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  1. 28 Przegląd Elektrotechniczny
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  1. 9 Szabat K.
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1
Content available remote Predykcyjny system wspomagania nawigacji wózka inwalidzkiego w obecności pieszych z adaptacją bazującą na zjawisku empatii
Skrzypczyk Krzysztof
Przegląd Elektrotechniczny
|
2023
|
R. 99, nr 8
21--26
PL
W pracy przedstawiono problem syntezy prawa sterowania modułu wspomagania nawigacji semiautonomicznego wózka inwalidzkiego w dynamicznym środowisku, w obecności pieszych. Osoba poruszająca się na wózku inwalidzkim może spotkać się ze zjawiskiem empatii ze strony osób, z którymi wchodzi w interakcje. W pracy pokazano wykorzystanie tego zjawiska do adaptacji stylu automatycznego sterowania ruchem wózka. Działanie proponowanego podejścia zweryfikowano za pomocą symulacji.
EN
The paper presents the problem of designing a navigation strategy for a semiautonomous wheelchair cruise control system, intended to help driving the wheelchair in populated, dynamical environments. The method discussed in this paper utilizes long-term, model-based environmental prediction for planning the motion of the wheelchair. Resulting navigation strategy is both human aware and acceptable for the person driving the vehicle. The adaptation mechanism was implemented and verified using simulation.
2
Content available Extended Identification-Based Predictive Control for adaptive impact mitigation
Graczykowski Cezary, Faraj Rami
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2023
|
Vol. 71, nr 4
art. no. e145937
EN
The paper introduces Extended Identification-Based Predictive Control (EIPC), which is a novel control method developed for the problem of adaptive impact mitigation. The model-based approach utilizing the paradigm of Model Predictive Control is combined with sequential identification of selected system parameters and process disturbances. The elaborated method is implemented in the shock-absorber control system and tested under impact loading conditions. The presented numerical study proves the successful and efficient adaptation of the absorber to unknown excitation conditions as well as to unknown force and leakage disturbances appearing during the process. The EIPC is used for both semi-active and active control of the impact mitigation process, which are compared in detail. In addition, the influence of selected control parameters and disturbance identification on the efficiency of the impact absorption process is assessed. As a result, it can be concluded that an efficient and robust control method was developed and successfully applied to the problem of adaptive impact mitigation.
3
Sterowanie predykcyjne oparte na modelu dla problemu sterowania rojem robotów
Domski Wojciech, Bogdoł Piotr
Prace Naukowe Politechniki Warszawskiej. Elektronika
|
2022
|
z. 197, t. 1
137-146
PL
W artykule przedstawiono problem sterowania rojem robotów przy wykorzystaniu metody sterowania predykcyjnego opartej na modelu. Celem pojedynczych robotów było przenoszenie ładunków ze strefy centralnej do wyznaczonych stref bazując na kolorze ładunku. Z kolei, celem sterownika centralnego była taka koordynacja działań robotów aby wszystkie ładunki zostały przetransportowane ze strefy centralnej. Dodatkowo sterownik miał być odpowiedzialny za unikanie zakleszczeń, które miałyby negatywny wpływ na realizację zadania. W pracy skupiono się na badaniu wydajności zaproponowanego rozwiązania pod względem czasu potrzebnego na wykonanie zadania oraz maksymalnej drogi przebytej przez wszystkie roboty. Ponadto zebrano wyniki badań symulacyjnych i przeprowadzono ich analizę pod względem grupowego obciążenia jednostek podczas transportu ładunków.
EN
In this article model predictive control for robot swarm was presented. The goal of a single robot was transport payload from central zone to designated zone based on the colour of payload. In turn, the goal of central controller was to coordinate actions of all robots in order to transport all payloads from the central zone. Moreover, the controller was responsible for avoidance of deadlocks which would have negative impact on realised task. The focus of this work was put on performance analysis of proposed solution in terms of time needed to perform the task and total covered distance for all robots. What is more, results of performed simulations were collected. They were analysed in scope of group robot load during transportation process.
4
Content available Robust predictive attitude control with stochastic dynamics
Violino Elia, Bousson Kouamana
Journal of Applied Mathematics and Computational Mechanics
|
2022
|
Vol. 21, nr 4
86--97
EN
The aim of this work is to design a robust predictive attitude controller when the disturbance is not known and it is modelled based on the stochastic theory and not directly from the environment and its laws. The paper starts with a brief introduction about the interest of attitude control, the state of the art, the limitations and the objectives of the research work. Then it moves on the control model chosen for the work. The main part is related to the modelling of the stochastic disturbance and the actuation of the controller. The results obtained match the initial idea about the capability of the controller to work under an unknown disturbance torque. Indeed, the graphical results show, for all the different conditions considered, that the required attitude is always reached, meaning that the aim of this work was achieved.
5
Content available Maximizing performance of linear model predictive control of glycemia for T1DM subjects
Dodek Martin, Miklovicová Eva
Archives of Control Sciences
|
2022
|
Vol. 32, No. 2
305--333
EN
The primary objective of this paper is the custom design of an effective, yet relatively easy-to-implement, predictive control algorithm to maintain normoglycemia in patients with type 1 diabetes. The proposed patient-tailorable empirical model featuring the separated feedback dynamics to model the effect of insulin administration and carbohydrate intake was proven to be suitable for the synthesis of a high-performance predictive control algorithm for artificial pancreas. Within the introduced linear model predictive control law, the constraints were applied to the manipulated variable in order to reflect the technical limitations of insulin pumps and the typical nonnegative nature of the insulin administration. Similarly, inequalities constraints for the controlled variable were also assumed while anticipating suppression of hypoglycemia states during the automated insulin treatment. However, the problem of control infeasibility has emerged, especially if one uses too tight constraints of the manipulated and the controlled variable concurrently. To this end, exploiting the Farkas lemma, it was possible to formulate the helper linear programming problem based on the solution of which this infeasibility could be identified and the optimality of the control could be restored by adapting the constraints. This adaptation of constraints is asymmetrical, thus one can force to fully avoid hypoglycemia at the expense of mild hyperglycemia. Finally, a series of comprehensive in-silico experiments were carried out to validate the presented control algorithm and the proposed improvements. These simulations also addressed the control robustness in terms of the intersubject variability and the meal announcements uncertainty.
6
Content available remote Enhanced finite-state predictive torque control of induction motor using Space Vector Modulation
Aberkane Hesna, Sakri Djamel, Rahem Djamel
Przegląd Elektrotechniczny
|
2021
|
R. 97, nr 4
41--47
EN
This paper proposes a different strategy of predictive torque control applied to induction motor drive. The classical Direct Torque Control or DTC is wildly widespread in the industry, because of its known advantage like robustness, simplicity and the important one is the minimal torque response time. But, it shows its limitations in terms of torque undulation and variable switching frequency. To improve this classical type of control, two techniques have been introduced. Firstly application of Finite Set Model Predictive Control (FCS-MPTC) which has the advantage of being easy to implement and has a quick dynamic but its switching frequency is inconsistent. Secondly technique it’s based on space vector modulation showed that the PTC-SVM has superior performance especially the constancy of the switching frequency which will decrease the oscillation of electromagnetic torque and stator current and finally improve the THD.
PL
W artykule zaproponowano inną strategię predykcyjnej kontroli momentu obrotowego stosowaną w napędzie silnika indukcyjnego. Klasyczna bezpośrednia kontrola momentu obrotowego lub DTC jest szeroko rozpowszechniona ze względu na jej znane zalety, takie jak solidność, prostota, a najważniejszą z nich jest minimalny czas reakcji na moment obrotowy. Ale pokazuje swoje ograniczenia pod względem falowania momentu obrotowego i zmiennej częstotliwości przełączania. Aby ulepszyć ten klasyczny rodzaj sterowania, wprowadzono dwie techniki. Po pierwsze zastosowanie skończonego sterowania predykcyjnego modelu zbioru skończonego (FCS-MPTC), które ma tę zaletę, że jest łatwe do wdrożenia i ma szybką dynamikę, ale jego częstotliwość przełączania jest niespójna. Po drugie, technika oparta na modulacji wektora przestrzennego wykazała, że PTC-SVM odznacza się doskonałą wydajnością, zwłaszcza stałą częstotliwością przełączania, która zmniejszy oscylacje momentu elektromagnetycznego i prądu stojana, a ostatecznie poprawi THD.
7
Content available Predictive current control of three-phase matrix converter with GaN HEMT bidirectional switches
Nowaszewski K., Sikorski A.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2020
|
Vol. 68, nr 5
1077--1085
EN
This paper presents an analysis and simulation studies of three-phase matrix converter with GaN HEMT bidirectional switches with predictive control of grid currents and converter output currents. Two methods of grid currents shaping are described and compared. The first method is based on calculations of instantaneous grid reactive power and the second one uses the active power of the load. The analyzed converter works with the resistive-inductive load, and from the grid side the LC filter with damping resistor has been used.
8
Content available Control of complex dynamic nonlinear loading process for electromagnetic mill
Ogonowski Szymon, Bismor Dariusz, Ogonowski Zbigniew
Archives of Control Sciences
|
2020
|
Vol. 30, No. 3
471--500
EN
Electromagnetic mill installation for dry grinding represents a complex dynamical system that requires specially designed control system. The paper presents model-based predictive control which locates closed loop poles in arbitrary places. The controller performs as gains cheduling prototype where nonlinear model – artificial recurrent neural network, is parameterized with additional measurements and serves as a basis for local linear approximation. Application of such a concept to control electromagnetic mill load allows for stable performance of the installation and assures fulfilment of the product quality as well as the optimization of the energy consumption.
9
Content available Wpływanie kształtem trajektorii referencyjnej na działanie układów regulacji predykcyjnej
Nebeluk Robert, Marusak Piotr
Pomiary Automatyka Robotyka
|
2019
|
R. 23, nr 1
21--30
PL
Zastosowanie algorytmów regulacji predykcyjnej MPC do regulacji wielu procesów nieliniowych, o różnym stopniu trudności, często umożliwia osiągniecie bardzo dobrej jakości regulacji. Jest to możliwe ze względu na odpowiednie uwzględnienie w strukturze algorytmu informacji uzyskanych z modelu procesu. Do formułowania zadania optymalizacji dla algorytmów regulacji predykcyjnej najczęściej zakładana jest stała trajektoria referencyjna dla całego horyzontu predykcji. W artykule przedstawiono możliwości poprawy jakości regulacji przez zastosowanie trajektorii referencyjnej zmiennej na horyzoncie predykcji. Podczas porównywania jakości regulacji z wykorzystaniem trajektorii referencyjnych o różnej postaci, wzięto pod uwagę dwie wielkości. Pierwszą z nich jest czas narastania wyjścia obiektu regulacji, a drugą - przeregulowanie. Badania prowadzono w układach regulacji dwóch obiektów: nieminimalnofazowego obiektu liniowego oraz nieliniowego reaktora polimeryzacji. Do regulacji w przypadku pierwszego obiektu, zastosowano algorytm DMC, a w przypadku drugiego - algorytm bazujący na modelu nieliniowym, z nieliniową predykcją i linearyzacją (NDMC-NPL). Przedstawione wyniki dobrze ilustrują możliwości wpływania, za pomocą trajektorii referencyjnych o różnych kształtach, na poprawę jakości regulacji oferowanej przez algorytmy predykcyjne.
EN
Applying model predictive control (MPC) algorithms to control many processes, of different difficulty level, often allows improving control quality. It is possible by including information received from a process model in the algorithm structure. When defining the optimization problem for the predictive control algorithms most often a time-constant reference trajectory is assumed. Possibilities of improving the control quality by applying a time reference trajectory variable on the prediction horizon are presented in the paper. Two quantities are considered when comparing control quality: the rise time of the control plant output, and the overshoot. The experiments were conducted in the control systems of two control plants: a linear nonminimumphase plant and a nonlinear polymerization reactor. In the control system of the first control plant the DMC predictive control algorithm was used. For the nonlinear reactor the NDMC-NPL algorithm based on a nonlinear model was applied. It is demonstrated that by using the reference trajectories of different shapes it is possible to improve control quality offered by the MPC control algorithms.
10
Content available Hands-on MPC tuning for industrial applications
Ionescu C., Copot D.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2019
|
Vol. 67, nr 5
925--945
EN
This paper proposes a practical tuning of closed loops with model based predictive control. The data assumed to be known from the process is the result of the bump test commonly applied in industry and known in engineering as step response data. A simplified context is assumed such that no prior know-how is required from the plant operator. The relevance of this assumption is very realistic in the context of first time users, both for industrial operators and as educational competence of first hand student training. A first order plus dead time is approximated and the controller parameters immediately follow by heuristic rules. Analysis has been performed in simulation on representative dynamics with guidelines for the various types of processes. Three single-input-single-output experimental setups have been used with no expert users available in different locations – both educational and industrial – these setups are representative for practical cases: a variable time delay dominant system, a non-minimum phase system and an open loop unstable system. Furthermore, in a multivariable control context, a train of separation columns has been tested for control in simulation, followed by experimental tests on a laboratory system with similar dynamics, i.e. a sextuple coupled water tank system. The results indicate the proposed methodology is suitable for hands-on tuning of predictive control loops with some limitations on performance and multivariable process control.
11
Content available Research on speed control of high-speed train based on multi-point model
Hou Tao, Guo Yang-yang, Niu Hong-xia
Archives of Transport
|
2019
|
Vol. 50, iss. 2
35--46
EN
The traditional train speed control research regards the train as a particle, ignoring the length of the train and the interaction force between carriages. Although this method is simple, the control error is large for high-speed trains with the characteristics of power dispersion. Moreover, in the control process, if the length of the train is not considered, when the train passes the slope point or the curvature point, the speed will jump due to the change of the line, causing a large control error and reducing comfort. In order to improve the accuracy of high-speed train speed control and solve the problem of speed jump when the train runs through variable slope and curvature, the paper takes CRH3 EMU data as an example to establish the corresponding multi-point train dynamics model. In the control method, the speed control of high-speed train needs to meet the fast requirement. Comparing the merits and demerits of classical PID control, fuzzy control and fuzzy adaptive PID control in tracking the ideal running curve of high-speed train, this paper chooses the fuzzy adaptive PID control with fast response. Considering that predictive control can predict future output, a predictive fuzzy adaptive PID controller is designed, which is suitable for high-speed train model based on multi-point. The simulation results show that the multi-point model of the high-speed train can solve the speed jump problem of the train when passing through the special lines, and the predictive fuzzy adaptive PID controller can control the speed of the train with multi-point model, so that the train can run at the desired speed, meeting the requirements of fast response and high control accuracy.
12
Content available Predictive control of the iron ore beneficiation process based on the hammerstein hybrid model
Porkuian Olga, Morkun Vladimir, Morkun Natalia
Acta Mechanica et Automatica
|
2019
|
Vol. 13, no. 4
262--270
EN
Non-linear, dynamic, non-stationary properties characterize objects of the iron ore beneficiation line. Therefore, for their approximation, it is advisable to use models of the Hammerstein class. As a result of comparing the three models of Hammerstein: simple, parallel and recursive-parallel, it was shown that the best result for identifying the considered processes of magnetic beneficiation of iron ore by the minimum error criterion was obtained using the Hammerstein recursive-parallel model. Hence, it is recommended for the identification of beneficiation production objects.
13
Content available remote Predykcyjne sterowanie prędkością napędu z silnikiem indukcyjnym – wybrane aspekty sterowania z algorytmem ze skończonym zbiorem rozwiązań
Wróbel K.
Przegląd Elektrotechniczny
|
2018
|
R. 94, nr 5
159--162
PL
W pracy przedstawiono zagadnienia sterowania prędkością w napędzie z silnikiem indukcyjnym, przy wykorzystaniu algorytmu predykcyjnego ze skończonym zbiorem rozwiązań. Zaprezentowano działanie układu w różnych stanach pracy. Pokazano wpływ horyzontu predykcji na jakość regulacji. Przedstawiono wyniki badań symulacyjnych i eksperymentalnych.
EN
In the paper is presented the issue of controlling the speed of induction motor drive, using finite control set predictive control algorithm. It is showed the operation of the system in different operating conditions. The impact of the prediction horizon on the quality of regulation was presented. The results of the simulations and experiments are presented.
14
Content available Application of predictive control for manipulator mounted on a satellite
Rybus T., Seweryn K., Sąsiadek J. Z.
Archives of Control Sciences
|
2018
|
Vol. 28, No. 1
105--118
EN
Specific conditions of on-orbit environment are taken into account in the design of all devices intended to be used in space. Despite this fact malfunctions of satellites occur and sometimes lead to shortening of the satellite operational lifetime. It is considered to use unmanned servicing satellite, that could perform repairs of other satellites. Such satellites equipped with a manipulator, could be used to capture and remove from orbit large space debris. The critical part of planned missions is the capture manoeuvre. In this paper a concept of the control system for the manipulator mounted on the satellite is presented. This control system is composed of the trajectory planning module and model predictive controller (the latter is responsible for ensuring precise realization of the planned trajectory). Numerical simulations performed for the simplified planar case with a 2 DoF manipulator show that the results obtained with the predictive control are better than the results obtained with adaptive control method.
15
Content available Hybrid optimization process applied to tuning of Dynamic Matrix Control: atudy case with DC motor
Carvalho D. F. de, Ganzaroli C. A., Couto L. do, Dias R. N. H. M., Calixto W. P.
Transactions on Environment and Electrical Engineering
|
2017
|
Vol. 2, No. 2
24--30
EN
This paper presents study about Dynamic Matrix Control (DMC) controller applied to speed control of DC motor. DMC controller parameters (prediction horizon, control horizon and damping rate of reference) are obtained through optimization methods employing heuristic, deterministic and hybrid strategies. The use of advanced control technique combined with using of optimization methods aims to achieve highly efficient control, reducing the transient state period and variations in steady state. These methods were applied on a simulation model in order to verify which one provides better control results.
16
Content available remote Zastosowanie metody predykcyjnej o ograniczonej liczbie stanów do sterowania 4-gałęziowym równoległym filtrem aktywnym
Antoniewicz K., Jasiński M.
Przegląd Elektrotechniczny
|
2017
|
R. 93, nr 6
125--131
PL
W artykule przedstawiono nową metodę implementacji sterowania predykcyjnego 3-poziomowym 4-gałęziowym przekształtnikiem z kondensatorami o zmiennym potencjale, pracującym jako równoległy filtr aktywny. W proponowanej metodzie sterowania wykorzystywany jest model o ograniczonej liczbie stanów. Na zakończenie zamieszczono wyniki badań eksperymentalnych, potwierdzających poprawność działania sterowania.
EN
Paper presents the new implementation of predictive control to 3-level 4-leg Flying Capacitor Converter operating as Shunt Active Power Filter. Proposed method employs a finite-state model. At the end experimental results, which validate a correct operation of the proposed method are presented.
17
Content available remote Predykcyjne układy regulacji prędkości silnika indukcyjnego ze skończonym zbiorem rozwiązań – badania porównawcze
Wróbel K.
Przegląd Elektrotechniczny
|
2017
|
R. 93, nr 2
255--258
PL
W prezentowanej pracy przedstawiono porównanie predykcyjnych układów regulacji ze skończonym zbiorem rozwiązań z krótkim i długim horyzontem predykcji zastosowanych do sterowania prędkością silnika indukcyjnego. Dodatkowo przedstawiono modyfikację algorytmu polegającą na wprowadzeniu dwóch stref regulacji (regulacji zgrubnej i doregulowania) oraz wprowadzeniu elementu całkującego błąd. Współczynniki wagowe zastosowanej w regulatorze funkcji celu dobierane były przy użyciu algorytmów genetycznych.
EN
The article presents comparison of finite set predictive control system with short and long horizon used to induction motor speed control. In addition, modification of the algorithm consisting in introduction of two regulation areas (for coarse adjustment and regulation in the area of steady state) and introduction of component that integrates an error is presented. Weighting factors used in the controller’s cost function are selected using genetic algorithm.
18
Content available Modified scheme of predictive torque control for three-phase four-switch inverter-fed motor drive with adaptive DC-link voltage imbalance suppression
Sobański P.
Power Electronics and Drives
|
2017
|
Vol. 2 (37), No. 2
93--101
EN
Classical voltage space vector modulation techniques cannot be efficiently applied in four-switch three-phase voltage inverter-fed electrical drives due to a voltage offset in DC-link capacitors. The capacitor voltages imbalance is a result of a bidirectional current which flows in a phase of an electric motor that is connected to a DC-link capacitor midpoint. To overcome this problem which leads to an incorrect inverter voltage modulation or even can affect the DC-link capacitors, predictive control algorithms considering the voltage offset in DC-link capacitors have been developed. Despite the predictive methods are highly effective, they require to adjust the cost function weighting factors which is normally an inexplicit task. In this paper, an on-line tuning method of the weighting factor related to the capacitor voltages imbalance incorporated in the cost function of the predictive algorithm has been proposed. According to the proposed approach, the weighting factor is self-adjusted so that the DC-link capacitor voltages are stabilized as well as a high quality of the drive control is remained simultaneously, regardless of its operating point. The proposed strategy has been validated by using simulation model of the induction motor drive system.
19
Content available Nieliniowe sterowanie predykcyjne kaskadowym układem zbiorników
Bieniek B., Piotrowski R.
Pomiary Automatyka Robotyka
|
2017
|
R. 21, nr 1
25--30
PL
Obiektem regulacji jest kaskadowy układ trzech zbiorników firmy INTECO. Do sterowania wykorzystywane są dwa z nich. Zaprojektowano dwa układy regulacji poziomu wody: jednowymiarowe algorytmy MPC – po jednym dla każdego ze zbiorników oraz wielowymiarowy algorytm MPC sterujący całym układem. Przeprowadzono analizę porównawczą opracowanych algorytmów sterowania dla zmiennej trajektorii zadanej.
EN
The control system is a cascade of three tanks of INTECO. They are used to control two of them. Two algorithms of water level control are used: two single dimensional model predictive control (MPC) algorithms, one for each tank, and a multi-dimensional MPC controlling both tanks simultaneously. A comparative analysis of developed control algorithms for variable set-point trajectory.
20
Content available Soft-constrained predictive control for an overhead crane
Smoczek J., Szpytko J.
Journal of KONES
|
2017
|
Vol. 24, No. 3
291--298
EN
Reduction of transient and residual payload swing in crane systems is a key control objective to guarantee the safety and efficiency requirements. The fast and accurate payload positioning with swing suppression within the acceptable range to avoid accidents is the challenging problem due to the underactuated nature of crane systems. Since the actuated motion causes undesirable payload swing, the efficient control method should be developed to ensure fast and precise payload positioning and meet the safety requirements. The standard model predictive control method is not suitable for underactuated mechanical systems. In this article the two, soft and hard-constrained antisway predictive control strategies are compared in experiments carried out on a laboratory scaled overhead travelling crane. The both control schemes are developed based on the linear parameter-varying model of a planar crane system. The recursive least square algorithm with parameter projection is used to estimate the model parameters. The soft-constrained optimization problem is solved using the particle swarm optimization algorithm with the inertia weight linearly decreasing during iteration. The metaheuristic optimizer is applied to determine the sequence of optimal control increments subject to the hard constraint of the control input and soft constraint of the payload swing. The comparison of hard and soft-constrained predictive controllers is carried out on a laboratory stand for different payload deflection constraints.
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