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Wyświetlanie 1-15 z 34
Tytuł:
Idea of wheel-legged robot and its control system design
Autorzy:
Szrek, J.
Wojtowicz, P.
Powiązania:
https://bibliotekanauki.pl/articles/199933.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
wheel-legged robot
control system design
Opis:
The wheel-legged robot is a vehicle with many degrees of freedom. Thanks to its peculiar design, depending on the need, the vehicle will use one of its ways of moving: travelling on wheels or walking (in special situations), which enhances its locomotive properties. The paper presents the robot’s kinematic wheel suspension system, general operation strategy and control system. The application responsible for robot control and data visualization is described. Finally, selected tests of the algorithms, carried out on the robot prototype, are presented.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2010, 58, 1; 43-50
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Control system and measurements of coil actuators parameters for magnetomotive micropump concept
Autorzy:
Kolimas, Ł.
Bieńkowski, K.
Łapczyński, S.
Szulborski, M.
Kozarek, Ł.
Birek, K.
Powiązania:
https://bibliotekanauki.pl/articles/201366.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
control system
micropump
electrodynamic induction
magnetic acceleration
Opis:
This paper presents an approach to the construction and measurements of electrodynamic and reluctance actuators. Executive elements were used as drives in a novel concept of a magnetomotive micropump. The paper discusses various aspects concerning the designation of parameters, control system, the explanation of physical phenomena, and the optimization of the basic elements for coil units. The conducted work describes the measurement system and the analysis of the derived values. The actuators were compared and the pros/cons of building the conceptual device were highlighted. The best solution to be used in the upcoming work concerning the construction of a magnetomotive micropump was chosen based on measurements, engineering aspects, layout control, and key parameters such as the piston velocity, energy stored in capacitors, and efficiencies.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 4; 893-901
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Parameter selection of an adaptive PI state observer for an induction motor
Autorzy:
Białoń, T.
Lewicki, A.
Pasko, M.
Niestrój, R.
Powiązania:
https://bibliotekanauki.pl/articles/201948.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
luenberger observer
induction motor
multiscalar control system
Opis:
The paper discusses problems connected with the parameters selection of the proportional-integral observer, designed for reconstruction of magnetic fluxes and angular speed of an induction motor. The selection is performed in several stages that are focused on different criteria. The first stage consists in selecting observer’s gains and provides desired dynamical properties, taking into consideration immunity to disturbances and parameter variations of observed system. The second stage prevents an observer from DC-offset cumulation and instability. The last stage consists in setting the parameters of a speed adaptation mechanism. The impact of different settings on the properties of an observer is illustrated with experimental results, obtained in the multiscalar control system of an induction motor.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 3; 599-603
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
PI observer stability and application in an induction motor control system
Autorzy:
Białoń, T.
Lewicki, A.
Pasko, M.
Niestrój, R.
Powiązania:
https://bibliotekanauki.pl/articles/200301.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
luenberger observer
induction motor
multiscalar control system
Opis:
The paper discusses the problem of stability of a proportional-integral Luenberger observer, designated for the state variables reconstruction of a linear, time-invariant dynamical system. It is proven, that there exists such a class of observed systems, for which the observer is always unstable, independently of its gains. Stability can be provided in every possible case after application of proposed modifications to the structure of the observer. It is proven, that stability of the modified observer depends only on its gains. It is shown, that an induction motor is the exemplary observed system, for which application of the unmodified observer is impossible due to its lack of stability, while the modified observer provides proper operation of the control system. Finally, some experimental results are presented, obtained in the multiscalar control system of the induction motor, equipped with the modified proportional-integral observer.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 3; 595-598
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Control system architecture for the investigation of motion control algorithms on an example of the mobile platform Rex
Autorzy:
Janiak, M.
Zieliński, C.
Powiązania:
https://bibliotekanauki.pl/articles/202080.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
mobile robot control
robot control architecture
robot control system specification
platforma mobilna Rex
robot
system kontroli
Opis:
This paper presets the specification and implementation of the control system of the mobile platform Rex. The presented system structure and the description of its functioning result from the application of a formal method of designing such systems. This formalism is based on the concept of an embodied agent. The behaviours of its subsystems are specified in terms of transition functions that compute, out of the variables contained in the internal memory and the input buffers, the values that are inserted into the output buffers and the internal memory. The transition functions are the parameters of elementary actions, which in turn are used in behaviour patterns which are the building blocks of the subsystems of the designed control system. Rex is a skid steering platform, with four independently actuated wheels. It is represented by a single agent that implements the locomotion functionality. The agent consists of a control subsystem, a virtual effector and a virtual receptor. Each of those subsystems is discussed in details. Both the data structures and the transition functions defining their behaviours are described. The locomotion agent is a part of the control system of the autonomous exploration and rescue robot developed within the RobREx project.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 667-678
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Power electronic transformer based on cascaded H-bridge converter
Autorzy:
Morawiec, M.
Lewicki, A.
Powiązania:
https://bibliotekanauki.pl/articles/201872.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
power electronic transformer
cascaded H-bridge
rectifier control
control system
transformator mocy
mostek H
system sterowania
Opis:
In this paper the control strategy of power electronic transformer (PET) is proposed. The analyzed structure of PET uses two seven-level cascaded H-bridge (CHB) rectifiers. The electrical power of PET is transferred between DC-links of CHB converters using dual-active-bridges (DABs) and low voltage high frequency transformers. The roposed solution allows for controlling the active and reactive power with a low level of harmonic distortions. The DC-link voltages and the load of the utilized H-bridges are controlled using appropriate modulation strategy. The theoretical issues are confirmed by simulation and experimental results.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 5; 675-683
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Multi-loop control system design
Autorzy:
Alekseev, A.
Zamyatin, S.
Rudnicki, V.
Powiązania:
https://bibliotekanauki.pl/articles/201635.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
control system
multi-loop system
plant identification
auto tuning controller
real interpolation method
Opis:
The approach based on a special case of the Laplace transform, which allows to design multi-loop system is considered. The tuning regulators program on the base of this approach is developed. The numerical example is shown.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 627-630
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Unscented and extended Kalman filters study for sensorless control of PM synchronous motors with load torque estimation
Autorzy:
Zawirski, K.
Janiszewski, D.
Muszynski, R.
Powiązania:
https://bibliotekanauki.pl/articles/200273.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Kalman filters
control system synthesis
machine vector control
sensorless drives
velocity control
permanent magnet synchronous motor
Opis:
This paper describes a study and the experimental verification of sensorless control of permanent magnet synchronous motors using Kalman filters. There are proposed two structures, extended and unscented Kalman filters, which use only the measurement of the motor current for on-line estimation of speed, rotor position and load torque reconstruction. The Kalman filter is an optimal state estimator and is usually applied to a dynamic system that involves a random noise environment. These structures are described in detail, starting with the selection of the variables state vector, the filters structure, and ending with in-depth laboratory tests. It has become possible, without using position and torque sensors, to apply these control structures as a cost-effective solution. Experimental results confirm the validity of the proposed estimation techniques.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 793-801
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analysis of dynamical properties of object tracking system elements
Autorzy:
Kuś, Z.
Powiązania:
https://bibliotekanauki.pl/articles/199774.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
unmanned aerial vehicles
object tracking
control system
dynamical model
bezzałogowe statki powietrzne
śledzenie obiektów
system sterowania
model dynamiczny
Opis:
The goal of this paper was to determine necessary dynamical conditions for the object tracking task. Developing these conditions required examining dynamical relationships between the UAV, camera head, disturbances and tracked object. This analysis was conducted in order to assess whether a given UAV-camera head set was suitable for a given object tracking task. The study assumed that the UAV was equipped with a flight trajectory control system. We discussed the methods of the dynamical properties description and finding a range of application for a particular set “UAV-camera head”. For each dynamical element of the examined system, we proposed a method of computing the parameters of the simulation model which corresponded to the behaviour of the real elements. In order to describe the range of the applications for the UAV-camera head set, we defined the space Ω – all combinations of the parameters which characterized the dynamics of the disturbance and object. Moreover, this study developed the method of selecting the subspace Ωs which described acceptable parameters of the object’s and disturbance’s dynamics. This paper presented the example of proper object tracking in the case of meeting the dynamical conditions and the example of losing the object in the opposite case.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 3; 479-489
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Distributed control systems integration and management with an ontology-based multi-agent system
Autorzy:
Choiński, D.
Senik, M.
Powiązania:
https://bibliotekanauki.pl/articles/201395.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
distributed control system
multi-agent system
software based integration systems
ontology
Petri nets
system wieloagentowy
ontologia
sieci Petriego
inteligentny system kontroli
Opis:
The purpose of this study is to create, analyze and reuse an ontology-based approach during implementation of a multi-agent system (MAS) capable of integrating different elements of a distributed control system (DCS). Ontology is considered as knowledge about a particular domain. It includes static description of the domain’s structure and properties, by means of which it is possible to define the domain’s dynamic states, transitions between those states and conditions of those transitions. Because of that, it is possible to analyze such ontology in terms of modal logic in predicate logic settings.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2018, 66, 5; 613-620
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Embedded control system development for the solution of self-adjusted regulator design problem and its robustness properties estimation
Autorzy:
Zamyatin, S. V.
Kurgankin, V. V.
Rudnicki, V. A.
Powiązania:
https://bibliotekanauki.pl/articles/199963.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
automatic control system
embedded system
regulator design
dynamic compensation principle
robustness
real interpolation method
discrete real Laplace transformation
Opis:
The possibility of the embedded automatic-control system construction for a self-adjusted regulator design on the basis of dynamic compensation principle is observed. The description of mathematical and algorithmic apparatus of Control Object identification in a digital form resulted in a design of the regulator. Results of natural experiments are given. An analysis of the regulator robustness properties is carried out.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 2; 341-347
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Digital control system design for bearingless permanent magnet synchronous motors
Autorzy:
Sun, X.
Shi, Z.
Yang, Z.
Wang, S.
Su, B.
Chen, L.
Li, K.
Powiązania:
https://bibliotekanauki.pl/articles/202311.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
BPMSMs
cyfrowy system kontroli
podwójnie zamknięty system regulacji prędkości
projektowanie oprogramowania
projekt sprzętu
digital control system
double-closed speed regulating system
software design
hardware design
Opis:
This study investigates a digital control system which is used in bearingless permanent magnet synchronous motors (BPMSMs). Compared with traditional permanent magnet synchronous motors, a BPMSM is characterized by higher speed and no mechanic friction. Therefore, the application value of the latter to the special area is higher than that of the former. An analysis from previous work on the BPMSM had proved its feasibility, and some performances such as suspension force, inductance and so on were also investigated. Based on this analysis, this study focuses on solving control problems in practical applications by designing a control system. The control system design includes overall schematic, hardware and software designs. Main software systems, including the force/current transform module and closed loop control module for radial displacement, are analyzed. Interface circuit for radial displacement, current feedback circuit and dead zone protection circuit are designed for the hardware system. Finally, several performance experiments have been conducted to verify the effectiveness of the designed digital control system. Experiment results indicate that the rotor has unique characteristics, such as stable suspension performance, good start-of-suspension performance, and rapid anti-disturbance features.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2018, 66, 5; 687-698
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Data processing in self-controlling enterprise processes
Autorzy:
Zaborowski, Mirosław
Powiązania:
https://bibliotekanauki.pl/articles/200356.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
kontrola procesów w przedsiębiorstwie
złożony system kontroli
Przemysł 4.0
stan procesu przedsiębiorstwa
integracja przedsiębiorstwa
enterprise process control
complex control system
Industry 4.0
enterprise process state
enterprise integration
Opis:
This study presents cause-effect dependencies between inputs and outputs of business transitions that are software objects designed for processing information-decision state variables in integrated enterprise process control (EntPC) systems. Business transitions are elementary components of controlling units in enterprise processes that have been defined as self-controlling, generalized business processes, which may serve not only as business processes but also as business systems or their roles. Business events, which have zero durations by definition, are interpreted as executions of business actions that are main operations of business transitions. Any ordered set of business actions, performed in the controlling unit of a given enterprise process and attributed to the same discrete-time instant, is referred to as ‘the information-decision process’. The i-d processes may be substituted by managerial business processes, performed on the lower organizational level, where durations of activity executions are greater than zero, but discrete-time periods are considerably shorter. In such a case, procedures of business actions are performed by corresponding activities of managerial processes, but on the level of business transitions the durations of their executions are imperceptible, and many different business events may occur at the same discrete-time instant. It has been demonstrated in the paper how to control business actions to ensure that a given i-d state variable may not change more than once at a given instant. Furthermore, the rules of designing the i-d process structures, which prevent random changes of transitory states, have been presented.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 1; 3-20
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Structures of vector control of n-phase motor drives based on generalized Clarke transformation
Autorzy:
Janaszek, M.
Powiązania:
https://bibliotekanauki.pl/articles/200409.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
electric drive
electric motor
vector control of multiphase system
Clarke's transformation
napęd elektryczny
silnik elektryczny
transformata Clarka
system wielofazowy
sterowanie wektorowe
Opis:
The paper presents vector control structures for n-phase AC motors derived from generalized Clarke transformation. In contrast to known works, where authors operate on generalized formulas of the Clarke transformation, in this work, only a number of actually used phases, of mostly industrial purposes, are considered (n = 5, 6, 2×3). This allows to perform control calculations in stationary orthogonal coordinates aβ or rotating dq. There are implementations of different control strategies: ROC (rotor-oriented control) or FOC (field-oriented control). Next, the paper presents the novel concept of a voltage modulator designed for multi-phase drive systems. Operation of the modulator is based on the extended Clarke transformation for multiphase systems. A mathematical model of the multiphase voltage modulator, operating in open-loop and closed-loop current control has been presented. Some selected oscillograms of voltage and current waveform, which illustrate properties of proposed control structures have been presented.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 4; 865-872
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite-dimensional H∞ control of a parallel-flow heat exchange process
Autorzy:
Sano, H.
Powiązania:
https://bibliotekanauki.pl/articles/200376.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
distributed parameter system H∞ control
residual mode filter
semigroup
parametr kontroli systemu H∞
półgrupa
RMF
Opis:
This paper is concerned with the H∞ control problem of a coupled transport-diffusion system with Neumann boundary condition, related to parallel-flow heat exchange process. It is shown that, by using the previous approach for a single diffusion system, the H∞ control problem can be solved by constructing a residual mode filter (RMF)-based controller which is of finite-dimension. A numerical simulation result is given to demonstrate the validity of the proposed method.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 1; 11-19
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 34

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