The article presents the use of the Mamdani fuzzy reasoning model to develop a proposal of a system controlling partnering relations in construction projects. The system input variables include: current assessments of particular partnering relation parameters, the weights of these parameters’ impact on time, cost, quality and safety of implementation of construction projects, as well as the importance of these project assessment criteria for its manager. For each of the partnering relation parameters, the project’s manager will receive controlrecommendations. Moreover, the parameter to be improved first will be indicated. The article contains a calculation example of the system’s operations.
Control of the technological processes of coal enrichment takes place in the presence of wide disturbances. Thus, one of the basic tasks of the coal enrichment process control systems is the stabilization of coal quality parameters at a preset level. An important problem is the choice of the controller which is robust for a variety of disturbances. The tuning of the controller parameters is no less important in the control process . Many methods of tuning the controller use the dynamic characteristics of the controlled process (dynamic model of the controlled object). Based on many studies it was found that the dynamics of many processes of coal enrichment can be represented by a dynamic model with properties of the inertial element with a time delay. The identification of object parameters (including the time constant) in industrial conditions is usually performed during normal operation (with the influence of disturbances) from this reason, determined parameters of the dynamic model may differ from the parameters of the actual process. The control system with controller parameters tuned on the basis of such a model may not satisfy the assumed control quality requirements. In the paper, the analysis of the influence of changes in object model parameters in the course of the controlled value has been carried out. Research on the controller settings calculated according to parameters T and τ were carried out on objects with other parameter values. In the studies, a sensitivity analysis method was used. The sensitivity analysis for the three methods of tuning the PI controller for the coal enrichment processes control systems characterized by dynamic properties of the inertial element with time delay has been presented. Considerations are performed at various parameters of the object on the basis of the response of the control system for a constant value of set point. The assessment of considered tuning methods based on selected indices of control quality have been implemented.
The study of the subdivision driving technology of a stepper motor and two types of typical acceleration and deceleration curves aims at optimizing the open-loop control performance of the stepper motor. The simulation model of a two-phase hybrid stepper motor open-loop control system is set up based on the mathematical model of the stepper motor, in order to let the stepper motor have the smaller stepper angle, two types of typical acceleration and a deceleration curve algorithm are designed for the real- time online calculation based on the subdivision driving technology. It respectively carries out the simulation analysis for their control effects. The simulation results show that the parabolic acceleration and deceleration curves have a larger maximum in-step rotation angle and the faster dynamic response ability in the same control period, and at the same time, the position tracking error of an intermediate process is smaller.
Drawing on the stressor–emotion model, the study examines the mechanisms of counterproductive work behavior (CWB) development: specifically (1) the direct effect of job stressor (bullying at work); (2) the moderation effect of the Dark Triad (DT) and job control (JC); and (3) the moderated moderation effect (DT x JC) on the job stressor–CWB link. Data were collected among 763 white- and blue-collar workers. The hypotheses were tested by means of the PROCESS method. As expected in the hypotheses, high job stressor was directly related to high CWB, and DT moderated (increased) the link. JC also moderated the job stressor–CWB link, but the moderation effect was in a direction opposite to expectations. High job control participants were more likely to report CWB when they reported a high level of the stressors. The moderated moderation effect was supported. JC increases the moderation effect of DT on the job stressor–CWB link. The highest level of CWB was observed when DT and JC were high. The findings provide further insight into processes leading to the development of CWB.
This paper investigates the application of a novel Model Predictive Control structure for the drive system with an induction motor. The proposed controller has a cascade-free structure that consists of a vector of electromagnetics (torque, flux) and mechanical (speed) states of the system. The long-horizon version of the MPC is investigated in the paper. In order to reduce the computational complexity of the algorithm, an explicit version is applied. The influence of different factors (length of the control and predictive horizon, values of weights) on the performance of the drive system is investigated. The effectiveness of the proposed approach is validated by some experimental tests.
Thin plates, in the form of individual panels or whole device casings, often separate the noise source from its recipients. It would be very desirable if the panels could effectively block the sound transmission preventing noise from further propagation. This is especially challenging to achieve at low frequencies. A promising approach, intensively developed in the recent years, is to employ active control methods by adding sensors and actuators, and running a control algorithm. However, if the noise is narrow-band, an alternative passive solution originally developed by the authors can be applied. It is based on appropriately located passive elements which can be used to alter the frequency response of the vibrating structure thus improving its sound insulation properties. Such an approach is referred to as the frequency response shaping method. The purpose of this paper is to further develop this method and apply it to a device casing panel. The efficiency of the method is evaluated by simulation and real experiments. Appropriate cost functions and mathematical models are formulated and used to optimise the arrangement of passive elements mounted to the plate, enhancing its sound insulation properties at the given frequency range. The results are reported, and advantages and limits of the method are pointed out and discussed.
This paper presents a robust model free controller (RMFC) for a class of uncertain continuous-time single-input single-output (SISO) minimum-phase nonaffine-in-control systems. Firstly, the existence of an unknown dynamic inversion controller that can achieve control objectives is demonstrated. Afterwards, a fast approximator is designed to estimate as best as possible this dynamic inversion controller. The proposed robust model free controller is an equivalent realization of the designed fast approximator. The perturbation theory and Tikhonov’s theorem are used to analyze the stability of the overall closed-loop system. The performance of the developped controller are verified experimentally in the position control of a pneumatic actuator system.
This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
This paper presents a study of control strategies for 5-phase permanent magnet synchronous motors (PMSMs) supplied by a five-leg voltage source inverter. Based on the vectorial decomposition of the multi-phase machine, fictitious machines, magnetically decoupled, allow a more adequate control. In this paper, our study focuses on the vector control of a multi-phase machine using a linear proportional-integral-derivative (PID) current regulator in the cases of sinusoidal and trapezoidal back-electromotive force (EMF) waveforms. In order to determine currents’ references, two strategies are adopted. First one aims to minimize copper losses under constant torque, while the second one targets to increase torque for a given copper losses. These techniques are tested under a variable speed control strategy based on a proportional-integral (PI) regulator and experimentally validated.
Today, a cascaded system of position loop, velocity loop and current loop is standard in industrial motion controllers. The exact knowledge of significant parameters in the loops is the basis for the tuning of the servo controllers. A new method to support the commissioning has been developed. It enables the user to identify the moment of inertia as well as the time constant of the closed current loop simultaneously. The method is based on the auto relay feedback experiment by Aström and Hägglund. The model parameters are automatically adjusted according to the time behaviour of the controlled system. For this purpose, the auto relay feedback experiment is combined with the technique of gradual pole compensation. In comparison to other existing methods, this approach has the advantage that a parametric model for the open velocity loop is derived directly.
The active noise-reducing casing developed and promoted by the authors in recent publications have multiple advantages over other active noise control methods. When compared to classical solutions, it allows for obtaining global reduction of noise generated by a device enclosed in the casing. Moreover, the system does not require loudspeakers, and much smaller actuators attached to the casing walls are used instead. In turn, when compared to passive casings, the walls can be made thinner, lighter and with much better thermal transfer than sound-absorbing materials. For active noise control a feedforward structure is usually used. However, it requires an in-advance reference signal, which can be difficult to be acquired for some applications. Fortunately, usually the dominant noise components are due to rotational operations of the enclosed device parts, and thus they are tonal and multitonal. Therefore, it can be adequately predicted and the Internal Model Control structure can be used to benefit from algorithms well developed for feedforward systems. The authors have already tested that approach for a rigid casing, where interaction of the walls was significantly reduced. In this paper the idea is further explored and applied for a light-weight casing, more frequently met in practice, where each vibrating wall of the casing influences all the other walls. The system is verified in laboratory experiments.
The aim of the paper is a steady-state inverse heat transfer problem for plate-fin and tube heat exchangers. The objective of the process control is to adjust the number of fan revolutions per minute so that the water temperature at the heat exchanger outlet is equal to a preset value. Two control techniques were developed. The first is based on the presented mathematical model of the heat exchanger while the second is a digital proportional-integral-derivative (PID) control. The first procedure is very stable. The digital PID controller becomes unstable if the water volumetric flow rate changes significantly. The developed techniques were implemented in digital control system of the water exit temperature in a plate fin and tube heat exchanger. The measured exit temperature of the water was very close to the set value of the temperature if the first method was used. The experiments showed that the PID controller works also well but becomes frequently unstable.
An original fuzzy team control model is presented in this article. The model is based on a non-traditional combination of classical and contemporary achievements of management and mathematical theories of fuzzy logic and fuzzy sets. In methodological terms, the article also offers a set of tools for measuring and evaluating both team performance and the effectiveness of the team control system in the organization. Fuzzy tools and techniques for decision-making, studying of hidden effects and joint influences, and quantification of evaluations are employed in this set of tools. The suggested fuzzy model contributes to overcoming theoretical deficits on the issues of team control, and the methodology of team control fills a gap in the toolkit of team management. The results from verification of the fuzzy team control model at a small-sized Bulgarian enterprise are also discussed in this article. They indicate that it is possible to develop a fuzzy model for team control, increasing the effectiveness of the team control system in the enterprise.
An on-line optimising control strategy involving a two level extended Kalman filter (EKF) for dynamic model identification and a functional conjugate gradient method for determining optimal operating condition is proposed and applied to a biochemical reactor. The optimiser incorporates the identified model and determines the optimal operating condition while maximising the process performance. This strategy is computationally advantageous as it involves separate estimation of states and process parameters in reduced dimensions. In addition to assisting on-line dynamic optimisation, the estimated time varying uncertain process parameter information can also be useful for continuous monitoring of the process. This strategy ensures that the biochemical reactor is operated at the optimal operation while taking care of the disturbances that are encountered during operation. The simulation results demonstrate the usefulness of the two level EKF assisted dynamic optimizer for on-line optimising control of uncertain nonlinear biochemical systems.
Optimization of encoding process in video compression is an important research problem, especially in the case of modern, sophisticated compression technologies. In this paper, we consider HEVC, for which a novel method for selection of the encoding modes is proposed. By the encoding modes we mean e.g. coding block structure, prediction types and motion vectors. The proposed selection is done basing on noise-reduced version of the input sequence, while the information about the video itself, e.g. transform coefficients, is coded basing on the unaltered input. The proposed method involves encoding of two versions of the input sequence. Further, we show realization proving that the complexity is only negligibly higher than complexity of a single encoding. The proposal has been implemented in HEVC reference software from MPEG and tested experimentally. The results show that the proposal provides up to 1.5% bitrate reduction while preserving the same quality of a decoded video.
The paper presents a conception of power electronics voltage controlled current source (VCCS) which is able much more precise mapping of its an output current in a reference signal, compared to a typical converter solution. It can be achieved by means of such interconnection of two separate converters that one of them corrects a total output current towards a reference signal. An output power of auxiliary converter is much smaller than an output power of main one. Thanks to continuous work of this converter also pulse modulation components in this current are minimized. These benefits are paid for by a relatively small increase in the complexity and the cost of the system. This conception of a converter has been called the double-converter topology (DCT). In the author opinion presented solution of the system can find application in many power electronics equipment and, therefore, will be developed. In the paper DCT basics, simulation experiments, and possible practical arrangement of the DCT are presented.
Glottal waveform models have long been employed in improving the quality of speech synthesis. This paper presents a new approach for modeling the glottal flow. The model is based on three control volumes that strike a one-mass and two-springs system sequentially and generate a glottal pulse. The first, second and third control volumes represent the opening, closing and closed phases of the vocal folds, respectively. The masses of the three control volumes and the size of the first one are the four parameters that define the shape, pitch and amplitude of the glottal pulse. The model may be viewed as parametric approach governed by second order differential equations rather than analytical functions and is very flexible for designing a glottal pulse. The glottal pulse generated by the present model, when compared with those generated by Rosenberg, LF and mucosal wave propagation models demonstrates that it appropriately represents the opening, closing and closed phases of the vocal fold oscillation. This leads to the validity of our model. Numerical solution of the present model has been found to be very efficient as compared to its analytical solution and two other well-known parametric models Rosenberg++ and LF. The accuracy of the numerical solution has been illustrated with the help of analytical solution. It has been observed that the accuracy improves by increasing the size of the first control volume and may decrease insignificantly with increase in the mass of any of the control volumes. Two experiments with the present model support its successful implementation as a voice source in speech synthesis. Thus our model renders itself as an efficient, accurate and realistic choice as a voice source to be employed in real-time speech production.
Averaged models: an AC large signal, DC and AC small signals of a current-controlled buck converter are described. Only peak current mode control of a converter working in the continuous conduction mode (CCM) is considered. The model derivation differs from the typical approaches presented in the literature and doesn’t refer to the multi-loop concept of a current controlled converter. The separation of the variables method is used in the model derivation. The resulting models are presented in the form of an equation set and equivalent circuits. The calculations based on the presented models are verified by measurements and full-wave PSpice simulations.
This paper proposes a practical tuning of closed loops with model based predictive control. The data assumed to be known from the process is the result of the bump test commonly applied in industry and known in engineering as step response data. A simplified context is assumed such that no prior know-how is required from the plant operator. The relevance of this assumption is very realistic in the context of first time users, both for industrial operators and as educational competence of first hand student training. A first order plus dead time is approximated and the controller parameters immediately follow by heuristic rules. Analysis has been performed in simulation on representative dynamics with guidelines for the various types of processes. Three single-input-single-output experimental setups have been used with no expert users available in different locations – both educational and industrial – these setups are representative for practical cases: a variable time delay dominant system, a non-minimum phase system and an open loop unstable system. Furthermore, in a multivariable control context, a train of separation columns has been tested for control in simulation, followed by experimental tests on a laboratory system with similar dynamics, i.e. a sextuple coupled water tank system. The results indicate the proposed methodology is suitable for hands-on tuning of predictive control loops with some limitations on performance and multivariable process control.
The paper presents a new elastic scheduling task model which has been used in the uniprocessor node of a control measuring system. This model allows the selection of a new set of periods for the occurrence of tasks executed in the node of a system in the case when it is necessary to perform additional aperiodic tasks or there is a need to change the time parameters of existing tasks. Selection of periods is performed by heuristic algorithms. This paper presents the results of the experimental use of an elastic scheduling model with a GRASP heuristic algorithm.
This paper presents novel bi-converter structure to supply the Doubly Fed Induction Machine (DFIM). Two Voltage Source Inverters (VSI) feed the stator and rotor windings. The outputs of two VSI are combined electro-mechanically in the machine and, as a result, novel features can be obtained. For example, for high power drive applications, this configuration use two inverters dimensioned for a half of the DFIM power. A new Dual-Direct Torque Control scheme is developed with flux model of DFIM. Two Switching Tables (ST) linked to VSI are defined for stator and rotor flux vector control. Experimental and simulation results confirm good dynamic behaviour in the four quadrants of the speed-torque plane. Moreover, experimental results show the correct flux vector control behaviour and speed tracking performances.
The article is devoted to the development of technogenic risk management models and formalization of the process of support in making decision in the sphere of industrial safety. The structural, informative and mathematical models, used to process information in the technological risks management, as well as a formal model of the process of support of making decision in achieving an acceptable level of technical risk are presented and analyzed.
This paper proposes a methodology based on installation cost for locating the optimal position of interline power flow controller (IPFC) in a power system network. Here both conventional and non conventional optimization tools such as LR and ABC are applied. This methodology is formulated mathematically based on installation cost of the FACTS device and active power generation cost. The capability of IPFC to control the real and reactive power simultaneously in multiple transmission lines is exploited here. Apart from locating the optimal position of IPFC, this algorithm is used to find the optimal dispatch of the generating units and the optimal value of IPFC parameters. IPFC is modeled using Power Injection (PI) model and incorporated into the problem formulation. This proposed method is compared with that of conventional LR method by validating on standard test systems like 5-bus, IEEE 30-bus and IEEE 118-bus systems. A detailed discussion on power flow and voltage profile improvement is carried out which reveals that incorporating IPFC into power system network in its optimal location significantly enhance the load margin as well as the reliability of the system.