H. Nakamura, T. Suzuki, S. Okuma, K. Yubai, M. Tomizuka
This paper presents a simultaneous design strategy of controller and fault detector and its application to motor drive control systems. The influence of a fault in power electronic devices are analyzed and simulated. Experimental results demonstrate the effectiveness of the proposed design method.
{"title":"Simultaneous design of controller and fault detector and its application to motor drive control system","authors":"H. Nakamura, T. Suzuki, S. Okuma, K. Yubai, M. Tomizuka","doi":"10.1109/CCA.2001.973842","DOIUrl":"https://doi.org/10.1109/CCA.2001.973842","url":null,"abstract":"This paper presents a simultaneous design strategy of controller and fault detector and its application to motor drive control systems. The influence of a fault in power electronic devices are analyzed and simulated. Experimental results demonstrate the effectiveness of the proposed design method.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"65 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":"115253344","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}
During the operation of heat pumps, faults like heat exchanger fouling, component failure, or refrigerant leakage reduce the system performance. In order to recognize these faults early, a fault diagnosis system has been developed and verified on a test bench. The parameters of a heat pump model are identified sequentially and classified during operation. For this classification, several 'hard' and 'soft' clustering methods have been investigated, while fuzzy inference systems or neural networks are created automatically by newly developed software. Choosing a simple black-box model structure, the number of sensors can be minimized, whereas a more advanced grey-box model yields better classification results.
{"title":"A fault diagnosis system for heat pumps","authors":"D. Zogg, E. Shafai, H. Geering","doi":"10.1109/CCA.2001.973840","DOIUrl":"https://doi.org/10.1109/CCA.2001.973840","url":null,"abstract":"During the operation of heat pumps, faults like heat exchanger fouling, component failure, or refrigerant leakage reduce the system performance. In order to recognize these faults early, a fault diagnosis system has been developed and verified on a test bench. The parameters of a heat pump model are identified sequentially and classified during operation. For this classification, several 'hard' and 'soft' clustering methods have been investigated, while fuzzy inference systems or neural networks are created automatically by newly developed software. Choosing a simple black-box model structure, the number of sensors can be minimized, whereas a more advanced grey-box model yields better classification results.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"23 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":"116715747","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}
Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. One such system, the modular distributed manipulator system (MDMS), is a materials handling system comprising a fixed array of actuated wheels capable of inducing arbitrary motions in the plane. The application of feedback strategies which can operate under distributed control eliminates hybrid dynamics, anal reduces control complexity, but introduces interesting nonlinear dynamics. In this paper, we analyze the stability of these dynamics using the circle criterion and show that objects can be stably manipulated. In addition, we discuss the hybrid nature of this system.
{"title":"Dynamics and control of discrete distributed manipulation","authors":"J. Luntz, W. Messner","doi":"10.1109/CCA.2001.974020","DOIUrl":"https://doi.org/10.1109/CCA.2001.974020","url":null,"abstract":"Distributed manipulation systems induce motions on objects through the application of forces at many points of contact. One such system, the modular distributed manipulator system (MDMS), is a materials handling system comprising a fixed array of actuated wheels capable of inducing arbitrary motions in the plane. The application of feedback strategies which can operate under distributed control eliminates hybrid dynamics, anal reduces control complexity, but introduces interesting nonlinear dynamics. In this paper, we analyze the stability of these dynamics using the circle criterion and show that objects can be stably manipulated. In addition, we discuss the hybrid nature of this system.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"9 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":"122451314","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 controllability of a class of nonsmooth complementarity mechanical systems. Due to their particular structure they can be decomposed into an "object" and a "robot", consequently they are named juggling systems. Focusing on linear jugglers, it is shown that the controllability of the "object" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented.
{"title":"A controllability criterion for linear juggling mechanical systems","authors":"B. Brogliato, M. Mabrouk, A. Z. Río","doi":"10.1109/CCA.2001.974017","DOIUrl":"https://doi.org/10.1109/CCA.2001.974017","url":null,"abstract":"This paper deals with the controllability of a class of nonsmooth complementarity mechanical systems. Due to their particular structure they can be decomposed into an \"object\" and a \"robot\", consequently they are named juggling systems. Focusing on linear jugglers, it is shown that the controllability of the \"object\" can be characterized by nonlinear constrained equations, or generalized equations. Examples are presented.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"240 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":"123003590","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 infinite time optimum to regulate the problem of singularly perturbed bilinear systems with a quadratic performance criterion is obtained by a sequence of algebraic Lyapunov equations. The new approach is based on successive approximations. In particular, the order reduction is achieved by using a suitable state transformation so that the original Lyapunov equations are decomposed into the reduced-order local Lyapunov equations. In addition, the slow part of the solution and the fast part solution are now completely decoupled so that the numerical ill-conditioning is removed. The proposed algorithms not only solve the optimal control problems in singularly perturbed bilinear systems but also reduce the computation time. This paper also includes an example to demonstrate the procedures.
{"title":"Design of a controller using successive approximation for singularly perturbed bilinear systems","authors":"J. Chang, B. Kim, M. Lim","doi":"10.1109/CCA.2001.973942","DOIUrl":"https://doi.org/10.1109/CCA.2001.973942","url":null,"abstract":"The infinite time optimum to regulate the problem of singularly perturbed bilinear systems with a quadratic performance criterion is obtained by a sequence of algebraic Lyapunov equations. The new approach is based on successive approximations. In particular, the order reduction is achieved by using a suitable state transformation so that the original Lyapunov equations are decomposed into the reduced-order local Lyapunov equations. In addition, the slow part of the solution and the fast part solution are now completely decoupled so that the numerical ill-conditioning is removed. The proposed algorithms not only solve the optimal control problems in singularly perturbed bilinear systems but also reduce the computation time. This paper also includes an example to demonstrate the procedures.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"13 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":"131825945","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}
J. C. Martínez-García, G. H. Salazar-Silva, R. Garrido
We present some ideas concerning object-oriented control systems design. We propose in particular a Java-based methodology to develop control systems simulations on the World Wide Web, and we illustrate it with an application concerning the simulation of a two degrees-of-freedom robot manipulator.
{"title":"Web-based object-oriented control system design","authors":"J. C. Martínez-García, G. H. Salazar-Silva, R. Garrido","doi":"10.1109/CCA.2001.973847","DOIUrl":"https://doi.org/10.1109/CCA.2001.973847","url":null,"abstract":"We present some ideas concerning object-oriented control systems design. We propose in particular a Java-based methodology to develop control systems simulations on the World Wide Web, and we illustrate it with an application concerning the simulation of a two degrees-of-freedom robot manipulator.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"53 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":"131769712","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 research work carried out in the area of design, simulation and implementation of a fuzzy logic controller for a diesel-driven stand alone synchronous generator system is presented. The controller was developed using Very High Speed Integrated Circuit Hardware Description Language (VHDL) and is implemented in a field programmable gate array (FPGA). The advantages of the proposed system, consisting of diesel engine, synchronous generator, power converter and fuzzy controller, are underlined. The experimental results proved the correct operation of the system.
{"title":"FPGA fuzzy logic controller for variable speed generators","authors":"M. Cirstea, J. G. Khor, M. McCormick","doi":"10.1109/CCA.2001.973881","DOIUrl":"https://doi.org/10.1109/CCA.2001.973881","url":null,"abstract":"The research work carried out in the area of design, simulation and implementation of a fuzzy logic controller for a diesel-driven stand alone synchronous generator system is presented. The controller was developed using Very High Speed Integrated Circuit Hardware Description Language (VHDL) and is implemented in a field programmable gate array (FPGA). The advantages of the proposed system, consisting of diesel engine, synchronous generator, power converter and fuzzy controller, are underlined. The experimental results proved the correct operation of the system.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"67 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":"116947913","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}
Simulation plays a key role in functional design, virtual prototyping, re-engineering and manufacturing supervising. The detailed simulation of driving an entire vehicle and its environment includes a driver model. In the paper the design of a driver model is presented. It is capable of dealing with different car models and the whole variety of real roads. Above all, it can be adapted to the wide range of human behaviour, including experienced test driving.
{"title":"A driver model for online control of virtual cars","authors":"C. Preusse","doi":"10.1109/CCA.2001.974031","DOIUrl":"https://doi.org/10.1109/CCA.2001.974031","url":null,"abstract":"Simulation plays a key role in functional design, virtual prototyping, re-engineering and manufacturing supervising. The detailed simulation of driving an entire vehicle and its environment includes a driver model. In the paper the design of a driver model is presented. It is capable of dealing with different car models and the whole variety of real roads. Above all, it can be adapted to the wide range of human behaviour, including experienced test driving.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"18 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":"116386766","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 major objectives of the paper are to propose a torque based control method of the whirling motion under mechanical resonance and to confirm the effectiveness of our method experimentally. The torque is controlled to suppress the whirling motion instead of using the electromagnets that are required in some conventional control methods. The control input is determined based on a sufficient condition for stability in a system represented by a second-order vector differential equation whose coefficients are continuous, bounded, and time-varying matrices. The effectiveness of our control method is discussed by both a simulation and an experiment.
{"title":"Torque based control of whirling motion under mechanical resonance","authors":"Kaoru Inouet, Shigeru Yamamotot, Toshimitsu Ushiot, Takashi Hikikarat","doi":"10.1109/CCA.2001.973865","DOIUrl":"https://doi.org/10.1109/CCA.2001.973865","url":null,"abstract":"The major objectives of the paper are to propose a torque based control method of the whirling motion under mechanical resonance and to confirm the effectiveness of our method experimentally. The torque is controlled to suppress the whirling motion instead of using the electromagnets that are required in some conventional control methods. The control input is determined based on a sufficient condition for stability in a system represented by a second-order vector differential equation whose coefficients are continuous, bounded, and time-varying matrices. The effectiveness of our control method is discussed by both a simulation and an experiment.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"17 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":"122139411","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 many process control applications, a single controller design algorithm can not give optimal performance for a wide range of plant structures and operating conditions. In the paper, an adaptive multi-class controller is introduced. Two online identification algorithms run in parallel in the proposed controller and the one with least error cost function value is selected. According to the parameters and structure of the selected estimated model, a controller selection rule-base is developed. Experimental studies are included to demonstrate the performance of the proposed multi-class controller.
{"title":"Adaptive multi-class controller","authors":"W. Lo, A. Rad, K. Tsang, Y. Wong","doi":"10.1109/CCA.2001.973831","DOIUrl":"https://doi.org/10.1109/CCA.2001.973831","url":null,"abstract":"In many process control applications, a single controller design algorithm can not give optimal performance for a wide range of plant structures and operating conditions. In the paper, an adaptive multi-class controller is introduced. Two online identification algorithms run in parallel in the proposed controller and the one with least error cost function value is selected. According to the parameters and structure of the selected estimated model, a controller selection rule-base is developed. Experimental studies are included to demonstrate the performance of the proposed multi-class controller.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"115 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":"124129978","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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