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This paper proposes a new method for designing a weigh feeder control system. The model of a weigh feeder cannot be obtained accurately because its dynamic characteristics are time varying and its high frequency vibration modes are not easily identified. In this paper, a weigh feeder is assumed to be a first-order plus integrator system, and a control law consists of a constant feed-forward control...
In design of a weigh feeder control system, most controllers employed in industry are designed using proportional and integral (PI) compensations, and it is desirable to achieve high performance by PI control. Hence, a generalized minimum variance control (GMVC)-based PI control system is designed for a weigh feeder, and the design parameters of GMVC are adjusted on the basis of control performance...
This study reports that a weigh feeder is controlled using a performance-adaptive control method in which controller parameters are recalculated only when parameter estimation deteriorates. In this method, a PI control law is based on generalized minimum variance control (GMVC). Hence, a design parameter in GMVC is adjusted such that given control specifications are satisfied, and then, PI parameters...
This paper discusses a design method for a sample-date system, in which a continuous-time plant is controlled using a discrete-time controller. It is assumed that the sampling interval of plant output is an integer multiple of the hold interval of control input, that is, the control system is a multirate system. Using the state-space representation, a multirate control law, which stabilizes a closed-loop...
This paper proposes a design method for PD control in a multirate sampled-data system, where the sampling interval of plant output is an integer multiple of the hold interval of control input. The proposed PD control system is based on a multirate generalized predictive control (GPC) law. Because this law can be redesigned independently of the sample response, intersample ripples are eliminated without...
This paper proposes a new method for designing a digital control system, in which a plant in continuous time is controlled by updating a control input in discrete time. The controlled system is a dual-rate system in which the sampling period is restricted to be double the control period. Hence, a fast-rate control system cannot be obtained, and to obtain a single-rate control system, a designed system...
This paper proposes a new method for designing a weigh feeder controller. The dynamic characteristics of a weigh feeder are time-varying and its high frequency vibration modes are not easily identified. Hence, the precise model of a weigh feeder cannot be obtained. In the proposed method, the dynamic characteristics of the proposed control system are mainly decided by proportional and integral compensation,...
This paper deals with a multirate control system, where the sampling interval of the plant output is an integer multiple of the hold interval of the control input. In the multirate system, intersample output may oscillate even if a sampled output converges to a reference input. Therefore, this paper proposes a new design method to suppress intersample ripple in the multirate system, the numerical...
This paper proposes a new method for designing a multirate output feedback control system, where the update interval of the control input is an integer multiple of the sampling interval of the plant output. The proposed method is designed by extending a conventional multirate output feedback control using the latest information of a plant. Hence, the proposed method can improve the control performance...
The nonlinear model predictive control needs to solve a two-point boundary-value problem (TP-BVP) at every sample time based on the receding horizon control strategy. However, solving a nonlinear algebraic equation for the TP-BVP requires high computational load, so computing the control law in real-time is a significant issue on the nonlinear model predictive control. This paper, therefore, proposes...
This paper proposes a new control method for a weigh feeder. A weigh feeder has been widely employed in industry because it can dispense powder at a specified rate or amount. The proposed controller is mainly divided into a feed-forward and a feedback compensators. In order to obtain a simple controller, the former gives a steady-state control input designed using a nominal plant gain, and the latter...
In this paper, a parameter design for ZMP (Zero-Moment Point) disturbance observer of biped robots is proposed. ZMP disturbance observer is used for the walking stabilization of biped robots. A decision method of six parameters is based on the stability and the performance. Relation between the parameters and the performance is shown. Gains of the position compensation and the acceleration compensation...
The generalized minimum variance control (GMVC) method is extended into a sampled-data control system, where a continuous-time plant is controlled by using a discrete-time controller. In design of conventional GMVC, sampled behavior is optimized, but intersample behavior is not taken into account. However, intersample behavior as well as sampled behavior can be improved by using the proposed method...
This paper discusses the design methods of generalized mininum variance control (GMVC)-based PID controllers in a two-degree-of-freedom (2DOF) system. The PID parameters of PID controllers are designed based on GMVC, and the PID controllers are designed as self-tuning controllers. In design of a 2DOF PID controller based on GMVC with a feed-forward compensator (abbreviated as FF-type GMVC), because...
This paper proposes a new design method of a GPC-based PID controller. The proportional gain of a PID controller is time-varying, and the PID controller is designed using the future reference input. Hence, a GPC law can be approximated by the PID controller finely. Because a controller of GPC has to be stable to obtain stable proportional gain, using extended GPC using coprime factorization, the PID...
This paper proposes a new design method of an I-PD controller. The I-PD controller is designed in a multirate system with fast control input and slow output sampling. In order to design PID parameters of the multirate I-PD controller, the multirate I-PD controller is designed based on a multirate generalized predictive control law. Since in the multirate system a control input is updated faster than...
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