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  1. 11 Przegląd Elektrotechniczny
  2. 8 International Journal of Applied Mathematics and Computer Science
  3. 5 Archives of Control Sciences
  4. 3 Applied Mathematics and Computer Science
  5. 3 Pomiary Automatyka Robotyka
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  1. 4 Kociszewski R.
  2. 4 Krzemiński Z.
  3. 2 Kaczorek T.
  4. 1 Abid M.
  5. 1 Achbi Mohammed Said
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  1. 1 2023
  2. 3 2022
  3. 2 2021
  4. 1 2020
  5. 1 2019
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1
Content available Generalized observer design of index one for descriptor systems with unknown inputs
Kumar Abhinav, Gupta Mahendra Kumar
Archives of Control Sciences
|
2023
|
Vol. 33, No. 1
83--99
EN
Generalized observers are proposed to relax the existing conditions required to design Luenberger observers for rectangular linear descriptor systems with unknown inputs. The current work is focused on designing index one generalized observers, which can be naturally extended to higher indexes. Sufficient conditions in terms of system operators for the existence of generalized observers are given and proved. Orthogonal transformations are used to derive the results. A physical model is presented to show the usefulness of the proposed theory.
2
Content available Stability analysis and design of state estimated controller for delay fuzzy systems with parameter
Hadj Taieb Nizar, Hammami Mohamed Ali, Delmotte François
Archives of Control Sciences
|
2022
|
Vol. 32, No. 4
709--731
EN
This paper deals with the problem of stabilization by an estimated state feedback for a family of nonlinear time-delay Takagi-Sugeno fuzzy parameterized systems. The delay is supposed to be constant where the parameter-dependent controls laws are used to compensate the nonlinearities which are formulated in terms of linear matrix inequalities (LMIs). Based on the Lyapunov-Krasovskii functionals, global exponential stability of the closed-loop systems is achieved. The controller and observer gains are able to be separately designed even in the presence of modeling uncertainty and state delay. Finally, a numerical example is given to show the applicability of the main result.
3
Content available Observers of fractional linear continuous-time systems
Kaczorek Tadeusz
Archives of Control Sciences
|
2022
|
Vol. 32, No. 1
73--84
EN
The concepts of full-order and reduced-order observers are extended to the fractional linear continuous-time systems. Necessary and sufficient conditions for the existence of the observers for fractional linear systems are established. Procedures for designing of the observers are given and illustrated by examples.
4
Content available remote Optimizing Reference Model for Disturbance Rejection Controller for 3-DoF Robot Manipulator
Hoang Duy, Manh Dung Do, Kim Thai Dinh, Le Hai Xuan, Pham Thanh Ngoc, Thai Nguyen Huu, Nguyen Long Mau
Annals of Computer Science and Information Systems
|
2022
|
Vol. 33
121--127
EN
In this article, an method is proposed combining optimal control for linear system and disturbances observer to control a 3 degree of freedom (3DoF) robot manipulator. By making the tracking error follow a given stable linear reference model through the observer, an optimal controller LQR will be designed to solve the optimization problem for the reference system, thereby leading to good control quality for the original system. The effectiveness of the method is shown through simulation results performed on Matlab/Simulink.
5
Content available An Adaptive Control Strategy for a Low-Ripple Boost Converter in BLDC Motor Speed Control
Wang Haifeng, Zhang Haili
Power Electronics and Drives
|
2021
|
Vol. 6 (41)
242--259
EN
Conventional boost converters are widely used for connecting low-voltage power sources and inverters in motor control. However, a large filter capacitor bank is often used to reduce DC-link ripples that occur when an inverter is connected to a boost converter. Otherwise, significant voltage and current perturbations can impact on battery performance degradation and cause torque ripple, speed ripple and vibration in brushless DC (BLDC) motors. To suppress the converter’s DC-link ripple, this paper proposes a new control strategy for boost converter controller to generate low-ripple DC-link voltage or current at different motor speeds. In the proposed method, observers are designed to adaptively estimate the DC-link voltage and current harmonics. The harmonic terms are used as feedback signals to calculate the DC converter’s duty cycle. The entire control model is implemented on an embedded system, and its robustness is verified by simulation and experimental results that show the DC-link voltage and current ripples can be reduced by about 50% and 30%, respectively.
6
Content available Śladami ojca. Edukacja i kariera astronomiczna Christfrieda Kircha (1694-1740)
Rogińska Justyna
Kwartalnik Historii Nauki i Techniki
|
2021
|
T. 66, nr 4
157--170
EN
The activity of Christfried Kirch (1694-1740), son of Gottfried Kirch (1639-1710), the first astronomer of the Royal Prussian Society of Sciences, has not yet received much attention in historiography. Christfried Kirch’s astronomy education - beginning with the studies with his father, to the unfulfilled plans of visits to the observatories in England and France - culminated in his acceptance as an observer of the Royal Prussian Society of Sciences on October 8, 1716. The article aims to present the development of Christfried Kirch’s career and his efforts to achieve the position once held by his father in the Society of Sciences in Berlin.
7
Content available Diagnosis of hybrid systems through bond graph, observers and timed automata
Mhamdi Lotfi, Achbi Mohammed Said, Dhouibi Hedi, Kechida Sihem
Diagnostyka
|
2020
|
Vol. 21, No. 3
113--125
EN
Despite technological advances and progress in industrial systems, the fault diagnosis of a system remains a very important task. In fact an effective diagnosis contributes not only to improved reliability but also to a decrease in maintenance costs. This paper presents an approach to a diagnosis of hybrid systems thanks to the use of Bond Graphs, Observer and Timed Automata. Dynamic models (in normal and failing mode) are generated by an observer based methods as well as through state equations generated by the Bond Graphs model. The procedure of fault localization through a method based on the observer does not allow locating faults with the same signature of failure. Thus the diagnosis technique for the localization of these defects will be based on the time analysis using Timed Automata. The proposed approach is then validated by simulation tests in a two tanks hydraulic system.
8
Content available Design of Observer-Based Fault Detection Structure for Unknown Systems using Input–Output Measurements: Practical Application to BLDC Drive
Eissa M. Abdullah, Darwish R. R., Bassiuny A. M.
Power Electronics and Drives
|
2019
|
Vol. 4 (39)
215--224
EN
Industrial systems serve us in all areas of life. Faults may result in economic loss and wasting energy. Detecting the onset of faults, and determining their location are important engineering tasks. An important class of fault detection (FD) and diagnosis methods utilizes the mathematical model of the monitored system. But, the parameters required for mathematical modelling are limited or unavailable for the most real industrial engineering applications. Observer-based FD is one of the main approaches to FD and identification. At the same time, the traditional observer’s gain calculation required system model parameters. So, this article presents the design of a novel observer for FD purposes using the input–output measurements of the system with unknown parameters. This proposed observer’s design considers observer’s gain tuning, regardless of the mathematical representation of the plant. This the new feature that distinction our observer will facilitate the implementation of FD systems for many unknown parameters industrial systems. The effectiveness of the proposed observer is verified by experimental application to BLDC motor and compared with classical Luenberger observer. The experimental and comparison results prove feasibility and effectiveness of the proposed observer for FD purposes.
9
Content available Quadratic performance analysis of switched affine time-varying systems
Li W., Huang C., Zhai G.
International Journal of Applied Mathematics and Computer Science
|
2018
|
Vol. 28, no. 3
429--440
EN
We analyze quadratic performance for switched systems which are composed of a finite set of affine time-varying subsystems, where both subsystem matrices and affine vectors are switched, and no single subsystem has desired quadratic performance. The quadratic performance indexes we deal with include stability, tracking and L2 gain. We show that if a linear convex combination of subsystem matrices is uniformly Hurwitz and another convex combination of affine vectors is zero, then we can design a state-dependent switching law (state feedback) and an output-dependent switching law (output feedback) such that the entire switched affine system is quadratically stable at the origin. In the case where the convex combination of affine vectors is nonzero, we show that the tracking control problem can be posed and solved using a similar switching strategy. Finally, we consider the L2 gain analysis problem for the switched affine time-varying systems under state feedback.
10
Content available Position tracking systems for AC drives employing forced dynamics control
Vittek J., Gorel L., Vavrus V., Struharnansky L.
Power Electronics and Drives
|
2017
|
Vol. 2 (37), No. 1
89--103
EN
Position tracking systems for AC drives offering high robustness to external load torques have been presented. A triple-loop cascade control structure was employed where the inner loop is a stator current control loop and the middle loop is a speed control loop based on the forced dynamic control and respecting vector control principles. Two alternative outer position control loop designs both of which respect prescribed dynamics and settling time of position have been developed. The former system prescribes also time constant of the speed control loop while the latter one respects time constant of speed control system developed independently. To enhance the tracking abilities of both control systems the dynamic lag pre-compensator has been included. Case studies of the both position control systems for time near-optimal control and energy near-optimal control have been presented. The tracking performances of the designed control systems were assessed based on comparisons of the experimental responses with the simulated responses of the ideal closed-loop system.
11
Content available An interval estimator for chlorine monitoring in drinking water distribution systems under uncertain system dynamics, inputs and chlorine concentration measurement errors
Łangowski R., Brdys M. A.
International Journal of Applied Mathematics and Computer Science
|
2017
|
Vol. 27, no. 2
309--322
EN
The design of an interval observer for estimation of unmeasured state variables with application to drinking water distribution systems is described. In particular, the design process of such an observer is considered for estimation of the water quality described by the concentration of free chlorine. The interval observer is derived to produce the robust interval bounds on the estimated water quality state variables. The stability and robustness of the interval observer are investigated under uncertainty in system dynamics, inputs, initial conditions and measurement errors. The bounds on the estimated variables are generated by solving two systems of first-order ordinary differential equations. For that reason, despite a large scale of the systems, the numerical efficiency is sufficient for the on-line monitoring of the water quality. Finally, in order to validate the performance of the observer, it is applied to the model of a real water distribution network.
12
Content available Full-order observers for linear fractional multi-order difference systems
Wyrwas M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2017
|
Vol. 65, nr 6
891--989
EN
The paper is devoted to the construction of observers for linear fractional multi–order difference systems with Riemann–Liouville– and Grünwald–Letnikov–type operators. Basing on the Z-transform method the sufficient condition for the existence of the presented observers is established. The behaviour of the constructed observer is demonstrated in numerical examples.
13
Content available Reconstruction of the unmeasured signals in a two-mass system – filtering analysis
Sieklucki G., Pracownik A., Orzechowski T.
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
|
2016
|
Nr 49
99--104
EN
The paper describes full-order observer for a two-mass electric drive with a flexible shaft. The following state variables: the load machine speed, load torque (disturbance) and torsional torque are estimated. Optimization of the observer is based on the LQ problem. The selection of Q matrix in a performance index is determined by observability condition for LQ problem. This approach leads to minimal nonzero elements in the weight matrix. The Bode diagrams for designed observers are shown and analyzed. The experimental results confirm the usefulness of presented method in the industrial applications.
PL
W większości przypadków do modelowania układów napędowych przyjmuje się pewne uproszczenia polegające na założeniu absolutnej sztywności połączeń pomiędzy silnikiem a maszyną roboczą. Wówczas mechaniczną część układu napędowego można traktować jako jedną masę zastępczą. Otrzymany model matematyczny układu 1-masowego może być dla pewnych zastosowań przemysłowych niewystarczająco dokładny. Ponadto, prędkość maszyny roboczej, moment obciążenia i moment skręcający jest trudno zmierzyć. Oznacza to konieczność odtworzenia tych sygnałów. W artykule opisano obserwatora pełnego rzędu dla napędu z połączeniem sprężystym. Następujące zmienne stanu: prędkość maszyny roboczej, moment obciążenia (zakłócenie) oraz moment skręcający są odtwarzane. Optymalizacja obserwatora jest oparta na problemie LQ. Wybór macierzy Q we wskaźniku jakości jest zrealizowany na podstawie macierzy obserwowalności. Charakterystyki Bodego prezentowanych obserwatorów zostały przedstawione i przeanalizowane. Wyniki eksperymentalne potwierdzają przydatność metody w zastosowaniach przemysłowych.
14
Content available remote Obserwator siły elektromotorycznej w silniku z magnesami trwałymi o strumieniu poprzecznym
Sobieraj T.
Przegląd Elektrotechniczny
|
2016
|
R. 92, nr 6
53--56
PL
W artykule przedstawiono metodę wyznaczania siły SEM w dwufazowym silniku z magnesami trwałymi o strumieniu poprzecznym podczas normalnej pracy układu napędowego. Algorytm wykorzystuje sygnały, które są mierzalne zewnętrznie, bez ingerencji w konstrukcję silnika (na przykład bez montowania dodatkowych czujników wewnątrz silnika). Jako platformę sprzętową zastosowano przekształtniki laboratoryjne (własne konstrukcje falowników). Nisko poziomowe bloki sterowania falowników (przełączanie kluczy, zabezpieczenia, pomiary, algorytmy sterowania) zostały oparte na module FPGA. Akwizycja sygnałów pomiarowych została zrealizowana na platformie dSpace. Praca zawiera wyniki symulacji i badań eksperymentalnych na odpowiednio zaprojektowanym stanowisku laboratoryjnym.
EN
In the paper author presents the method of back-EMF calculation in the permanent magnet transverse flux motor during normal operation of drive system. The algorithm uses externally measurable signals without interfering with the structure of the motor (e.g. without adding additional sensors inside the motor). Hardware platform is based on laboratory power inverters. Low-level control blocks (switching keys, protections, measurement, control algorithms) of the inverter uses an FPGA module. Measurements are implemented on dSpace platform. The work contains simulations and the results of experiments.
15
Content available Synteza obserwatora pełnego rzędu singularnych układów dyskretnych niecałkowitego rzędu
Kociszewski R.
Pomiary Automatyka Robotyka
|
2016
|
R. 20, nr 4
9--13
PL
W pracy rozpatrzono zagadnienie syntezy obserwatora pełnego rzędu dla układów liniowych dyskretnych singularnych niecałkowitego rzędu. Sformułowano analityczne kryteria istnienia obserwatora i podano sposób wyznaczania macierzy wzmocnień obserwatora. Rozważania teoretyczne, do których wykorzystano liniowe nierówności macierzowe (LMI) zilustrowano przykładem liczbowym.
EN
The paper is devoted to observer synthesis for linear singular discrete-time fractional systems. The problem of finding a nonnegative gain matrix of the observer such that the observer is asymptotically stable is formulated and solved by the use of linear matrix inequality (LMI) method. The proposed approach to the observer synthesis is illustrated by theoretical example.
16
Content available A Hamiltonian approach to fault isolation in a planar vertical take-off and landing aircraft model
Rodriguez-Alfaro L. H., Alcorta-Garcia E., Lara D., Romero G.
International Journal of Applied Mathematics and Computer Science
|
2015
|
Vol. 25, no. 1
65--76
EN
The problem of fault detection and isolation in a class of nonlinear systems having a Hamiltonian representation is considered. In particular, a model of a planar vertical take-off and landing aircraft with sensor and actuator faults is studied. A Hamiltonian representation is derived from an Euler–Lagrange representation of the system model considered. In this form, nonlinear decoupling is applied in order to obtain subsystems with (as much as possible) specific fault sensitivity properties. The resulting decoupled subsystem is represented as a Hamiltonian system and observer-based residual generators are designed. The results are presented through simulations to show the effectiveness of the proposed approach.
17
Content available Człowiek, jako użytkownik i obserwator przestrzeni miasta
Orchowska A.
Środowisko Mieszkaniowe
|
2014
|
nr 13
180--185
PL
Artykuł dotyczy relacji, jakie zachodzą pomiędzy człowiekiem a przestrzenią publiczną miasta. Kształtując środowisko miejskie człowiek determinuje swoje zachowania i reakcje w przestrzeni. Kreując przestrzeń człowiek dokonuje swego rodzaju manipulacji zasobami środowiska miejskiego dla wykorzystania jego walorów i uzyskania określonych celów środowiskowych. Każde miejsce przestrzeni miasta podlega naszej ocenie. Pieszy użytkownik w sposób szczególny reaguje na walory miejsca, ze względu na swój bliski kontakt z ukształtowanym otoczeniem. Może być obserwatorem środowiska, jako turysta lub też fizycznie korzystać z jego możliwości, jako mieszkaniec i przeżywać przestrzeń w sposób osobisty.
EN
This article applies to relations that take place between the man and the public space of the city. Shaping the urban environment determines human behavior and its reactions in space. Creating the space a man somehow manipulates the resources of the urban environment to use its assets and achieve specific environmental objectives. The whole urban space is a subject of our assessment. Pedestrians specifically respond to values of the place, due to their close contact with the previously shaped environment. It can be an observer of the environment, as a tourist or take a physical advantage of its capabilities, as a resident and “feel” it in a personal way.
18
Content available remote Odtwarzanie prędkości PMSM z wykorzystaniem obserwatora siły elektromotorycznej
Urbański K.
Przegląd Elektrotechniczny
|
2014
|
R. 90, nr 6
172--177
PL
W celu określenia położenia wału silnika synchronicznego z magnesami trwałymi, dla zakresu niezerowych prędkości, można wykorzystać np. metody bazujące na odtwarzaniu wartości chwilowych sił elektromotorycznych. Na ich podstawie wyznaczane jest położenie wału. Wyliczanie prędkości bezpośrednio z wartości położenia, wymusza zazwyczaj stosowanie filtrów w pętli sterowania prędkością, co wprowadza dodatkowe opóźnienie, skutkujące pogorszeniem dynamiki napędu. W pracy przedstawiono sposób wyznaczenia prędkości nieposiadający powyższej cechy.
EN
To determine the position of the motor shaft the permanent magnet synchronous, in the case of non-zero speed, for example, you can use the method based on estimation instantaneous value of electromotive force. On their basis, the shaft position is determined. Calculating the velocity directly from the position, typically forces the use of filters in the speed control loop, which introduces an additional delay, resulting in the decreasing of the drive dynamics. The paper presents a method of determining a speed, which do not have that drawback.
19
Content available remote Obserwatory prędkości dla bezczujnikowego sterowania maszynami prądu przemiennego
Krzemiński Z.
Przegląd Elektrotechniczny
|
2014
|
R. 90, nr 5
1--7
PL
Przedstawiono model matematyczny uogólnionej maszyny elektrycznej rozszerzony przez wprowadzenie dodatkowych zmiennych. Na podstawie modelu rozszerzonego opracowano strukturę obserwatora prędkości maszyny uogólnionej. Zaprezentowano struktury obserwatorów prędkości dla poszczególnych rodzajów maszyn prądu przemiennego. Pokazano, że prędkość kątową wirnika można odtwarzać dla różnych typów maszyn stosując odpowiednie zmienne stanu w modelach matematycznych wykorzystanych do utworzenia rozszerzonego obserwatora prędkości.
EN
A mathematical model of generalized electrical machine extended by introduction of additional variables has been presented. On a basis of extended model a structure of speed observer for the generalized machine has been developed. Structures of speed observers for each kind of AC machines has been presented. It has been shown, that angular rotor velocity may be estimated for different types of machines applying proper state variables in mathematical models used to create extended speed observer.
20
Content available Synteza obserwatorów funkcyjnych liniowych ciągłych układów niecałkowitego rzędu
Kociszewski R.
Pomiary Automatyka Robotyka
|
2014
|
R. 18, nr 4
94--99
PL
W pracy rozpatrzono problematykę syntezy obserwatorów funkcyjnych ciągłych układów niecałkowitego rzędu. Pokazano, że synteza obserwatora niecałkowitego rzędu polegająca na wyznaczaniu poszczególnych macierzy występujących w jego równaniu może być najpierw zapisana w postaci warunku LMI, a następnie efektywnie rozwiązana za pomocą dedykowanego oprogramowania do optymalizacji wypukłej. Rozważania zilustrowano przykładem symulacyjnym.
EN
The paper presents a problem of synthesis of functional observers for fractional order continuous-time linear systems. It has been shown that this problem can be formulated and solved by the use of linear matrix inequalities (LMI) method. Necessary and sufficient conditions for solvability of the problem for computation of an unknown matrices of asymptotic stable observers have been given. The proposed approach is illustrated by a numerical example.
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