Adaptive control of siso plants with unmodelled dynamics

In this paper we pursue a twofold aim. First we want to simplify the complexity of the classical Monopoli's scheme, the so-called ‘Augmented error signal control scheme’. Then we also wish to cope with the realistic situation in which the presence of unmodelled dynamics has to be taken into account. This latter problem has been faced in the literature by suitably modifying the adaptation mechanism in order to avoid undesired phenomena as well as to obtain an attractive stability region for the state trajectories starting from any point in a predefined initial condition set. In our case the necessity of introducing any sort of modification in the adaptation mechanism is completely avoided, but we still obtain asymptotic stability of the output error signal.     

Robustness of VS-MRAC with respect to unmodelled dynamics and external disturbances

A variable structure model reference adaptive controller (VS-MRAC) using only input and output measurements was recently proposed and shown to be globally asymptotically stable with superior transient behaviour and disturbance rejection properties. In this paper a singular perturbation approach is used in order to establish the robustness of the controller in the presence of unmodelled dynamics (parasitics) and disturbances. We develop a new Lyapunov-based technique to analyse the overall system and show that for sufficiently small parasitics the system remains stable and the output error is small in some sense.     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

A novel robust current control approach using adaptive line enhancer for three‐phase current‐source active power filter

An effective system control method is presented for applying a three‐phase current‐source PWM converter with a deadbeat controller to active power filters (APFs). In the shunt‐type configuration, the APF is controlled such that the current drawn by the APF from the utility is equal to the current harmonics and reactive current required for the load. To attain the time‐optimal response of the APF supply current, a two‐dimensional deadbeat control scheme is applied to APF current control. Furthermore, in order to cancel both the delay in the two‐dimensional deadbeat control scheme and the delay in DSP control strategy, an Adaptive Line Enhancer (ALE) is introduced in order to predict the desired value three sampling periods ahead. ALE has another function of bringing robustness to the deadbeat control system. Due to the ALE, settling time is made short in a transient state. On the other hand, total harmonic distortion (THD) of source currents can be minimized compared to the case where ideal identification of the controlled system can be made. The experimental results obtained from the DSP‐based APF are also reported. The compensating ability of this APF is very high in accuracy and responsiveness although the modulation frequency is rather low. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(1): 50–61, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20014     

Bioprocess applications of model-based estimation techniques

The last decade has seen the development of a number of approaches for estimating those variables which are difficult to measure on-line in industrial process situations. Whilst a range of techniques is available, a common element is the use of process knowledge in the form of a system model. In the case of bioprocess systems, although a large range of models has been presented in the literature, their use in estimation schemes on an industrial scale has been limited. A number of reasons can be identified for their low level of utilisation. Of particular significance is the uncertainty which exists in quantifying system performance and the process-model mismatch which inevitably results. The level of ‘pre-defined model’ uncertainty, together with the knowledge gained during the course of the fermentation, serves to dictate estimator structure. The paper considers a range of estimation strategies and contrasts, through industrial applications, their performance characteristics and utility.     

Adaptive control in a heating vessel: A comparative study

This paper presents experimental results obtained in temperature adaptive control of a heating vessel. A non-linear model of the process showed that the feed flow rate causes severe variations in time constant and process gain. An extended horizon self-tuning controller and two different model reference adaptive controllers were tested. The influence of design parameters on control performance for each algorithm was assessed. The control system was disturbed with load and setpoint changes.     

A calibration method for the energy-integrating function in photovoltaic system monitoring

Solar radiation has an irregularly varying factor due to a basic day and night cycle and climatic conditions. For such conditions a data sampling interval is important to ensure the accuracy of energy monitoring in a photovoltaic system. While treating a system monitoring equipment as a black box. the author has developed the method of calibrating an energy-integrating function. At first for various input waveforms, the relationship between sampling intervals and quasi-integration outputs have been examined by trapezoidal rule. In the numerical simulation the phases of the sampling clock also are considered Then it is concluded that a sampling interval can be inspected through outside observation only by using a rectangular single pulse. By applying the pulse to the energy-integrating process, two kinds of integrated outputs can be obtained for different sampling phases. The calculated difference between both outputs can uniquely give the sampling interval being inspected. Conditions to ensure measuring accuracy are discussed and the validity of this method has been demonstrated experimentally. Practical calibrating procedures also are proposed for the integrating function of PV system monitoring.     

整合资源调整职能促进发展--关于陕煤技校改革发展的思考

经过60年的发展,陕西煤炭技工院校形成了以服务煤业为特色的专业结构和办学模式,为祖国煤炭发展做出了不可替代的贡献。近年来,由于煤炭市场遇冷,行业技校吸引力持续减弱,如何走出困境,重铸辉煌,作者从整合职教资源,调整管理职能,转换办学模式的角度进行了分析思考,或许能给陕煤技校改革发展提供一些有益参考。     

企业各软件的数据共享和整合分析浅谈

本文主要根据大多数企业存在各种软件各自独立运行,各软件之间数据不能相互共享,一些旧软件或不适用的软件与目前主流操作系统不兼容等问题,分析问题并用接口和整合方法解决,此平台利用云计算技术,解决大多数企业建设信息平台投资大的问题,同时方便企业使用和维护.     

TESTS FOR FRACTIONAL INTEGRATION:A MONTE CARLO INVESTIGATION

Abstract. The performance of the Geweke-Porter-Hudak (GPH) test, the modified rescaled range (MRR) test and two Lagrange multiplier (LM) type tests for fractional integration in small samples is examined using Monte Carlo methods. Both the GPH and MRR tests are found to be robust to moderate autoregressive moving-average components, autoregressive conditional heteroskedasticity effects and shifts in the variance. However, these two tests are sensitive to large autoregressive moving-average components and shifts in the mean. It is also found that the LM tests are sensitive to deviations from the null hypothesis. As an illustration, the GPH test is applied to two economic data series.