Wyniki wyszukiwania - BazTech

1

Zastosowanie liniowych nierówności macierzowych do syntezy sterowania poziomem wody w układzie kaskadowym dwóch zbiorników

Rybczak M., Tomera M.

Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej

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2017

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Nr 57

109--116

PL

Referat zawiera metodykę doboru parametrów regulatora stanu z wykorzystaniem liniowych nierówności macierzowych (ang. LMI - Linear Matrix Inequalities) metodą lokowania biegunów. W pracy zdefiniowano warunki rozmieszczenia biegunów w lewej półpłaszczyźnie zmiennej zespolonej s i wyznaczono obszary dopuszczalnych położeń biegunów. Na potrzeby rozważanej, liniowej metody projektowania dokonano linearyzacji modelu matematycznego obiektu w wybranym punkcie pracy. Zaprojektowany regulator stanu zastosowany został do sterowania obiektem rzeczywistym, którym był układ kaskadowy dwóch zbiorników. W referacie przedstawione zostały zarówno wyniki badań symulacyjnych jak i badań eksperymentalnych przeprowadzonych na obiekcie rzeczywistym.

EN

The paper describes a state feedback controller design by pole placement method using Linear Matrix Inequalities (LMI) approach. Conditions of pole placement constraints in a left half plane of the complex plane s are defined and allowable region for poles of the closed-loop control system are determined. For the purpose of using the linear design method, the mathematical model of controlled plant was linearized at a selected operating point. The designed state feedback controller was used for controlling the water level in a two-tank cascade system. The paper presents results of both computer simulations and real-time experiments.

2

Evolutionary optimization of interval mathematics-based design of a TSK fuzzy controller for anti-sway crane control

Smoczek J.

International Journal of Applied Mathematics and Computer Science

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2013

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Vol. 23, no. 4

749--759

EN

A hybrid method combining an evolutionary search strategy, interval mathematics and pole assignment-based closed-loop control synthesis is proposed to design a robust TSK fuzzy controller. The design objective is to minimize the number of linear controllers associated with rule conclusions and tune the triangular-shaped membership function parameters of a fuzzy controller to satisfy stability and desired dynamic performances in the presence of system parameter variation. The robust performance objective function is derived based on an interval Diophantine equation. Thus, the objective of a fuzzy logic-based control scheme is to place all the closed-loop control system characteristic polynomial coefficients within desired intervals. The reproduction process in the proposed Evolutionary Algorithm (EA) is based on the arithmetical crossover, uniform and non-uniform mutation along with gene deletion/insertion mutation ensuring a diversity of genomes sizes, as well as a diversity in the parameter space of membership functions. The proposed algorithm was implemented to design a fuzzy logic-based anti-sway crane control system taking into consideration the rope length and the mass of a payload variation. The results of experiments conducted using the EA for different conditions assumed for system parameter intervals and desired closed-loop system performances are compared with results achieved using the iterative procedure which is also described in the paper.

3

Analiza porównawcza jakości śledzenia i odporności układów zaprojektowanych metodami DACDM i lokowania biegunów

Giernacki W.

Studia z Automatyki i Informatyki

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2011

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T. 36

29-43

PL

W artykule przedstawiono wyniki badań symulacyjnych i ich analizę porównawczą w kontekście oceny jakości śledzenia sygnału zadanego i odporności układu na niepewność parametryczną. Syntezę dyskretnych układów regulacji adaptacyjnej przeprowadzono przy użyciu metod: diagramu współczynnikowego (DACDM) oraz lokowania biegunów (PP) dla czterech modeli obiektów: SMF1, SMF2, NSMF oraz SNMF. Sprawdzono wpływ ograniczenia amplitudy sygnału sterującego oraz zakłóceń na jakość śledzenia i odporność układu. Za miarę oceny przyjęto wartości całkowych wskaźników jakości (I1-I5). Badania numeryczne przeprowadzono w środowisku MATLAB 7.0, a ich wyniki zaprezentowano w tabelach porównawczych.

EN

In this paper the results of simulation research and their comparative analysis in the context of opinion about the tracking quality of set signal and system's robustness for parametric uncertainty, were presented. The synthesis of discrete adaptive control systems was conducted with the use of methods: coefficient diagram (DACDM) and pole placement (PP) for four type of models: SMF1, SMF2, NSMF and SNMF. The impact of the control signal amplitude saturation and the disturbance on control quality and system's robustness, was verified. As the measure of opinion, the values of integral quality indices (I1-I5), were accepted. Numerical research were conducted in MATLAB 7.0 environment and their analysis was presented in comparative tables.

4

Analysis of the dynamical performance of the two-mass drive system with the modified state controller

Kamiński M., Orłowska-Kowalska T., Szabat K.

Computer Applications in Electrical Engineering

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2010

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Vol. 8

105--119

EN

In this publication a modified state controller applied in the speed control loop of two-mass drive system is shown. A characteristic feature of this type of a drive system is an existence of oscillations of electromagnetic state variables, resulting from the finite stiffness of the connection between driven motor and the load machine. Effective damping of torsional vibrations in such a system is achieved by introducing additional feedback in the control structures of the two-mass drive. In the described control system the reduction of the feedbacks number is achieved by elimination of the one coming from the torsional torque. At the same time, it was assumed that the beneficial dynamic properties of the two-mass drive obtained in a case of the application of all possible additional feedbacks should be kept. Calculation of the controller gains was done using the pole placement method. Application of the pole placement method gives a possibility for setting the parameters of the control structure for given values of damping coefficient and resonance frequency of the close-loop system, so it is possible to influence the dynamic properties of the drive.

5

Pole placement approach to discrete and neuro-fuzzy crane control system prototyping

Smoczek J., Szpytko J.

Journal of KONES

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2009

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Vol. 16, No. 4

435-445

EN

Today are observed rising requirements regarding increase productivity, reduced labour and maintenance cost, as well as optimizing the effectiveness of the material handling. The overhead travelling cranes play important role in selected manufacture applications. The paper presents methods of crane dynamic modelling and anti-sway discrete crane control system determining with using pole placement method (PPM). The TSK neuro-fuzzy crane controller was shown in the paper, as well as method of adaptation its control parameters to various values of rope length and masses of the load variables. The results of experiments carried out on real object were presented as well. Presented in the paper methods of crane dynamic modelling and control algorithm determining allow to prototype the effective anti-sway crane control systems. The method of determining conventional anti-sway crane control system based on discrete controllers type of PD elaborated with using pole placement method (PPM) was described in the paper. The TSK neuro-fuzzy crane controller was shown in the paper as well as method of adaptation its control parameters to various values ofrope length l and masses of the load m variables. The results of experiments carried out with using adaptive neuro-fuzzy TSK controller shown robustness on changeability of these variables and effectiveness of proposed control system.