Optimization of Controller Parameters for Energy Saving

Among various technologies to tackle the twin challenges of sustainable energy supply and climate change, energy saving through advanced control plays a crucial role in decarbonizing the whole energy system. Modern control technologies, such as optimal control and model predictive control do provide a framework to simultaneously regulate the system performance and limit control energy. However, few have been done so far to exploit the full potential of controller design in reducing the energy consumption while maintaining desirable system performance. This paper investigates the correlations between control energy consumption and system performance using two popular control approaches widely used in the industry, namely the PI control and subspace model predictive control. Our investigation shows that the controller design is a delicate synthesis procedure in achieving better trade-o between system performance and energy saving, and proper choice of values for the control parameters may potentially save a significant amount of energy

A greenhouse climate multivariable predictive controller

A multivariable predictive controller was implemented to regulate the air temperature, humidity and CO2 concentration for a greenhouse located in the north of Portugal. The controller outputs are computed in order to optimise the future behaviour of the greenhouse environment, concerning the set-point accuracy and the minimization of energy inputs.

A neural network controller

Proportional, Integral and Derivative (PID) regulators are standard building blocks for industrial automation. The popularity of these regulators comes from their rebust performance in a wide range of operating conditions, and also from their functional simplicity, which makes them suitable for manual tuning.

A new formulation of the learning problem for a neural network controller

In this paper we consider the learning problem for a class of multilayer perceptrons which is practically relevant in control systems applications. By reformulating this problem, a new criterion is developed, which reduces the number of iterations required for the learning phase.

A scalable and open source linear positioning system controller

This paper is on the implementation of a dual axis positioning system controller. The system was designed to be used for space-dependent ultrasound signal acquisition problems, such as pressure field mapping. The work developed can be grouped in two main subjects: hardware and software. Each axis includes one stepper motor connected to a driver circuit, which is then connected to a processing unit. The graphical user interface is simple and clear for the user. The system resolution was computed as 127 mu m with an accuracy of 2.44 mu m. Although the target application is ultrasound signal acquisition, the controller can be applied to other devices that has up to four stepper motors. The application was developed as an open source software, thus it can be used or changed to fit different purposes.

A psychosocial approach to understanding pilot and controller acceptance of change in ATM, based on three CDA case studies

Next generation ATM systems cannot be implemented in a technological vacuum. The further ahead we look, the greater the likely impact of societal factors on such changes, and how they are prioritised and promoted. The equitable sustainability of travel behaviour is rising on the political agenda in Europe in an unprecedented manner. This paper examines pilot and controller attitudes towards Continuous Descent Approaches (CDAs). It aims to promote a better understanding of acceptance of change in ATM. The focus is on the psychosocial context and the relationships between perceived societal and system benefits. Behavioural change appeared more correlated with such benefit perceptions in the case of the pilots. For the first time in the study of ATM implementation, and acceptance of change, this paper incorporates the Seven Stages of Change model, based on the constructs of the Theory of Planned Behaviour. It employs a principal components (factor) analysis, and further explores the intercorrelations of benefit perceptions, known in psychology as the ‘halo effect’. Disbenefit perceptions may break down this effect, it appears. For implementers of change, this evidence suggests an approach in terms of reinforcing the dominant benefit(s) perceived, for sub-groups within which a halo effect is evident. In the absence of such an effect, perceived disbenefits, such as with respect to workload and capacity, should be off-set against specific, perceived benefits of the change, as far as possible. This methodology could be equally applied to other stakeholders, from strategic planners to the public. The set of three case studies will be extended beyond CDA trials. A set of concise guidelines will be published with a strong focus on practical advice, in addition to continued work enabling a better understanding of the expected, increasing psychosocial contributions to successful and unsuccessful efforts at ATM innovation and change.

Network air gap controller

As ameaças à segurança da informação, (INFOSEC) atentam contra a perda da respectiva confidencialidade, integridade e disponibilidade, pelo que as organizações são impelidas a implementar políticas de segurança, quer ao nível físico quer ao nível lógico, utilizando mecanismos específicos de defesa. O projecto Network Air Gap Controller (NAGC) foi concebido no sentido de contribuir para as questões da segurança, designadamente daquelas que se relacionam directamente com a transferência de informação entre redes de classificação de segurança diferenciadas ou de sensibilidades distintas, sem requisitos de comunicação em tempo real, e que mereçam um maior empenho nas condições de robustez, de disponibilidade e de controlo. Os organismos que, em razão das atribuições e competências cometidas, necessitam de fazer fluir informação entre este tipo de redes, são por vezes obrigados a realizar a transferência de dados com recurso a um processo manual, efectuado pelo homem e não pela máquina, que envolve dispositivos amovivéis, como sejam o CD, DVD, PEN, discos externos ou switches manuais. Neste processo, vulgarmente designado por Network Air Gap (NAG), o responsável pela transferência de dados deverá assumir de forma infalível, como atribuições intrínsecas e inalienáveis da função exercida, as garantias do cumprimento de um vasto conjunto de normas regulamentares. As regras estabelecidas desdobram-se em ferramentas e procedimentos que se destinam, por exemplo, à guarda em arquivo de todas as transferências efectuadas; à utilização de ferramentas de segurança (ex: antivírus) antes da colocação da informação na rede de classificação mais elevada; ao não consentimento de transferência de determinados tipos de ficheiro (ex: executáveis) e à garantia de que, em consonância com a autonomia que normalmente é delegada no elemento responsável pela operação das comunicações, apenas se efectuam transferências de informação no sentido da rede de classificação inferior para a rede de classificação mais elevada. Face ao valor da informação e do impacto na imagem deste tipo de organizações, o operador de comunicações que não cumpra escrupulosamente o determinado é inexoravelmente afastado dessas funções, sendo que o processo de apuramento de responsabilidades nem sempre poderá determinar de forma inequívoca se as razões apontam para um acto deliberado ou para factores não intencionais, como a inépcia, o descuido ou a fadiga. Na realidade, as actividades periódicas e rotineiras, tornam o homem propenso à falha e poderão ser incontornavelmente asseguradas, sem qualquer tipo de constrangimentos ou diminuição de garantias, por soluções tecnológicas, desde que devidamente parametrizadas, adaptadas, testadas e amadurecidas, libertando os recursos humanos para tarefas de manutenção, gestão, controlo e inspecção. Acresce que, para este tipo de organizações, onde se multiplicam o número de redes de entrada de informação, com diferentes classificações e actores distintos, e com destinatários específicos, a utilização deste tipo de mecanismos assume uma importância capital. Devido a este factor multiplicativo, impõe-se que o NAGC represente uma opção válida em termos de oferta tecnológica, designadamente para uma gama de produtos de baixíssimo custo e que possa desenvolver-se por camadas de contributo complementar, em função das reais necessidades de cada cenário.

The utilization bound of non-preemptive rate-monotonic scheduling in controller area networks is 25%

Consider a distributed computer system comprising many computer nodes, each interconnected with a controller area network (CAN) bus. We prove that if priorities to message streams are assigned using rate-monotonic (RM) and if the requested capacity of the CAN bus does not exceed 25% then all deadlines are met.

Board-level prototype validation: a built-in controller and extended BST architecture

Prototype validation is a major concern in modern electronic product design and development. Simulation, structural test, functional and timing debug are all forming parts of the validation process, although very often addressed as dissociated tasks. In this paper we describe an integrated approach to board-level prototype validation, based on a set of mandatory/optional BST instructions and a built-in controller for debug and test, that addresses the late mentioned tasks as inherent parts of a whole process

Controller implementation using analog reconfigurable hardware (FPAA)

This Thesis has the main target to make a research about FPAA/dpASPs devices and technologies applied to control systems. These devices provide easy way to emulate analog circuits that can be reconfigurable by programming tools from manufactures and in case of dpASPs are able to be dynamically reconfigurable on the fly. It is described different kinds of technologies commercially available and also academic projects from researcher groups. These technologies are very recent and are in ramp up development to achieve a level of flexibility and integration to penetrate more easily the market. As occurs with CPLD/FPGAs, the FPAA/dpASPs technologies have the target to increase the productivity, reducing the development time and make easier future hardware reconfigurations reducing the costs. FPAA/dpAsps still have some limitations comparing with the classic analog circuits due to lower working frequencies and emulation of complex circuits that require more components inside the integrated circuit. However, they have great advantages in sensor signal condition, filter circuits and control systems. This thesis focuses practical implementations of these technologies to control system PID controllers. The result of the experiments confirms the efficacy of FPAA/dpASPs on signal condition and control systems.

Design and Development of a Remotely Operated Underwater Multi-Robot Manipulator Controller

For the scientific and commercial utilization of Ocean resources, the role of intelligent underwater robotic systems are of great importance. Scientific activities like Marine Bio-technology, Hydrographic mapping, and commercial applications like Marine mining, Ocean energy, fishing, aquaculture, cable laying and pipe lining are a few utilization of ocean resources. As most of the deep undersea exploration are beyond the reachability of divers and also as the use of operator controlled and teleoperated Remotely Operated Vehicles (ROVs) and Diver Transport Vehicles (DTVs) turn out to be highly inefficient, it is essential to have a fully automated system capable providing stable control and communication links for the unstructured undersea environment.

Designing a Robust Pitch Angle Controller for a 2‐Motor‐Pitch‐System in a Large Wind Turbine

Für große Windenergieanlagen werden neue Pitchregler wie Einzelblattregler oder Turmdämpfungsregler entwickelt. Während diese neuen Pitchregler die Elemente der Windenergieanlagen entlasten, wird das Pitchantriebssystem stärker belastet. Die Pitchantriebe müssen weitaus häufiger bei höherer Amplitude arbeiten. Um die neuen Pitchregler nutzen zu können, muss zunächst das Problem der Materialermüdung der Pitchantriebssysteme gelöst werden. Das Getriebespiel in Getrieben und zwischen Ritzeln und dem Zahnkranz erhöht die Materialermüdung in den Pitchantriebssystemen. In dieser Studie werden als Lösung zwei Pitchantriebe pro Blatt vorgeschlagen. Die beiden Pitchantriebe erzeugen eine Spannung auf dem Pitchantriebssystem und kompensieren das Getriebespiel. Drehmomentspitzen, die eine Materialermüdung verursachen, treten bei diesem System mit zwei Pitchmotoren nicht mehr auf. Ein Reglerausgang wird via Drehmomentverteiler auf die beiden Pitchantriebe übertragen. Es werden mehrere Methoden verglichen und der leistungsfähigste Drehmomentverteiler ausgewählt. Während die Pitchantriebe in Bewegung sind, ändert sich die Spannung auf den Getrieben. Die neuen Pitchregler verstellen den Pitchwinkel in einer sinusförmigen Welle. Der Profilgenerator, der derzeit als Pitchwinkelregler verwendet wird, kann eine Phasenverzögerung im sinusförmigen Pitchwinkel verursachen. Zusätzlich erzeugen große Windenergieanlagen eine hohe Last, die sich störend auf die Pitchbewegung auswirkt. Änderungen der viskosen Reibung und Nichtlinearität der Gleitreibung bzw. Coulombsche Reibung des Pitchregelsystems erschweren zudem die Entwicklung eines Pitchwinkelreglers. Es werden zwei robuste Regler (H∞ und μ–synthesis ) vorgestellt und mit zwei herkömmlichen Reglern (PD und Kaskadenregler) verglichen. Zur Erprobung des Pitchantriebssystems und des Pitchwinkelreglers wird eine Prüfanordnung verwendet. Da der Kranz nicht mit einem Positionssensor ausgestattet ist, wird ein Überwachungselement entwickelt, das die Kranzposition meldet. Neben den beiden Pitchantrieben sind zwei Lastmotoren mit dem Kranz verbunden. Über die beiden Lastmotoren wird das Drehmoment um die Pitchachse einer Windenergieanlage simuliert. Das Drehmoment um die Pitchachse setzt sich zusammen aus Schwerkraft, aerodynamischer Kraft, zentrifugaler Belastung, Reibung aufgrund des Kippmoments und der Beschleunigung bzw. Verzögerung des Rotorblatts. Das Blatt wird als Zweimassenschwinger modelliert. Große Windenergieanlagen und neue Pitchregler für die Anlagen erfordern ein neues Pitchantriebssystem. Als Hardware-Lösung bieten sich zwei Pitchantriebe an mit einem robusten Regler als Software.

Site Controller: A System for Computer-Aided Civil Engineering and Construction

A revolution\0\0\0 in earthmoving, a $100 billion industry, can be achieved with three components: the GPS location system, sensors and computers in bulldozers, and SITE CONTROLLER, a central computer system that maintains design data and directs operations. The first two components are widely available; I built SITE CONTROLLER to complete the triangle and describe it here. SITE CONTROLLER assists civil engineers in the design, estimation, and construction of earthworks, including hazardous waste site remediation. The core of SITE CONTROLLER is a site modelling system that represents existing and prospective terrain shapes, roads, hydrology, etc. Around this core are analysis, simulation, and vehicle control tools. Integrating these modules into one program enables civil engineers and contractors to use a single interface and database throughout the life of a project.

Geometric Structure of the Adaptive Controller of the Human Arm

The objects with which the hand interacts with may significantly change the dynamics of the arm. How does the brain adapt control of arm movements to this new dynamic? We show that adaptation is via composition of a model of the task's dynamics. By exploring generalization capabilities of this adaptation we infer some of the properties of the computational elements with which the brain formed this model: the elements have broad receptive fields and encode the learned dynamics as a map structured in an intrinsic coordinate system closely related to the geometry of the skeletomusculature. The low--level nature of these elements suggests that they may represent asset of primitives with which a movement is represented in the CNS.