New Approaches in Automation and Robotics part 2 pps

... (29 ) and 22 22 22 2 2 , , (,, , ), Ml Mr yq yq yq p p = = = qq     (30) whereas the third and fourth flat output candidates directly depend on the control inputs 31 1 1 42 2 ... T L = 6sin(γ). (2) 27 0° 99° A 2 A 1 A 3 T 4 T 5 T 3 M Robuca r 135° T 1 81° T 2 45° New Approaches in Automation and Robotics 26 well as model uncerta...

Ngày tải lên: 12/08/2014, 02:23

... T 2 3 4 5 6 7 8 9 10 t 1 1,5 2 2,5 3 3,5 4 4,5 5 l =1 1 (1 ,2) (1 ,2, 3) (1 ,2, 3,4) (1 ,2, 3,4,5) (1 ,2, 3,4,5,6) (1 ,2, 3,4,5,6,7) (1 ,2, 3,4,5,6,7,8) (1 ,2, 3,4,5,6,7,8,9) l =2 2 (2, 3) (2, 3,4) (2, 3,4,5) ... matrix D is of the form 121 23n2n 12 121 223 22 n211413 12 n 2 1 dddd d dddd dddd D O O O n2T4T3T2T OMMM M L = ==== , (58) where ∑ = −= K 1k k i Ti Tq2d...

Ngày tải lên: 12/08/2014, 02:23

... (G11, G 12, G21, and G 22) , the denominator in each case remains the same, since it holds the key to the system stability. New Approaches in Automation and Robotics 20 4 2. 2 Actuators In the ... ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ 2 1 22 21 121 1 2 1 u u GG GG y y where 5077 23 2 11 +++ = sss s G 5077 23 21 +++ − = sss s G 5077 507 23 12...

Ngày tải lên: 12/08/2014, 02:23

... P in terms of the realization matrices of 1 P ( 111 1 ,,, A BCD) and 2 P ( 22 2 2 ,,, A BCD) in controllable canonical form. Then we arrive at the non-minimal realization 11 21 2 21 21 2 2 ... 1 o wd= , 2 wr= , 1 'zu = , 2 'ze = , v = b , uu = and 2 K K= . The augmented plant G and the controller 2 K are related by the following lower LFT:...

Ngày tải lên: 12/08/2014, 02:23

... nonlinear polynomial systems, Proceedings of 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics, MMAR2007, pp .24 3 -24 8, , Poland, August 20 07, Szczecin 4 ... McKeown, 19 92) , (Bacha et al, 20 06a) ,(Bacha et al, 20 06b) with a sampling period T leads to the following discrete state equation of the synchronous machine: New Appro...

Ngày tải lên: 12/08/2014, 02:23

... } K++⋅+⋅+⋅+⋅+⋅⋅⋅ +⋅+⋅+⋅⋅⋅++++⋅⋅ ++++⋅+⋅⋅⋅+++⋅⋅ ++⋅+⋅++++⋅⋅ + + + + ⋅ = !6/ TCTC !2! 4/ TCTCm!6 !4 !2/ TCTCm!6 CCCmty !4/ TCTC !2! 2/ TCm!4 CCmty TCTC !2/ CCCmty CCCtyty 6 22 6 11 4 22 4 1 12 2 22 2 11 421 06o )6( 4 22 4 11 2 1 121 04o )4( 2 22 2 1 121 02o )2( 21 0o k o (30) ... () () () ( ) K K K K K K K 1010 3 24 2 42 6 2 264 82 5 2 10 nn 10 22 10 11 884 2...

Ngày tải lên: 12/08/2014, 02:23

... Springer Verlag Berlin, Heidelberg, Germany Advanced Torque Control 25 5 2. 1 2. 2 2. 3 2. 4 2. 5 2. 6 2. 7 2. 8 2. 9 3 0 1 2 3 4 5 6 Time in s Torque in Nm 2. 1 2. 2 2. 3 2. 4 2. 5 2. 6 2. 7 2. 8 2. 9 ... slower and the controller output for the fuel path is used only marginally. 2. 1 2. 2 2. 3 2. 4 2. 5 2. 6 2. 7 2. 8 2. 9 3 0 1 2 3 4 5 6 Time...

Ngày tải lên: 12/08/2014, 03:20

... 12 21p AJ JNJ=+ (18) * 13 12 23p B JJNJ=+ (19) * 31 32 21p CJJNJ=+ (20 ) * 33 32 23p DJ JNJ=+ (21 ) being () 1 22 nd d NILJ L − =− (22 ) The state output equations of this system in ... detection and avoidance, automatic concrete feeding control and automatic shutdown in interfering with safety grates. The New Approaches in Automation and Robotics...

Ngày tải lên: 12/08/2014, 03:20

... expression (29 ) the coefficients were A 2 = 1 029 2 .2 and B 2 = −7.00509. From Figure 9 it can be seen that New Approaches in Automation and Robotics 376 Then the general MVC law, minimizing the ... to linear matrix inequality (LMI) (Boyd et al., 1994; Boyd and Vandenberghe, 20 04) (22 ) for γ > 0 and Q = γ P −1 . Having substituted (17) into (1...

Ngày tải lên: 12/08/2014, 03:20

... )y)(yy(y)x)(xx(x )x)(xy(y)y)(yx(x α ccttcctt ttccttcc θ 21 2 121 21 21 2 121 21 tan −−+−− − − − − − = ( 12) 3. Centerless model 3.1 Simplification The equations (11) and ( 12) are the exact solution, but estimated ... -0.7 -0.6 -0.5 -0.4 -0.3 -0 .2 -0.1 0 0.1 0 .2 0.3 1 6 11 16 21 Iterations γx(mm) 1.5 1.4 1.3 1 .2 1.1 org Fig. 6. Variation of γ x by iteration (γ x =1.1-1.5)...

Ngày tải lên: 12/08/2014, 03:20