Magnetic Levitation – Modelling, Identification and Open Loop Verification

The paper describes a procedure using the first principle modelling and experimental identification of the Magnetic Levitation Model CE 152. It is a modified version of the paper [1]. The difference is that the identification and verification is done in open loop and constraints logic is added in the current paper. The author optimized and simplified dynamic model to a minimum to what is needed to characterize given system for the simulation and control design purposes. Only few open-loop experiments are needed to estimate the unknown parameters. Model quality is verified in open loop where the real and simulated data are compared. The model can serve as a simulation model for some standard control algorithms or as a process model for advanced control method design

Dynamic Behaviour of Differentially Steered Mobile Robot

This article is aimed at obtaining a descriptionof the behaviour of an ideal differentially steered drivesystem (mobile robot) and planar motion. The mathematicaldynamic model describing the motion (speed and direction)of one robot’s point is created based on the first principlesapproach. The trajectory of this point is converted totrajectories of wheel contact points with the plane of motion.The dynamic behaviour of motors and chassis, form ofcoupling between motors and wheels and basic geometricdimensions are taken into account. The resulting trajectorydepends on the supply voltage of both drive motors. Thedynamic model will be used for design and verification of arobot’s motion contro

Efficient Technique for Model Order Reduction Retaining Non-Minimum Phase Characteristics using Clustering Dominant Pole-Zero Algorithm

Model Order Reduction (MOR) challenges a high dimensional problem and plays a key role in areas where dynamic simulation studies are necessary for modern simulation strategy. Many conventional reduction methods namely, reduced order models based on Least Square Method (LSM), Balanced Truncation, Hankel Norm reduction, Dominant Pole Algorithm (DPA) and CDPA method have been developed in the field of control theory. Among these, recently proposed Clustering Dominant Pole Algorithm (CDPA) is able to compute the full set of dominant poles and their cluster center efficiently. In this paper, a hybrid algorithm for model order reduction known as Clustering Dominant Pole-Zero Algorithm (CDPZA) is proposed to identify and preserve the dominant zeros of the processes exhibiting non-minimum phase behaviour. The CDPZA method combines the features of clustering method and DPA. Further, the cluster centers of the dominant zeros in the numerator polynomial are determined using factor division algorithm. The Benchmark HiMAT system of 6th order is considered for testing and validation of the proposed algorithm. The simulation studies are carried out to show the efficacy of the proposed algorithm over conventional MOR algorithms

TWO INPUTS – ONE OUTPUT (TISO) PROCESS CONTROL

Článek je věnován problematice řízení soustavy se dvěmi vstupy a jedním výstupem pomocí zpětnovazebního regulátoru a statického kompenzátoru. U takovéto soustavy lze žádané hodnoty výstupu dosáhnout obecně libovolnou kombinací vstupů. Kompenzátor přepočítává akční veličinu regulátoru na vstupy soustavy tak, aby bylo dosaženo žádané hodnoty na výstupu soustavy a současně se vstupy v ustáleném stavu blížily k žádaným hodnotám vstupů (optimálně z pohledu kvadratického kritéria). Navrhovaná metoda dovoluje řídit soustavy s větším počtem vstupů než je počet výstupů soustavy standardními metodami a navíc umožňuje například optimalizovat náklady na řízení v ustáleném stavu.Paper deals with feedback control of two inputs – single output (TISO) process with static compensator. For such a process it is possible to get desired output with arbitrary combination of the inputs. Compensator recalculates manipulated variable from the controller into the process inputs so the set-point is reached and the process inputs are as close as possible to desired values at the same time (optimal from the quadratic criterion point of view). Proposed method allows us to control processes with more inputs than outputs by standard methods and moreover e.g. optimize steady-state control costs

PREDICTIVE FUNCTIONAL CONTROLLER – SIMPLE PREDICTIVE CONTROLLER APPLICATION

Článek pojednává o regulaci reálného zařízení jednoduchým a výpočetně nenáročným prediktivním regulátorem PFC (Predictive Functional Controller). Reálnou soustavu v našem případě představuje laboratorní model Hydraulickopneumatická soustava. Programově je regulace zajišťována z prostředí MATLAB Simulink.Paper deals with real system control by a simple predictive controller (Predictive Functional Controller). The real plant is a laboratory model of Hydraulicpneumatic system. Process control is realized in the program MATLAB Simulink

Performance of the CMS Cathode Strip Chambers with Cosmic Rays

The Cathode Strip Chambers (CSCs) constitute the primary muon tracking device in the CMS endcaps. Their performance has been evaluated using data taken during a cosmic ray run in fall 2008. Measured noise levels are low, with the number of noisy channels well below 1%. Coordinate resolution was measured for all types of chambers, and fall in the range 47 microns to 243 microns. The efficiencies for local charged track triggers, for hit and for segments reconstruction were measured, and are above 99%. The timing resolution per layer is approximately 5 ns

Search for supersymmetry in events with b-quark jets and missing transverse energy in pp collisions at 7 TeV

Results are presented from a search for physics beyond the standard model based on events with large missing transverse energy, at least three jets, and at least one, two, or three b-quark jets. The study is performed using a sample of proton-proton collision data collected at sqrt(s) = 7 TeV with the CMS detector at the LHC in 2011. The integrated luminosity of the sample is 4.98 inverse femtobarns. The observed number of events is found to be consistent with the standard model expectation, which is evaluated using control samples in the data. The results are used to constrain cross sections for the production of supersymmetric particles decaying to b-quark-enriched final states in the context of simplified model spectra.Comment: Submitted to Physical Review

Performance and Operation of the CMS Electromagnetic Calorimeter

The operation and general performance of the CMS electromagnetic calorimeter using cosmic-ray muons are described. These muons were recorded after the closure of the CMS detector in late 2008. The calorimeter is made of lead tungstate crystals and the overall status of the 75848 channels corresponding to the barrel and endcap detectors is reported. The stability of crucial operational parameters, such as high voltage, temperature and electronic noise, is summarised and the performance of the light monitoring system is presented