Nonautonomous elementary net systems and their application to programmable logic control

In this paper, a novel approach to Petri net modeling of programmable logic controller (PLC) programs is presented. The modeling approach is a simple extension of elementary net systems, and a graphical design tool that supports the use of this modeling approach is provided. A key characteristic of the model is that the binary sensory inputs and binary actuation outputs of the PLC are explicitly represented. This leads to the following two improvements: outputs are unambiguous, and interaction patterns are more clearly represented in the graphical form. The use of this modeling approach produces programs that are simple, lightweight, and portable. The approach is demonstrated by applying it to the development of a control module for a MonTech Positioning Station. © 2008 IEEE.

Modelling and predictive control: Enabling technologies for reconfiguration

An approach to reconfiguring control systems in the event of major failures is advocated. The approach relies on the convergence of several technologies which are currently emerging: Constrained predictive control, High-fidelity modelling of complex systems, Fault detection and identification, and Model approximation and simplification. Much work is needed, both theoretical and algorithmic, to make this approach practical, but we believe that there is enough evidence, especially from existing industrial practice, for the scheme to be considered realistic. After outlining the problem and proposed solution, the paper briefly reviews constrained predictive control and object-oriented modelling, which are the essential ingredients for practical implementation. The prospects for automatic model simplification are also reviewed briefly. The paper emphasizes some emerging trends in industrial practice, especially as regards modelling and control of complex systems. Examples from process control and flight control are used to illustrate some of the ideas.

Modelling of equipment loaded panels for robust control investigations

This paper develops a modelling technique for equipment load panels which directly produces (adequate) models of the underlying dynamics on which to base robust controller design/evaluations. This technique is based on the use of the Lagrange's equations of motion and the resulting models are verified against those produced by a finite Element Method Model.

Active roll control of an experimental articulated vehicle

A new experimental articulated vehicle with computer-controlled suspensions is used to investigate the benefits of active roll control for heavy vehicles. The mechanical hardware, the instrumentation, and the distributed control architecture are detailed. A simple roll-plane model is developed and validated against experimental data, and used to design a controller based on lateral acceleration feedback. The controller is implemented and tested on the experimental vehicle. By tilting both the tractor drive axle and the trailer inwards, substantial reductions in normalized lateral load transfer are obtained, both in steady state and transient conditions. Power requirements are also considered. © IMechE 2005.

Micro-vortex generator flow control for supersonic engine inlets

To investigate the flow control potential of micro-vortex generators for supersonic mixed-compression inlets, a basic model experiment has been designed which combines a normal shock wave with a subsonic diffuser. The diffuser is formed by a simple expansion corner, with a divergence angle of 6 degrees. The diffuser entry Mach numbers were M=1.3 and M=1.5 and a number of shock locations relative to the corner position were tested. Flow control was applied in the form of counter-rotating micro-vanes with heights of approximately 20% of boundary layer thickness. Furthermore, corner fences where employed to reduce sidewall effects. It was found that micro-vortex generators were able to significantly reduce the extent of flow separation under all conditions, but could not eliminate it altogether. Corner fences also demonstrated potential for improving the flow in rectangular cross section channels and the combination of corner fences with micro-vortex generators was found to give the greatest benefits. At M=1.3 the combination of corner fences and micro-vanes placed close to the diffuser entry could prevent separation for a wide range of conditions. At the higher diffuser entry Mach number the benefits of flow control were less significant although a reduction of separation size and an improved pressure recovery was observed. It is thought that micro-vortex generators can have significant flow control potential if they are placed close to the expected separation onset and when the adverse pressure gradient is not too far above the incipient separation level. The significant beneficial effects of corner fences warrant a more comprehensive further investigation. It is thought that the control methods suggested here are capable of reducing the bleed requirement on an inlet, which could provide significant performance advantages.

Risk-sensitive optimal feedback control accounts for sensorimotor behavior under uncertainty

Many aspects of human motor behavior can be understood using optimality principles such as optimal feedback control. However, these proposed optimal control models are risk-neutral; that is, they are indifferent to the variability of the movement cost. Here, we propose the use of a risk-sensitive optimal controller that incorporates movement cost variance either as an added cost (risk-averse controller) or as an added value (risk-seeking controller) to model human motor behavior in the face of uncertainty. We use a sensorimotor task to test the hypothesis that subjects are risk-sensitive. Subjects controlled a virtual ball undergoing Brownian motion towards a target. Subjects were required to minimize an explicit cost, in points, that was a combination of the final positional error of the ball and the integrated control cost. By testing subjects on different levels of Brownian motion noise and relative weighting of the position and control cost, we could distinguish between risk-sensitive and risk-neutral control. We show that subjects change their movement strategy pessimistically in the face of increased uncertainty in accord with the predictions of a risk-averse optimal controller. Our results suggest that risk-sensitivity is a fundamental attribute that needs to be incorporated into optimal feedback control models. © 2010 Nagengast et al.

Model based learning of sigma points in unscented Kalman filtering

The unscented Kalman filter (UKF) is a widely used method in control and time series applications. The UKF suffers from arbitrary parameters necessary for a step known as sigma point placement, causing it to perform poorly in nonlinear problems. We show how to treat sigma point placement in a UKF as a learning problem in a model based view. We demonstrate that learning to place the sigma points correctly from data can make sigma point collapse much less likely. Learning can result in a significant increase in predictive performance over default settings of the parameters in the UKF and other filters designed to avoid the problems of the UKF, such as the GP-ADF. At the same time, we maintain a lower computational complexity than the other methods. We call our method UKF-L. ©2010 IEEE.

Diesel Cylinder Charge Properties: Feed-Forward Control and Cycle-by-Cycle Analysis Using an In-Cylinder Gas Sampling System

Common-rail fuel injection systems on modern light duty diesel engines are effectively able to respond instantaneously to changes in the demanded injection quantity. In contrast, the air-system is subject to significantly slower dynamics, primarily due to filling/emptying effects in the manifolds and turbocharger inertia. The behaviour of the air-path in a diesel engine is therefore the main limiting factor in terms of engine-out emissions during transient operation. This paper presents a simple mean-value model for the air-path during throttled operation, which is used to design a feed-forward controller that delivers very rapid changes in the in-cylinder charge properties. The feed-forward control action is validated using a state-of-the-art sampling system that allows true cycle-by-cycle measurement of the in-cylinder CO2 concentration. © 2011 SAE International.

Flow of wet powder in a conical centrifugal filter-an analytical model

A one-dimensional analytical model is developed for the steady state, axisymmetric, slender flow of saturated powder in a rotating perforated cone. Both the powder and the fluid spin with the cone with negligible slip in the hoop direction. They migrate up the wall of the cone along a generator under centrifugal force, which also forces the fluid out of the cone through the powder layer and the porous wall. The flow thus evolves from an over-saturated paste at inlet into a nearly dry powder at outlet. The powder is treated as a Mohr-Coulomb granular solid of constant void fraction and permeability. The shear traction at the wall is assumed to be velocity and pressure dependent. The fluid is treated as Newtonian viscous. The model provides the position of the colour line (the transition from over- to under-saturation) and the flow velocity and thickness profiles over the cone. Surface tension effects are assumed negligible compared to the centrifugal acceleration. Two alternative conditions are considered for the flow structure at inlet: fully settled powder at inlet, and progressive settling of an initially homogeneous slurry. The position of the colour line is found to be similar for these two cases over a wide range of operating conditions. Dominant dimensionless groups are identified which control the position of the colour line in a continuous conical centrifuge. Experimental observations of centrifuges used in the sugar industry provide preliminary validation of the model. © 2011 Elsevier Ltd.

Impedance control is tuned to multiple directions of movement

Humans are able to learn tool-handling tasks, such as carving, demonstrating their competency to make and vary the direction of movements in unstable environments. It has been shown that when a single reaching movement is repeated in unstable dynamics, the central nervous system (CNS) learns an impedance internal model to compensate for the environment instability. However, there is still no explanation for how humans can learn to move in various directions in such environments. In this study, we investigated whether and how humans compensate for instability while learning two different reaching movements simultaneously. Results show that when performing movements in two different directions, separated by a 35° angle, the CNS was able to compensate for the unstable dynamics. After adaptation, the force was found to be similar to the free movement condition, but stiffness increased in the direction of instability, specifically for each direction of movement. Our findings suggest that the CNS either learned an internal model generalizing over different movements, or alternatively that it was able to switch between specific models acquired simultaneously. © 2008 IEEE.

The computer simulation of primate (Macaca mulatta) spatial visual delayed response and cerebral prefrontal control function

Cerebral prefrontal function is one of the important aspects in neurobiology. Based on the experimental results of neuroanatomy, neurophysiology, behavioral sciences, and the principles of cybernetics and information theory after constructed a simple model simulating prefrontal control function, this paper simulated the behavior of Macaca mulatta completing delayed tasks both before and after its cerebral prefrontal cortex being damaged. The results indicated that there is an obvious difference in the capacity of completing delayed response tasks for the normal monkeys and those of prefrontal cortex cut away. The results are agreement with experiments. The authors suggest that the factors of affecting complete delayed response tasks might be in information keeping and extracting of memory including information storing, keeping and extracting procedures rather than in information storing process.

Applying quality control in building energy modelling: Comparative simulation of a high performance building

Quality control is considered from the simulator's perspective through comparative simulation of an ultra energy-efficient building with EE4-DOE2.1E and EnergyPlus. The University of Calgary's Leadership in Energy and Environmental Design Platinum Child Development Centre, with a 66% certified energy cost reduction rating, was the case study building. A Natural Resources Canada incentive program required use of EE4 interface with DOE2.1E simulation engine for energy modelling. As DOE2.1E lacks specific features to simulate advanced systems such as radiant cooling in the CDC, an EnergyPlus model was developed to further evaluate these features. The EE4-DOE2.1E model was used for quality control during development of the base EnergyPlus model and simulation results were compared. Advanced energy systems then added to the EnergyPlus model generated small difference in estimated total annual energy use. The comparative simulation process helped identify the main input errors in the draft EnergyPlus model. The comparative use of less complex simulation programs is recommended for quality control when producing more complex models. © 2009 International Building Performance Simulation Association (IBPSA).

Thermal energy minimisation in papermaking via MD control approach

This paper reports the application of Advanced Process Control (APC) techniques for improving the thermal energy efficiency of a paperboard-making process by regulating the Machine Direction (MD) profile of the basis weight and moisture content of the paper-board. A Model Predictive Controller (MPC) is designed so that the sheet moisture and basis weight tracking errors along with variations of the sheet moisture and basis weight are reduced. Also, the drainage is maximised through improved wet-end stability which can facilitate driving the sheet moisture set-point closer to its upper specification limit over time. It is shown that the proposed strategy can result in reducing steam usage by 8-10%. A simulation study based on a UK board machine is presented to show the effectiveness of the proposed technique. © 2011 Intl Journal of Adv Mechatr.

Network structure preserving model reduction with weak a priori structural information

This paper extends a state projection method for structure preserving model reduction to situations where only a weaker notion of system structure is available. This weaker notion of structure, identifying the causal relationship between manifest variables of the system, is especially relevant is settings such as systems biology, where a clear partition of state variables into distinct subsystems may be unknown, or not even exist. The resulting technique, like similar approaches, does not provide theoretical performance guarantees, so an extensive computational study is conducted, and it is observed to work fairly well in practice. Moreover, conditions characterizing structurally minimal realizations and sufficient conditions characterizing edge loss resulting from the reduction process, are presented. ©2009 IEEE.

The Brushless Doubly-Fed Machine vector model in the rotor flux oriented reference frame

The paper presents the vector model of the Brushless Doubly-Fed Machine (BDFM) in the rotor flux oriented reference frame. The rotor flux oriented reference frame is well known in the standard AC machines analysis and control. Similar benefits can be sought by employing this method for the BDFM The vector model is implemented in MATLAB/SIVIULINK to simulate the BDFM dynamic performance under different operating conditions. The predictions from the vector model are compared to those from the coupled circuit model in simulation. The results are shown for the cascade mode of operation. © 2008 IEEE.