Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)最新文献_第2页

Analysis and performance of the LP-MPC and QP-MPC cascade control system LP-MPC和QP-MPC串级控制系统的分析与性能

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.703519

Chao-ming Ying, Srikanth Voorakaranam, B. Joseph

引用次数: 9

Identification and control of high-rise elevators 高层电梯的识别与控制

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.703370

S. Venkatesh, Y.M. Cho

{"title":"Identification and control of high-rise elevators","authors":"S. Venkatesh, Y.M. Cho","doi":"10.1109/ACC.1998.703370","DOIUrl":"https://doi.org/10.1109/ACC.1998.703370","url":null,"abstract":"Building elevators for high-rise buildings pose significant engineering challenges for modeling, identification, validation and control of elevator systems. The paper focuses on integration of identification, validation and control for high-rise elevator systems. Unlike low rise towers, rope dynamics play a significant role in overall system dynamics. In the context of identification, long rope lengths manifest themselves in terms of low frequency lightly damped modes. In addition an elevator system has a large number of parameters to be identified. These factors make empirically based system identification difficult. We jointly solve the identification and model-validation problem by partly relying on intuition to reduce the complexity. We present a novel modal analysis approach to validation. We pose the following question: what are the optimal values of model parameters within predetermined ranges, required to validate the predominant mode and mode-shapes of the physics-based model with the experiment. Consequently, we have a system model for the high-rise elevator with parametric and nonparametric uncertainties in the context of control.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127495404","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: 7

Nonlinear damping in vehicle lateral control: theory and experiment 车辆横向控制中的非线性阻尼:理论与实验

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.703026

C. Chen, J. Guldner, I. Kanellakopoulos, M. Tomizuka

{"title":"Nonlinear damping in vehicle lateral control: theory and experiment","authors":"C. Chen, J. Guldner, I. Kanellakopoulos, M. Tomizuka","doi":"10.1109/ACC.1998.703026","DOIUrl":"https://doi.org/10.1109/ACC.1998.703026","url":null,"abstract":"The sensor and actuator limits in real-world control systems imposes unavoidable tradeoffs between performance and the size of the operating region. When linear control design techniques are used, these limits are either neglected or accounted for by lowering the gains of the controller. The former results in severe reduction of the operating region, while the latter yields low performance. These tradeoffs can often be mitigated by using a nonlinear control strategy, in which nonlinear terms are intentionally introduced in order to implement different design objectives in different operating regions. In this paper, nonlinear damping is utilized as a design tool in lateral control of automated vehicles. Design considerations of the vehicle lateral controller include lateral tracking errors, passenger ride quality and reference/sensing system characteristics. It is shown that the intentionally introduced nonlinear damping term in the feedback loop possesses several favorable design features in the lateral control system. Experimental results using a full scale automated vehicle show that passenger comfort can be enhanced for small errors by significantly reducing the original controller gains, while at the same time achieving the same level of maximum lateral tracking errors.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124804500","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: 16

Towards a practical nonlinear predictive control algorithm with guaranteed stability for large-scale systems 探讨一种实用的大系统保稳定非线性预测控制算法

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.703091

A. Zheng, F. Allgower

引用次数: 13

Nonlinear decoupling approach to fault isolation in linear systems 线性系统故障隔离的非线性解耦方法

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.688380

E. Alcorta Garcia, R. Seliger, P. Frank

引用次数: 12

Damage mitigating control of a reusable rocket engine for structural durability 可重复使用火箭发动机结构耐久性的减损控制

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.703188

M. Halmes, R. Patankar, A. Ray, S. Tangirala

引用次数: 6

Thermal distribution control in scanned processing of materials 材料扫描加工中的热分布控制

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.707030

N. Fourligkas, C. Doumanidis

引用次数: 4

A sensorless VSR drive for industrial variable speed applications 用于工业变速应用的无传感器VSR驱动器

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.703632

K. Chikada

引用次数: 0

High performance swing velocity tracking control of hydraulic excavators

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.703522

B. Yao, Jiao Zhang, Douglas Koehler, John Litherland

{"title":"High performance swing velocity tracking control of hydraulic excavators","authors":"B. Yao, Jiao Zhang, Douglas Koehler, John Litherland","doi":"10.1109/ACC.1998.703522","DOIUrl":"https://doi.org/10.1109/ACC.1998.703522","url":null,"abstract":"The objective of the swing motion control of an industrial hydraulic excavator is to regulate the supplied flow rate to hydraulic swing motors such that the excavator follows the swing velocity command given by the human driver with a smooth acceleration/deceleration in spite of various uncertainties. Difficulties in the design of a high performance controller are: (i) the swing inertia is time-varying and unknown due to the movement of the linkage and the unknown payload in the bucket; (ii) hydraulic parameters such as bulk modulus exhibits large variations during actual operation; (iii) the system is subjected to a mild extent of uncertain nonlinearities (e.g., leakage flows of swing motors) during normal operations on a flat ground; and (iv) the system may experience a large extent of uncertain nonlinearities when operating on an uneven ground; the swing torque due to gravity forces on a slope surface is usually very large and changes quite rapidly. All these difficulties are addressed in the paper and a high performance adaptive robust control algorithm that can deliver the required performance is presented. Simulation results are presented to illustrate the proposed method.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125843385","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: 30

Stabilization of an electromagnetically controlled oscillator 电磁控制振荡器的稳定

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI: 10.1109/ACC.1998.688359

Jeongho Hong, I.A. Cummings, D. Bernstein, P. Washabaugh

{"title":"Stabilization of an electromagnetically controlled oscillator","authors":"Jeongho Hong, I.A. Cummings, D. Bernstein, P. Washabaugh","doi":"10.1109/ACC.1998.688359","DOIUrl":"https://doi.org/10.1109/ACC.1998.688359","url":null,"abstract":"We discuss a stabilization problem that arises from the problem of forming an optical aperture by deforming a flexible membrane. The basic idea is that a planar circular membrane with uniform radial in-plane tension subjected to a uniform normal stress assumes a paraboloidal shape, which is very close to the ideal shape for a primary mirror. We can generate the uniform out-of-plane load by applying an electrostatic potential between the conducting membrane and a plate electrode that is parallel to the undeformed configuration of the membrane. The difficulty arises from the fact that if the membrane is deformed so that the gap between the membrane and electrode becomes sufficiently small, then the equilibrium position of the membrane is unstable. This equilibrium position is desirable for two reasons. First, the voltage needed to maintain this equilibrium is a relatively small value, in spite of the fact that the membrane deformations are large. And, second, the large curvature of the membrane produces a small f number and thus a small focal length, that is, a smaller distance to the subreflector. The drawback, of course, is the need for active control to achieve stabilization. In this paper we describe a related experiment designed to investigate the problem described above. This experiment, which involves a mass, spring, and electromagnet, is essentially a lumped-parameter idealization of the membrane problem. This idealized problem is classical in nature and has been considered in studies involving magnetic levitation. The interesting aspect of this problem is the fact that the equilibrium position of the mass is unstable if the gap between the mass and the electromagnet is less than two-thirds of the open-loop equilibrium gap.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126139964","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