scholarly journals The optimal control system of the ship based on the linear quadratic regular algorithm

2020 ◽  
Vol 10 (5) ◽  
pp. 4562
Author(s):  
Manh-Cuong Nguyen ◽  
Duc-Phuc Vuong
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Ship Motion ◽  
Dynamic Equations ◽  
Optimal Controller ◽  
System Quality ◽  
Linear Quadratic ◽  
Ship Model ◽  
Very High

In this paper, the authors propose an optimal controller for the ship motion. Firstly, the model and dynamic equations of the ship motion are presented. Based on the model of the ship motion, the authors build the linear quadratic regular algorithm-based control system of ship motion to minimize the error between the desired trajectory and the response trajectory. The task of the controller is to control the trajectory of the ship to coincide with the desired trajectory. The ship model and controller are built to investigate the system quality through Matlab-Simulink software. The results show that the quality of the hold control system is very high. The trajectory of a ship always follows the desired trajectory with very small errors.

scholarly journals Sliding mode control-based system for the two-link robot arm

2019 ◽  
Vol 9 (4) ◽  
pp. 2771
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Equations ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Very High

In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.

scholarly journals Fractional-order sliding mode controller for the two-link robot arm

2020 ◽  
Vol 10 (6) ◽  
pp. 5579
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Fractional Order ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Angular Coordinates ◽  
Very High

In this paper, the author proposes a sliding mode controller with the fractional-order for the two-link robot arm. Firstly, the model and dynamic equations of the two-link robot arm are presented. Based on these equations, the author builds the controller for each joint of the robot. The controller is a sliding mode controller with its order is not an integer value. The task of the controller is to adjust the torques acted on the joints in order for the angular coordinates of each link to coincide with the desired values. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built to investigate the system quality. The results show that the quality of the control system is very high: there is not the chattering phenomenon of torques, the response angles of each link quickly reach the desired values, and the static error equal to zero.

scholarly journals OPTIMAL CONTROL OF AN ACTUATOR OF A ROBOTIC GEARBOX

2021 ◽  
Vol 1 (92) ◽  
pp. 72
Author(s):  
Alexander Gurko ◽  
Mykola Mykhalevych
Keyword(s):  
Optimal Control ◽  
Control System ◽  
High Speed ◽  
Performance Criterion ◽  
Optimal Controller ◽  
Mechanical Transmission ◽  
Linear Quadratic ◽  
Weighting Factors ◽  
Dc Motors ◽  
The Impact

Problem. Despite the vigorous development of electric vehicles, the task of facilitating the driver to handle with elements of mechanical transmission remains relevant. For this purpose, the automation of mechanical transmission units is performed. For instance, so-called robotic gearboxes are widespread. The principle of operation of such gearboxes is similar to mechanical ones, but special separate actuators carry out the selection and shifting into the desired gear. The design of a robotic gearbox was proposed at the Automobile Department of Kharkiv National Automobile and Highway University. At this gearbox, two DC motors are used as actuators. The efficiency of this gearbox largely depends on the efficiency of the DC motors control system, which should provide smooth but at the same time fast and accurate positioning of their shafts. In previous works, PID controllers were used to controlling the actuator of the gearbox. However, although the PID controller provides satisfactory quality of the control system, it is not an optimal controller. Goal. The goal of this paper is to develop an optimal controller for the actuators of the robotic gearbox mentioned above. Methodology. To meet this goal, it was proposed to use a linear-quadratic controller (LQR). The analysis of the impact on transient processes in the control system of the values of the weighting factors in the quadratic performance criterion is performed. Results. The LQR synthesized provides high speed of response (within of 0.5 s) at the desired gear selecting and more than two times less overshoot compared to the PID regulator. Originality. The regularities in the gearbox drive performance when changing the values of the weighting factors in the performance criterion have been established. An optimal control system for the robotic gearbox actuator has been developed. Practical value. The implementation of the designed controller will increase the efficiency of the gearbox under consideration.

scholarly journals PENGARUH SISTEM PENGENDALIAN INTERN DAN SISTEM AKUNTANSI KEUANGAN DAERAH TERHADAP KUALITAS LAPORAN KEUANGAN PEMERINTAH

2017 ◽  
Vol 12 (2) ◽  
Author(s):  
Novtania Mokoginta ◽  
Linda Lambey ◽  
Winston Pontoh
Keyword(s):  
Control System ◽  
Local Government ◽  
Internal Control ◽  
Local Governments ◽  
Financial Statements ◽  
Financial Accounting ◽  
Accounting System ◽  
System Quality ◽  
Internal Control System

Application of Internal Control System and Regional Financial Accounting System in management of local government financial statements is a very important thing. This financial statements of local governments must meet the following characteristics : relevant, reliable, comparable, and understandable.  The purpose this study to examine the influence of the Internal Control System,Regional Financial Accounting System on the quality of goverment financial statements. The population in this study are all working in BPKAD Bolaang Mongondow Utara.  The sample in this study is the staff / employees of the financial part of the respondents were 30 respondents. The samples were selected by using a purposive samplingmethod. Data was collected by distributing questionnaires to the respondents directly concerned. Technical analysis of the data used is multiple regression with SPSS 22. The result showed that : the Internal Control System has a significant effect on the quality of government financial statements and the Regional Financial Accounting System has a positive significant effect on the quality of goverment financial statements.Keywords : Internal Control system, Regional finsncisl accaounting system, quality of goverment financial statements.

scholarly journals Control system for trials on material ship model

2012 ◽  
Vol 19 (Special) ◽  
pp. 25-30 ◽  
Author(s):  
Janusz Pomirski ◽  
Andrzej Rak ◽  
Witold Gierusz
Keyword(s):  
Control System ◽  
Control Systems ◽  
Virtual Environment ◽  
Motion Control ◽  
Ship Motion ◽  
Matlab Simulink ◽  
Ship Model ◽  
Measurement Devices

ABSTRACT The paper presents software environement for fast prototyping and verification of motion control systems for ship. The environement is prepared for isomorphic reduced ship model which is used for training and in research in a area of ship motion control. The control system is build using Matlab-Simulink-xPC package which simplifies and accellerates design and verification of new control algorithms. The systems was prepared also for Hardwarein- the-loop trials when a designed control system is tested inside a virtual environment instead of real actuators, disturbances, communication and measurement devices.

scholarly journals MODEL PREDICTIVE CONTROL TOOLBOX DESIGN FOR NONSTATIONARY PROCESS

2021 ◽  
Author(s):  
Oleksandr V. Stepanets ◽  
Yurii I. Mariiash
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Complex Structure ◽  
Nonstationary Process ◽  
Actual State ◽  
Quadratic Functional ◽  
Linear Quadratic ◽  
Prediction Horizon

Background. Model predictive control (MPC) approach is the basic feedback scheme, combined with high adaptive properties, which determines its successful use in the practice of design and operation of control systems. These advantages allow managing multidimensional objects with a complex structure, including nonlinearity, optimizing processes in real time within the constraints on controlled and managed variables, taking into account uncertainties in the task of objects and perturbations. Objective. The purpose of the paper is to design and analyse control system of carbon monoxide oxidation in the convector cavity based on MPC with linear-quadratic cost functional with constraint. Methods. The design of MPC is based on mathematical model of an object (relatively simple). At the current step, the prediction of object dynamic response on some final period of time (prediction horizon) is carried out; control optimization is performed, the purpose of which is to approximate the control variables of the prediction model to the corresponding setpoint on the predict horizon. The found optimal control is applied and measurement of an actual state of object at the end of a step is carried out. The prediction horizon is shifted one step further, and this algorithm are repeated. Results. The results of modeling the automatic control system show that the MPC approach provides maintenance of carbon dioxide content when changing oxygen consumption and overshoot caused by introduction bulk does not exceed 0.6 % that meets the technological requirements of the process. Conclusions. A fuse of the MPC and the quadratic functional given the constraints on the input signals is proposed. The problems of control degree of carbon oxidation in the convector cavity include non-stationarity, so the use of classical control methods is difficult. The MPC approach minimizes the cost function that characterizes the quality of the process. The predicted behaviour of a dynamic system will usually differ from its actual motion. The obtained quadratic functional is optimized to find the optimal control of degree of CO oxidation to CO2.

scholarly journals PENGARUH KOMPETENSI, SISTEM PENGENDALIAN INTERNAL, DAN KUALITAS PENYAJIAN LAPORAN KEUANGAN TERHADAP AKUNTABILITAS PEMERINTAH DESA

2019 ◽  
Vol 17 (1) ◽  
pp. 44-56
Author(s):  
Amanda Mutiara Sweetenia ◽  
Eka Pinditya Ayu Caesari ◽  
Arum Frida Aprillia ◽  
Anissa Hakim Purwantini
Keyword(s):  
Control System ◽  
Internal Control ◽  
Sampling Technique ◽  
Financial Statements ◽  
System Quality ◽  
Internal Control System ◽  
Local Government Budget ◽  
Survey Responses ◽  
Quality Of Presentation

This study empirically investigates the factors that influences accountability of village governments in managing the Allocation of Village Funds in terms of Competency of the village apparatus, Internal Control System, Quality of presentation of financial statements. The sampling technique used in this research is purposive sampling, which is the official of the local government budget team in each sub-district within the scope of Magelang Regency. Based on survey responses from 150 respondents, the results show that Internal Control System and the quality of presentation of financial statements affect the accountability of management of ADD in Magelang regency. Meanwhile, competency has no effects on the accountability of managing the the Allocation of Village Funds.

On the Optimal Digital State Vector Feedback Controller With Integral and Preview Actions

1979 ◽  
Vol 101 (2) ◽  
pp. 172-178 ◽  
Author(s):  
Masayoshi Tomizuka ◽  
Dan E. Rosenthal
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Optimal Control Theory ◽  
State Vector ◽  
Feedback Controller ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Future System ◽  
Control Situations ◽  
Quadratic Optimal Control

A digital state vector feedback controller with integral and preview actions, which can be called a proportional plus integral plus derivative plus preview (PIDP) controller, is derived based on linear quadratic optimal control theory. The preview action is a generalization of the feedforward concept which has been exercised in many process control situations. Preview of future system disturbance inputs is shown to be effective to improve the performance of the control system.

On the Linear Quadratic Optimal Systems Design in the Frequency Domain

1997 ◽  
Vol 119 (3) ◽  
pp. 581-584
Author(s):  
Chih-Min Lin ◽  
Tarn-Sea Lu
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Frequency Domain ◽  
Flight Control ◽  
Design Method ◽  
Systems Design ◽  
Linear Quadratic ◽  
Stability Margins ◽  
Single Input Single Output ◽  
Single Output

By frequency-domain approach, a synthesis methodology of single-input-single-output optimal control system is developed to ensure closed-loop stability and to minimize a linear quadratic cost function. Furthermore, the equivalent two-degree-of-freedom system is designed so that the feedback-loop can satisfy the return difference equality, i.e., this system possesses the system performance with the optimal control sense and the stability margins properties as in time-domain approach LQR optimal systems. The F-4E flight control system is considered as the design example to illustrate the validity of the design method.

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