scholarly journals Hybrid Decentralized Nonlinear Control System for Manipulation Robot with Input Saturations

2021 ◽  
Vol 2096 (1) ◽  
pp. 012069
Author(s):  
E L Eremin ◽  
L V Nikiforova ◽  
E A Shelenok
Keyword(s):  
Control System ◽  
Control Systems ◽  
Degrees Of Freedom ◽  
Control Signals ◽  
Dynamic Plant ◽  
Combined Control ◽  
Cross Links ◽  
The Mathematical Model ◽  
Manipulation Robot

Abstract The paper is devoted to consideration of the problem of constructing a discrete-continuous decentralized nonlinear combined control system for two-link robotic manipulator with restrictions in control signals. The mathematical model of the manipulator is presented as a two-channel dynamic plant with nonlinear cross-links. As methods for solving this problem V. M. Popov’s hyperstability criterion and the conditions of L-dissipativity are used. With the help of simulation, the quality of the proposed control system is shown. The results obtained in article may be useful for construction the control systems for manipulators with many degrees of freedom and also for control various mechanical systems.

scholarly journals The Bilinear Model Predictive Method-Based Motion Control System of an Underactuated Ship with an Uncertain Model in the Disturbance

Processes ◽  
2019 ◽  
Vol 7 (7) ◽  
pp. 445 ◽  
Author(s):  
Nguyen ◽  
Tran ◽  
Nguyen
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Bilinear Model ◽  
Underactuated Ship ◽  
Control Signals ◽  
Bound Control ◽  
Channel Separation ◽  
Uncertain Disturbance ◽  
Three Degrees Of Freedom

Ship transportation plays an increasingly important role in and accounts for a large proportion of cargo transport. Therefore, it is necessary to improve the quality of the trajectory control system of the ship for improving the transport efficiency and ensuring maritime safety. This paper deals with the advanced control system for the three-degrees-of-freedom model of the underactuated ship in the condition of uncertain disturbance. Based on the three-degrees-of-freedom model of the underactuated ship, the authors built a bilinear model of the ship by linearizing each nonlinear model section. Then, the authors used the state estimator to compensate for uncertain components and random disturbances in the model. Finally, the authors built the output-feedback predictive controller based on the channel-separation principle combined with direct observation of the continuous model for controlling the motion of the underactuated ship in the case of uncertain disturbance and the bound control signals. The result is that the movement quality of the underactuated ship is very good in the context of uncertain disturbance and bound control signals.

Creation of Fuzzy Control Table with Data Mining

2013 ◽  
Vol 760-762 ◽  
pp. 1080-1083
Author(s):  
Jun Gao
Keyword(s):  
Data Mining ◽  
Control System ◽  
Fuzzy Control ◽  
Control Systems ◽  
Association Rule ◽  
New Method ◽  
Data Mining Techniques ◽  
Fuzzy Control System

A good fuzzy control table is the key to a fuzzy control system, and the systems performance mainly depends on the quality of the table. Based on analyzing fully the principles of a typical fuzzy control systems and the procedures of building a fuzzy control table, this paper presents a new method of applying the boolean association rule data mining techniques to mining of fuzzy control table directly from the database of manual operating records.

scholarly journals Algorithm for controlling the process of buffer wastewater neutralization

2021 ◽  
pp. 27-35
Author(s):  
Anatolii Zhuchenko ◽  
Ruslan Osipa ◽  
Liudmyla Osipa ◽  
Lesia Ladieva
Keyword(s):  
Control System ◽  
Process Control ◽  
Control Systems ◽  
Block Diagram ◽  
Domestic Wastewater ◽  
Automated Control ◽  
Diagram Method ◽  
Industrial Enterprises ◽  
Treatment Facilities

In Ukraine, the condition of surface water near industrial enterprises is extremely critical. The operation of enterprises leads to intensive water pollution with industrial and domestic wastewater. Therefore, improving the quality of treatment facilities through the introduction of automated control systems is an urgent problem. For the operation of automated control systems for typical cleaning processes, a software package is required, which is developed on the basis of appropriate algorithmic software and mathematical models of processes. To obtain them, methods of mathematical and simulation modeling and block diagram method of algorithmization were used. In order to assess the quality of the developed algorithm for controlling the process of buffer wastewater neutralization during operation, a comparison of control system operation based on this algorithm with the most successful foreign variants of neutralization control systems was made. Simulation for the average values of operating parameters Q = 75 m3 / h, CP = 75 g / l, and Ck = 2 g / l at minimum b = 0.02 g / l pH and maximum buffer value b = 0.47 g / l pH, and also with  unidirectional extreme combination of parameters Q = 50 m3 / h, CP = 100 g / l, b = 0,02 g / l pH and Q = 100 m3 / h, CP= 50 g / l, for minimum b = 0.02 g / l pH and maximum buffering value  b = 0.47 g / l pH shows that the best quality of transient processes is for the control system operating on the basis of the developed algorithm. For any combination of parameters, the transients for this control system provide better quality transients. Studies have shown that the control system based on the developed algorithm in comparison with the previously proposed systems provides better process control by reducing the time of transients and reducing the dynamic deviation of the output parameters, which improves the quality of wastewater treatment. Given the non-stationary process and high requirements for the cleaning parameters, manual control of this process is beyond the power of even an experienced operator. The developed mathematical model describing the dynamics of the wastewater neutralization reactor with buffer properties and the process control algorithm made it possible to proceed to the development of the control system software, which is necessary for the automated control of this process.

scholarly journals DESIGN OF THE FUZZY CONTROL SYSTEM FOR THE WASTE HEAT UTILIZATION PLANTS DRIVEN BY THE THERMOACOUSTIC ENGINE

2014 ◽  
pp. 88-96
Author(s):  
Yuriy Kondratenko ◽  
Volodymyr Korobko ◽  
Oleksiy Korobko ◽  
Oleksiy Moskovko
Keyword(s):  
Control System ◽  
Control Systems ◽  
Waste Heat ◽  
Thermoacoustic Engine ◽  
Resonator Length ◽  
Suggested Approach ◽  
Fuzzy Controllers ◽  
Waste Heat Utilization ◽  
Main Components ◽  
The Mathematical Model

The paper addresses the synthesis of fuzzy controllers for computerized control system of the waste heat energy (WHE) utilization plants that operate with the thermoacoustic engine (TAE). Based on the analysis of existing systems, the authors present the main tasks of the synthesized control system, describe its structure and main components. Created system is then tested on the experimental thermoacoustic installation. Using the data obtained authors synthesize the mathematical model of thermoacoustic plant and describe the methodology of its control by the adjustments in resonator length of thermoacoustic device. Using the suggested approach authors design a number of conventional discrete and fuzzy controllers and provide the comparative analysis of quality indicators of the designed control systems transient responses.

scholarly journals Synthesis of Boiler Controllers of the Automatic Power Control System of Power Units

2020 ◽  
Vol 63 (3) ◽  
pp. 223-235
Author(s):  
G. T. Kulakov ◽  
K. I. Artsiomenka
Keyword(s):  
Control System ◽  
Power Control ◽  
Automatic Control ◽  
Control Systems ◽  
Fuel Consumption ◽  
Power Unit ◽  
Power Controller ◽  
Automatic Control Systems ◽  
Automatic Power Control

The article concerns the problem of structure-and-parametric optimization of a cascade automatic control system (CACS) by an example of a boiler power controller and a fuel controller. This CACS, which is a part of automatic control systems for power units, consists of two loops, viz. of an inner loop (which purpose is stabilization of the system) and an outer loop (designed for the adjustment) and, also, of two controller, viz. an outer controller (which is a basic one) provided for stabilization of the output value of the object (in our case, of the actual power unit capacity) and of an inner controller (which is an auxiliary one) provided to regulate fuel consumption. The internal controller builds up the control action with the aid of the boiler load controller of the power unit. As compared to single-loop automatic control systems, the cascade  system provides better quality of transient control due to the higher performance of the internal loop of the system. This advantage is especially noticeable when compensating for disturbances that come through the channel of regulating impact. The article presents two methods of setting, viz. the fuel controller and the boiler power controller. The application of these methods can improve the quality of power control and reduce fuel consumption in transient modes in comparison with the setting of these controllers of a typical power unit automatic power control system. The results of computer simulation of transient processes in CACS for input step surge and internal perturbation confirm the advantages of the methods are presented in this article.

Context-aware Fuzzy Control Systems

2014 ◽  
Vol 24 (05) ◽  
pp. 825-856 ◽  
Author(s):  
Mariusz Pelc
Keyword(s):  
Control System ◽  
Control Systems ◽  
Knowledge Engineering ◽  
Linear Control Systems ◽  
Context Aware ◽  
Decision Point ◽  
Reconfigurable Control ◽  
Control Signals ◽  
Run Time ◽  
Control Layer

In this paper an example of a hierarchical context-aware run-time reconfigurable control system is presented. The context-awareness is resulting from using policy-based computing as a technology allowing the control system to replace its decision making logic in run-time in response to changing environment conditions. The proposed solution allows system experts to specify policies (AGILE policies) used in the Supervision Layer for the purpose of making decisions regarding the most appropriate controller configuration and on the other side, they can specify policies (Fuzzy Logic policies) used in the Control Layer in order to generate control signals allowing to achieve specified control goals. Novelty of the proposed solutions lays in combination of two technologies, Open Decision Point technology originating from the Software Engineering domain Policy-based Computing that is originating from the Knowledge Engineering domain in application to non-linear control systems.

Simplified architecture of a type-2 fuzzy controller using four embedded type-1 fuzzy controllers and its application to a greenhouse climate control system

2009 ◽  
Vol 223 (5) ◽  
pp. 619-631 ◽  
Author(s):  
I A Hameed
Keyword(s):  
Control System ◽  
Control Systems ◽  
Degrees Of Freedom ◽  
Fuzzy Controller ◽  
Climate Control ◽  
Fuzzy Logic Systems ◽  
Greenhouse Climate ◽  
Greenhouse Climate Control

Uncertainty is an inherent part of control systems used in real-world applications. The use of new methods for handling incomplete information and to cope with large amounts of uncertainties is of fundamental importance. The traditional type-1 fuzzy sets (T1FSs) used in conventional fuzzy logic systems (FLSs) cannot fully handle the uncertainties present in control systems. The type-2 FSs (T2FSs) used in T2FLSs can handle such uncertainties in a better way because they provide more parameters and more degrees of freedom. In spite of the features of the T2FS, it has not received the attention it deserves because of its implementation complexity. In this paper, a simple architecture of the T2FLS using four embedded T1FLSs is introduced. The performance of the proposed T2FLS is assessed by applying it to a multi-input multi-output (MIMO) greenhouse climate control system. Simulation results showed that the simplified architecture is able to cope with the complexity of the plant and has the ability to handle measurement and modelling uncertainties. The performance of the proposed T2FLS is comparable with the computationally costly T2FLS and outperforms its traditional T1FLS counterpart.

Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

2013 ◽  
Vol 198 ◽  
pp. 15-20 ◽  
Author(s):  
Lukasz Fracczak
Keyword(s):  
Mathematical Model ◽  
Cardiac Surgery ◽  
Control System ◽  
Simulation Model ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Real Object ◽  
Servo Drive ◽  
Two Degrees Of Freedom ◽  
The Mathematical Model

In this paper the servo drive with friction wheels is presented. The servo drive is designed to move the automatic laparoscope tool or laparoscope camera (thereinafter laparoscope sleeve or sleeve) in two Degrees of Freedom (DOF). The description of the drive mechanism, operating principle and mathematical model of this drive is presented. Based on this model, the Control System (CS) has been created, and used to the construction of a simulation model. The simulation illustrates the proper functionality of the mathematical model of the servo drive with the described CS. This paper also presents the servo drive test stand and the most important examination results from the point of view of using them in the cardiac surgery Robin Heart robot.

A Research on the Control System of Wind Power Grid-Connected Inverter

2011 ◽  
Vol 181-182 ◽  
pp. 551-556
Author(s):  
Jian Guo ◽  
Li Gang Song ◽  
Yong Yang
Keyword(s):  
Control System ◽  
Wind Power ◽  
High Performance ◽  
Power Grid ◽  
Loop Current ◽  
Closed Loops ◽  
Pwm Inverter ◽  
Grid Connected Inverter ◽  
The Mathematical Model

PWM inverter, as the main part of wind power grid-connected system, directly determines the quality of the power sent finally to grid. It has become the focus of research to develop a high-performance inverter control system. Based on the analysis and establishment of the mathematical model of the grid inverter system, the vector control strategy based on the voltage directional technique is analyzed in this paper. It consists of two closed loops. The fluctuation of direct voltage is suppressed due to the existence of voltage outer loop. Current inner loop realizes the independent control over meritorious electric current and reactive current through the feedforward of grid voltage and the decoupling of grid-connected current, which makes the inverter power factor close to 1.

scholarly journals Adaptive control systems for marine thermal installations

2021 ◽  
pp. 201-205
Author(s):  
С.А. Гордин ◽  
И.В. Зайченко ◽  
К.Д. Хряпенко ◽  
В.В. Бажеряну
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Control System ◽  
Control Systems ◽  
Pid Controller ◽  
Heat Supply System ◽  
Heating System ◽  
Thermal Loads ◽  
Quality Of Control

В статье рассмотрен вопрос повышения точности и качества управления приводом сетевых насосов в составе судовых тепловых установок в системе отопления судна путем применения адаптивной системы автоматического управления. При использовании классических систем управления на основе ПИД-регуляторов для управления мощностью электродвигателя по критерию обеспечения заданного давления в системе теплоснабжения в условиях резкопеременных тепловых нагрузок могут возникать ситуации разрегулирования системы вследствии возникновения дополнительного давления в тепловой установке при термическом расширении теплоносителя. Для обеспечения надежности и безаварийности работы судовых тепловых установок при резкоперменных нагрузках авторами рассматривается возможность использования для управления мощностью электропривода адаптивной системы управления. В статье рассмотрена схема управления с адаптацией коэффициентов ПИД-регулятора на базе нейронной сети (нейросетевой оптимизатор). Нейросетевой оптимизатор был применен как надстройка над ПИД-регулятором в схеме управления мощностью сетевого насоса в составе судовой тепловой установки. Рассмотрены зависимости характеристик систем управления от структуры и параметров модифицированных критериев точности и качества управления. Адаптация параметров регулирования позволяет обеспечить достижение желаемых параметров с меньшими затратами мощности при сохранении уровня надежности и исключить разрегулирование системы управления при резкопеременных тепловых нагрузках. The article discusses the issue of improving the accuracy and quality of control of the drive of network pumps as part of ship thermal installations in the ship's heating system by using an adaptive automatic control system. When using classical control systems based on PID regulators to control the power of the electric motor according to the criterion of providing a given pressure in the heat supply system under conditions of sharply varying thermal loads, situations of system maladjustment may occur due to the appearance of additional pressure in the thermal installation during thermal expansion of the coolant. To ensure the reliability and trouble-free operation of ship thermal installations under abruptly variable loads, the authors consider the possibility of using an adaptive control system to control the power of an electric drive. The article describes a control scheme with adaptation of the PID controller coefficients based on a neural network (neural network optimizer). The neural network optimizer was used as a superstructure over the PID controller in the power control circuit of a network pump as part of a ship's thermal installation. The dependences of the characteristics of control systems on the structure and parameters of the modified criteria for the accuracy and quality of control are considered. Adaptation of control parameters allows achieving the desired parameters with lower power consumption while maintaining the level of reliability and eliminating deregulation of the control system at abruptly varying thermal loads.

Sign in / Sign up

Export Citation Format

Share Document