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The underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain its position at a certain depth in order for it to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an Unmanned Underwater Vehicle is described in this paper. The control...
FlexRay is a popular communication protocol in modern automotive systems with several computation nodes and communication units. The complex temporal behavior of such systems depends highly on the FlexRay configuration and influences the performance of running control applications. In our previous work, we presented a design framework for integrated scheduling and design of embedded control applications,...
PID control has been largely applied in the industry process control because of its robustness and easy realization, But it is very difficult to tune the three parameters of PID controller, which often leads to oscillation and overshoot of the controlled object. Due to no repetition and random of chaos dynamics, a method to search for PID controller parameters based on chaos variable is proposed according...
According to the Lagrange equation, the mathematical model for the double inverted pendulum is first presented. For the fuzzy controller, the dimension of input varieties of fuzzy controller is depressed by designing a fusion function using optimization control theory, and it can reduce the rules of fuzzy sharply, `rule explosion' problem is solved. The result shows that the LQR-Fuzzy logic controller...
By mapping the pump and the injector of 16V265H diesel engine, it comes to the conclusion of the structural parameters of the fuel injection system for electronic control unit pump. GT-Fuel is used to establish and perform the simulation model of fuel injection system for 16V265H diesel engine. Compared with that of local locomotive fuel injection system, the performance curve of 16V265H diesel engine...
This paper presents a dynamic modeling and simulation of a high speed single shaft micro-turbine generation (MTG) system for grid connected operation and shows genetic algorithm (GA) role in improvement of control system operation. The model is developed with the consideration of the main parts including: compressor-turbine, permanent magnet (PM) generator, three phase bridge rectifier and inverter...
Time-triggered periodic control implementations are over provisioned for many execution scenarios in which the states of the controlled plants are close to equilibrium. To address this inefficient use of computation resources, researchers have proposed self-triggered control approaches in which the control task computes its execution deadline at runtime based on the state and dynamical properties...
Aim at the simplified vehicle vertical two-wheeled model, a improved fuzzy PID controller was devoted to the Anti-lock Braking System (ABS). This controller was obtained based on inosculating with fuzzy PID controller and the algorithm of objective function Automatic optimization. A simulation result was gotten through simulation of MatLab Simulink environment. This result shows that the control system...
It is always a hard work to optimize the parameters of auto disturbance rejection controller (ADRC) because of its too many parameters. An optimization method for designing the submarine course ADRC based on the Nonlinear Control Design (NCD) block set of Matlab was proposed. The chief algorithm of ADRC and characters of the NCD block set were referred in briefly too. It was pointed out that there...
The depth control problem is described and addressed for a small autonomous underwater vehicle in this paper. Based on the nonlinear model of AUV in vertical plane, the paper established a mathematical model of AUV's depth motion in vertical plane by linearizing the model at a specified operating point. An optimal integral-sliding-mode controller was designed for the AUV depth control system by constructing...
Restudy of choosing optimal parameters to satisfy optimum modulus theory is performed in this paper. For the first time, a very important universal rule is presented. I.e. the sufficient and necessary condition of optimal phase margin to be 60 degree is that, the optimum modulus theory must be satisfied. The significance of this conclusion can be reflected by two aspects: one is help to choose the...
In order to make the design and optimization of solar energy systems convenient, it is very essential to choose the suitable engineering mathematic model of solar cells. A convenient and practicable engineering mathematic model of silicon solar cell is offered in this paper, which is based on photovoltaic array output I-U characteristic curve. Piecewise curve fitting method is also presented to simulate...
It was hard to set up an accurate mathematics model in cold rolling process and the structure of neural network was hard to confirm, so a CMAC neural network controller based on rough sets theory was proposed for flatness control. The original model of CMAC neural network flatness control was set up. Simultaneity dynamic learning rate was improved in the error correction algorithm of this neural network...
With the development of humanoid robots, lightweight construction and energy efficiency play an important role. In state-of-the-art processes and methods concerning structural optimization it is assumed that there exists a set of external loads or load functions acting on the part. But humanoid robots are very complex mechatronic systems. The fact that the system's dynamic properties and its overall...
Observability and controllability are fundamental concepts of control systems. In this paper, we use dynamical optimization and its computational methods as the tool to define and to quantitatively measure the observability and reachability. In addition, the duality between the observability and reachability becomes straightforward under the definitions introduced in this paper. Several examples are...
This work presents the synthesis of fuzzy controls based on Linear Matrix Inequality (LMI) for DC-DC converters. Concretely, the paper proposes a linear-piecewise continuous control for a buck-boost converter which optimizes the decay rate of state variables under pole placement constraints and duty-cycle limitation. Based on a Takagi-Sugeno model of a buck-boost converter for a determined interval...
This paper realized the establishment of grey model for the uncertain part in terms of the analysis of current loop model in permanent-magnet synchronous motor (PMSM) close-loop control system in order to acquire improvement of current tracking character. Based on this model and the combination of torque constant value Kt in online identified strategy, this algorithm could enhance the calculation...
For implementing the online control and optimization of product development process in Kilo-Plant, an integration control platform is proposed based on Web service technology. Profession software such as G2, GAMS, Matlab, are wrapped as web services based on multi-agent technology, and the web service named Data_Service is given to implement the data communication between control platform and WinCC...
The paper suggests a new iterative feedback tuning (IFT)-based approach to the design of optimal state feedback control systems. Several signal processing aspects are analyzed to reduce the number of experiments in two control system structures. The presentation is focused on second-order positioning systems applied to manufacturing and robotics leading to an original IFT algorithm. Real-time results...
Nonlinear model predictive control algorithm based on hierarchical optimization is used in this paper to solve the thorny problems of controlling the pH, such as highly nonlinear and large time-delay which have been hard to be settled by the conventional PID controller, in the neutralization process of rolling mills wastewater treatment. Furthermore, the hardware parameters and configurations are...
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