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    Wyświetlanie 1-5 z 5
    Tytuł:
    Robust predictive control of an overhead crane
    Autorzy:
    Smoczek, J.
    Szpytko, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/243833.pdf
    Data publikacji:
    2017
    Wydawca:
    Instytut Techniczny Wojsk Lotniczych
    Tematy:
    overhead crane
    predictive control
    linear parameter varying model
    recursive estimation
    fuzzy interpolation
    Opis:
    The predictive control scheme is developed for an overhead crane using the generalized predictive procedure applied for the discrete time linear parameter-varying model of a crane dynamic. The robust control technique is developed with respect to the constraints of sway angle of a payload and control input signal. The two predictive strategies are presented and compared experimentally. In the first predictive control scheme, the online estimation of the parameters of a crane dynamic model is performed using the recursive least square algorithm. The second approach is a sensorless anti-sway control strategy. The sway angle feedback signal is estimated by a linear parameter-varying model of an unactuated pendulum system with the parameters interpolated using a quasi-linear fuzzy model designed through utilizing the P1-TS fuzzy theory. The fuzzy interpolator is applied to approximate the parameters of a crane discrete-time dynamic model within the range of scheduling variables changes: the rope length and mass of a payload. The experiments carried out on a laboratory scaled overhead crane confirmed effectiveness and feasibility of the proposed solutions. The implementation of control systems was performed using the PAC system with RX3i controller. The series of experiments carried out for different operating points proved robustness of the control approaches presented in the article.
    Źródło:
    Journal of KONES; 2017, 24, 2; 231-238
    1231-4005
    2354-0133
    Pojawia się w:
    Journal of KONES
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Soft-constrained predictive control for an overhead crane
    Autorzy:
    Smoczek, J.
    Szpytko, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/242511.pdf
    Data publikacji:
    2017
    Wydawca:
    Instytut Techniczny Wojsk Lotniczych
    Tematy:
    overhead crane
    predictive control
    recursive least square estimation
    particle swarm optimization (PSO)
    Opis:
    Reduction of transient and residual payload swing in crane systems is a key control objective to guarantee the safety and efficiency requirements. The fast and accurate payload positioning with swing suppression within the acceptable range to avoid accidents is the challenging problem due to the underactuated nature of crane systems. Since the actuated motion causes undesirable payload swing, the efficient control method should be developed to ensure fast and precise payload positioning and meet the safety requirements. The standard model predictive control method is not suitable for underactuated mechanical systems. In this article the two, soft and hard-constrained antisway predictive control strategies are compared in experiments carried out on a laboratory scaled overhead travelling crane. The both control schemes are developed based on the linear parameter-varying model of a planar crane system. The recursive least square algorithm with parameter projection is used to estimate the model parameters. The soft-constrained optimization problem is solved using the particle swarm optimization algorithm with the inertia weight linearly decreasing during iteration. The metaheuristic optimizer is applied to determine the sequence of optimal control increments subject to the hard constraint of the control input and soft constraint of the payload swing. The comparison of hard and soft-constrained predictive controllers is carried out on a laboratory stand for different payload deflection constraints.
    Źródło:
    Journal of KONES; 2017, 24, 3; 291-298
    1231-4005
    2354-0133
    Pojawia się w:
    Journal of KONES
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    On possibilities of the practical implementation of balance-based adaptive control methodology
    Autorzy:
    Czeczot, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/1839191.pdf
    Data publikacji:
    2007
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    model-based adaptive control
    practical implementation
    bumpless switching
    virtual controllers
    programmable logic controller (PLC)
    recursive least-squares estimation
    Opis:
    This paper deals with two approaches to the practical implementation of the Balance-Based Adaptive Controller(B-BAC): the low-level PLC-based approach of the explicit form of the B-BAC and the high-level PC-based one in the form of the general "virtual controller". In both cases, we discuss the details of meeting the general requirements of a particular practical implementation. We also consider the implementation aspects that are independent of the implementation, such as development of the front panel, saturation of a manipulated variable, on-line measurement and data acquisition, implementation of the on-line estimation procedure, bumpless switching between the automatic and manual mode, etc. Additionally, we present how to derive both the general form and the final explicit form of the B-BAC on the example of a biotechnological process and how to apply these forms in the particular practical implementation.
    Źródło:
    Control and Cybernetics; 2007, 36, 4; 967-984
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Least-squares estimation for a long-horizon performance index
    Autorzy:
    Janiszowski, K. B.
    Powiązania:
    https://bibliotekanauki.pl/articles/911215.pdf
    Data publikacji:
    2000
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    identyfikacja
    estymacja metodą najmniejszych kwadratów
    przewidywanie
    identification
    least squares estimation
    prediction
    recursive scheme
    Opis:
    Estimation of a parametric, discrete-time model for a SISO dynamic plant, derived for minimisation of a performance index determined as a sum of squared prediction errors within some time horizon is considered. A formula for a Long-Horizon Least-Squares (LHLS) off-line solution as well as a theorem for an LHLS recursive on-line scheme are derived. The LHLS scheme reveals some features of Least-Squares (LS) estimation and Instrumental-Variable (IV) estimation. An algorithm for the on-line LHLS scheme is presented and compared with LS and IV estimation schemes for a linear, second-order system. The fast convergence of the derived LHLS on-line scheme is demonstrated in the case of detecting changes in parameters of a non-stationary system.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2000, 10, 3; 559-573
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Estimation of vehicle sideslip angle via pseudo-multisensor information fusion method
    Autorzy:
    Chen, T.
    Chen, L.
    Cai, Y.
    Xu, X.
    Powiązania:
    https://bibliotekanauki.pl/articles/220661.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    vehicle state estimation
    sideslip angle
    recursive least squares
    multi-sensor information fusion
    pseudo-measurements
    Opis:
    This paper presents a novel sideslip angle estimator based on the pseudo-multi-sensor fusion method. The kinematics-based and dynamics-based sideslip angle estimators are designed for sideslip angle estimation. Also, considering the influence of ill-conditioned matrix and model uncertainty, a novel sideslip angle estimator is proposed based on the wheel speed coupling relationship using a modified recursive least squares algorithm. In order to integrate the advantages of above three sideslip angle estimators, drawing lessons from the multisensory information fusion technology, a novel thinking of sideslip angle estimator design is presented through information fusion of pseudo-multi-sensors. Simulations and experiments were carried out, and effectiveness of the proposed estimation method was verified.
    Źródło:
    Metrology and Measurement Systems; 2018, 25, 3; 499-516
    0860-8229
    Pojawia się w:
    Metrology and Measurement Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-5 z 5

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