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Träfflista för sökning "WFRF:(Aranovskiy Stanislav) "

Sökning: WFRF:(Aranovskiy Stanislav)

  • Resultat 1-10 av 13
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1.
  • Aranovskiy, Stanislav (författare)
  • Adaptive Attenuation of Disturbance Formed as a Sum of Sinusoidal Signals Applied to a Benchmark Problem
  • 2013
  • Ingår i: 2013 EUROPEAN CONTROL CONFERENCE (ECC). - NEW YORK : IEEE. - 9783033039629 ; , s. 2879-2884
  • Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
    • The problem of adaptive attenuation of a disturbance formed as a finite sum of unknown sinusoidal signals is solved for a discrete-time plant with unstable zeros. It is assumed that a reliable model of the plant is known and the system is internally stable. We propose to construct a control signal as a linear combination of outputs of carefully chosen filters. The coefficients of the combination are tuned via an on-line identification based on the plant model. However, our approach avoids constructing an inverse of the plant model. The technique is applied to a case study on a challenging benchmark example in the field of active vibration control. Attenuation of a disturbance formed as a sum of up to three unknown/time-varying sinusoidal signals is demonstrated via simulation and experimental studies.
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2.
  • Aranovskiy, Stanislav, et al. (författare)
  • Adaptive compensation of disturbances formed as sums of sinusoidal signals with application to an active vibration control benchmark
  • 2013
  • Ingår i: European Journal of Control. - : Elsevier BV. - 0947-3580 .- 1435-5671. ; 19:4, s. 253-265
  • Tidskriftsartikel (refereegranskat)abstract
    • An intuitive solution for the problem of adaptive attenuation of a disturbance formed as a finite sum of unknown sinusoidal signals is proposed for an internally stable discrete-time plant. The compensator is formed as a weighted sum of stable filters. An identification-based procedure for adaptive tuning of the coefficients is proposed for the case of unknown disturbance. We also propose a time-invariant compensator that provides perfect attenuation of a disturbance for the case when a model identification error is sufficiently small and disturbance frequencies are known. The technique is applied to a case study on a challenging benchmark example in the field of active vibration control. Attenuation of a disturbance formed as a sum of up to three sinusoidal signals with unknown/time-varying frequencies is demonstrated via simulation and experimental studies. (C) 2013 European Control Association. Published by Elsevier Ltd. All rights reserved.
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3.
  • Aranovskiy, Stanislav, et al. (författare)
  • Control of a single-link mobile hydraulic actuator with a pressure compensator
  • 2014
  • Ingår i: 2014 IEEE Conference on Control Applications (CCA). - 9781479974092 ; , s. 216-221
  • Konferensbidrag (refereegranskat)abstract
    • A problem of position control of a single-link hydraulic drive, including model uncertainties and disturbances, is studied. Main properties of mobile hydraulic systems are taking into account, namely a nonlinearity of a valve and a pressure compensator. A discontinuous control law coupled with a static nonlinearity inversion and a feed-forward term of velocity is proposed. Besides, a novel model with pressure compensator is presented and the closed-loop stability analysis is provided. Results of experiments carried out on a forestry crane confirm the efficacy of the proposed approach.
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4.
  • Aranovskiy, Stanislav (författare)
  • Modeling and identification of spool dynamics in an industrial electro-hydraulic valve
  • 2013
  • Ingår i: Mediterr. Conf. Control Autom., MED - Conf. Proc.. - 9781479909957 ; , s. 82-87
  • Konferensbidrag (refereegranskat)abstract
    • Approximate models of spool dynamics are proposed to deal with dynamic delays observed for an industrial electro-hydraulic valve. The suggested model consists of a linear block and two static nonlinearities. A method for identification of parameters is suggested that allows to deal with a case when only pressure in a hydraulic cylinder is measured but not the displacement of the spool. The approach is verified experimentally.
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5.
  • Aranovskiy, Stanislav, et al. (författare)
  • Position control of an industrial hydraulic system with a pressure compensator
  • 2014
  • Ingår i: Proceedings of the 2014 22nd Mediterranean Conference of Control and Automation (MED 2014). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781479959006 - 9781479959013 ; , s. 1329-1334
  • Konferensbidrag (refereegranskat)abstract
    • A problem of position control of a forestry crane is studied. Several features of industrial hydraulic systems are pointed out, namely a nonlinearity of a valve and a pressure compensator. A novel model of a hydraulic system with the pressure compensator is presented and analyzed, a static nonlinearity inversion and a velocity feedforward control term are introduced. Real-time experiments with controllers which use only position measurements illustrate utility of these terms.
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7.
  • Bobtsov, A. A., et al. (författare)
  • The new algorithm of sinusoidal signal frequency estimation
  • 2013
  • Ingår i: Adaptation and Learning in Control and Signal Processing. - 9783902823373 ; , s. 182-186
  • Konferensbidrag (refereegranskat)abstract
    • In this paper we consider the new estimation algorithm of the measured sinusoidal signal frequency. Unlike most of known similar methods, the proposed algorithm provides the opportunity of partial rejection of unaccounted disturbances presenting in the channel of useful signal measurement. The latter in its turn allows obtaining more accurate estimation of unknown frequency of the measured sinusoidal signal.
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8.
  • Ong, Iyung, et al. (författare)
  • Case study on non-ideal current tracking in amplifiers for voltage-driven manipulators
  • 2014
  • Ingår i: The 14th Mechatronics Forum International Conference Karlstad, Sweden. June 16-18, 2014. - : Karlstads University.
  • Konferensbidrag (refereegranskat)abstract
    • We consider here a practical issue of using power amplifiers in torque-control mode for robotics applications. Specifically, we bring up the problem that may be caused by internal high-gain current control loops combined with limitations due to impossibility to provide an infinite voltage supply. The issue can be observed on a simple example of a tracking failure on a single link manipulator with a major gravity disturbance. The armature current does not track a reference within an admissible working region due to a voltage saturation in an amplifier: Such a behavior can be reproduced and predicted by our model, which can be used for a more intelligent motion planning and more precise motion control.
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9.
  • Vázquez, Carlos, et al. (författare)
  • Input nonlinearity compensation and chattering reduction in a mobile hydraulic forestry crane
  • 2016
  • Ingår i: Elektrotechnik und Informationstechnik. - : Springer. - 0932-383X. ; 133:6, s. 248-252
  • Tidskriftsartikel (refereegranskat)abstract
    • We present a sliding-mode-based control design for a telescopic link of a mobile-hydraulic forestry crane under bounded modeling uncertainties and external disturbances. Mobile hydraulic systems are typically subject to strong perturbation conditions and the design of resilient control solutions is an important challenge. Furthermore, nonlinear phenomena primarily, characterized by easily excited oscillations, an input nonlinearity, and friction, are dominating the dynamics. The proposed control scheme takes advantage of an input-nonlinearity compensation in order to overcome these problems and includes the formulation of a sliding-mode-control-based design. Two strategies for chattering attenuation are examined aimed at improving the controller performance. Experimental results performed over an industrial setup, including a comparison with a PID controller, confirm the efficacy of the proposed methodology.
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10.
  • Vazquez, Carlos, et al. (författare)
  • Second Order Sliding Mode Control of a Mobile Hydraulic Crane
  • 2014
  • Ingår i: 2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC). - 9781467360906 ; , s. 5530-5535
  • Konferensbidrag (refereegranskat)abstract
    • A second order sliding mode control design for a mobile hydraulic system, including bounded model uncertainties and external disturbances, is the subject of study. The proposed algorithm provides a continuous control signal, achieving good performance and chattering attenuation in comparison to other sliding-mode-based techniques. The design includes the formulation of a partial stability problem and we provide the required Lyapunov-function-based analysis. Experimental results are performed over an industrial setup and confirm the effectiveness of the methodology. Moreover, promising results of a comparison with the Super-Twisting and PID controllers are presented.
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  • Resultat 1-10 av 13

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