修正PID補償器の設計法に関する研究

学位記番号：工博甲41

Advanced air revitalization system testing

A previously developed experimental air revitalization system was tested cyclically and parametrically. One-button startup without manual interventions; extension by 1350 hours of tests with the system; capability for varying process air carbon dioxide partial pressure and humidity and coolant source for simulation of realistic space vehicle interfaces; dynamic system performance response on the interaction of the electrochemical depolarized carbon dioxide concentrator, the Sabatier carbon dioxide reduction subsystem, and the static feed water electrolysis oxygen generation subsystem, the carbon dioxide concentrator module with unitized core technology for the liquid cooled cell; and a preliminary design for a regenerative air revitalization system for the space station are discussed

PI/PID Controller Relay Experiment Auto-Tuning with Extended Kalman Filter and Second-Order Generalized Integrator as Parameter Estimators

This paper presents a method for the estimation of key parameters of limit cycle oscillations (amplitude and frequency) during a relay experiment used for automatic tuning of proportional-integral (PI) and proportional-integral-derivative (PID) feedback controllers. The limit cycle parameter estimator is based on the first-order extended Kalman filter (EKF) for resonance frequency estimation, to which a second-order generalized integrator (SOGI) is cascaded for the purpose of limit cycle amplitude estimation. Based on thus-obtained parameters of the limit cycle oscillations, the ultimate gain and the ultimate period of the limit cycle oscillations are estimated. These are subsequently used for the tuning of PI and PID controller according to Takahashi modifications of Ziegler-Nichols tuning rules. The proposed PI and PID controller auto-tuning method is verified by means of simulations and experimentally on the heat and air-flow experimental setup for the case of air temperature feedback control. The results have shown that the proposed auto-tuning system based on relay control experiment for the heat and air-flow process PI/PID temperature control can capture the ultimate gain and period parameters fairly quickly in simulations and in experiments. Subsequent controller tuning according to Takahashi modifications of Ziegler-Nichols rules using thus-obtained ultimate point parameters can provide favourable closed-loop load disturbance rejection, particularly in the case of PID controller

PI/PID Controller Relay Experiment Auto-Tuning with Extended Kalman Filter and Second-Order Generalized Integrator as Parameter Estimators

This paper presents a method for the estimation of key parameters of limit cycle oscillations (amplitude and frequency) during a relay experiment used for automatic tuning of proportional-integral (PI) and proportional-integral-derivative (PID) feedback controllers. The limit cycle parameter estimator is based on the first-order extended Kalman filter (EKF) for resonance frequency estimation, to which a second-order generalized integrator (SOGI) is cascaded for the purpose of limit cycle amplitude estimation. Based on thus-obtained parameters of the limit cycle oscillations, the ultimate gain and the ultimate period of the limit cycle oscillations are estimated. These are subsequently used for the tuning of PI and PID controller according to Takahashi modifications of Ziegler-Nichols tuning rules. The proposed PI and PID controller auto-tuning method is verified by means of simulations and experimentally on the heat and air-flow experimental setup for the case of air temperature feedback control. The results have shown that the proposed auto-tuning system based on relay control experiment for the heat and air-flow process PI/PID temperature control can capture the ultimate gain and period parameters fairly quickly in simulations and in experiments. Subsequent controller tuning according to Takahashi modifications of Ziegler-Nichols rules using thus-obtained ultimate point parameters can provide favourable closed-loop load disturbance rejection, particularly in the case of PID controller

Novel flow apparatus for investigating shear-enhanced crystallization and structure development in semicrystalline polymers

An instrument to study the effects of shearing on the crystallization process in semicrystalline polymers is described. It can impose transient stresses similar to those encountered in polymer processing and provides in situ monitoring of microstructure development during and after cessation of flow. Box-like wall shear stress profiles (rise and fall times under 50 ms with maximum wall shear stress on the order of 0.1 MPa) can be applied for controlled durations. A unique feature of our device is that it accommodates a wide variety of real-time probes of structure such as visible and infrared polarimetry and light and x-ray scattering measurements. The design also allows us to retrieve the sample for ex situ optical and electron microscopy. Data are acquired with millisecond resolution enabling us to record the extent of shear deformation of the polymer melt during the pressure pulse. Our device works with small sample quantities (as little as 5 g; each experiment takes ~ 500 mg) as opposed to the kilogram quantities required by previous instruments capable of imposing comparable deformations. This orders-of-magnitude reduction in the sample size allows us to study model polymers and new developmental resins, both of which are typically available only in gram-scale quantities. The compact design of the shear cell makes it possible to transport it to synchrotron light sources for in situ x-ray scattering studies of the evolution of the crystalline structure. Thus, our device is a valuable new tool that can be used to evaluate the crystallization characteristics of resins with experimental compositions or molecular architectures when subjected to processing-like flow conditions. We demonstrate some of the features of this device by presenting selected results on isotactic polypropylenes

Implementation of min–max MPC using hinging hyperplanes. Application to a heat exchanger

Min–max model predictive control (MMMPC) is one of the few control techniques able to cope with modelling errors or uncertainties in an explicit manner. The implementation of MMMPC suffers a large computational burden due to the numerical min–max problem that has to be solved at every sampling time. This fact severely limits the range of processes to which this control structure can be applied. An implementation scheme based on hinging hyperplanes that overcome these problems is presented here. Experimental results obtained when applying the controller to the heat exchanger of a pilot plant are given.Ministerio de Ciencia y Tecnología DPI2001-2380-C02-01Ministerio de Ciencia y Tecnología DPI2002-04375-C03-0

Thermoelectric Management of Lithium Ion Batteries in Mobile Devices

Extension of battery life through thermal management enables the continuous improvement of device hardware and device computational power. Potential solutions currently exist, and are highly capable. This project used analytical, computational, and experimental methods in parallel in order to identify characteristics of thermal management systems. These characteristics were investigated through the use of uncertainty analysis and one-dimensional models, solid modeling and finite element analysis for three-dimensional heat flow, and wireless control of a Peltier system through an Arduino board to control battery surface temperature. Results obtained can be used in the development of potential thermal management systems for incorporation in future portable devices