68 research outputs found
Fuzzy Modelling and Control of the Air System of a Diesel Engine
This paper proposes a fuzzy modelling approach oriented to the design of a fuzzy controller for regulating the fresh airflow of a real diesel engine. This strategy has been suggested for enhancing the regulator design that could represent an alternative to the standard embedded BOSCH controller, already implemented in the Engine Control Unit (ECU), without any change to the engine instrumentation. The air system controller project requires the knowledge of a dynamic model of the diesel engine, which is achieved by means of the suggested fuzzy modelling and identification scheme. On the other hand, the proposed fuzzy PI controller structure is straightforward and easy to implement with respect to different strategies proposed in literature. The results obtained with the designed fuzzy controller are compared to those of the traditional embedded BOSCH controller
Fuzzy Modelling and Control of the Air System of a Diesel Engine
This paper proposes a fuzzy modelling approach oriented to the design of
a fuzzy controller for regulating the fresh airflow of a real diesel engine. This
strategy has been suggested for enhancing the regulator design that could represent
an alternative to the standard embedded BOSCH controller, already
implemented in the Engine Control Unit (ECU), without any change to the engine
instrumentation. The air system controller project requires the knowledge
of a dynamic model of the diesel engine, which is achieved by means of the
suggested fuzzy modelling and identification scheme. On the other hand, the
proposed fuzzy PI controller structure is straightforward and easy to implement
with respect to different strategies proposed in literature. The results obtained
with the designed fuzzy controller are compared to those of the traditional embedded
BOSCH controller
Active actuator fault-tolerant control of a wind turbine benchmark model
This paper describes the design of an active fault-tolerant control scheme that is applied to the actuator of a
wind turbine benchmark. The methodology is based on adaptive filters obtained via the nonlinear geometric
approach, which allows to obtain interesting decoupling property with respect to uncertainty affecting the
wind turbine system. The controller accommodation scheme exploits the on-line estimate of the actuator
fault signal generated by the adaptive filters. The nonlinearity of the wind turbine model is described by the
mapping to the power conversion ratio from tip-speed ratio and blade pitch angles. This mapping represents
the aerodynamic uncertainty, and usually is not known in analytical form, but in general represented by
approximated two-dimensional maps (i.e. look-up tables). Therefore, this paper suggests a scheme to
estimate this power conversion ratio in an analytical form by means of a two-dimensional polynomial, which
is subsequently used for designing the active fault-tolerant control scheme. The wind turbine power generating
unit of a grid is considered as a benchmark to show the design procedure, including the aspects of
the nonlinear disturbance decoupling method, as well as the viability of the proposed approach. Extensive
simulations of the benchmark process are practical tools for assessing experimentally the features of the
developed actuator fault-tolerant control scheme, in the presence of modelling and measurement errors.
Comparisons with different fault-tolerant schemes serve to highlight the advantages and drawbacks of the
proposed methodology
Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception
This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported
Design and Verification of Mechatronic Object-Oriented Models for Industrial Control Systems
The paper describes a methodological framework that aims to apply formal design and verification techniques in the development of Industrial Control Systems, with particular regard to the domain of manufacturing machines. The methodology is based on an Object-Oriented approach, revisited in a mechatronic perspective
Design and Verification of Industrial Logic Controllers with UML and Statecharts
The paper describes a methodological framework that aims to apply formal design and verification techniques to the domain of Logic Control and Supervision for Manufacturing Systems. The methodology is based on a Object-Oriented approach, supported by a syntactical and semantical adaptation of the semi-formal software specification languages UML and Statecharts. The modeling languages has been subsequently formalized, according to a semantics that take into account the concepts described in the IEC 61131-3 Standard for industrial controllers programming, in order to prove correctness properties expressed in the temporal logic CTL. The verification process is performed by means of the model checking tool SMV
- …