Model Reference Fuzzy Adaptive PID Control and Its Applications in Typical Industrial Processes

To improve the dynamic response, regulation precision and robustness of the closed-loop system, a novel two degree of freedom control method called model reference fuzzy adaptive PID (MRFA-PID) control is proposed for industrial processes. The proposed control law consists of two parts, PID controller and fuzzy logic controller. The PID controller, which is designed for the nominal plant, guarantees the basic requirement on stability and product quality. The fuzzy logic controller, as an extra degree of freedom, improves the system dynamic performance, regulation precision, and robustness to the uncertainty of the system. The effectiveness of MRFA-PID control is illustrated by its applications in some typical industrial processes. Since the proposed method need not identify the uncertain parameters of the plant, it has a very good real-time performance, and is easy to be implemented on-line

Robotic prototyping environment (Progress report)

Journal ArticlePrototyping is an important activity in engineering. Prototype development is a good test for checking the viability of a proposed system. Prototypes can also help in determining system parameters, ranges, or in designing better systems. The interaction between several modules (e.g., S/W, VLSI, CAD, CAM, Robotics, and Control) illustrates an interdisciplinary prototyping environment that includes radically different types of information, combined in a coordinated way. Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. We propose a flexible prototyping environment for robot manipulators with the required sub-systems and interfaces between the different components of this environment

A steady state tip control strategy for long reach robots

The work presented in this thesis describes the development of a novel strategy for the steady state tip position control of a single link flexible robot arm. Control is based upon a master/slave relationship. Arm trajectory is defined by through 'master' positioning head which moves a laser through a programmed path. Tip position is detected by an optical system which produces an error signal proportional to the displacement of the tip from the demand laser spot position. The error signal and its derivative form inputs to the arm 'slave' controller so enabling direct tip control with simultaneous correction for arm bending. Trajectory definition is not model-based as it is defined optically through movement of the positioning head alone. A critical investigation of vacuum tube and solid state sensing methods is undertaken leading to the development of a photodiode quadrant detector beam tracking system. The effect of varying the incident light parameters on the beam tracker performance are examined from which the optimum illumination characteristics are determined. Operational testing of the system on a dual-axis prototype robot using the purpose-built beam tracker has shown that successful steady state tip control can be achieved through a PD based slave controller. Errors of less than 0.05 mm and settling times of 0.2 s are obtained. These results compare favourably with those for the model-based tip position correction strategies where tracking errors of ± 0.6 mm are recorded

Aspects of an open architecture robot controller and its integration with a stereo vision sensor.

The work presented in this thesis attempts to improve the performance of industrial robot systems in a flexible manufacturing environment by addressing a number of issues related to external sensory feedback and sensor integration, robot kinematic positioning accuracy, and robot dynamic control performance. To provide a powerful control algorithm environment and the support for external sensor integration, a transputer based open architecture robot controller is developed. It features high computational power, user accessibility at various robot control levels and external sensor integration capability. Additionally, an on-line trajectory adaptation scheme is devised and implemented in the open architecture robot controller, enabling a real-time trajectory alteration of robot motion to be achieved in response to external sensory feedback. An in depth discussion is presented on integrating a stereo vision sensor with the robot controller to perform external sensor guided robot operations. Key issues for such a vision based robot system are precise synchronisation between the vision system and the robot controller, and correct target position prediction to counteract the inherent time delay in image processing. These were successfully addressed in a demonstrator system based on a Puma robot. Efforts have also been made to improve the Puma robot kinematic and dynamic performance. A simple, effective, on-line algorithm is developed for solving the inverse kinematics problem of a calibrated industrial robot to improve robot positioning accuracy. On the dynamic control aspect, a robust adaptive robot tracking control algorithm is derived that has an improved performance compared to a conventional PID controller as well as exhibiting relatively modest computational complexity. Experiments have been carried out to validate the open architecture robot controller and demonstrate the performance of the inverse kinematics algorithm, the adaptive servo control algorithm, and the on-line trajectory generation. By integrating the open architecture robot controller with a stereo vision sensor system, robot visual guidance has been achieved with experimental results showing that the integrated system is capable of detecting, tracking and intercepting random objects moving in 3D trajectory at a velocity up to 40mm/s

Modelling and Analysis Using GROOVE

In this paper we present case studies that describe how the graph transformation tool GROOVE has been used to model problems from a wide variety of domains. These case studies highlight the wide applicability of GROOVE in particular, and of graph transformation in general. They also give concrete templates for using GROOVE in practice. Furthermore, we use the case studies to analyse the main strong and weak points of GROOVE

Neizrazito adaptivno upravljanje pogonom s asinkronim motorom

Industrial applications increasingly require electric drives with good position command tracking and load regulation responses. These conditions can only be achieved by adaptive-type control because of the loading conditions, inertias and system parameters all change during the motion. For this paper an Adaptive Speed Controller for AC drives with a very low computational algorithm was developed. The authors propose self-tuning control based on a supervisory fuzzy adaptation. The supervisor continuously monitors the status of the system and changes the Ki parameter of a standard PDF controller to adapt it to the plant’s evolution. The fuzzy logic adaptive strategy was readily implemented and showed very fast learning features and very good tracking and regulation characteristics. The stability of the controller developed was also analysed, and experimental results demonstrated the robustness of the suggested algorithm in contending with varying load and torque disturbance.Industrijske primjene sve više trebaju električne pogone s dobrim svojstvima pozicioniranja i regulacije tereta. To se može postići jedino adaptivnim načinom upravljanja, jer se uvjeti terećenja, momenti inercije kao i ostali parametri sustava mijenjaju tijekom gibanja. U članku je razvijen adaptivni regulator brzine vrtnje za izmjenični pogon s asinkronim motorom koji koristi jednostavan računski algoritam. Autori predlažu samopodešavajuće upravljanje zasnovano na neizrazitoj adaptaciji s nadzornog nivoa. Nadzorni algoritam neprestano prati stanje sustava i mijenja parametar Ki standardnog PDF regulatora da bi ga adaptirao na promjene stanja u postrojenju. Neizrazita adaptivna strategija realizirana je bez poteškoća, sa svojstvom vrlo brzog učenja te vrlo dobrim svojstvima pozicioniranja i regulacije tereta. Analiza stabilnosti razvijenog regulatora također je napravljena, a eksperimentalni rezultati pokazuju robustnost predloženog algoritma pri uvjetima djelovanja poremećaja u obliku promjenljivog momenta tereta

Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot

Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control algorithm to achieve a smooth walking motion and overcome the original flaws. The mathematical model was integrated with the mechanical structure of the hexapod and controlled by a micro-controller. This micro-controller allows for a rapid start-up and low power consumption when compared to previous iterations of the hexapod. Using a path generation algorithm sets of foot positions and velocities are generated. Generating these points in real time allows for walking in any direction without any pre-defined foot positions. To enable attitude control of the hexapod body, an inertial measurement unit was added to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote system has a graphical user interface allowing for walking control and status information feedback, such as error information and current battery voltage. Walking tests have shown that the hexapod walks successfully with a smooth tripod gait using the path generation algorithm. Stabilisation tests have shown that the hexapod is capable of stabilising itself after a disturbance to its pitch and/or roll in ±2.5 seconds with a steady state error of ±0.001 radians. This proves that the hexapod robot can be controlled wirelessly while walking in any direction with a stabilised body. This is beneficial in search and rescue as the hexapod has a high degree of manoeuvrability to access areas too dangerous for rescuers to access. With cameras mounted on the stabilised body, it can be used to locate survivors in a disaster area and assist rescuers in recovering them with speed

An investigation into the energy and control implications of adaptive comfort in a modern office building

PhD ThesisAn investigation into the potentials of adaptive comfort in an office building is carried out using fine grained primary data and computer modelling. A comprehensive literature review and background study into energy and comfort aspects of building management provides the backdrop against which a target building is subjected to energy and comfort audit, virtual simulation and impact assessment of adaptive comfort standard (BS EN 15251: 2007). Building fabric design is also brought into focus by examining 2006 and 2010 Approved Document part L potentials against Passive House design. This is to reflect the general direction of regulatory development which tends toward zero carbon design by the end of this decade. In finishing a study of modern controls in buildings is carried out to assess the strongest contenders that next generation heating, ventilation and air-conditioning technologies will come to rely on in future buildings. An actual target building constitutes the vehicle for the work described above. A virtual model of this building was calibrated against an extensive set of actual data using version control method. The results were improved to surpass ASHRAE Guide 14. A set of different scenarios were constructed to account for improved fabric design as well as historical weather files and future weather predictions. These scenarios enabled a comparative study to investigate the effect of BS EN 15251:2007 when compared to conventional space controls. The main finding is that modern commercial buildings built to the latest UK statutory regulations can achieve considerable carbon savings through adaptive comfort standard. However these savings are only modestly improved if fabric design is enhanced to passive house levels. Adaptive comfort can also be readily deployed using current web-enabled control applications. However an actual field study is necessary to provide invaluable insight into occupants’ acceptance of this standard since winter-time space temperature results derived from BS EN 15251:2007 constitute a notable departure from CIBSE environmental guidelines

Design and Control of Power Converters 2019

In this book, 20 papers focused on different fields of power electronics are gathered. Approximately half of the papers are focused on different control issues and techniques, ranging from the computer-aided design of digital compensators to more specific approaches such as fuzzy or sliding control techniques. The rest of the papers are focused on the design of novel topologies. The fields in which these controls and topologies are applied are varied: MMCs, photovoltaic systems, supercapacitors and traction systems, LEDs, wireless power transfer, etc