Control Engineering Practice最新文献_第9页

Safety control of precision motion system with gantry structure based on fault-tolerant gradient descent B-spline wavelet neural network 基于容错梯度下降 B 样条小波神经网络的龙门结构精密运动系统的安全控制

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-23 DOI: 10.1016/j.conengprac.2024.105971

Chi Zhang , Jue Wang , Huihui Pan

{"title":"Safety control of precision motion system with gantry structure based on fault-tolerant gradient descent B-spline wavelet neural network","authors":"Chi Zhang , Jue Wang , Huihui Pan","doi":"10.1016/j.conengprac.2024.105971","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105971","url":null,"abstract":"<div><p>The safety control of precision motion equipment in modern industrial fields is a key focus of industrial research, directly affecting the accuracy and lifespan of motion equipment. This paper presents a fault-tolerant gradient descent B-spline wavelet neural network (FTGDBNN) based controller of precision motion equipment for a dual-drive gantry system (DDGS), ensuring the safety and effectiveness of DDGS precision system control. The proposed controller contains the loss-of-effectiveness fault estimator and the gradient descent B-spline wavelet neural network (GDBNN) based compensator that can observe and compensate for loss-of-effectiveness and additive actuator faults in real time. In addition to the actuator additive faults, GDBNN-based compensators can suppress the impact of nonlinear disturbances such as system parameter uncertainties and fault estimator errors on precision equipment. Moreover, The boundedness of the fault estimator and the stability of the entire closed-loop system are theoretically proven. Finally, the safety and effectiveness of the proposed control strategy are validated through a series of fault experiments on the DDGS platform. The experimental results indicate that FTGDBNN has better safety and control performance compared to other control strategies applied to precision systems, especially in high curvature and extreme motion conditions.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141084104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Alternating direction method of multipliers in distributed control of a system of systems: Application to a quadruple tank plant 系统系统分布式控制中的乘法器交替方向法：应用于四联罐工厂

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-17 DOI: 10.1016/j.conengprac.2024.105972

Matteo Aicardi, Alessandro Bozzi, Simone Graffione, Roberto Sacile, Enrico Zero

{"title":"Alternating direction method of multipliers in distributed control of a system of systems: Application to a quadruple tank plant","authors":"Matteo Aicardi, Alessandro Bozzi, Simone Graffione, Roberto Sacile, Enrico Zero","doi":"10.1016/j.conengprac.2024.105972","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105972","url":null,"abstract":"<div><p>In System of Systems Engineering (SoSE), robustness and reliability are essential for operations under various conditions. Distributed control approaches demonstrate superior performance for handling changes in highly scalable systems, making them suitable for this context. The study explores the efficacy of the Alternating Direction Method of Multipliers (ADMM) applied in a simulated case study and on a physical Quadruple Tank Plant system. In this work, a multi-agent coordination problem using the Model Predictive Control (MPC) paradigm, Linear Quadratic Tracking (LQT) techniques, and ADMM for the consensus has been formalized and a solution has been proposed as a control algorithm. During the experiments, there was no assumption of feasibility when the references were chosen. To improve the reliability of the controller, a Kalman filter to estimate the state has been added.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001321/pdfft?md5=3071bf47964095179d029b282d1e9264&pid=1-s2.0-S0967066124001321-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141072720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Hybrid variable dictionary learning for monitoring continuous and discrete variables in manufacturing processes 用于监控生产过程中连续和离散变量的混合变量字典学习

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-17 DOI: 10.1016/j.conengprac.2024.105970

Junxian Li , Keke Huang , Dehao Wu , Yishun Liu , Chunhua Yang , Weihua Gui

{"title":"Hybrid variable dictionary learning for monitoring continuous and discrete variables in manufacturing processes","authors":"Junxian Li , Keke Huang , Dehao Wu , Yishun Liu , Chunhua Yang , Weihua Gui","doi":"10.1016/j.conengprac.2024.105970","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105970","url":null,"abstract":"<div><p>The fusion of industrial artificial intelligence with the Industrial Internet of Things (IIoT) can attain a heightened level of process monitoring in modern manufacturing processes. In general, the state variables of industrial processes collected through the IIoT encompass not only continuous variables but also numerous discrete variables. Owing to potential coupling factors, these variables frequently exhibit strong correlations. However, most existing methods deal only with continuous variables, which results in breaking the integrity of the state information and being incompetent to extract the useful information carried by discrete variables. To effectively address the joint monitoring challenges of continuous and discrete variables under the IIoT framework, hybrid variable dictionary learning (HVDL) is proposed in this paper. Specifically, considering that the values of discrete variables are finite sets, a specific discrete dictionary is built for data reconstruction. Besides, in order to consider the correlation between continuous and discrete variables, the alignment of them in the time dimension is achieved by sharing labels. The HVDL method can judiciously learn data dictionaries to extract multifaceted valid features across diverse data types, free from prior assumptions on data distributions. Finally, extensive experiments are conducted to demonstrate the superiority of the proposed method, including a numerical simulation case, a closed-loop continuous stirred tank reactor benchmark, and a real zinc smelting roaster. Experimental results indicate that the proposed method can fully consider the correlation between continuous and discrete variables, thus it is conducive to identifying early anomalies and mismatch anomalies.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141072682","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Data enabled Predictive Control of LPV systems 数据支持的 LPV 系统预测控制

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-17 DOI: 10.1016/j.conengprac.2024.105969

Taleb Bou Hamdan , Patrick Coirault , Guillaume Mercère , Thibault Dairay

引用次数: 0

Design, modeling and optimal control of a novel compliant actuator 新型顺应式致动器的设计、建模和优化控制

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-15 DOI: 10.1016/j.conengprac.2024.105967

Zhongbo Sun , Changxian Xu , Jian Gu , Liming Zhao , Yunfeng Hu

{"title":"Design, modeling and optimal control of a novel compliant actuator","authors":"Zhongbo Sun , Changxian Xu , Jian Gu , Liming Zhao , Yunfeng Hu","doi":"10.1016/j.conengprac.2024.105967","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105967","url":null,"abstract":"<div><p>To avoid human–robot confrontation, it is necessary to create a safe, accurate and stable rehabilitation environment for stroke patients when using upper limb exoskeleton robots for rehabilitation training. Considering these requirements, this work presents a novel compliant actuator based on torsion spring devices and linear spring devices. The establishment of dynamics model and control algorithm are challenging tasks for the novel mechanical structure. Firstly, the mechanical structure of the compliant actuator is simplified, and the interaction forces between gear trains are considered to establish the dynamics model. Secondly, the optimal control scheme is designed based on the dynamics model, and the stability of the actuator system is proved theoretically. Thirdly, it has been demonstrated that the optimal control scheme ensures precise and stable trajectory tracking for the compliant actuator through comparative simulations. The experimental results verify that the proposed optimal control scheme can enable the compliant actuator to complete trajectory tracking under different working conditions, as well as the buffering and self-protection performance of the torsion spring devices. In addition, the tracking accuracy of the optimal control scheme is further verified by conducting trajectory tracking experiments on the compliant actuator-based upper limb exoskeleton robot.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140947272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nonlinear sparse variational Bayesian learning based model predictive control with application to PEMFC temperature control 基于模型预测控制的非线性稀疏变异贝叶斯学习在 PEMFC 温度控制中的应用

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-11 DOI: 10.1016/j.conengprac.2024.105952

Qi Zhang, Lei Wang, Weihua Xu, Hongye Su, Lei Xie

引用次数: 0

Direct torque control for PMSM based on the RBFNN surrogate model of electromagnetic torque and stator flux linkage 基于电磁转矩和定子磁通联动 RBFNN 代理模型的 PMSM 直接转矩控制

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-09 DOI: 10.1016/j.conengprac.2024.105943

Hongda Liu, Wentie Niu, Yonghao Guo

{"title":"Direct torque control for PMSM based on the RBFNN surrogate model of electromagnetic torque and stator flux linkage","authors":"Hongda Liu, Wentie Niu, Yonghao Guo","doi":"10.1016/j.conengprac.2024.105943","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105943","url":null,"abstract":"<div><p>Direct Torque Control (DTC) is widely used in motion control of motors. Classical DTC utilizes the Park transformation(dq-model) or observer to estimate the stator fluxlinkage and electromagnetic torque. However, the dq-model and observer lack descriptions of the cogging torque and magnetic saturation in permanent magnet synchronous motors (PMSM). This paper proposes a novel method based on the surrogate model to estimate stator fluxlinkage and torque for PMSM DTC. First, a finite element model (FEM) was established based on the parameters of PMSM. Using the FEM and Latin hypercube sampling (LHS), a surrogate model for estimating the stator fluxlinkage and torque of PMSM was constructed. The stator fluxlinkage and torque surrogate model, active flux observer, and dq current model under different control methods are constructed, respectively. The servo control parameters were tuned using the extended symmetric optimum algorithm, and simulation and experiments were conducted. Finally, electromechanical coupling models with a ball screw feed system were built based on various control and feedback methods. Simulation and experiment results indicate that the surrogate model reduces torque ripple, stator fluxlinkage offset, and feed system tracking error.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140894248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Enhanced industrial process modeling with transfer-incremental-learning: A parallel SAE approach and its application to a sulfur recovery unit 利用迁移-渐进学习增强工业过程建模：并行 SAE 方法及其在硫磺回收装置中的应用

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-08 DOI: 10.1016/j.conengprac.2024.105955

Tianhao Mou , Jinfeng Liu , Yuanyuan Zou , Shaoyuan Li , Maria Gabriella Xibilia

{"title":"Enhanced industrial process modeling with transfer-incremental-learning: A parallel SAE approach and its application to a sulfur recovery unit","authors":"Tianhao Mou , Jinfeng Liu , Yuanyuan Zou , Shaoyuan Li , Maria Gabriella Xibilia","doi":"10.1016/j.conengprac.2024.105955","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105955","url":null,"abstract":"<div><p>In industrial processes, quality variable prediction is important for process control and monitoring. Deep learning (DL) methods offer excellent prediction performance and potential paradigm shifts in quality variable modeling. However, in real-world production, the lack of offline labeled data and time-varying data distributions commonly exist, which seriously prohibits practical applications of DL-based predictive models. This paper introduces an enhanced quality variable prediction framework, Transfer-Incremental-Learning Parallel Stacked Autoencoders (TIL-PSAE), to address this challenge. TIL-PSAE integrates three key components: a parallel model structure, a transfer-learning (TL)-based offline training strategy that accumulates knowledge from multiple similar but different processes, and an incremental-learning (IL)-based online adaptation strategy. The model structure comprises two parallel SAEs for extracting process-invariant and target-process-specific features. Offline training involves sequential training using data from different processes, facilitating knowledge accumulation into different parts of model. During online adaptation, the accumulated knowledge remains unchanged while a new combination of knowledge is learned, thus improving online prediction accuracy and avoiding knowledge forgetting. The proposed model is applied to a sulfur recovery unit with four parallel sub-units. Experimental results demonstrate the effectiveness of the proposed model in both offline and online prediction performance.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140894247","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A general approach for generating artificial human-like motions from functional components of human upper limb movements 利用人体上肢运动的功能成分生成人工类人运动的通用方法

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-07 DOI: 10.1016/j.conengprac.2024.105968

Marco Baracca , Giuseppe Averta , Matteo Bianchi

{"title":"A general approach for generating artificial human-like motions from functional components of human upper limb movements","authors":"Marco Baracca , Giuseppe Averta , Matteo Bianchi","doi":"10.1016/j.conengprac.2024.105968","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105968","url":null,"abstract":"<div><p>Anthropomorphism of artificial systems is a key enabling factor to ensure effective and compelling human–machine interactions in different domains, including immersive extended reality environments and cobotics applications. Among the different aspects that anthropomorphism refers to, the generation of human-like motions plays a crucial role. To this aim, optimization-based techniques, whose functional cost is devised from neuroscientific findings, or learning-based approaches have been proposed in literature. However, these methods come with limitations, e.g., limited motion variability or the need for high dimensional datasets. In previous works of our group, we proposed to exploit functional Principal Component Analysis (fPCA) of human upper limb movements, to extract principal motion modes in the joint domain and use them to directly embed the human-like behaviour in the planning algorithm. However, this approach faces with translational issues related to the computational burden and to the application to kinematic structures different from the one used to describe human movements. To overcome this problem, we propose a general framework to generate human-like motion directly in the Cartesian domain by exploiting fPCA. This solution permits to perform obstacle avoidance with low computational time and it can be applied to any kinematic chain. To prove the effectiveness of our approach, we tested it against a state-of-the-art human-like planning algorithm both in terms of the accuracy of target reaching and human-likeness features of the generated movement.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S096706612400128X/pdfft?md5=2db1747ddc22a352c9a9dc2a98577733&pid=1-s2.0-S096706612400128X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140843527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model-free control of a magnetically supported plate 磁支撑板的无模型控制

IF 4.9 2区计算机科学

Control Engineering Practice Pub Date : 2024-05-03 DOI: 10.1016/j.conengprac.2024.105950

P.M. Scherer , A. Othmane , J. Rudolph

{"title":"Model-free control of a magnetically supported plate","authors":"P.M. Scherer , A. Othmane , J. Rudolph","doi":"10.1016/j.conengprac.2024.105950","DOIUrl":"https://doi.org/10.1016/j.conengprac.2024.105950","url":null,"abstract":"<div><p>Established model-based methods often use a combination of state feedback and observer to control complex systems. They rely on detailed mathematical models that are often hard to derive. Nonetheless, such methods may achieve a high level of accuracy, which justifies the cumbersome modelling. An alternative approach is model-free control, in a form introduced by Fliess and Join, where the system is approximated in a short time interval by a low-order differential equation with unknown parts, a so-called ultra-local model. This control method is a powerful tool, but the parametrisation and the concrete implementation may require time, effort, and experience. The present paper investigates the systematic tuning of a model-free controller for a magnetically supported plate that is modelled as an unstable multiple-input multiple-output system. Furthermore, the incorporation of model information into the model-free controller is investigated. These adaptations ultimately improve results by simplifying parameter tuning and interpretation of estimates. Several experiments are carried out on a test bed to show the capabilities of the proposed algorithms for set point stabilisation and trajectory tracking. The effects of the different parameters in the model-free controllers are addressed, and excellent robustness with respect to actuator faults is demonstrated. Filters for estimating derivatives and unknown quantities are designed using an open-source toolbox.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-05-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001102/pdfft?md5=e222eac568b0978f3088844476bab23b&pid=1-s2.0-S0967066124001102-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140825204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0