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1
Content available Użytkowy model matematyczny quadrocoptera do celów sterowania
Kusalewicz A., Armiński K., Zubowicz T.
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
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2016
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Nr 51
103--106
PL
Celem pracy jest budowa użytkowego modelu matematycznego quadrocoptera (QC) z uwzględnieniem urządzeń wykonawczych (UW) oraz identyfikacja jego parametrów. Zadanie identyfikacji sprowadzono do rozwiązania trzech zadań optymalizacji. Wynikiem prac jest model QC uwzględniający wpływ zmian napięcia zasilania na działanie UW.
EN
The goal of the paper is to deliver the utility model of quadcopter (QC) dynamics. The focus is on including the information of powersource voltage drop in actuator system model and its parameter identification. The identification problem is initially set up as an optimisation task in function space due to the impact of the actuators. Under the stated assumptions regarding the actuator system model the identification problem is consequently decomposed into three independent optimisation tasks defined in the model parameter space. The designed laboratory experiments deliver inputoutput data sets used to solve the proposed optimisation tasks. Solving the optimisation tasks results in an utility model for control design purposes that encompasses the nonlinearity of the actuator system and the effects of the powersource voltage drop. The latter is obtained by interpolation of the discrete results into the continuous voltage domain by line fitting under the stated assumption. The obtained model features are considered key factors for the control system design to follow in the future work.
2
Content available Stability of softly switched multiregional dynamic output controllers with a static antiwindup filter: a discrete-time case
Zubowicz T., Brdyś M. A.
International Journal of Applied Mathematics and Computer Science
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2013
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Vol. 23, no. 1
65--73
EN
This paper addresses the problem of model-based global stability analysis of discrete-time Takagi–Sugeno multiregional dynamic output controllers with static antiwindup filters. The presented analyses are reduced to the problem of a feasibility study of the Linear Matrix Inequalities (LMIs), derived based on Lyapunov stability theory. Two sets of LMIs are considered candidate derived from the classical common quadratic Lyapunov function, which may in some cases be too conservative, and a fuzzy Lyapunov function candidate, which has been proven to significantly reduce the conservatism level, although at the cost of increasing the number of LMIs. Two numerical examples illustrate the main result.
3
Content available A biochemical multi-species quality model of a drinking water distribution system for simulation and design
Arminski K., Zubowicz T., Brdys M. A.
International Journal of Applied Mathematics and Computer Science
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2013
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Vol. 23, no. 3
571--585
EN
Drinking Water Distribution Systems (DWDSs) play a key role in sustainable development of modern society. They are classified as critical infrastructure systems. This imposes a large set of highly demanding requirements on the DWDS operation and requires dedicated algorithms for on-line monitoring and control to tackle related problems. Requirements on DWDS availability restrict the usability of the real plant in the design phase. Thus, a proper model is crucial. Within this paper a DWDS multi-species quality model for simulation and design is derived. The model is composed of multiple highly inter-connected modules which are introduced to represent chemical and biological species and (above all) their interactions. The chemical part includes the processes of chloramine decay with additional bromine catalysis and reaction with nitrogen compounds. The biological part consists of both heterotrophic and chemo-autotrophic bacteria species. The heterotrophic bacteria are assumed to consume assimilable organic carbon. Autotrophs are ammonia oxidizing bacteria and nitrite oxidizing bacteria species which are responsible for nitrification processes. Moreover, Disinfection By-Products (DBPs) are also considered. Two numerical examples illustrate the derived model’s behaviour in normal and disturbance operational states.
4
Content available Wieloobszarowy miękkoprzełączalny regulator PI w sterowaniu stężeniem tlenu w biologicznej oczyszczalni ścieków
Zubowicz T., Piotrowski R., Brdyś M. A.
Pomiary Automatyka Robotyka
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2010
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R. 14, nr 1
16-20
PL
Napowietrzanie jest podstawowym procesem decydującym o jakości oczyszczania ścieków. Prawidłowy przebieg procesów biologicznych wymaga dostarczenia odpowiedniej ilości tlenu. Zapewnia to optymalne warunki oczyszczania ścieków, dostateczne wymieszanie ścieków z osadem czynnym i zmniejsza główny koszt eksploatacji oczyszczalni ścieków, czyli koszt pompowania powietrza. W artykule zaproponowano sterowanie stężeniem tlenu z wykorzystaniem wielkoobszarowego miękko przełączalnego regulatora PI. Jako metodę przełączania pomiędzy sygnałami sterującymi w poszczególnych obszarach pracy układu wybrano metodę przełączania Takagi-Sugeno-Kanga. Zaprojektowany system sterowania został symulacyjnie zbadany na podstawie rzeczywistych danych z oczyszczalni ścieków w Kartuzach.
EN
Aeration is a very important and expensive process at wastewater treatment plant. Oxygen is provided as a fundamental component for the biological processes. This paper proposes the multiregional PI control system with softly switched Takagi-Sugeno-Kang method for dissolved oxygen concentration tracking. The controller is validated by simulation based on real data records from wastewater treatment plant in Kartuzy.
5
Content available Intelligent PI controller and its application to dissolved oxygen tracking problem
Zubowicz T., Brdys M. A., Piotrowski R.
Journal of Automation Mobile Robotics and Intelligent Systems
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2010
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Vol. 4, No. 3
16-24
EN
The paper addresses design, calibration, implementation and simulation of the intelligent PI controller used for dissolved oxygen (DO) tracking at wastewater treatment plant (WWTP). The calibration process presented in this paper utilizes both engineering and scientific methods. Verification of the control system design method was obtained via simulation experiments.
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