摘要:

The concept of composite dynamic and steady-state optimising control systems is introduced to characterise the behaviour of optimising control systems operating on transient process measurements. Stability issues for such systems are studied and emphasis is given to the impact of transient operations on the convergence of the optimising control algorithm. Sufficient conditions for the convergence of optimising control algorithms operating on transient measurements are derived for cases where the controlled process is linear and it is concluded that, under the normal assumptions for the convergence of pure steady-state operation, such systems are stabilisable. The effect of transient operation on the iterative gain region is examined for linear quadratic cases, showing that in many cases the stability of the system is improved. Numerical examples are presented to support the analysis. Simulation results show that the process adjustment time is significantly reduced in transient cases.

DOI:10.1049/ip-d.1992.0061

出版商:IEE    

年代:1992

数据来源: IET

摘要:

The paper presents an algorithm of trajectory planning for wrist partitioned robotic manipulators. The desired translational trajectory is defined as a continuous function in Cartesian co-ordinates. The desired orientation is defined as a continuous function of the Frenet frame. Therefore, orientation is planned without influence of geometric changes along the translational path. The path is generated as a sequence of elementary motions. Each new position is defined as a function of the previous one. After having derived a position, the orientation is planned using a maximising process. The present algorithm avoids singularities, because there is no need for using the inverse kinematics.

DOI:10.1049/ip-d.1992.0062

出版商:IEE    

年代:1992

数据来源: IET

摘要:

In the paper, a robust control algorithm is proposed for the speed control of a pump-controlled motor system. The controller consists of two parts, an optimal part and an auxiliary part. The optimal part is used to specify the characteristics of the whole system, and the auxiliary part is used to cope with the uncertainties of the system dynamics. The control algorithm is written in Turbo C and implemented on a personal computer. A series of simulations and experiments are performed, and the results show that the control performance is satisfactory and can be maintained under changes of pump speed and load inertia. The results also indicate that the proposed control scheme is robust to the external torque disturbance.

DOI:10.1049/ip-d.1992.0063

出版商:IEE    

年代:1992

数据来源: IET

摘要:

In the paper, the problem of forming desired transients for systems governed by partial differential equations is discussed. It is assumed that information about external disturbances and varying parameters is incomplete. The original design method (localisation method) is used. In the paper, the results of the localisation method obtained for finite-dimensional systems are extended to systems governed by partial differential equations.

DOI:10.1049/ip-d.1992.0064

出版商:IEE    

年代:1992

数据来源: IET