Search results for "Control engineering"

Study upon the kinematic simulation of the incremental forming carried-on using a serial industrial robot

2021

Abstract Incremental forming with contact between tool-sheet metal workpiece in a single point is an unconventional process which allow the user to manufacture parts by combining the vertical movement of the tool along Z-axis and the horizontal movements of sheet metal workpiece, which are performed in XY plane. As technological equipment able to control coordinated movements on three axes, CNC machining centers and industrial serial robots with six degrees of freedom are the most suitable. The paper introduces a study regarding the use of robots as technological equipment for the process, by means of simulation. Supplementary degrees of freedom and singularities avoidance are also consider…

Multiple UAV cooperative path planning via neuro-dynamic programming

2004

In this paper, a team of n unmanned air-vehicles (UAVs) in cooperative path planning is given the task of reaching the assigned target while i) avoiding threat zones ii) synchronizing minimum time arrivals on the target, and iii) ensuring arrivals coming from different directions. We highlight three main contributions. First we develop a novel hybrid model and suit it to the problem at hand. Second, we design consensus protocols for the management of information. Third, we synthesize local predictive controllers through a distributed, scalable and suboptimal neuro-dynamic programming (NDP) algorithm.

Input-output feedback linearizing control of linear induction motor taking into consideration the end-effects. Part I: Theoretical analysis

2015

Abstract This first part of a paper, divided into two parts, deals with the theoretical formulation of the input–output feedback linearization (FL) control technique as to be applied to linear induction motors (LIMs). Linear induction motors, differently from rotating induction motors (RIMs), present other strong non-linearities caused by the so-called dynamic end effects, leading to a space-vector model with time-varying inductance and resistance terms and an additional braking force term. This paper, starting from a dynamic model of the LIM taking into consideration its dynamic end effects, previously developed by the same authors, defines a feedback linearization (FL) technique suited fo…

Input-Output Feedback Linearizing Control of Linear Induction Motor Taking into Consideration the End-Effects. Part II: Simulation and Experimental R…

2015

This is the second part of a paper, divided in two parts, dealing with the application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). The first part has treated the theoretical formulation of the input–output feedback linearization control technique as to be applied to linear induction motors. This second part describes the set of tests, both in numerical simulations and experiments, performed to assess the validity of the control technique. In particular, it addresses the issues of the sensitivity of the FL control versus the LIM electrical parameters’ variations and the improvements achievable by considering the LIM dynamic end effects…

Parameter identification of linear induction motor model in extended range of operation by means of input-output data

2012

This paper proposes a technique for the off-line estimation of the electrical parameters of the equivalent circuit of linear induction machines (LIM), taking into consideration the end effects, and focuses on the application of an algorithm based on the minimization of a suitable cost function involving the differences of measured and computed by simulation inductor current components. This method exploits an entire start-up transient of the LIM to estimate all the 4 electrical parameters of the machine (Rs, L s, σ Ls, Tr). It proposes also a set of tests to be made to estimate the variation of the magnetic parameters of the LIM versus the magnetizing current as well as the magnetizing curv…

Integration Issues of Distributed Generators Considering Faults in Electrical Distribution Networks

2014

In the recent years there is a great interest in integration of distributed generation (DG) units at distribution level; this integration leads to planning as well as operational challenges. Some possibilities to handle grid planning issues are addressed in this paper. Effects on grid protection, fault current level, and voltage profile are investigated and described for different types of DG units; the classification of DG units is based on their terminal characteristics in terms of real and reactive power delivering capability. Different scenarios for mis-coordination problems caused by DG interconnection are discussed. The effect of the DG on the voltage profile of a distribution network…

Automated vehicles' work planning in flexible manufacturing systems

2006

The problem of rules setting in coordination of automated vehicles access to shared system resources (sections of their transportation paths) which assure a deadlock free and starvation free flow of the executed processes belongs to NP-hard problems. Assuming that there are local (controlling access to shared resources) rules of priority dispatching, the problem deals with setting conditions sufficient for a pair (initial state, set of priority dispatching rules). The assumed knowledge base way of specifying a transportation subsystem leads to solving a logic-algebraic method decision problem. In this regard, the working knowledge representation synthesis method constitutes a significant co…

Analysis and validation in design time of distributed control systems implemented by means of rule based expert systems

2005

In this paper a new analytical method for control systems validation is presented. The control system will be implemented by means of expert systems based on rule nets, which are a formalism that seeks to express an automatism in a similar way to as would make it a human being: "IF antecedents THEN consequent". But at the same time rule nets are a tool for the design, analysis and implementation of rule based systems (RBS), and consist on a mathematic-logical structure which analytically reflects the set of rules that the human expert has designed. The validation consist on the analysis of the decisive rule nets properties in design time. This properties have been studied and formalized com…

2014

This paper deals with designing the controller of LTI system based on data-driven techniques. We propose a scheme embedding a residual generator into control loop based on realization of the Youla parameterization for advanced controller design. Basic idea of the proposed scheme is constructing the residual generator by using the solution of the Luenberger equations as well as the well-established relationship between diagnosis observer (DO) and the parity vector. Besides, the core of the above idea is straightly using the process measurements to obtain the parity space based on the Subspace Identification Method (SIM), rather than establishing the system model. At last, a simulation based …

Robust control of a Hammerstein model of DC/DC converters

2007

This paper deals with the robust control of a Hammerstein mathematical model of DC/DC converters, consisting of the nonlinear static characteristics of the converter followed by one of a few number of linear time- invariant models which describe the converter in the useful working range. One of these models is assumed as the nominal model of the system and the remaining models are used for describing the model uncertainty. Nominal behaviour is assured using H-2 optimal control method, Robust stability and behaviour are assured by imposing H-infin specifications. The closed loop control system consisting of the converter Hammerstein model and the robust controller is analyzed by means of sim…