|
|
Výpočetní aspekty návrhu regulátoru a vyčíslení kvality
Novák, Miroslav
This work contributes to the activity in the Department of Adaptive Systems in Institute of Information Theory and Automation, Academy of Sciences of the Czech Republic to develop a complete design algorithm for advanced controllers such as the LQG one and put them through to real applications. The task of controller tuning is to transform the user specified requirements into the values of the tuning parameters. The system knowledge is incomplete. The Bayesian estimation delivers the parameters not as known numbers but as their probability density function. The important contribution of this work is extending the tuning to the multiple input multiple output (MIMO) controllers, where multiple constraints on particular quantities are considered simultaneously.
|
|
|
Zajištění spolehlivé činnosti adaptivního LQ regulátoru
Böhm, Josef
Adaptive LQ controllers can exhibit uncorrect behaviour at the beginning of the adaptation process. Paper presents an approach which can overcome the problem. It is proposed to operate LQ adaptive controller jointly with some fixed robust controller, typically a PID one. Using single tuning knob, it is possible to tune adaptuve controller properties from that of PID to a standard LQ controller ones.
|
|
|
Prediktivní řízení pro mechatronické laboratorní modely
Belda, Květoslav
The paper deals with the design of discrete adaptive model-based predictive control for simple mechatronic systems. Simple mechatronic systems are considered as Single-Input/Single-Output systems or possibly systems with low number of inputs and outputs. However, the methods of adaptation and model-based control are not generally limited to this condition. In the paper, a combination of on-line identification and generalized predictive control will be introduced. The identification is based on least squares. The predictive control arises from state-space formulation. This idea is applied to ARX models representing Input/Output formulation. The presented algorithms are derived in computationally suitable square-root form and their correctness is documented by tests on laboratory models.
|
|
|
Řešení polynomiální rovnice založené na oboustranném řízení stupňů
Kraffer, Ferdinand
By feedback control consideartions of a good choice of the closed-loop characteristic polynomial matrix, the purpose of this contribution is to promote awareness of row-column reduced polynomial matrices, in constant to eligible but less advisable classes of polynomial matrices such as the monically diagonally degree-dominant matrices and the simultaneously row- and column reduced matrices.
|
|
|
Prediktivní řízení s časově proměnnými stavovými modely.
Belda, Květoslav ; Böhm, Josef
The papres is focused on Predictive control for time-variant state-space models both SISO and MIMO type, specially on model identification/composition, further on consideration of system nonlinaerities in equations of predictions and state-space estimation. The algorithms will by presented in coputationally-efective square-root forms and demonstrated by several simulative examples with simple linear SISO systems and with one nonlinear systems represented by MIMO model of planar redundant parallel robot.
|
|
| |
|
| |
guest ::
