The control problems associated with vehicle height adjustment of electronically controlled air suspension （ECAS） still pose theoretical challenges for researchers, which manifest themselves in the publications on t...The control problems associated with vehicle height adjustment of electronically controlled air suspension （ECAS） still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical （MLD） modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller （HMPC） is tuned based on online mixed-integer quadratic optimization （MIQP）. Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology （MPT）, thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.展开更多
The bucket wheel reclaimer(BWR) is a key piece of equipment which has been widely used for stacking and reclaiming bulk materials(i.e.iron ore and coal) in places such as ports,iron-steel plants,coal storage areas,and...The bucket wheel reclaimer(BWR) is a key piece of equipment which has been widely used for stacking and reclaiming bulk materials(i.e.iron ore and coal) in places such as ports,iron-steel plants,coal storage areas,and power stations from stockpiles.BWRs are very large in size,heavy in weight,expensive in price,and slow in motion.There are many challenges in attempting to automatically control their motion to accurately follow the required trajectories involving uncertain parameters from factors such as friction,turbulent wind,its own dynamics,and encoder limitations.As BWRs are always heavily engaged in production and cannot be spared very long for motion control studies and associated developments,a BWR model and simulation environment closely resembling real life conditions would be beneficial.The following research focused mainly on the implementation of fuzzy logic to a BWR motion control from an engineer's perspective.First,the modeling of a BWR including partially known parameters such as friction force and turbulence to the system was presented.This was then followed by the design of a fuzzy logic-based control built on a model-based control loop.The investigation provides engineers with an example of applying fuzzy logic in a model based approach to properly control the motion of a large BWR following defined trajectories,as well as to show possible ways of further improving the controller performance.The result indicates that fuzzy logic can be applied easily by engineers to overcome most motion control issues involving a large BWR.展开更多
Because model switching system is a typical form of Takagi-Sugeno（T-S） model which is an universal approximator of continuous nonlinear systems, we describe the model switching system as mixed logical dynamical （ML...Because model switching system is a typical form of Takagi-Sugeno（T-S） model which is an universal approximator of continuous nonlinear systems, we describe the model switching system as mixed logical dynamical （MLD） system and use it in model predictive control （MPC） in this paper. Considering that each local model is only valid in each local region,we add local constraints to local models. The stability of proposed multi-model predictive control （MMPC） algorithm is analyzed, and the performance of MMPC is also demonstrated on an inulti-multi-output（MIMO） simulated pH neutralization process.展开更多
Models for the design of assembly processes are considered. Various models for the voice control of an industrial robot are considered: a logical model, semantic networks, a frame model and Petri nets. It is shown tha...Models for the design of assembly processes are considered. Various models for the voice control of an industrial robot are considered: a logical model, semantic networks, a frame model and Petri nets. It is shown that this set of models allows describing the process of designing the technological process for an industrial robot. The logical model of the technological process allows you to define logical relationships. A model based on semantic networks describes the relationship between assembly units in a detail. This allows you to determine the order and method of registration, as well as the mutual orientation of assembly units in the product. The frame model provides the ability to streamline the execution of the build process. A model based on Petri nets allows one to describe the type and sequence of technological transitions. Based on the proposed models, a method of voice control for an industrial robot is developed. The basic principles of voice control for an industrial robot are considered.展开更多
The Fuzzy Logic Control (FLC) was used in the nonlinear, multivariable, and time varying system to control coal flotation. The control algorithm includes two different methods of adding reagents. First, the reagent is...The Fuzzy Logic Control (FLC) was used in the nonlinear, multivariable, and time varying system to control coal flotation. The control algorithm includes two different methods of adding reagents. First, the reagent is coarsely adjusted according to the solid content in the feed and the reagent consumption per ton of coal; And then it is finely adjusted under the control of the Fuzzy Logic Algorithm according to the ash content of the clean coal. The industrial experiments and the site application show that this control model can keep a stable ash level of clean coal and cut down obviously the reagent consumption.展开更多
In this paper, the problem of hybrid model predictive control(HMPC) strategy based on fuzzy supervisor for piecewise autoregressive with exogenous input(PWARX) models is addressed. We first represent the nonlinear beh...In this paper, the problem of hybrid model predictive control(HMPC) strategy based on fuzzy supervisor for piecewise autoregressive with exogenous input(PWARX) models is addressed. We first represent the nonlinear behavior of the system with a PWARX model. Then, we transform the obtained PWARX model into a mixed logical dynamic(MLD) model in order to apply the proposed predictive control which is able to stabilize such systems along desired reference trajectories while satisfying operating constraints.Finally, we propose to introduce a fuzzy supervisor allowing the readjustment of the HMPC tuning parameters in order to maintain the desired performance. Simulation and experimental results are presented to illustrate the effectiveness of the proposed approach.展开更多
<span style="font-family:Verdana;">This study presents an intelligent approach for load frequency control (LFC) of small hydropower plants (SHPs). The approach which is based on fuzzy logic (FL), takes...<span style="font-family:Verdana;">This study presents an intelligent approach for load frequency control (LFC) of small hydropower plants (SHPs). The approach which is based on fuzzy logic (FL), takes into account the non-linearity of SHPs—something which is not possible using traditional controllers. Most intelligent methods use two-</span><span style="font-family:;" "=""> </span><span style="font-family:;" "=""><span style="font-family:Verdana;">input fuzzy controllers, but because such controllers are expensive, there is </span><span style="font-family:Verdana;">economic interest in the relatively cheaper single-input controllers. A n</span><span style="font-family:Verdana;">on-</span></span><span style="font-family:;" "=""> </span><span style="font-family:Verdana;">linear control model based on one-input fuzzy logic PI (FLPI) controller was developed and applied to control the non-linear SHP. Using MATLAB/Si</span><span style="font-family:Verdana;">- </span><span style="font-family:Verdana;">mulink SimScape, the SHP was simulated with linear and non-linear plant models. The performance of the FLPI controller was investigated and compared with that of the conventional PI/PID controller. Results show that the settling time for the FLPI controller is about 8 times shorter;while the overshoot is about 15 times smaller compared to the conventional PI/PID controller. Therefore, the FLPI controller performs better than the conventional PI/PID controller not only in meeting the LFC control objective but also in ensuring increased dynamic stability of SHPs.</span>展开更多
为了提升锂离子电池组均衡系统的性能,提出了一种基于模糊自适应模型预测控制(fuzzy adaptive model predictive control,FAMPC)的模块化均衡系统。首先,由改进的buck-boost电路和反激变压器组成双层均衡拓扑结构;其次,以不同电池剩余容...为了提升锂离子电池组均衡系统的性能,提出了一种基于模糊自适应模型预测控制(fuzzy adaptive model predictive control,FAMPC)的模块化均衡系统。首先,由改进的buck-boost电路和反激变压器组成双层均衡拓扑结构;其次,以不同电池剩余容量(state of charge,SOC)的状态作为模糊逻辑算法的输入,对均衡电流的约束条件进行调节;再次,基于FAMPC均衡控制方法,直接利用开关管的占空比作为系统输入;最后,在改变电池组状态并不使用额外电流控制机制的情况下进行仿真实验。结果表明,与传统的模糊控制方法相比,所提系统在正常条件下均衡速度提高了约24.51%,在电池低SOC的极端条件下均衡速度可以进一步提高至34.48%。所提系统将模糊算法提供的稳定性与模型预测控制算法的快速性相结合,保证了电池组更安全稳定的运行,可为电池组性能提升研究提供参考。展开更多
A formal methodology is proposed to reduce the amount of information displayed to remote human operators at interfaces to large-scale process control plants of a certain type. The reduction proceeds in two stages. In ...A formal methodology is proposed to reduce the amount of information displayed to remote human operators at interfaces to large-scale process control plants of a certain type. The reduction proceeds in two stages. In the first stage, minimal reduced subsets of components, which give full information about the state of the whole system, are generated by determining functional dependencies between components. This is achieved by using a temporal logic proof obligation to check whether the state of all components can be inferred from the state of components in a subset in specified situations that the human operator needs to detect, with respect to a finite state machine model of the system and other human operator behavior. Generation of reduced subsets is automated with the help of a temporal logic model checker. The second stage determines the interconnections between components to be displayed in the reduced system so that the natural overall graphical structure of the system is maintained. A formal definition of an aesthetic for the required subgraph of a graph representation of the full system, containing the reduced subset of components, is given for this purpose. The methodology is demonstrated by a case study.展开更多
In this paper, we investigate the control problem of autonomous bay parking system. We choose a referenced parking lot and define a suitable parking spot based on some measurements at various places. A kinetic model i...In this paper, we investigate the control problem of autonomous bay parking system. We choose a referenced parking lot and define a suitable parking spot based on some measurements at various places. A kinetic model is set up for the convenience of analysis and simulation. The pose of the car during the parking procedure can be determined by the initial pose, the backward speed, and the steering angle of the wheel. Then, both a fuzzy speed controller and a fuzzy steering controller are designed for the bay parking. Finally, simulation results show the effectiveness of our designed controllers.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51375212)Priority Academic Program Development(PAPD)of Jiangsu Higher Education Institutions of China+1 种基金Research Fund for the Doctoral Program of Higher Education of China(Grant No.20133227130001)China Postdoctoral Science Foundation(Grant No.2014M551518)
文摘The control problems associated with vehicle height adjustment of electronically controlled air suspension （ECAS） still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical （MLD） modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller （HMPC） is tuned based on online mixed-integer quadratic optimization （MIQP）. Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology （MPT）, thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.
基金support through the ARC Linkage LP0989780 grant titled "The study anddevelopment of a 3-D real-time stockpile management system"the support in part from Institute for Mineral and Energy Resources,University of Adelaide 2009-2010,as well as Faculty of Engineering,Computer and Mathematical Sciences strategic research funding,2010
文摘The bucket wheel reclaimer(BWR) is a key piece of equipment which has been widely used for stacking and reclaiming bulk materials(i.e.iron ore and coal) in places such as ports,iron-steel plants,coal storage areas,and power stations from stockpiles.BWRs are very large in size,heavy in weight,expensive in price,and slow in motion.There are many challenges in attempting to automatically control their motion to accurately follow the required trajectories involving uncertain parameters from factors such as friction,turbulent wind,its own dynamics,and encoder limitations.As BWRs are always heavily engaged in production and cannot be spared very long for motion control studies and associated developments,a BWR model and simulation environment closely resembling real life conditions would be beneficial.The following research focused mainly on the implementation of fuzzy logic to a BWR motion control from an engineer's perspective.First,the modeling of a BWR including partially known parameters such as friction force and turbulence to the system was presented.This was then followed by the design of a fuzzy logic-based control built on a model-based control loop.The investigation provides engineers with an example of applying fuzzy logic in a model based approach to properly control the motion of a large BWR following defined trajectories,as well as to show possible ways of further improving the controller performance.The result indicates that fuzzy logic can be applied easily by engineers to overcome most motion control issues involving a large BWR.
文摘Because model switching system is a typical form of Takagi-Sugeno（T-S） model which is an universal approximator of continuous nonlinear systems, we describe the model switching system as mixed logical dynamical （MLD） system and use it in model predictive control （MPC） in this paper. Considering that each local model is only valid in each local region,we add local constraints to local models. The stability of proposed multi-model predictive control （MMPC） algorithm is analyzed, and the performance of MMPC is also demonstrated on an inulti-multi-output（MIMO） simulated pH neutralization process.
文摘Models for the design of assembly processes are considered. Various models for the voice control of an industrial robot are considered: a logical model, semantic networks, a frame model and Petri nets. It is shown that this set of models allows describing the process of designing the technological process for an industrial robot. The logical model of the technological process allows you to define logical relationships. A model based on semantic networks describes the relationship between assembly units in a detail. This allows you to determine the order and method of registration, as well as the mutual orientation of assembly units in the product. The frame model provides the ability to streamline the execution of the build process. A model based on Petri nets allows one to describe the type and sequence of technological transitions. Based on the proposed models, a method of voice control for an industrial robot is developed. The basic principles of voice control for an industrial robot are considered.
基金Supported by National Key Science and Technology Development Project of the ninth"five-year-plan"(95 2 15 0 10 5 0 1)
文摘The Fuzzy Logic Control (FLC) was used in the nonlinear, multivariable, and time varying system to control coal flotation. The control algorithm includes two different methods of adding reagents. First, the reagent is coarsely adjusted according to the solid content in the feed and the reagent consumption per ton of coal; And then it is finely adjusted under the control of the Fuzzy Logic Algorithm according to the ash content of the clean coal. The industrial experiments and the site application show that this control model can keep a stable ash level of clean coal and cut down obviously the reagent consumption.
文摘In this paper, the problem of hybrid model predictive control(HMPC) strategy based on fuzzy supervisor for piecewise autoregressive with exogenous input(PWARX) models is addressed. We first represent the nonlinear behavior of the system with a PWARX model. Then, we transform the obtained PWARX model into a mixed logical dynamic(MLD) model in order to apply the proposed predictive control which is able to stabilize such systems along desired reference trajectories while satisfying operating constraints.Finally, we propose to introduce a fuzzy supervisor allowing the readjustment of the HMPC tuning parameters in order to maintain the desired performance. Simulation and experimental results are presented to illustrate the effectiveness of the proposed approach.
文摘<span style="font-family:Verdana;">This study presents an intelligent approach for load frequency control (LFC) of small hydropower plants (SHPs). The approach which is based on fuzzy logic (FL), takes into account the non-linearity of SHPs—something which is not possible using traditional controllers. Most intelligent methods use two-</span><span style="font-family:;" "=""> </span><span style="font-family:;" "=""><span style="font-family:Verdana;">input fuzzy controllers, but because such controllers are expensive, there is </span><span style="font-family:Verdana;">economic interest in the relatively cheaper single-input controllers. A n</span><span style="font-family:Verdana;">on-</span></span><span style="font-family:;" "=""> </span><span style="font-family:Verdana;">linear control model based on one-input fuzzy logic PI (FLPI) controller was developed and applied to control the non-linear SHP. Using MATLAB/Si</span><span style="font-family:Verdana;">- </span><span style="font-family:Verdana;">mulink SimScape, the SHP was simulated with linear and non-linear plant models. The performance of the FLPI controller was investigated and compared with that of the conventional PI/PID controller. Results show that the settling time for the FLPI controller is about 8 times shorter;while the overshoot is about 15 times smaller compared to the conventional PI/PID controller. Therefore, the FLPI controller performs better than the conventional PI/PID controller not only in meeting the LFC control objective but also in ensuring increased dynamic stability of SHPs.</span>
文摘为了提升锂离子电池组均衡系统的性能,提出了一种基于模糊自适应模型预测控制(fuzzy adaptive model predictive control,FAMPC)的模块化均衡系统。首先,由改进的buck-boost电路和反激变压器组成双层均衡拓扑结构;其次,以不同电池剩余容量(state of charge,SOC)的状态作为模糊逻辑算法的输入,对均衡电流的约束条件进行调节;再次,基于FAMPC均衡控制方法,直接利用开关管的占空比作为系统输入;最后,在改变电池组状态并不使用额外电流控制机制的情况下进行仿真实验。结果表明,与传统的模糊控制方法相比,所提系统在正常条件下均衡速度提高了约24.51%,在电池低SOC的极端条件下均衡速度可以进一步提高至34.48%。所提系统将模糊算法提供的稳定性与模型预测控制算法的快速性相结合,保证了电池组更安全稳定的运行,可为电池组性能提升研究提供参考。
基金This work was supported by the Royal Society in the UK (No.2004R1)An initial study appeared in Proceedings of IEEE International Conference on Systems,Man and Cybernetics,the Hague,Netherlands,pp.124-129,2004.
文摘A formal methodology is proposed to reduce the amount of information displayed to remote human operators at interfaces to large-scale process control plants of a certain type. The reduction proceeds in two stages. In the first stage, minimal reduced subsets of components, which give full information about the state of the whole system, are generated by determining functional dependencies between components. This is achieved by using a temporal logic proof obligation to check whether the state of all components can be inferred from the state of components in a subset in specified situations that the human operator needs to detect, with respect to a finite state machine model of the system and other human operator behavior. Generation of reduced subsets is automated with the help of a temporal logic model checker. The second stage determines the interconnections between components to be displayed in the reduced system so that the natural overall graphical structure of the system is maintained. A formal definition of an aesthetic for the required subgraph of a graph representation of the full system, containing the reduced subset of components, is given for this purpose. The methodology is demonstrated by a case study.
文摘In this paper, we investigate the control problem of autonomous bay parking system. We choose a referenced parking lot and define a suitable parking spot based on some measurements at various places. A kinetic model is set up for the convenience of analysis and simulation. The pose of the car during the parking procedure can be determined by the initial pose, the backward speed, and the steering angle of the wheel. Then, both a fuzzy speed controller and a fuzzy steering controller are designed for the bay parking. Finally, simulation results show the effectiveness of our designed controllers.
