An analytical tuning approach to multivariable model predictive controllers

Multivariable model predictive control is a widely used advanced process control methodology, where handling delays and constraints are its key features. However, successful implementation of model predictive control requires an appropriate tuning of the controller parameters. This paper proposes an analytical tuning approach to multivariable model predictive controllers. The considered multivariable plants are square and consist of first-order plus dead time transfer functions. Most of the existing model predictive control tuning methods are based on trial and error or numerical approaches. In the case of no active constraints, closed loop transfer function matrices are derived and decoupling conditions are addressed. For control horizon of one, analytical tuning equations and achievable performances are obtained. Finally, simulation results are used to verify the effectiveness of the proposed tuning strategy.     

Frequency analysis and compensation of valve stiction in cascade control loops

Valve stiction is often a common problem in control loops and stiction induced oscillation is the main cause of poor performance in control systems. Cascade control is extensively applied in process industry as an effective strategy to restrain disturbances and compensate process nonlinearities. In recent years many studies have been performed on the detection and quantification of valve stiction in single feedback control loops. However, there is a lack in developing a mechanism which can analyze stiction induced oscillation in cascade control loops. This work focuses on the frequency analysis of stiction induced oscillations in cascade control loops and proposes a mechanism of oscillation compensation through outer and inner controller tuning. The effect of oscillation compensation by changing control strategies is also discussed. The theoretical analysis is evaluated through simulation examples and a pilot-scale flow-level cascade control experiment.     

电子横移伺服LQR最优控制器设计

为了提高系统的稳态精度和动态性能,将LQR最优控制算法应用于高速经编机电子横移伺服控制系统.建立了伺服系统状态空间模型,引入了一类具有指数衰减度的二次型函数作为系统性能指标.仿真结果表明,所提出的电子横移伺服LQR最优控制算法易于工程实现,保证了系统的稳定性,具有良好的频响特性,改善了系统的动态特性,实现了无静差高精度控制.     

Kinetic and molecular weight control for methyl methacrylate semibatch polymerization. II. Open control

The gel effect will bring a violent increase of conversion for methyl methacrylate (MMA) polymerization in a short time. It will be very dangerous for the reactor, as it causes an increase of molecular weight and broadens the molecular weight distribution. To unify the kinetics, molecular weight, and its distribution, on the basis of the mathematical models for semibatch polymerization of MMA, three controlled objectives that are the heat load distribution index, the change in molecular weight, and molecular weight distribution index are presented. Three materials (monomer, solvent, and chain transfer agent) and their flow rate and feeding mode are analyzed for the open control of kinetics, molecular weight, and its distribution. The optimum flow rate and mode are obtained. The heat load distribution index and molecular weight distribution index are even less than 2.0 and 2.2, respectively. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 4399–4405, 2006     

D级压力容器制造许可证鉴定评审中企业存在问题综述

阐述了在D级压力容器制造许可证取换证鉴定评审过程中,取换证制造企业存在的较为普遍的问题。     

大涝坝气田油气井远程监控系统设计与实现

大涝坝气田地处戈壁腹地,自然环境差、油气井压力高、安全风险大。通过自动化、信息化手段实现油气井生产状况的远程监控是油田发展的必然趋势。依据油气井生产实际情况,设计了一套远程监控系统。该系统以三维力控ForceControl监控组态软件和安控RTU为软硬件核心,对油气井生产过程实现全天候自动监控。详细阐述了油气井远程监控系统设计思路,包括系统结构原理、硬件和软件设计。实践表明该系统具有很好的推广应用价值。     

Online stiffness estimation for robotic tasks with force observers

In this paper we propose an online stiffness estimation technique for robotic tasks based only on force data, therefore, not requiring contact position information. This allows estimations to be obtained in robotic tasks involving interactions with unstructured and unknown environments where geometrical data is unavailable or unreliable. Our technique – the Candidate Observer Based Algorithm (COBA) – uses two force observers, configured with different candidate stiffnesses, to estimate online the actual target object stiffness. COBA is embedded in a force control architecture with computed torque in the task space. The theoretical presentation of the algorithm, as well as simulation tests and experimental results with a lightweight robot arm are also presented.     

A robust two degree-of-freedom controller for systems with both model and measurement uncertainty

This paper presents a design method for robust two degree-of-freedom (DOF) controllers that optimize the control performance with respect to both model uncertainty and signal measurement uncertainty. In many situations, non-causal feedforward is a welcome control addition when closed loop feedback bandwidth limitations exist due to plant dynamics such as: delays, non-minimum phase zeros, poorly placed zeros and poles (Xie, Alleyne, Greer, and Deneault (2013); Xie (2013), etc. However, feedforward control is sensitive to both model uncertainty and signal measurement uncertainty. The latter is particularly true when the feedforward is responding to pre-measured disturbance signals. The combined sensitivity will deteriorate the feedforward controller performance if care is not taken in design. In this paper a two DOF design is introduced which optimizes the performance based on a given estimate of uncertainties. The controller design uses H_∞ tools to balance the controlled system bandwidth with increased sensitivity to signal measurement uncertainties. A successful case study on an experimental header height control system for a combine harvester is shown as an example of the approach.     

Dynamic surface control of a piezoelectric fuel injector during rate shaping

Fuel injection rate shaping is a strategy to improve fuel efficiency and reduce harmful emissions in diesel engines. Due to their fast response, piezoelectric fuel injectors are capable of rate shaping operation. This paper describes a model-based closed-loop controller of injection flow rate for a piezoelectric fuel injector. This within-an-engine-cycle control strategy utilizes a dynamic surface control scheme and shows an injection flow rate tracking capability. Practical issues with LabVIEW FPGA control implementation are also addressed. The performance of the controller is verified with simulation and experimental results at different rail pressures and desired injection rates. The experiments show a maximum error of total fuel per one injection event of 2.5%. A stability analysis is also included.     

Coupling geometric analysis and viability theory for system exploration: Application to a living food system

This paper addresses the issue of studying a food complex system in a reverse engineering manner with the aim of identifying the set of all possible actions that makes it reach a quality target with respect to manufacturing constraints. Once the set of actions is identified, several criteria can be considered to identify interesting trajectories and control policies. A viability approach, coupling the viability theory and a geometric approach of robustness, is proposed to study complex dynamical systems. It can be implemented for several types of systems, from linear to non linear or hybrid systems. The proposed framework was adapted to a living food system: a ripening model of Camembert cheese to identify the set of states and actions (capture basin) from which it is possible to reach a predefined quality target. Within the set of viable trajectories, particular trajectories that improve the Camembert cheese ripening process are identified using the proposed approach. The results are applied at a pilot scale and are discussed in this paper.