Lyapounov stability for impulsive dynamical systems

This article addresses the problem of stability of impulsive control systems whose dynamics are given by measure driven differential inclusions. One important feature concerns the adopted solution which allows the consideration of systems whose singular dynamics do not satisfy the so-called Frobenius condition. After extending the conventional notion of control Lyapounov pair for impulsive systems, some stability conditions of the Lyapounov type are given. Some conclusions follow the outline of the proof of the main result.

Control of thermal damage in grinding by digital signal processing of raw acoustic emission

Grinding process is usually the last finishing process of a precision component in the manufacturing industries. This process is utilized for manufacturing parts of different materials, so it demands results such as low roughness, dimensional and shape error control, optimum tool-life, with minimum cost and time. Damages on the parts are very expensive since the previous processes and the grinding itself are useless when the part is damaged in this stage. This work aims to investigate the efficiency of digital signal processing tools of acoustic emission signals in order to detect thermal damages in grinding process. To accomplish such a goal, an experimental work was carried out for 15 runs in a surface grinding machine operating with an aluminum oxide grinding wheel and ABNT 1045 e VC131 steels. The acoustic emission signals were acquired from a fixed sensor placed on the workpiece holder. A high sampling rate acquisition system at 2.5 MHz was used to collect the raw acoustic emission instead of root mean square value usually employed. In each test AE data was analyzed off-line, with results compared to inspection of each workpiece for burn and other metallurgical anomaly. A number of statistical signal processing tools have been evaluated.

The effect of actuator and sensor placement on the active control of rotor unbalance

This paper investigates both theoretically and experimentally the effect of the location and number of sensors and magnetic bearing actuators on both global and local vibration reduction along a rotor using a feedforward control scheme. Theoretical approaches developed for the active control of beams have been shown to be useful as simplified models for the rotor scenario. This paper also introduces the time-domain LMS feedforward control strategy, used widely in the active control of sound and vibration, as an alternative control methodology to the frequency-domain feedforward approaches commonly presented in the literature. Results are presented showing that for any case where the same number of actuators and error sensors are used there can be frequencies at which large increases in vibration away from the error sensors can occur. It is also shown that using a larger number of error sensors than actuators results in better global reduction of vibration but decreased local reduction. Overall, the study demonstrated that an analysis of actuator and sensor locations when feedforward control schemes are used is necessary to ensure that harmful increased vibrations do not occur at frequencies away from rotor-bearing natural frequencies or at points along the rotor not monitored by error sensors.

Study of thresholds to burning in surface grinding process

This work aims at finding out the threshold to burning in surface grinding process. Acoustic emission and electric power signals are acquired from an analog-digital converter and processed through algorithms in order to generate a control signal to inform the operator or interrupt the process in the case of burning occurrence. The thresholds that dictate the situation of burn and non-burn were studied as well as a comparison between the two parameters was carried out. In the experimental work one type of steel (ABNT-1045 annealed) and one type of grinding wheel referred to as TARGA model 3TG80.3-NV were employed. Copyright © 2005 by ABCM.

PID stabilization of a class of time delay systems

In this paper we use the Hermite-Biehler theorem to establish results for the design of proportional plus integral plus derivative (PID) controllers concerning a class of time delay systems. Using the property of interlacing at high frequencies of the class of systems considered and linear programming we obtain the set of all stabilizing PID controllers. © 2005 IEEE.

Active flutter suppression in a 2-D airfoil using linear matrix inequalities techniques

Flutter is an in-flight vibration of flexible structures caused by energy in the airstream absorbed by the lifting surface. This aeroelastic phenomenon is a problem of considerable interest in the aeronautic industry, because flutter is a potentially destructive instability resulting from an interaction between aerodynamic, inertial, and elastic forces. To overcome this effect, it is possible to use passive or active methodologies, but passive control adds mass to the structure and it is, therefore, undesirable. Thus, in this paper, the goal is to use linear matrix inequalities (LMIs) techniques to design an active state-feedback control to suppress flutter. Due to unmeasurable aerodynamic-lag states, one needs to use a dynamic observer. So, LMIs also were applied to design a state-estimator. The simulated model, consists of a classical flat plate in a two-dimensional flow. Two regulators were designed, the first one is a non-robust design for parametric variation and the second one is a robust control design, both designed by using LMIs. The parametric uncertainties are modeled through polytopic uncertainties. The paper concludes with numerical simulations for each controller. The open-loop and closed-loop responses are also compared and the results show the flutter suppression. The perfomance for both controllers are compared and discussed. Copyright © 2006 by ABCM.

Identification of structural damage in flexible structures using system norm and neural networks

Nowadays there is great interest in damage identification using non destructive tests. Predictive maintenance is one of the most important techniques that are based on analysis of vibrations and it consists basically of monitoring the condition of structures or machines. A complete procedure should be able to detect the damage, to foresee the probable time of occurrence and to diagnosis the type of fault in order to plan the maintenance operation in a convenient form and occasion. In practical problems, it is frequent the necessity of getting the solution of non linear equations. These processes have been studied for a long time due to its great utility. Among the methods, there are different approaches, as for instance numerical methods (classic), intelligent methods (artificial neural networks), evolutions methods (genetic algorithms), and others. The characterization of damages, for better agreement, can be classified by levels. A new one uses seven levels of classification: detect the existence of the damage; detect and locate the damage; detect, locate and quantify the damages; predict the equipment's working life; auto-diagnoses; control for auto structural repair; and system of simultaneous control and monitoring. The neural networks are computational models or systems for information processing that, in a general way, can be thought as a device black box that accepts an input and produces an output. Artificial neural nets (ANN) are based on the biological neural nets and possess habilities for identification of functions and classification of standards. In this paper a methodology for structural damages location is presented. This procedure can be divided on two phases. The first one uses norms of systems to localize the damage positions. The second one uses ANN to quantify the severity of the damage. The paper concludes with a numerical application in a beam like structure with five cases of structural damages with different levels of severities. The results show the applicability of the presented methodology. A great advantage is the possibility of to apply this approach for identification of simultaneous damages.

Mitigating systematic errors for single frequency GPS receivers employing a penalized least squares methodology

Among the positioning systems that compose GNSS (Global Navigation Satellite System), GPS has the capability of providing low, medium and high precision positioning data. However, GPS observables may be subject to many different types of errors. These systematic errors can degrade the accuracy of the positioning provided by GPS. These errors are mainly related to GPS satellite orbits, multipath, and atmospheric effects. In order to mitigate these errors, a semiparametric model and the penalized least squares technique were employed in this study. This is similar to changing the stochastical model, in which error functions are incorporated and the results are similar to those in which the functional model is changed instead. Using this method, it was shown that ambiguities and the estimation of station coordinates were more reliable and accurate than when employing a conventional least squares methodology.

A structure excited by a DC motor of limited power supply and controlled by a pendulum like device

In this paper, a mathematical model is derived via Lagrange's Equation for a shear building structure that acts as a foundation of a non-ideal direct current electric motor, controlled by a mass loose inside a circular carving. Non-ideal sources of vibrations of structures are those whose characteristics are coupled to the motion of the structure, not being a function of time only as in the ideal case. Thus, in this case, an additional equation of motion is written, related to the motor rotation, coupled to the equation describing the horizontal motion of the shear building. This kind of problem can lead to the so-called Sommerfeld effect: steady state frequencies of the motor will usually increase as more power (voltage) is given to it in a step-by-step fashion. When a resonance condition with the structure is reached, the better part of this energy is consumed to generate large amplitude vibrations of the foundation without sensible change of the motor frequency as before. If additional increase steps in voltage are made, one may reach a situation where the rotor will jump to higher rotation regimes, no steady states being stable in between. As a device of passive control of both large amplitude vibrations and the Sommerfeld effect, a scheme is proposed using a point mass free to bounce back and forth inside a circular carving in the suspended mass of the structure. Numerical simulations of the model are also presented Copyright © 2007 by ASME.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

A multiagent architecture for supervisory and control system

Supervising and controlling the many processes involved in petroleum production is both dangerous and complex. Herein, we propose a multiagent supervisory and control system for handle continuous processes like those in chemical and petroleum industries In its architeture, there are agents responsible for managing data production and analysis, and also the production equipments. Fuzzy controllers were used as control agents. The application of a fuzzy control system to managing an off-shore installation for petroleum production onto a submarine separation process is described. © 2008 IEEE.

Analysis of electric torque in single machine-infinite bus system using phase shifters

ResumoThe main idea of this work is based on the analysis of the electric torque through the acting of the PS in the power system, provided of a control for the compensation degree (PSC). A linear model of the single machine-infinite bus system is used with a PS installed (SMIB/PS system). The variable that represents the presence of PS in the net is associated to the phase displacement introduced in the terminal voltage of the synchronous machine by PS. For the input signals of the PSC are evaluated variations of the angular speed of the rotor, the current magnitude and the active power through the line where the PS is located. The simulations are accomplished to analyze the influence of the PS in the torque formation (synchronizing and damping), of the SMIB/PS system. The analysis are developed in the time and frequency domain.

Weight vector estimation of circular arrays of antennas using Artificial Neural Networks

This paper presents a model for the control of the radiation pattern of a circular array of antennas, shaping it to address the radiation beam in the direction of the user, in order to reduce the transmitted power and to attenuate interference. The control of the array is based on Artificial Neural Networks (ANN) of the type RBF (Radial Basis Functions), trained from samples generated by the Wiener equation. The obtained results suggest that the objective was reached.

Structural real time control using fluid magnetorheologic damper

In the last decades there was a great development in the study of control systems to attenuate the harmful effect of natural events in great structures, as buildings and bridges. Magnetorheological fluid (MR), that is an intelligent material, has been considered in many proposals of project for these controllers. This work presents the controller design using feedback of states through LMI (Linear Matrix Inequalities) approach. The experimental test were carried out in a structure with two degrees of freedom with a connected shock absorber MR. Experimental tests were realized in order to specify the features of this semi-active controller. In this case, there exist states that are not measurable, so the feedback of the states involves the project of an estimator. The coupling of the MR damper causes a variation in dynamics properties, so an identification methods, based on experimental input/output signal was used to compare with the numerical application. The identification method of Prediction Error Methods - (PEM) was used to find the physical characteristics of the system through realization in modal space of states. This proposal allows the project of a semi-active control, where the main characteristic is the possibility of the variation of the damping coefficient.

Delay time detection and accommodation for a networked DC motor control

This paper presents a control method that is effective to reduce the degenerative effects of delay time caused by a treacherous network. In present application a controlled DC motor is part of an inverted pendulum and provides the equilibrium of this system. The control of DC motor is accomplished at the distance through a treacherous network, which causes delay time in the control signal. A predictive technique is used so that it turns the system free of delay. A robust digital sliding mode controller is proposed to control the free-delay system. Due to the random conditions of the network operation, a delay time detection and accommodation strategy is also proposed. A computer simulation is shown to illustrate the design procedures and the effectiveness of the proposed method. © 2011 IEEE.