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Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)最新文献

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Control system of a mobile robot manipulator 一种移动机械手控制系统
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843608
Tomáš Kot, V. Krys, V. Mostýn, Petr Novák
{"title":"Control system of a mobile robot manipulator","authors":"Tomáš Kot, V. Krys, V. Mostýn, Petr Novák","doi":"10.1109/CARPATHIANCC.2014.6843608","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843608","url":null,"abstract":"The paper presents a practical implementation of a complex control system of a manipulator arm mounted on a mobile robot, controlled remotely by a human operator. Described is the mechanical construction and parameters of the manipulator, the overall structure of the control system and then in more detail also several software modules which were designed to aid the operator - including inverse kinematics and an anti-collision system. The control system is universal and has already been applied to several types of mobile manipulators.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124698275","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
Stable model predictive controller design 稳定模型预测控制器设计
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843687
V. Veselý, D. Vozák
{"title":"Stable model predictive controller design","authors":"V. Veselý, D. Vozák","doi":"10.1109/CARPATHIANCC.2014.6843687","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843687","url":null,"abstract":"Paper addresses the problem of designing stable output feedback model predictive control for linear SISO (frequency domain) and MIMO (time domain) systems with input constraints. In the proposed control scheme the required on-line computation loads are significantly less then those in the MPC references.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129419234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Closing the motion control loops via industrial ethernet network 通过工业以太网关闭运动控制回路
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843611
Alois Krejčí, Tomáš Popule, M. Goubej
{"title":"Closing the motion control loops via industrial ethernet network","authors":"Alois Krejčí, Tomáš Popule, M. Goubej","doi":"10.1109/CARPATHIANCC.2014.6843611","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843611","url":null,"abstract":"This paper deals with a problem of feedback compensator design for motion control loops equipped with industrial Ethernet communication protocols. The main goal of the paper is to choose proper control structures for a supervisory control system which have to deal with the time delay caused by the communication channel and compare the results with a standard cascade control scheme which is implemented directly in a frequency converter. The discrete-time state-space model of the system is derived and several advanced algorithms for time delay compensation are proposed and evaluated by simulations. Finally, the validity of the used methods is verified experimentally with a Yaskawa servo-drive equipped with EtherCat communication protocol. It is shown that proper control structure is able to compensate the effects of communication delay and the results are comparable to direct implementation of the motion control loop in the frequency inverter.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128334336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Remote control robot using Android mobile device 遥控机器人采用Android移动设备
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843630
Jan Nadvornik, P. Smutny
{"title":"Remote control robot using Android mobile device","authors":"Jan Nadvornik, P. Smutny","doi":"10.1109/CARPATHIANCC.2014.6843630","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843630","url":null,"abstract":"The paper describes the design and realization of the mobile application for the Android operating system which is focused on manual control of mobile robot using wireless Bluetooth technology. The application allows the robot control interaction with the display, or voice. When we use a graphical interface, we can monitor the current distance of the robot from obstacles. The measurement of distance is carried out by ultrasonic sensor placed in front of the robot. It was necessary to build a prototype of a mobile robot for the development of the application. The prototype of the mobile robot is based on the differential gear.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127158645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 44
Multidrive systems in continual rolling mills 连续轧机的多传动系统
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843582
I. Formánek, R. Farana, A. Galuška
{"title":"Multidrive systems in continual rolling mills","authors":"I. Formánek, R. Farana, A. Galuška","doi":"10.1109/CARPATHIANCC.2014.6843582","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843582","url":null,"abstract":"This contribution presents basic information about mathematical and simulation models of variable speed drive and multidrive systems used in continual rolling mills. Also identification process of real rolling mills is mentioned as well as different properties of mechanical boundaries - couplings. Simulation models are realized in a MATLAB / SIMULINK environment as a specific library, which offers easy building of different mechanical and electrical drive concepts. The paper presents also a couple of typical mechanical couplings frequently used in real manufacturing applications. By these models we can study the interaction between different particular construction parts of the drive systems. Apart from classical PID controllers, also Fuzzy Control has been tested and analyzed in interstand control systems. The simulation results can be used also in the drive maintenance and technical diagnostics.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130007681","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Sensitivity analysis of the MR damper model parameters on the vibration transmissibility characteristic 磁流变阻尼器模型参数对振动传递特性的敏感性分析
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843695
Magdalena Zawartka
{"title":"Sensitivity analysis of the MR damper model parameters on the vibration transmissibility characteristic","authors":"Magdalena Zawartka","doi":"10.1109/CARPATHIANCC.2014.6843695","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843695","url":null,"abstract":"The study focuses on the influence of selected parameters of magnetorheological damper (MR) on transmissibility function values and shape of these characteristics. Suspension was modeled as one degree of freedom system. Modify hysteresis Bouc-Wen model also in literature called as Spencer model was used to describe the dynamics of a MR damper. The purpose of this article is to analyze the sensitivity of coefficients of a parametric model of the damper on the dynamic properties of vibration reduction system. The real object changes in these parameters may result from long term use or aging of the damper components. Such an analysis is also useful for the design of vibration reduction system using a specially made construction of dampers. On the basis of the experience gained can be related to the design parameters of the damper with the physical features of the vibration reduction. The paper was carried out numerical simulation of the proposed model with non-linear description of the MR damper. Analyzes allowed to determine the influence of selected parameters on the transmissibility function of vibrations of the suspension system.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128970221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Optimization of burner's range of tunnel furnace by simulation 隧道炉燃烧器范围的仿真优化
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843605
K. Kostúr
{"title":"Optimization of burner's range of tunnel furnace by simulation","authors":"K. Kostúr","doi":"10.1109/CARPATHIANCC.2014.6843605","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843605","url":null,"abstract":"Tunnel furnace belongs between thermal devices with big energy consumption. Therefore constructers and users are interested about some possibilities to decrease energy consumption in this group of thermal devices. One way for this aim appears the analysis building or rebuilding tunnel furnace by evaluation by simulation cases. In paper will be described mathematical model of tunnel furnace as basic tool for the creating simulation model. Mathematical model is given by based equations describing thermal processes by heat conducting, convection and radiation in tunnel furnace. Then will be presented an optimization of burner's range by simulations with aim to minimize the energy consumption to manufacture subjects.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125657005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Some problems in control of the quality of the process of rotary drilling of rocks by using suitable visualization of concurrent vibrations 探讨了利用适当的同步振动可视化技术控制岩石旋转钻进过程质量的若干问题
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843618
I. Leššo, P. Flegner, P. Horovčák, B. Stehlíková, Z. Sabová
{"title":"Some problems in control of the quality of the process of rotary drilling of rocks by using suitable visualization of concurrent vibrations","authors":"I. Leššo, P. Flegner, P. Horovčák, B. Stehlíková, Z. Sabová","doi":"10.1109/CARPATHIANCC.2014.6843618","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843618","url":null,"abstract":"The process of separation of rock massif by rotary drilling belongs to the most frequently used geotechnologies. Since their energy costs are significant, it makes sense to pay sufficient consideration to the subject of efficient mode of drilling. Only an efficient drilling mode can guarantee the overall quality of this process. This contribution builds upon previous works of the authors in the area of utilization of abstract Hilbert spaces in control of specific processes. In this paper, some possibilities and aspects of visualization of concurrent vibrations in respect to efficient control of drilling are pointed out. In the contribution are processed some data obtained at the experimental drilling stand of the Slovak Academy of Sciences.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132505037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
A computationally effective method for calculating the exponential fit 一种计算指数拟合的有效方法
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843577
Ivor Dülk, T. Kovácsházy
{"title":"A computationally effective method for calculating the exponential fit","authors":"Ivor Dülk, T. Kovácsházy","doi":"10.1109/CARPATHIANCC.2014.6843577","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843577","url":null,"abstract":"In numerous practical applications, the problem of fitting an exponential curve to noisy measurement data often arises for identifying or tracking model parameters. In embedded systems, the computational load and speed of the computation of the fit are crucial to minimize costs and to maximize performance. In this paper, a method is developed for the rapid and effective computation of the three parameter exponential regression model. Computer simulations are also presented and the proposed method is compared with some existing techniques.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125416842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
SCADA system creation by using java applications and PLC 利用java应用程序和PLC创建SCADA系统
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843609
Miroslav Kover-Dorco
{"title":"SCADA system creation by using java applications and PLC","authors":"Miroslav Kover-Dorco","doi":"10.1109/CARPATHIANCC.2014.6843609","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843609","url":null,"abstract":"This article deals with the description of the creation of SCADA system. As a controlled object was chosen the laboratory object consist of the heat solid with the temperature sensor. Paper describes the created SCADA system as well as its various components and options for the visualization of measurement data. As the primary means for the design of SCADA system was used Java programming language, PLC device and OPC libraries that have been applied in the programming environment Eclipse.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125435279","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
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