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Sökning: WAKA:ref > Chalmers tekniska högskola

  • Resultat 33581-33590 av 64491
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33581.
  • Lennartson, Bengt, 1956 (författare)
  • Multi-criteria Optimization of PD Controllers for Plants including Integral Action
  • 2018
  • Ingår i: IFAC-PapersOnLine. - : Elsevier BV. - 2405-8963. ; 51:4, s. 286-291
  • Konferensbidrag (refereegranskat)abstract
    • A simple design method for robust PD controllers is presented for systems including integral action. The design method is based on a multi-criteria optimal control formulation, which is easily solved by a few lines of MATLAB code. Most criteria are based on H∞measures, but since the focus is on reference signal tracking and not load disturbance compensation, the settling time is also included as a relevant performance measure. Since a PD controller is equivalent to a lead filter, the optimal PD controller is compared with ordinary text book design rules for lead filters. More specifically, it is shown that the common recommendation to place the mid frequency of the lead filter at the desired gain crossover frequency often gives bad servo performance. The suggested optimal solution, still including robustness and control activity adjustments, is on the other hand a simple and flexible design method for arbitrary plants including integral action.
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33582.
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33583.
  • Lennartson, Bengt, 1956, et al. (författare)
  • Numerical sensitivity of Linear Matrix Inequalities for shorter sampling periods
  • 2012
  • Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. - 9781467320641 ; :Article number 6425801, s. 4247-4252
  • Konferensbidrag (refereegranskat)abstract
    • The numerical sensitivity of Linear Matrix Inequalities (LMIs) arising in the H∞ norm computation in discrete time is analyzed. Rapid sampling scenarios are examined comparing both shift and delta operator formulations of the equations. The shift operator formulation is shown in general to be arbitrarily poorly conditioned as the sampling rate increases. The delta operator formulation includes both recentering (to avoid cancellation problems) and rescaling, and avoids these difficulties. However, it is also shown that rescaling of the shift operator formulation gives substantial improvements in numerical conditioning, whilst recentering is of more limited benefit.
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33584.
  • Lennartson, Bengt, 1956, et al. (författare)
  • Numerical Sensitivity of Linear Matrix Inequalities Using Shift and Delta Operators
  • 2012
  • Ingår i: IEEE Transactions on Automatic Control. - 0018-9286 .- 1558-2523. ; 57:11, s. 2873-2879
  • Tidskriftsartikel (refereegranskat)abstract
    • The numerical sensitivity of linear matrix inequalities (LMIs) arising from discrete-time control with short sampling periods is analyzed using shift and delta operators. The delta operator avoids cancellation problems for short sampling periods, and it includes a system scaling proportional to the inverse of the sampling period. The numerical sensitivity of both these mechanisms is investigated analytically, and verified by numerical examples. The conclusion is that the scaling procedure is (somewhat surprisingly) much more essential for shorter sampling periods than avoiding the cancellation problem.
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33585.
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33586.
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33587.
  • Lennartson, Bengt, 1956, et al. (författare)
  • Optimal anti-aliasing filter based on multi criteria sampled-data ∞ control
  • 2015
  • Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 0743-1546 .- 2576-2370. ; 2015-February, s. 4348-4354
  • Konferensbidrag (refereegranskat)abstract
    • A systematic evaluation procedure is presented and applied to generate optimal anti-aliasing filters. It is based on multi criteria ∞ optimization, where sampled-data measures are introduced to capture the intersample behavior. The optimization scheme is based on linear matrix inequalities (LMIs) formulated in the delta operator, and the result is a low order controller of PID type. Both low frequency performance, mid frequency stability margins and high frequency control activity are taken into account. A detailed investigation shows that a new simple rule for design of anti-aliasing filters gives nearly optimal closed loop performance for a number of representative plant models.
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33588.
  • Lennartson, Bengt, 1956, et al. (författare)
  • Optimization of hybrid Petri nets with shared variables
  • 2015
  • Ingår i: IEEE International Conference on Automation Science and Engineering. - 2161-8070 .- 2161-8089. - 9781467381833 ; 2015-October, s. 1395-1396
  • Konferensbidrag (refereegranskat)abstract
    • A generalized modeling framework for hybrid systems, including both discrete event and continuous-time dynamics, is presented in this paper. It is based on a new type of hybrid Petri nets, involving both modular structures, discrete shared variables and flexible transition predicates. The continuous-time dynamics is given by local differential equations, in a style similar to hybrid automata. This can be compared with existing hybrid Petri nets, where also the continuous-time dynamics is represented graphically, but then in reality limiting the continuous-time behavior to simple flow processes. The hybrid Petri net proposed in this paper works well for any type of continuous-time dynamics, including even differential inclusions, and the result is a compact, flexible and readable mix of graphical and equation based representations. The proposed modeling framework is also applied to a physical robot cell, where the energy consumption of the robot motions is minimized based on a hybrid Petri net model, easily transformed to a mixed integer nonlinear programming problem. The resulting optimization procedure is shown to reduce the energy consumption of the real robot cell by approximately 50%.
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33589.
  • Lennartson, Bengt, 1956 (författare)
  • Optimization of Timed Petri Nets using CP-SAT
  • 2024
  • Ingår i: IFAC Proceedings Volumes (IFAC-PapersOnline). - 1474-6670. ; 58:1, s. 90-95
  • Konferensbidrag (refereegranskat)abstract
    • An optimization formulation is presented for timed Petri nets, based on a recently developed optimization solver where a satisfiability solver is integrated with constraint programming. The solver, called CP-SAT, is a part of Google's OR-Tools. The first optimization formulation includes an arbitrary number of concurrent sequences of operations, with shared, alternative, and local resources. A benchmark shows how much faster CP-SAT is compared to both an alternative SAT optimization solver and an A∗implementation. The optimization formulation is then generalized to mixed alternative and concurrent sequences. A comparison with a recent MILP formulation for timed Petri nets is presented, showing the strength of the proposed optimization formulation. Finally, an evaluation of an industrial-sized flexible manufacturing system, including uncontrollable events, demonstrates how efficient and easy to implement the proposed strategy is compared to existing results.
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33590.
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