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Tytuł:
State - space control of the drive with PMSM and flexible coupling
Układ sterowania napędu z PMSM i elastycznym sprzęgłem
Autorzy:
Vittek, J.
Makys, P.
Pospisil, M.
Szychta, E.
Luft, M.
Powiązania:
https://bibliotekanauki.pl/articles/224343.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
układ sterowania
algorytm sterowania
sprzęgło elastyczne
control systems
control vector algorithm
state-space control
Opis:
A control system, which achieves prescribed speed and position responses, for electric drives with a significant torsion vibration mode is presented. Control system design exploits state-space control and forced dynamics control principles. Derived control algorithm respects the vector control condition by keeping the direct axis current component approximately zero as well as controlling the load position with prescribed closed loop dynamics. Set of two observers, one on load side and the second one on motor side, generate all state variables necessary for control algorithm design including torques acting on the motor and load side to satisfy all conditions for achieving prescribed dynamics. This approach eliminates the position sensor on motor side. The simulations confirm that proposed model based position control system can operate with moderate accuracy.
W artykule zaprezentowano układ sterowania napędami elektrycznymi ze znacznymi drganiami skrętnymi, który umożliwia jako odpowiedzi - określone obroty i położenie. Układ sterowania wykorzystuje opis przestrzeni stanu i zasady wymuszonego sterowania dynamicznego. Zestaw dwóch obserwatorów, jeden po stronie obciążenia, a drugi od strony silnika, wygenerować może wszystkie zmienne stanu niezbędne do projektowania algorytmu sterowania, w tym momenty działające po stronie silnika i obciążenia, spełniające wszystkie warunki niezbędne do osiągnięcia określonej dynamiki. Takie podejście eliminuje stosowanie czujnika położenia od strony silnika. Wyniki symulacji potwierdzają, że proponowany model układu sterowania położenia może pracować z wystarczającą dokładnością.
Źródło:
Archives of Transport; 2011, 23, 1; 77-90
0866-9546
2300-8830
Pojawia się w:
Archives of Transport
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear state-space predictive control with on-line linearisation and state estimation
Autorzy:
Ławryńczuk, M.
Powiązania:
https://bibliotekanauki.pl/articles/330330.pdf
Data publikacji:
2015
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
process control
model predictive control
nonlinear state space model
extended Kalman filter
online linearization
proces sterowania
model sterowania predykcyjnego
model przestrzeni stanów
rozszerzony filtr Kalmana
Opis:
This paper describes computationally efficient model predictive control (MPC) algorithms for nonlinear dynamic systems represented by discrete-time state-space models. Two approaches are detailed: in the first one the model is successively linearised on-line and used for prediction, while in the second one a linear approximation of the future process trajectory is directly found on-line. In both the cases, as a result of linearisation, the future control policy is calculated by means of quadratic optimisation. For state estimation, the extended Kalman filter is used. The discussed MPC algorithms, although disturbance state observers are not used, are able to compensate for deterministic constant-type external and internal disturbances. In order to illustrate implementation steps and compare the efficiency of the algorithms, a polymerisation reactor benchmark system is considered. In particular, the described MPC algorithms with on-line linearisation are compared with a truly nonlinear MPC approach with nonlinear optimisation repeated at each sampling instant.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2015, 25, 4; 833-847
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Control error dynamic modification as an efficient tool for reduction of effects introduced by actuator constraints
Autorzy:
Janiszowski, K. B.
Powiązania:
https://bibliotekanauki.pl/articles/907663.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie cyfrowe
regulacja PID
wind-up
actuator constraints
digital dead-beat control
PID control
rate constraints
state-space control
saturations at control
Opis:
A modification of digital controller algorithms, based on the introduction of a virtual reference value, which never exceeds active constraints in the actuator output is presented and investigated for some algorithms used in single-loop control systems. This idea, derived from virtual modification of a control error, can be used in digital control systems subjected to both magnitude and rate constraints. The modification is introduced in the form of on-line adaptation to the control task. Hence the design of optimal (in a specified sense) digital controller parameters can be separated from actuator constraints. The adaptation of the control algorithm (to actuator constraints) is performed by the transformation of the control error and is equivalent to the introduction of a new, virtual reference value for the control system. An application of this approach is presented through examples of three digital control algorithms: the PID algorithm, the dead-beat controller and the state space controller. In all cases, clear advantages of transients are observed, which yields some general conclusions to the problem of processing actuator constraints in control.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 2; 271-279
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On Fast State-Space Algorithms for Predictive Control
Autorzy:
Błachuta, M. J.
Powiązania:
https://bibliotekanauki.pl/articles/908313.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
równanie różniczkowe Riccatiego
równanie Chandrasekhara
sterowanie predykcyjne
Riccati equation
Chandrasekhar equation
LQG control
predictive control
Opis:
A Riccati-equation-based solution to a class of receding-horizon predictive control problems for an explicit-delay state-space model of an ARMAX system is found and the corresponding vector Chandrasekhar-type equations are derived for both filter and controller gains to improve the computational efficiency.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 149-160
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Offset-free nonlinear Model Predictive Control with state-space process models
Autorzy:
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/229638.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear control
predictive control
offset-free control
state-space model
state estimation
Opis:
Offset-free model predictive control (MPC) algorithms for nonlinear state-space process models, with modeling errors and under asymptotically constant external disturbances, is the subject of the paper. The main result of the paper is the presentation of a novel technique based on constant state disturbance prediction. It was introduced originally by the author for linear state-space models and is generalized to the nonlinear case in the paper. First the case with measured state is considered, in this case the technique allows to avoid disturbance estimation at all. For the cases with process outputs measured only and thus the necessity of state estimation, the technique allows the process state estimation only - as opposed to conventional approach of extended process-and-disturbance state estimation. This leads to simpler design with state observer/filter of lower order and, moreover, without the need of a decision of disturbance placement in the model (under certain restrictions), as in the conventional approach. A theoretical analysis of the proposed algorithm is provided, under applicability conditions which are weaker than in the conventional approach. The presented theory is illustrated by simulation results of nonlinear processes, showing competitiveness of the proposed algorithms.
Źródło:
Archives of Control Sciences; 2017, 27, 4; 595-615
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A state-space approach for control of NPC type 3-level sine wave inverter used in FOC PMSM drive
Autorzy:
Tarczewski, T.
Grzesiak, L. M.
Wawrzak, A.
Karwowski, K.
Erwiński, K.
Powiązania:
https://bibliotekanauki.pl/articles/200731.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
state feedback control
linear quadratic regulator
3-level neutral point clamped voltage source inverter
LC filter
Opis:
This paper presents the design and analysis process of state feedback controllers for NPC type 3-level sine wave inverter. In order to achieve good dynamic features in a state feedback control an internal model of reference input and a feedforward path are introduced. During synthesis process of the state feedback controllers maximum permissible dynamics of voltage control in the linear range of modulation is taken into account. It is shown that initially gains of the controller and feedforward path are non-stationary and depend on the angular velocity. Stationary approximation of a non-stationary state feedback controller is presented in details. Proposed state feedback control structures for continuous voltage shaping NPC type 3-level voltage source inverter are examined in FOC PMSM drive. The novelty of the presented controller lays in a stationary approximated state feedback control structure designed in terms of maximum permissible dynamics of a voltage control system. Simulation and experimental results (at the level of 3 kW) of the designed control algorithms are included.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 3; 439-448
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Disturbance modeling and state estimation for offset-free predictive control with state-space process models
Autorzy:
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/330146.pdf
Data publikacji:
2014
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
model predictive control
state space model
disturbance rejection
state observer
Kalman filter
sterowanie predykcyjne
model przestrzeni stanów
eliminacja zakłóceń
obserwator stanu
filtr Kalmana
Opis:
Disturbance modeling and design of state estimators for offset-free Model Predictive Control (MPC) with linear state-space process models is considered in the paper for deterministic constant-type external and internal disturbances (modeling errors). The application and importance of constant state disturbance prediction in the state-space MPC controller design is presented. In the case with a measured state, this leads to the control structure without disturbance state observers. In the case with an unmeasured state, a new, simpler MPC controller-observer structure is proposed, with observation of a pure process state only. The structure is not only simpler, but also with less restrictive applicability conditions than the conventional approach with extended process-and-disturbances state estimation. Theoretical analysis of the proposed structure is provided. The design approach is also applied to the case with an augmented state-space model in complete velocity form. The results are illustrated on a 2 x 2 example process problem.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2014, 24, 2; 313-323
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The product space approach in the state space theory of linear time-invariant differential systems with delays in state and control variables
Autorzy:
Delfour, M. C.
Powiązania:
https://bibliotekanauki.pl/articles/720512.pdf
Data publikacji:
1985
Wydawca:
Polska Akademia Nauk. Instytut Matematyczny PAN
Źródło:
Banach Center Publications; 1985, 14, 1; 147-169
0137-6934
Pojawia się w:
Banach Center Publications
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Equivalence of control systems on the Euclidean group SE (2)
Autorzy:
Adams, R. M.
Biggs, R.
Remsing, C. C.
Powiązania:
https://bibliotekanauki.pl/articles/205696.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
Left-invariant control system
state space equivalence
Euclidean group
Opis:
We classify, under (local) state space equivalence, all full-rank left-invariant control affne systems evolving on the Euclidean group SE(2).
Źródło:
Control and Cybernetics; 2012, 41, 3; 513-524
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Dynamic Algorithm for Linear Quadratic Gaussian Predictive Control
Autorzy:
Ordys, A. W.
Hangstrup, M. E.
Grimble, M. J.
Powiązania:
https://bibliotekanauki.pl/articles/911167.pdf
Data publikacji:
2000
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
przestrzeń fazowa
sterowanie wielowymiarowe
sterowanie predykcyjne
state-space design
multivariable control
linear quadratic Gaussian predictive control
generalized predictive control
Opis:
In this paper, the optimal control law is derived for a multi-variable state-space Linear Quadratic Gaussian Predictive Controller (LQGPC). A dynamic performance index is utilized resulting in an optimal steady-state controller. Knowledge of future reference values is incorporated into the controller design and the solution is derived using the method of Lagrange multipliers. It is shown how the well-known GPC controller can be obtained as a special case of the LQGPC controller design. The important advantage of using the LQGPC framework for designing predictive controllers is that, based on stabilizing properties of LQG control, it enables a systematic approach to selection of the design parameters to yield a stable closed-loop system. The system model considered in this paper can be further extended toalso include direct feed-through and knowledge about future external inputs.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2000, 10, 2; 227-244
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal control of dynamic systems using a new adjoining cell mapping method with reinforcement learning
Autorzy:
Arribas-Navarro, T.
Prieto, S.
Plaza, M.
Powiązania:
https://bibliotekanauki.pl/articles/205725.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
cells mapping
state space
reinforcement learning
stability
nonlinear control
controllability
Opis:
This work aims to improve and simplify the procedure used in the Control Adjoining Cell Mapping with Reinforcement Learning (CACM-RL) technique, for the tuning process of an optimal contro ller during the pre-learning stage (controller design), making easier the transition from a simulation environment to the real world. Common problems, encountered when working with CACM-RL, are the adjustment of the cell size and the long-term evolution error. In this sense, the main goal of the new approach, developed for CACM-RL that is proposed in this work (CACMRL*), is to give a response to both problems for helping engineers in defining of the control solution with accuracy and stability criteria instead of cell sizes. The new approach improves the mathematical analysis techniques and reduces the engineering effort during the design phase. In order to demonstrate the behaviour of CACM-RL*, three examples are described to show its application to real problems. In All the examples, CACM-RL* improves with respect to the considered alternatives. In some cases, CACM- RL* improves the average controllability by up to 100%.
Źródło:
Control and Cybernetics; 2015, 44, 3; 369-387
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hourly identification and simulation of the TGE S.A. Day-Ahead Market system
Autorzy:
Marlęga, Radosław
Tchórzewski, Jerzy R.
Powiązania:
https://bibliotekanauki.pl/articles/31342745.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
equations of state
control system
Day-Ahead Market
identification
Polish Electricity Exchange
simulation
state space
Opis:
The paper presents selected research results concerning the identification and simulation of the TGE S.A. Day-Ahead Market (DAM) system of the day for electricity delivered and sold, listed for the following hours: 5:01-6:00, 11:01-12:00, 17:01-18:00 and 23:01-24:00 in 2019, which were obtained in the MATLAB and Simulink environment using the System Identification Toolbox. As a result of identification, four respective discrete parametric arx models were obtained, which were then subject to quality assessment. Then, a simulation model was built in the Simulink environment, which was used for simulation tests and for assessing the sensitivity of the model created using the data from 2019 as the basis and the data from 2020 for verification. The obtained results confirm the correctness of both the performed discrete parametric identification and the possibility of testing the quality of the model and its sensitivity with the use of the DAM system model in the MATLAB and Simulink environment.
Źródło:
Control and Cybernetics; 2022, 51, 4; 523-555
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Contribution of New Parameter Inverses to Robustification of Fractional-Order Perfect Control for LTI MIMO Discrete-Time State-Space Systems
Autorzy:
Wach, Ł.
Hunek, W. P.
Powiązania:
https://bibliotekanauki.pl/articles/385005.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
LTI MIMO fractional-order systems
perfect control
inverses of nonsquare matrices
stability
Opis:
The paper presents results of application of various right inverses to fractional-order discrete-time perfect control in terms of improving its stability and robustness. For that reason the newly introduced σ-inverse and H-inverse are applied finally to obtain the mentioned above control strategy strictly dedicated to LTI MIMO nonsquare systems described by state-space framework. It is highlighted that parameter σ-inverse and H-inverse with different so called ‘degrees of freedom’ outperform the typical minimum-norm right T-inverse. Moreover, this new approach deals with the same class of problems concerning integer-order systems. The simulation studies performed in Matlab/Simulink environment confirm high potential of proposed here method.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 3; 29-33
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Reliable robust path planning with application to mobile robots
Autorzy:
Pepy, R.
Kieffer, M.
Walter, E.
Powiązania:
https://bibliotekanauki.pl/articles/930096.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
analiza interwałowa
planowanie trajektorii
sterowanie odporne
interval analysis
path planning
robust control
state-space models
Opis:
This paper is devoted to path planning when the safety of the system considered has to be guaranteed in the presence of bounded uncertainty affecting its model. A new path planner addresses this problem by combining Rapidly-exploring Random Trees (RRT) and a set representation of uncertain states. An idealized algorithm is presented first, before a description of one of its possible implementations, where compact sets are wrapped into boxes. The resulting path planner is then used for nonholonomic path planning in robotics.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 3; 413-424
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Numerical solution of fractional variable order linear control system in state-space form
Autorzy:
Malesza, W.
Macias, M.
Powiązania:
https://bibliotekanauki.pl/articles/201996.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
variable order fractional calculus
differential equations
analog modeling
równania różniczkowe
modelowanie analogowe
rachunek różniczkowy ułamkowego rzędu
Opis:
The aim of this paper is to introduce a matrix approach for approximate solving of non-commensurate fractional variable order linear control systems in state-space form. The approach is based on switching schemes that realize variable order derivatives. The obtained numerical solution is compared with simulation and analog model results.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 5; 715-724
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 20

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