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2017 21st International Conference on Process Control (PC)最新文献

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Predictive control of 5 DOF robot arm of autonomous mobile robotic system motion control employing mathematical model of the robot arm dynamics 基于机械臂动力学数学模型的自主移动机器人系统五自由度机械臂运动预测控制
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976237
K. Belda, Oliver Rovný
{"title":"Predictive control of 5 DOF robot arm of autonomous mobile robotic system motion control employing mathematical model of the robot arm dynamics","authors":"K. Belda, Oliver Rovný","doi":"10.1109/PC.2017.7976237","DOIUrl":"https://doi.org/10.1109/PC.2017.7976237","url":null,"abstract":"The paper deals with a design of model predictive control (MPC) as an example of the advanced local motion control of articulated robot arms in the scope of manipulation operations within the intradepartmental transportation among workplaces. Initially, the use of articulated robotic arms as a part of mobile robotic systems is discussed. Then, the convenient composition of mathematical models of kinematics and dynamics of the aforementioned robot arms is introduced. Thereafter, MPC design is explained. The proposed theoretical methods of the mathematical modeling and control design are demonstrated by the simulation of the 5 degrees of freedom robot arm composed of drive, joint and arm modules of the Schunk Co.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116305538","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
Analysis of the hydrometeorological data using the Fractal Dimension estimation 用分形维数估计分析水文气象资料
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976203
J. Jura, M. Novák
{"title":"Analysis of the hydrometeorological data using the Fractal Dimension estimation","authors":"J. Jura, M. Novák","doi":"10.1109/PC.2017.7976203","DOIUrl":"https://doi.org/10.1109/PC.2017.7976203","url":null,"abstract":"This paper deals with an evaluation of a hydrometeorology data from sites of a different land use and mainly from the places with a different leaf area index. A few methods of an estimation of the Fractal Dimension of a hydrometeorology time series, which is based on the original principle of coastline length measuring, were developed. The first results indicate that developed methods are usable for testing of the relation between measured data and autoregulation functions of the ecosystem.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127397266","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
A novel approach of control design of the pH in the neutralization reactor 一种新的中和反应器pH控制设计方法
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976212
Juraj Holaza, Richard Valo, Martin Klauco
{"title":"A novel approach of control design of the pH in the neutralization reactor","authors":"Juraj Holaza, Richard Valo, Martin Klauco","doi":"10.1109/PC.2017.7976212","DOIUrl":"https://doi.org/10.1109/PC.2017.7976212","url":null,"abstract":"This paper deals the with design of a control strategy which will effectively control the level of pH in a neutralization reactor in the whole range of pH. The process consists of a continuously stirred tank, where aqueous solutions streams of acetic acid and of sodium hydroxide are mixed together. The main challenge of a successful control strategy for this process arises mainly from its non-linear behavior. The paper will show how to handle such non-linearity efficiently by introducing an augmented output and an optimization based control. Simulation results will be given to demonstrate the behavior of the proposed control strategy. Comparison between an optimal based controller and a simple PI controller is discussed.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122218019","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
Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot 非完整移动机器人轨迹跟踪预测控制器的比较研究
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976213
K. Sharma, F. Dušek, Daniel Honc
{"title":"Comparitive study of predictive controllers for trajectory tracking of non-holonomic mobile robot","authors":"K. Sharma, F. Dušek, Daniel Honc","doi":"10.1109/PC.2017.7976213","DOIUrl":"https://doi.org/10.1109/PC.2017.7976213","url":null,"abstract":"The paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference — world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control law is derived from a cost function which penalizes the state tracking error, control effort and terminal state deviation error. Various simulation experiments are conducted and a comparative analysis has been made with respect to state-of-the-art approaches.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"348 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115412932","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
Modelling of hybrid CSTR plant: Heat transfer considerations 混合CSTR装置的建模:传热考虑
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976218
Piotr Laszczyk, M. Niedzwiedz, Piotr Skupin, M. Metzger
{"title":"Modelling of hybrid CSTR plant: Heat transfer considerations","authors":"Piotr Laszczyk, M. Niedzwiedz, Piotr Skupin, M. Metzger","doi":"10.1109/PC.2017.7976218","DOIUrl":"https://doi.org/10.1109/PC.2017.7976218","url":null,"abstract":"The continuously stirred tank reactor (CSTR) may exhibit various nonlinear effects, for example, multi-stability or sustained oscillations. This makes the CSTR one of the most difficult industrial units for control and the system instability or thermal runaway indicate that the safety issues must also be taken into account. In comparison to the real reactor, a hybrid system is safe and less expensive alternative for testing new concepts in control. In this paper, we consider a hybrid reactor that consist of a jacketed vessel and LabVIEW based real-time simulator of a chemical reaction. To make the hybrid reactor a highly nonlinear benchmark plant, the system parameters must be carefully selected. Instead of making time consuming experiments, the preliminary simulation tests would be helpful in selection of the process parameters. For this purpose three models of various complexity for the real hybrid reactor are developed. We show that an overall heat transfer coefficient cannot be assumed constant to obtain a good agreement between the simulation results and the measurement data. The paper also presents the influence of the coefficient on the dynamical behavior of the hybrid reactor based on the bifurcation analysis.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124399025","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: 3
Optimal operation of nanofilter based diafiltration processes using experimental permeation models 基于实验渗透模型的纳滤过滤过程的优化操作
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976211
Ayush Sharma, Martin Jelemenský, M. Fikar, R. Paulen
{"title":"Optimal operation of nanofilter based diafiltration processes using experimental permeation models","authors":"Ayush Sharma, Martin Jelemenský, M. Fikar, R. Paulen","doi":"10.1109/PC.2017.7976211","DOIUrl":"https://doi.org/10.1109/PC.2017.7976211","url":null,"abstract":"In this paper, a choice of models for optimal control strategy is discussed for batch membrane processes. The system of lactose and salt in water is studied with the separation aim being concentration of lactose and simultaneous removal of salt. The most crucial part of the model is dependence of permeation rate on concentrations of components. Two models from literature and one data-based model are fitted to experimental data. An optimal control problem (OCP) is formulated to minimize processing time using diluant-to-permeate flow ratio as the control input. The optimal control strategy is found analytically and verified using numerical methods of dynamic optimization. The resulting processing times and the optimal input profiles are compared between all the models. Simulation case study confirms the attractiveness of the proposed approach.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115982532","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
IAE based tuning of controller anti-windup schemes for first order plus dead-time system 基于IAE的一阶加死时系统控制器抗缠绕方案整定
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976182
Jaroslav Bušek, T. Vyhlídal, P. Zítek
{"title":"IAE based tuning of controller anti-windup schemes for first order plus dead-time system","authors":"Jaroslav Bušek, T. Vyhlídal, P. Zítek","doi":"10.1109/PC.2017.7976182","DOIUrl":"https://doi.org/10.1109/PC.2017.7976182","url":null,"abstract":"The paper is focused on IAE based tuning the anti-windup feedback in a controller of a first order plus dead time model. The problem is addressed to two types of controllers, finite order PI and infinite order Internal Model Controller (IMC) with the delay compensation. For the PI a classical finite order feedback known as back-calculation method is utilized, whereas for the IMC, a novel functional feedback is proposed. For both the cases, the feedback setting is optimized with respect to minimizing the IAE criterion. The analysis is performed on a dimensionless form of the model so that the results are valid to a broad class of systems. For both PI and IMC, the ‘optimal’ dynamics of the anti-windup loop is of first order with the time constant being close to the time constant of the plant model.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123788465","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
Digital control of Ball & Plate model using LQ controller 采用LQ控制器对球盘模型进行数字控制
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976185
L. Spacek, V. Bobál, J. Vojtesek
{"title":"Digital control of Ball & Plate model using LQ controller","authors":"L. Spacek, V. Bobál, J. Vojtesek","doi":"10.1109/PC.2017.7976185","DOIUrl":"https://doi.org/10.1109/PC.2017.7976185","url":null,"abstract":"This paper proposes the design of linear quadratic (LQ) digital controller in Ball & Plate model in experimental environment. The non-linear mathematical model of Ball & Plate structure is presented and adequately linearized. Polynomial approach to controller design for two degrees of freedom (2DOF) controller structure is introduced as the main tool for determination of unknown parameters. This method requires placing poles of characteristic polynomial, which are semi-optimally determined using minimization of linear quadratic criterion. This criterion is minimized by spectral factorization with the aid of the Polynomial Toolbox for MATLAB. Experiments have proved that this type of controller is able to stabilize the ball in desired position on the plate, reject external disturbances and follow reference path without much effort. In addition, a simple maze was created on the plate to extend possibilities of the choice of reference signal. The algorithm is able to determine correct path through the maze and navigate the ball along this path.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126889352","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
Predictive control of nonlinear plant using piecewise-linear neural model 基于分段线性神经模型的非线性对象预测控制
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976207
Daniel Honc, P. Doležel, L. Gago
{"title":"Predictive control of nonlinear plant using piecewise-linear neural model","authors":"Daniel Honc, P. Doležel, L. Gago","doi":"10.1109/PC.2017.7976207","DOIUrl":"https://doi.org/10.1109/PC.2017.7976207","url":null,"abstract":"A special form of a predictive controller is presented in this paper. Based on previous authors' work, a piecewise-linear neural model of nonlinear plant to be controlled is adopted to local linearization. The linearized model is then used for control action evaluation using a predictive controller. Although the linearization using piecewise-linear neural network is simple and efficient, it provides the model in a nonstandard form. Therefore, the proposed predictive controller is designed in order to handle that nonstandard model without any customization. At the end of the paper, the illustrative example demonstrates the main features of the introduced solution.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114251516","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
The initial analysis of failures emerging in production process for further data mining analysis 对生产过程中出现的故障进行初步分析，以便进行进一步的数据挖掘分析
2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI: 10.1109/PC.2017.7976215
M. Nemeth, G. Michalconok
{"title":"The initial analysis of failures emerging in production process for further data mining analysis","authors":"M. Nemeth, G. Michalconok","doi":"10.1109/PC.2017.7976215","DOIUrl":"https://doi.org/10.1109/PC.2017.7976215","url":null,"abstract":"The aim of this paper is to examine possibilities for the initial data analyses of the failure data from industrial production process. To perform the initial data analysis of the data from production process we have used graphical statistical method and also data mining methods like drill-down analysis and cluster analysis. Before applying mentioned techniques and methods it was necessary to know the principle of the industrial production process itself and also to be aware of the failure data structure. This initial data analysis is vital to be able to review the knowledge potential of given data. Based on this, we are able to point out interesting issues, that can be further solved with KDD (knowledge discovery from databases) techniques.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132701034","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
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