The Use of Tele-Operated Cranes for Advanced Controls Education

Cranes provide an excellent platform for teaching advanced controls. They have a simple pendulum-type oscillation that is useful for demonstrating basic control methods. However, cranes also have additional dynamic effects such as motor dynamics, velocity limits, and nonlinear slewing dynamics that make them well suited for advanced study. If the cranes are made remotely operable, then students can also study tele-operation and control of systems with time delays. An advanced control design course taught at the Georgia Institute of Technology has integrated tele-operated cranes into both the lecture and laboratory exercises. The laboratories lead the students through the use of two tele-operated cranes. The lab component of the course culminates with a five-week team project in which the students design and implement their own research project on the cranes. The primary goal of using the cranes is to provide hands-on experiences in implementing advanced controllers on real systems. This paper describes the cranes and the complementary curriculum.

Download Full-text

Dynamic Analysis and Control of a Portable Cherrypicker

ASME 2010 Dynamic Systems and Control Conference, Volume 2 ◽

10.1115/dscc2010-4241 ◽

2010 ◽

Author(s):

Ehsan Maleki ◽

Brice Pridgen ◽

Jing Qi Xiong ◽

William Singhose

Keyword(s):

Dynamic Behavior ◽

Theoretical Models ◽

Simulation Studies ◽

Massachusetts Institute Of Technology ◽

Oscillatory Dynamics ◽

Mass Properties ◽

Advanced Controls ◽

Institute Of Technology ◽

And Control ◽

Meaningful Research

Cherrypickers are an important class of machines that can lift people to great heights. Understanding the dynamics and stability of these machines is crucial for efficient and safe operation. A dynamic model has been developed to capture the oscillatory dynamics of the machine as a function of the configuration and mass properties. Simulation studies reveal the complex dynamic behavior of the machine. In many cases, the oscillation of the endpoint bucket causes difficulties and dangers for the operators. An input-shaping controller has been added to the system to decrease the oscillatory dynamics. A portable cherrypicker is being developed for use in both education and research. The cherrypicker will be used as an experimental testbed in an advanced controls course at the Massachusetts Institute of Technology. The MIT students will use the machine to verify their theoretical models of the dynamic behavior, as well as evaluate control systems they develop to improve performance. Concurrently, students at the Georgia Institute of Technology will use the machine in teleoperation mode to conduct similar experiments. The MIT and Georgia Tech students will work together to conduct meaningful research on the cherrypicker testbed for their course projects. This paper describes the developments and results of the project to date.

Download Full-text

Advanced control and design methods of the auxiliary resonant commutated pole inverter

Bulletin of the Polish Academy of Sciences Technical Sciences ◽

10.1515/bpasts-2015-0056 ◽

2015 ◽

Vol 63 (2) ◽

pp. 489-494 ◽

Cited By ~ 1

Author(s):

S. Karyś

Keyword(s):

Power Loss ◽

Control Method ◽

Design Methods ◽

Control Methods ◽

Power Transistors ◽

Advantages And Disadvantages ◽

Advanced Control ◽

And Control

Abstract This paper presents several methods that enable the reduction of power loss in the auxiliary resonant commutated pole inverter - ARCP. Presented methods can be divided into static and dynamic ones. The static methods are related to an appropriate design of the inverter, whereas dynamic ones to advanced control of the power transistors. A variety of design and control methods are presented together with their advantages and disadvantages. The new control method of the current in the resonant branch is described. The main benefits of the proposed extended control method and their constrains are shown

Download Full-text

Recent Trend in Emission of Offensive Odor from Pulp and Paper Wastewater Treatment Process, and Control Methods with Deodorants and Microbial Products

JAPAN TAPPI JOURNAL ◽

10.2524/jtappij.68.1384 ◽

2014 ◽

Vol 68 (12) ◽

pp. 1384-1388

Author(s):

Kenji Hayashi

Keyword(s):

Wastewater Treatment ◽

Treatment Process ◽

Recent Trend ◽

Pulp And Paper ◽

Control Methods ◽

Wastewater Treatment Process ◽

Paper Wastewater ◽

Microbial Products ◽

And Control

Download Full-text

First IFAC Workshop on Convergence of Information Technologies and Control Methods with Power Plants and Power Systems (2007)

10.3182/20070709-3-ro-4910 ◽

2007 ◽

Keyword(s):

Power Systems ◽

Information Technologies ◽

Power Plants ◽

Control Methods ◽

And Control

Download Full-text

Gas Analysis and Control Methods for Thermal Batteries

10.21236/ada590064 ◽

2013 ◽

Cited By ~ 1

Author(s):

Frank C. Krieger ◽

Michael S. Ding

Keyword(s):

Gas Analysis ◽

Control Methods ◽

Thermal Batteries ◽

And Control

Download Full-text

Using advanced control, post-denitrification and equalisation to improve the performance of a submerged filter

Water Science & Technology ◽

10.2166/wst.2000.0442 ◽

2000 ◽

Vol 41 (4-5) ◽

pp. 177-184 ◽

Cited By ~ 1

Author(s):

K.H. Sørensen ◽

D. Thornberg ◽

K.F. Janning

Keyword(s):

Energy Consumption ◽

Total N ◽

Control Loops ◽

Effluent Quality ◽

Advanced Control ◽

Before And After ◽

And Control ◽

Side Flow ◽

Configuration Control ◽

Control Post

In 1998, the capacity of the BIOSTYR® submerged biofilter at Nyborg WWTP was extended from 48,000 PE to 60,000 PE including advanced sensor based control, post-denitrification in BIOSTYR® and equalization of side flows. The existing configuration with 8 BIOSTYR® DN/N cells is based on pre-denitrification and an internal recirculation of 600–800%. The extended plant comprises 7 BIOSTYR® DN/N cells with 50–225% recirculation followed by 3 BIOSTYR DN cells for post-denitrification. The advanced control loops include blower control, control of the number of active cells (stand-by), automatic switch to high load configuration, control of the side flow equalization, control of the internal recirculation and control of the external carbon source dosing. In this paper, the achieved improvements are documented by comparing influent and effluent data, methanol and energy consumption from comparable periods before and after the extension. Although the nitrogen load to the plant was increased by 20% after the extension, the effluent quality has improved significantly with a reduction of Total-N from 7–8 mg/l to 3–4 mg/l. Simultaneously, the methanol consumption has been reduced by more than 50% per kg removed nitrogen. The energy consumption remained constant although the nitrogen load was increased by 20% and the inflow by 80%.

Download Full-text