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Search results for: OVER-ACTUATED CONTROL, ADAPTIVE CONTROL, LYAPUNOV FUNCTION, CONTROL ALLOCATION, MIMO SYSTEM DOI
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ADAPTIVE BACKSTEPPING TRACKING CONTROL FOR OVER-ACTUATED DP MARINE VESSEL WITH INERTIA UNCERTAINTIES
PublicationDesigning a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel...
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Synteza układu sterowania statkiem morskim dynamicznie pozycjonowanym w warunkach niepewności
PublicationNiniejsza monografia obejmuje zagadnienia związane z syntezą układu dynamicznego pozycjonowania statku w środowisku morskim z zastosowaniem wybranych nieliniowych metod sterowania. W ramach pracy autorka rozważała struktury sterowania z zastosowaniem wektorowej adaptacyjnej metody backstep oraz metod jej pokrewnych, takich jak regulatory MSS (ang. multiple surface sliding), DSC (ang. dynamic surface control), NB (ang. neural backstepping)....
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ZASTOSOWANIE MACIERZY PSEUDO ODWROTNEJ W METODACH ALOKACJI PĘDNIKÓW UKŁADU DYNAMICZNEGO POZYCJONOWANIA STATKU
PublicationUkłady kontroli alokacji pędników stanowią ważną część systemów dynamicznego pozycjonowania na statku. Określają one sygnały sterujące nastawami pędników, na podstawie uogólnionego wektora sił wzdłużnej, poprzecznej i momentu skręcającego, uzyskiwanych z prawa sterowania. W artykule przedstawiono wybrane algorytmy kontroli alokacji pędników, różniące się sposobem wyznaczania macierzy pseudo odwrotnej oraz algorytm bezpośredniej...
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Adaptive dynamic control allocation for over-actuated dynamic positioning system based on backstepping method in case of thruster faults
PublicationThe objective of the research considered in this paper is dynamic positioning of a nonlinear over-actuated marine vessel in the presence of limited information about thruster forces. First, the adaptive backstepping method is used to estimate the input matrix which will compensate partial loss of actuator effectiveness in the presence of actuator dynamics. Then, the adaptive commanded virtual forces and moment are allocated into...
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Synteza bezczujnikowego sterowania maszyną indukcyjną klatkową zasilaną z falownika prądu
PublicationSynteza bezczujnikowego sterowania maszyną indukcyjną klatkową zasilaną z falownika prądu stanowi cel niniejszej monografii. Praca zawiera podstawowe informacje na temat modelowania układu napędowego z maszyną indukcyjną klatkową zasilaną z falownika prądu. Przedstawiono informacje na temat linearyzacji nieliniowych obiektów. Na pod-stawie metody syntezy strukturalnej opracowano nowe transformacje do postaci zmien-nych multiskalarnych,...
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Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming
PublicationIt is generally assumed in dynamic positioning of over-actuated marine vessels that the control effectiveness matrix (input matrix) is known and constant, or, in case of fault information, it is estimated by the fault detection and diagnosis system. The purpose of the study is to develop the adaptive dynamic positioning control system for an over-actuated marine vessel in the presence of uncertainties and with emphasis on limited...
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Rozdział mocy w układzie napędowym robota podwodnego - porównanie algorytmów alokacji naporów
PublicationPraca dotyczy syntezy systemu automatycznego sterowania robotem podwodnym w zakresie problemu rozdziału mocy w wielopędnikowym układzie napędowym. Do alokacji naporów zastosowano metody optymalizacji z ograniczeniami, pozwalające na wyznaczanie wektora naporów na podstawie wektora sił uogólnionych. Rozważono i porównano dwie metody rozdziału mocy dla robota realizującego ruch poziomy płaski o trzech stopniach swobody, rozpatrując...
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Supervisory Control System for Adaptive Phase and Work Cycle Management of Sequencing Wastewater Treatment Plant
PublicationThe paper presents the design of the integrated control system applied to Sequencing Batch Reactor (SBR) in a biological Wastewater Treatment Plant (WWTP) in Swarzewo, which operates under activated sludge technology. Based on the real data records, ASM2d biological processes model and aeration system model, hierarchical control system for dissolved oxygen tracking and cycle management is designed. Internal Model Controller (IMC)...
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Analysis the Parameters of the Adaptive Controller for Quality Control of Dissolved Oxygen Concentration
PublicationThe wastewater treatment plant can be considered a dynamic large scale complex system, in which the most important control parameter is the dissolved oxygen concentration in the aerobic zone. The air is supplied to this zone by the aeration system. In the paper, both the sequencing batch reactor and the aeration system are modelled and used as plant of control performed by the cascade nonlinear adaptive control system extended...
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Employment of a Nonlinear Adaptive Control System for Improved Control of Dissolved Oxygen in Sequencing Batch Reactor
PublicationA proper control in a complex system, such as Wastewater Treatment Plant (WWTP) with each year is becoming increasingly important. High quality control can minimize an environmental impact as well as reduce operational costs of the WWTP. One of the core issues is providing adequate dissolved oxygen (DO) concetration for microorganisms used in a treatment process. An aeration process of the wastewater realised by an system consisting...
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Power System Stabilizer as a Part of a Generator MPC Adaptive Predictive Control System
PublicationIn this paper, a model predictive controller based on a generator model for prediction purposes is proposed to replace a standard generator controller with a stabilizer of a power system. Such a local controller utilizes an input-output model of the system taking into consideration not only a generator voltage Ug but also an additional, auxiliary signal (e.g., α, Pg, or ωg). This additional piece of information allows for taking...
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Nonlinear Fuzzy Control System for Dissolved Oxygen with Aeration System in Sequencing Batch Reactor
PublicationBiological processes at a wastewater treatment plant are complex, multivariable, time varying and nonlinear. Moreover, interactions between the components are very strong. Control of dissolved oxygen is one of most important task at the plant. The level of dissolved oxygen in aerobic tanks has significant influence on behaviour and activity of microorganisms at the plant. Air for aerated tanks is supplied by the aeration system...
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Novel hierarchical nonlinear control algorithm to improve dissolved oxygen control in biological WWTP
PublicationWastewater treatment is a problem known to humankind for centuries. The quality of treated sewage determines the condition of reservoirs around the world. Control of such a complex and nonlinear system as a wastewater treatment plant requires thorough knowledge of the process. The paper presents a hierarchical control system of a Sequencing Batch Reactor (SBR) in Wastewater Treatment Plant (WWTP) taking into account a model based...
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Cooperative control in production and logistics
PublicationClassical applications of control engineering and information and communication technology (ICT) in production and logistics are often done in a rigid, centralized and hierarchical way. These inflexible approaches are typically not able to cope with the complexities of the manufacturing environment, such as the instabilities, uncertainties and abrupt changes caused by internal and external disturbances, or a large number and variety...
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The adaptive backstepping control of PMSM supplied by current source inverter for the field weakening region
PublicationThe sensorless control system of permanent magnet synchronous motor PMSM supplied by current source inverter for field weakening operation is presented in this paper. The adaptive backstepping control system and the backstepping speed observer are presented. The control system is based on multi-scalar variables. The control variables are: dc-link voltage and the output current vector pulsation. The control system was named voltage...
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Hybrid Approach to Networked Control System
PublicationEffcient control of Networked Control System (NCS) is a challenge, as the control methods need to deal with non-deterministic variable delays and data loss. This paper presents a novel hybrid approach to NCS where Model Predictive Control (MPC) is applied as a main controller and implicit switching MPC is used for data transmission control in event-driven shared communication medium, leading to complex control system with active...
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The structure of the control system for a dynamically positioned ship
PublicationThe article discusses functions and tasks of dynamic positioning (DP) systems for ships. The analysed issues include ship steering, in particular stabilisation of ship position and direction of motion (real course) at low manoeuvring speeds, and commonly used DP ship models. Requirements imposed by classification societies on DP ships are quoted. A multi-layer structure of the DP control system is presented, with special attention...
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Novel adaptive flux observer for wide speed range sensorless control of induction motor
PublicationA new adaptive flux observer of induction motor is presented in the paper. The Lyapunov theory is utilized for derivation of the adaptation law of rotor flux angular speed, which acts as unknown parameter in an augmented induction motor model. In the field weakening region, where stray fluxes are comparable with rotor flux magnitude, the air-gap flux stabilization is proposed. An air-gap flux multiscalar model is derived for stator...
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Indirect adaptive controller based on a self-structuring fuzzy system for nonlinear modeling and control
PublicationIn this paper, a unified nonlinear modeling and control scheme is presented. A self-structuring Takagi-Sugeno (T-S) fuzzymodel is used to approximate the unknown nonlinear plant based on I/O data collected on-line. Both the structure and theparameters of the T-S fuzzy model are updated by an on-line clustering method and a recursive least squares estimation(RLSE) algorithm. The rules of the fuzzy model can be added, replaced or...
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Hierarchical predictive control of integrated wastewater treatment systems
PublicationThe paper proposes an approach to designing the control structure and algorithms for optimising control of integrated wastewater treatment plant-sewer systems (IWWTS) under a full range of disturbance inputs. The optimised control of IWWTS allows for significant cost savings, fulfilling the effluent discharge limits over a long period and maintaining the system in sustainable operation. Due to the specific features of a wastewater...
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Sensorless Control of Induction Machine Supplied by Current Source Inverter
PublicationThe paper describes the voltage control technique of induction machines supplied by a current source inverter. The control system is based on proposed new multi-scalar variables, which are named “r.” The control system contains the output filter capacitor's model. In the sensorless control system the Z type backstepping speed observer was applied. The mathematical dependences are confirmed by simulation and experimental research.
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A new approach to designing control of dissolved oxygen and aeration system in sequencing batch reactor by applied backstepping control algorithm
PublicationThe Wastewater Treatment Plant (WWTP) is a very complex system, due to its nonlinearity, time-variance, and multiple time scales in its dynamics among others. The most important control parameter in a WWTP is the Dissolved Oxygen (DO) concentration. The tracking problem of the DO concentration is one of the most fundamental issues in biological wastewater treatment. Proper DO concentration control is necessary to achieve adequate...
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Integrated monitoring, control and security of Critical Infrastructure Systems
PublicationModern societies have reached a point where everyday life relies heavily on desired operation of critical infrastructures, in spite of accidental failures and/or deliberate attacks. The issue of desired performance operation of CIS at high security level receives considerable attention worldwide. The pioneering generic methodologies and methods are presented in the paper project for designing systems capable of achieving these...
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Agricultural products' storage control system
PublicationThe paper discusses the idea and the design of a remote control system for storage management of agricultural products which temperature may rise as the result of biological processes during the storage. An actual potatoes storehouse is discussed as an application for the proposed automation system. Because of existing buildings and infrastructure at the farm, wireless data transfer system has been proposed for communication between...
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Digital Control System of the Wavemaker in the Towing Tank
PublicationThe paper describes a digital control system of the rigid flap wavemaker in a towing tank in CTO S.A. Ship Design and Research Centre. The control system is based on an 8-bit AVR microcontroller and consists of two cascading PID controllers. The digital system replaced the previous analogue system from 1974 and has been integrated with the existing sensors and actuators of the wavemaker. The new control system allows to obtain...
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Hierarchical dissolved oxygen control for activated sludge processes
PublicationA hierarchical controller for tracking the dissolved oxygen reference trajectory in activated sludge processes is proposed and investigated. The removal of nitrogen and phosphorous from wastewater is considered. Typically, an aeration system itself is a complicated hybrid nonlinear dynamical system with faster dynamics compared to the internal dynamics of the dissolved oxygen in a biological reactor. It is a common approach to...
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Implementation of Hierarchical Control of Drinking Water Supply System
PublicationThe paper presents the outline of the didactical project of a complex computer controlled system realized by the first degree students of the Automatics and Robotics on the Faculty of Electrical and Control Engineering (FoEaCE) in Gdansk University of Technology (GUT). The synthesis, implementation and analysis of a multilayer hierarchical control system for drinking water supply system (DWSS) are main topics of that project. The...
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A Model-Based Improved Control of Dissolved Oxygen Concentration in Sequencing Wastewater Batch Reactor
PublicationBiochemical processes at wastewater treatment plant are complex, nonlinear, time varying and multivariable. Moreover, relationships between processes are very strong. One of the most important issues is exerting proper control over dissolved oxygen levels during nitrification phase. This parameter has a very large impact on activity of microorganisms in activated sludge and on quality of pollution removal processes. Oxygen is supplied...
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Multiregional PI control strategy for dissolved oxygen and aeration system control at biological wastewater treatment plant
PublicationThe dissolved oxygen is a key parameter for biological processes at wastewater treatment plant. The dissolved oxygen tracking problem is one of the most complex and fundamental issue of biological processes. The paper proposes a new multiregional control strategy for dissolved oxygen tracking problem. The aeration system is included in overall control structure. The control mechanism within the operating point area is based on...
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Multiple-channel frequency-adaptive active vibration control using SONIC
PublicationSONIC (self-optimizing narrowband interference canceller) is an acronym of a new approach to rejection of sinusoidal disturbances acting at the output of a discretetime stable linear plant with unknown and possibly timevarying dynamics. The paper presents two frequency-adaptive extensions of the multivariate SONIC algorithm. The efficacy of the proposed solutions is tested using our laboratory-scale active vibration control plant.
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Voltage control in a power system with renewable sources of energy
PublicationIntensive development of distributed generation in power systems, caused by the European Union energy policy, gives possibility for improving safety in power delivery as well as optimizing the costs of the systems functioning. In this context, distributed generation can be used for voltage control in power systems – it can be performed by the control of reactive power of each source of energy or a group of energy sources. This...
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Greenhouse control system design
PublicationCoraz większa populacja i zmniejszające się tereny uprawne wymusza efektywniejsze metody uprawy roślin. Zaradzić temu mogą układu hydroponiczne, które dzięki rozwojowi techniki są w stanie osiągać znacznie większe oraz bardziej jednorodne plony. Jest to możliwe dzięki zaawansowanym systemom opartym na dokładnych urządzeniach pomiarowych, sterowaniu w zamkniętej pętli oraz mikrokontrolerom umożliwiającym...
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Comparison of state feedback and PID control of pressurizer water level in nuclear power plant
PublicationThe pressurizer water level control system in nuclear power plant with pressurized water reactor (PWR) is responsible for coolant mass balance. The main control goal is to stabilize the water level at a reference value and to suppress the effect of time-varying disturbances (e.g. coolant leakage in primary circuit pipeline system). In the process of PWR power plant operation incorrect water level may disturb pressure control or...
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Marine autonomous surface ship - control system configuration
PublicationThis paper addresses the problem of marine autonomous surface ship (MASS) control. The contribution of the paper is the development of a control system configuration, done assuming fully autonomous MASS operation under distinct operational conditions. The overview of hardware and software selection is included.
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Power System Dynamics. Stability and Control. 3rd edition
PublicationComprehensive, state-of-the-art review of information on the electric power system dynamics and stability. It places the emphasis first on understanding the underlying physical principles before proceeding to more complex models and algorithms. The book explores the influence of classical sources of energy, wind farms and virtual power plants, power plants inertia and control strategy on power system stability. The book cover...
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Factors determining selection of production planning and control system
PublicationThe article contains a comparative characteristics of selected systems of production planning and control, such as: MRP, kanban/JiT, DBR/TOC. The results of the performed analyses served as a basis for determining key market factors related to production planning and control functions, which determine the choice of an appropriate system.
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Designing control strategies of aeration system in biological WWTP
PublicationThe paper presents the complete design processes of a novel aeration control systems in the SBR (Sequencing Batch Reactor) wastewater treatment plant (WWTP). Due to large energy expense and high influence on biological processes, the aeration system plays a key role in WWTP operation. The paper considers the aeration system for a biological WWTP located in the northeast of Poland. This system consists of blowers, the main collector...
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An Automatic Self-Tuning Control System Design for an Inverted Pendulum
PublicationA control problem of an inverted pendulum in the presence of parametric uncertainty has been investigated in this paper. In particular, synthesis and implementation of an automatic self-tuning regulator for a real inverted pendulum have been given. The main cores of the control system are a swing-up control method and a stabilisation regulator. The first one is based on the energy of an inverted pendulum, whereas the second one...
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Modern control strategy of bidirectional DAB converter with consideration of control nonlinearity
PublicationThis paper focuses on the control strategy for modern universal bidirectional Dual Active Bridge (DAB) converters for microgrid systems. An analysis of the converter equations was carried out, and typical problems related to the influence of dead time on the system operation were discussed. A closed control loop was developed, then tested by simulation and on a laboratory stand.
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Damage Control in Warships
PublicationAs a result of dynamic quantitative and qualitative developments in the maritime industry its participants face harder and harder challenges pertaining to safety of ships and navigation. Practice has shown that even very well organised fleets are harassed by emergencies and accidents that can be neither predicted nor absolutely avoided. In order to counter the occuring emergencies and accidents, and to minimize their effects damage...
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Sphere Drive and Control System for Haptic Interaction With Physical, Virtual, and Augmented Reality
PublicationA system for haptic interaction with physical, virtual, and augmented realities, founded on drive and measurement elements (DMEs), is considered. The system consists of eight DME rolls equipped with linear actuators, able to measure their angular velocity, drive the sphere, and adjust downforce (pressing the roll against the sphere). Two modeling issues are addressed. Special effort is put in to compensate for various technical...
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Implementation of control system and tracking objects in a Quadcopter
PublicationIn this paper, we implement a quadcopter assembly with control and navigation module. The project also includes the design of the control panel for the operator which consists of a set of the micro-controller and the glove equipped with sensors and buttons. The panel has a touch screen which displays current parameters such as vehicle status, including information about orientation and geographical coordinates. The concept of quadcopter...
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Adaptive Multiplex Resource Allocation Method for DAB+ Broadcast System
PublicationIn this paper an adaptive multiplex resource allocation method for the DAB+ broadcast system is presented. An analysis of content transmitted over different radio programs with respect to their profile is discussed. Simulation results of an adaptive multiplexer, as well as the technological demonstrator, fully compatible with the DAB+ standard, are described. The concept is verified by a subjective quality assessment study of real-time...
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Two-Step Model Based Adaptive Controller for Dissolved Oxygen Control in Sequencing Wastewater Batch Reactor
PublicationDissolved Oxygen (DO) concentration is a crucial parameter for efficient operation of biological processes taking place in the activated sludge Wastewater Treatment Plant (WWTP). High-quality DO control is difficult to achieve because of complex nonlinear behavior of the plant and substantial influent disturbances. A method to improve the Direct Model Reference Adaptive Control (DMRAC) technology in application to DO tracking for...
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Control System Design for Dynamic Positioning using Vectorial Backstepping
PublicationThe problem of synthesis a dynamic positioning system for low frequency model of surface vessel was considered in this paper. The recursive vectorial backstepping control design was used to keep a fixed position and heading in presence of wave disturbances. The passive observer was introduced to smooth the measurements and to estimate the velocities needed for the control algorithm. The computer simulation results were given to...
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Automation of ship and control
PublicationSummaryThe article presents the problem of automation of ship and control. This paper will discuss the basic tasks of the track ship control, collision avoidance and automatic dynamic positioning. The following subjects will be presented: the general structure of the ship's control, methods and control algorithms for the above mentioned tasks..StreszczenieArtykuł przedstawia zagadnienia automatyzacji i sterowania statkiem. W pracy...
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A Comparative Study of Fuzzy SMC with Adaptive Fuzzy PID for Sensorless Speed Control of Six-Phase Induction Motor
PublicationMulti-phase motors have recently replaced three-phase induction motors in a variety of applications due to the numerous benefits they provide, and the absence of speed sensors promotes induction motors with variable speed drives. Sensorless speed control minimizes unnecessary speed encoder cost, reduces maintenance, and improves the motor drive’s reliability. The performance comparison of the fuzzy sliding mode controller (FSMC)...
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A Comparative Study of Fuzzy SMC with Adaptive Fuzzy PID for Sensorless Speed Control of Six-Phase Induction Motor
PublicationMulti-phase motors have recently replaced three-phase induction motors in a variety of applications due to the numerous benefits they provide, and the absence of speed sensors promotes induction motors with variable speed drives. Sensorless speed control minimizes unnecessary speed encoder cost, reduces maintenance, and improves the motor drive’s reliability. The performance comparison of the fuzzy sliding mode controller (FSMC)...
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ANALYSIS OF IMPACT of SHIP model parameters on changes of control quality index in ship dynamic positioning system
PublicationIn this work there is presented an analysis of impact of ship model parameters on changes of control quality index in a ship dynamic positioning system designed with the use of a backstepping adaptive controller. Assessment of the impact of ship model parameters was performed on the basis of Pareto-Lorentz curves and ABC method in order to determine sets of the parameters which have either crucial, moderate or low impact on objective...
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Simple stable discrete-time generalised predictive control with anticipated filtration of control error
PublicationPraca dotyczy uogólnionego sterowania predykcyjnego w czasie dyskretnym z antypacyjną filtracją błędu sterowania. Pokazano, iż przy spełnieniu pewnych warunków rozwiązanie problemu syntezy optymlanego regulatora predykcyjnego zawsze istnieje oraz prowadzi do stabilnego zamkniętego układu sterowania o określonych własnościach dynamicznych. W pracy rozważano także problem syntezy regulatora predykcyjnego dla modeli sterowania obiektów...