Papers by Keyword: Control System

Abstract: In this article review of chosen control algorithms used for small UAV at Department of Control Systems of Rzeszów University of Technology and their properties is presented. At first, control laws based on modified PID algorithms are described. The example of modification is the use of double differentiation in the algorithm. Proposed modifications improve control quality. Next, model following LQR algorithms is introduced. Implementation of that algorithm improves control quality in the flight at trajectory. In the algorithm presented integration between desired trajectory and plant trajectory is introduced as an additional state.Another algorithm which is presented is sliding mode control algorithm as an example of robust control. It allows you to control plane in event of a fault. Appropriate selection of sliding surface ensures the stability of the system and good quality control under normal operating conditions and enables flight in the event of non-critical damage. To improve the quality control in emergency mode, the parameters of the sliding surface during flight can be modified. The last presented algorithm is model reference adaptive controller. The adaptation mechanism is derived from second Lyapunov method. It also enables control in the case of chosen faults. An example presented in the article is realized for roll angle control. In the case of control surface fault (e.g. aileron or rudder), the algorithm enables aircraft control. In that case control surface fault is treated as an uncertainty of model used.

Abstract: The method of the synthesis of multi-channel decentralized variable structure system for the control of quadrotor spatial motion is developed in this paper. The control law based on the formation of the sliding mode in the separate subsystems of each coordinates control is formed. Each subsystem includes two loops for Cartesian coordinates and relevant Euler angles control. The conditions of the existence of stable sliding mode are obtained. These conditions take into account essential dynamic reciprocal effect between all control channels. The application of proposed control law provides high control quality and maximal fast-action at any variations of the quadrotor parameters within given ranges. This control law does not require the identification of changing object parameters. Efficiency of synthesized control system is confirmed by numerical simulation results. The control system can be realized in the real time by simple technical means.

Abstract: Through vehicular platooning, a group of autonomous vehicles move together under the same control law with maintaining constant inter-vehicle distance and velocity. Owing to many advantages in the aspect of economy, environment, and safety, platoon has been developed for AHS (Automated Highway System). But there is little study of platoon in adversarial environment. Since vehicle safety is directly related to a passenger’s life, the in-depth study of adversarial platooning is of crucial importance. In this paper, we present that an attacker in platoon can cause serious accident just by slightly modifying control law and also discuss the control system designed for mitigating the damage of accident caused by the attacker.

Abstract: In view of shortcomings of the wheat field spraying, such as low accuracy, liquid waste, spraying uneven and land pollution, developed with C310 industrial controller as the core field of wheat plant protection precision spraying robot control system. The system according to the sensor detects the plant protection robot walking speed and liquid pressure, dynamic adjusting nozzle spray amount, in order to achieve accurate, efficient and intelligent spraying. Through test, actual and theory of the amount spraying quantity error is less than 5%, the result meets the requirements of the job, so that this scheme is feasible.

Abstract: For cotton multi-topping manual operation efficiency is low, small mechanical operation precision is low, is developed in the field of C310 industrial controller as the control core of cotton plant protection robotic multi-multi-topping control system. The system according to the sensor detects the plant protection robot walking speed and cotton top position, dynamic adjustment in multi-multi-topping blade height, in order to realize accurate, efficient and intelligent multi-multi-topping. By experimental verification, the system operation precision is above 90%, conform to the actual requirements.

Abstract: The paper introduces a new 3D wax printer, including its technical proposal, integral structure and control system. The raw material of this 3D printer is a mixture which is composed by wax, cyclohexane and alcohol. Raw material is transmitted to nozzle by a transmission device. The raw material which is squeezed out from nozzle deposits into product on the working platform. The paper also introduces the motion control of motor which is the hardcore of control system.

Abstract: The paper presents the works performed by the authors in the field of AS/RS systems design and experimental small scale AS/RS physical model set-up for educational purposes. First part of the paper presents the virtual prototype of the 3D CAD model of the AS/RS system and the developing of the physical model set-up of an experimental small scale AS/RS for educational purposes. The specific hardware for control the AS/RS system and software for programming it are also included in a second part of the paper.

Abstract: The paper presents the works performed by the authors in the field of AS/RS systems design and experimental small scale AS/RS physical model set-up for educational purposes. First part of the paper presents the virtual prototype of the 3D CAD model of the AS/RS system and the developing of the physical model set-up for an experimental small scale AS/RS for educational purposes. The specific hardware for control the AS/RS system and software for programming it are also included in a second part of the paper.

Abstract: Modern combustion engines have developed into technologically advanced units that are controlled by complex electronic systems. The controllers of these systems are equipped with built-in control algorithms which allow the engine to achieve optimum engine performance parameters, in compliance with the strict requirements of standards related to the release of toxic fumes to the atmosphere. Unfortunately, this type of engine control system very often makes it difficult to carry out research, or even prevents it, because the change of engine's regulatory parameters is not possible. Currently in most cases research carried out on this type of engine requires the construction of special controllers that allow the user to interfere with the performance of the control system. This article presents the results of tests carried out on an ignition-type engine controlled by a standalone engine.

Abstract: Management of universal shelf stacker process many varied operations, whose are different in difficulty of solved problems, time of reaction of controller and next parameters. Usually is used one controller with all functions, which have many external input-output modules and have to solve parallel many tasks together. The control application have to be very complicated and blind with risk of collisions control processes and needed of solving control process priority. If the processes are separated to the groups, every group of processes solved with separate control automat. For simple processes, whose needs immediate reaction can be used simple and easy controller, complex control processes have to been solved with controller with sufficient performance, mathematical performance and adequate memory.