameters. The controller is designed based on a reduced model and some properties of the dynamic model are exploited to facilitate the controller design. The controller guarantees that the motion tracking errors and force errors asymptotically converge to the desired manifold, and regulates the motion/force relationship to the desired impedance dynamics. Simulation studies show the effectiveness of the proposed method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121233807","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}
This paper deals with the nonlinear control of irrigation canals or dam-river systems. Open-channel dynamics are based on the well-known Saint-Venant nonlinear partial differential equations. Here, the finite-dimensional model we (2001) previously developed, which is based on a collocation Galerkin method together with the functional approximation by Lagrange polynomials, is used as a basic model for the control. In our previous paper we showed how such a model is much more tractable than those obtained from classical finite-difference or finite-element methods (from the viewpoint of both state dimension and structure) and well suited for control purposes. In this paper we show how this model can be used to design a nonlinear controller using the backstepping technique for controlling the water levels along an open-channel reach, and present some simulations of the system using the obtained controller.
{"title":"A nonlinear backstepping like controller for a three-point collocation model of water flow dynamics","authors":"G. Besançon, Jean-François Dulhoste, D. Georges","doi":"10.1109/CCA.2001.973860","DOIUrl":"https://doi.org/10.1109/CCA.2001.973860","url":null,"abstract":"This paper deals with the nonlinear control of irrigation canals or dam-river systems. Open-channel dynamics are based on the well-known Saint-Venant nonlinear partial differential equations. Here, the finite-dimensional model we (2001) previously developed, which is based on a collocation Galerkin method together with the functional approximation by Lagrange polynomials, is used as a basic model for the control. In our previous paper we showed how such a model is much more tractable than those obtained from classical finite-difference or finite-element methods (from the viewpoint of both state dimension and structure) and well suited for control purposes. In this paper we show how this model can be used to design a nonlinear controller using the backstepping technique for controlling the water levels along an open-channel reach, and present some simulations of the system using the obtained controller.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127373593","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}
This paper describes the control design of a 1.5 MW free turbine with complex load. A nonlinear model of the engine with load has been developed within Simulink from details previously presented by Hill (1987). New predictive control technique, the so-called time varying weighting generalized predictive control (TGPC) is performed using a linearised model to represent the key components in the control design. The performance criteria are specified in terms of the stability margins, bandwidth and desired response of the engine to a severe load disturbance. The substantial change in system dynamics and the constraints on its manipulated variable (i.e. the throttle valve angle) offer a challenge to control engineers. Therefore, nonlinear simulations with parameter changes and full robustness/stability analysis are presented to support the conclusion that the design is robust/stable.
{"title":"Time varying weighting generalized predictive control (TGPC): an application to a 1.5 MW free turbine engine","authors":"H. Gomma, D. Owens, D. Rossiter","doi":"10.1109/CCA.2001.973938","DOIUrl":"https://doi.org/10.1109/CCA.2001.973938","url":null,"abstract":"This paper describes the control design of a 1.5 MW free turbine with complex load. A nonlinear model of the engine with load has been developed within Simulink from details previously presented by Hill (1987). New predictive control technique, the so-called time varying weighting generalized predictive control (TGPC) is performed using a linearised model to represent the key components in the control design. The performance criteria are specified in terms of the stability margins, bandwidth and desired response of the engine to a severe load disturbance. The substantial change in system dynamics and the constraints on its manipulated variable (i.e. the throttle valve angle) offer a challenge to control engineers. Therefore, nonlinear simulations with parameter changes and full robustness/stability analysis are presented to support the conclusion that the design is robust/stable.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127453622","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}
A. Ledeczi, G. Nordstrom, G. Karsai, P. Volgyesi, M. Maroti
Computer-based systems (CBS) development integrates various disciplines, such as hardware design, software engineering, and performance modeling, as well as the "base" engineering discipline in which the CBS will operate. As such, use of a "non-native" modeling language is not acceptable when performing CBS design, and rapid specification and development of domain-specific modeling languages (DSMLs) is necessary. We advocate a UML-based metamodeling technique to DSML specification and generation. A key feature of our approach is the composition of new metamodels from existing metamodels through the use of three newly defined UML operators-equivalence, implementation inheritance, and interface inheritance. The paper describes the development of these new operators, details how they are used in metamodel composition, and presents examples of metamodel composition.
{"title":"On metamodel composition","authors":"A. Ledeczi, G. Nordstrom, G. Karsai, P. Volgyesi, M. Maroti","doi":"10.1109/CCA.2001.973959","DOIUrl":"https://doi.org/10.1109/CCA.2001.973959","url":null,"abstract":"Computer-based systems (CBS) development integrates various disciplines, such as hardware design, software engineering, and performance modeling, as well as the \"base\" engineering discipline in which the CBS will operate. As such, use of a \"non-native\" modeling language is not acceptable when performing CBS design, and rapid specification and development of domain-specific modeling languages (DSMLs) is necessary. We advocate a UML-based metamodeling technique to DSML specification and generation. A key feature of our approach is the composition of new metamodels from existing metamodels through the use of three newly defined UML operators-equivalence, implementation inheritance, and interface inheritance. The paper describes the development of these new operators, details how they are used in metamodel composition, and presents examples of metamodel composition.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124863577","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}
A. Sánchez‐Orta, J. de Leon Morales, E. Lopez-Toledo
We consider a class of discrete-time nonlinear systems for which the control design is based on singular perturbation and sliding-mode techniques. A. discrete time observer is designed to estimate the non measurable states required In the control law. The proposed controller observer scheme is applied to a synchronous generator. Simulations shows the performance of the controller-observer scheme.
{"title":"Discrete-time nonlinear control for small synchronous generator","authors":"A. Sánchez‐Orta, J. de Leon Morales, E. Lopez-Toledo","doi":"10.1109/CCA.2001.973877","DOIUrl":"https://doi.org/10.1109/CCA.2001.973877","url":null,"abstract":"We consider a class of discrete-time nonlinear systems for which the control design is based on singular perturbation and sliding-mode techniques. A. discrete time observer is designed to estimate the non measurable states required In the control law. The proposed controller observer scheme is applied to a synchronous generator. Simulations shows the performance of the controller-observer scheme.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124880574","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}
Treats the simple adaptive control for stability improvement of a synchronous generator connected to an infinite bus. Presented are: the influence of the operating point on the eigenvalues of the synchronous generator simplified linear model, the simple adaptive power system stabilizer derived from the model reference adaptive control based on command generator tracker theory, the effects of changing the design parameters and the bursting phenomenon. The control system design was carried out for the simplified linear model of a synchronous generator but for the evaluation of the control system performance the full order non-linear model of the synchronous generator was used. Simulation and experimental results show the applicability of the presented approach.
{"title":"Simple adaptive control for stability improvement","authors":"J. Ritonja, D. Dolinar, B. Grcar","doi":"10.1109/CCA.2001.973833","DOIUrl":"https://doi.org/10.1109/CCA.2001.973833","url":null,"abstract":"Treats the simple adaptive control for stability improvement of a synchronous generator connected to an infinite bus. Presented are: the influence of the operating point on the eigenvalues of the synchronous generator simplified linear model, the simple adaptive power system stabilizer derived from the model reference adaptive control based on command generator tracker theory, the effects of changing the design parameters and the bursting phenomenon. The control system design was carried out for the simplified linear model of a synchronous generator but for the evaluation of the control system performance the full order non-linear model of the synchronous generator was used. Simulation and experimental results show the applicability of the presented approach.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122718411","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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