Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts: Friday Sessions
Lyapunov method, the adaptive learning law is given and H∞tracking
performance is illustrated. The simulation studies on a 2-DOF robot
verify the effectiveness of the proposed method.
◁ PFrA-20
Minimum Time Dynamic Optimization Using Double-layer Optimization
Algorithm, pp.84–88
Guo, Xuan
Du, Wenli
Qi, Rongbin
Qian, Feng
East China Univ. of Sci. & Tech.
automation Inst.
East China Univ. of Sci. & Tech.
East China Univ. of Sci. & Tech.
Abstract―A double-layer optimization algorithm (DLOA) was proposed
to solve the minimum time dynamic optimization problem. The first step
of DLOA was to discrete time region and control region. The inner optimization
is to construct optimal control problem with free final states.
Differential evolution algorithm is used to find the optimal solution in
given terminal time, then the optimization results was compared with
the threshold set. In the outer, DLOA calculated the time range of next
iteration according to the inner calculation. When applied to typical
minimum time dynamic optimization problem, DLOA demonstrated a
competitive optimal searching ability and more accurate optimization
results. DLOA could solve the optimization problem with local optimum
and applied to models without gradient information.
◁ PFrA-21
Design of Low-cost acquisition system for multi-channel Analog Signal
for PLC and its Application in Temperature Control System, pp.93–98
Li, Ruonan
Du, Xiuxia
Li, Pingkang
Beijing Jiaotong Univ.
Beijing Jiaotong Univ.
Beijing Jiaotong Univ.
Based on the concept of low cost automation, a kind of multi-channel
analog acquisition program based on traditional analog circuits and digital
I/O ports of PLC is presented in this paper, including hardware circuit,
program design and principles of signal acquisition. Compared
with the expensive PLC analog module, the system is designed with
features such as low cost, easy to implement. This paper makes use
of PID module of PLC and self-tuning technology, applying this analog
acquisition program to the temperature control system, PWM signal is
generated to control solid state relays to accurately control temperature,
at the same time the data exchange between computer and PLC
has been completed, the interface is friendly, the experimental results
show the feasibility and practicality of the program.
◁ PFrA-22
Study on the Optimal Passive Creeping Control of the Snake-like Robot,
pp.99–103
Zhang, Danfeng
Wu, Chengdong
Li, Bin
Shenyang Inst. of Automation & Graduate Univ.
of Chinese Acad. of Sci.
northeastern Univ.
Shenyang Inst. of Automation, Chinese Acad. of
Sci.
Abstract - Reducing the energy dissipation can improve the movement
efficiency of a snake-like robot. Avoiding side slipping is the main way
to reduce the energy dissipation. A creeping control method for the
snake-like robot, named optimal passive creeping, is proposed. This
method makes the robot avoid slipping by inputting the proper torque
which is adjusted by its body shape. The purpose of the control method
is to insure that the snake-like robot’s velocity is the fastest before
side slipping. In simulation, the angles, torques, energy states of the
snake-like robot are revealed, and whether the snake-like robot has
slipped is analyzed by accumulating the energy dissipation. The simulations
demonstrate the validity of the optimal passive creeping control
method.
◁ PFrA-23
Takagi-Sugeno Fuzzy PD Controller for a 3-DOF Stabilized Platform,
pp.108–112
Leghmizi, Said
Harbin engineering Univ.
This paper presents a fuzzy PD control system for stabilizing platform of
a ship carried antenna with three degree of freedom (3-DOF). The system
under consideration is a system with strong interactions between
three channels. By using the concept of decentralized control, a control
structure is developed that is composed of three control loops, each of
which is associated with a single-variable fuzzy PD controller. Takagi-
Sugeno (TS) fuzzy control algorithm is used to implement the fuzzy
controller. Simulation tests were established using Simulink of Matlab.
The obtained results have demonstrated the feasibility and effectiveness
of the proposed approach. Simulation results are represented in
this paper.
◁ PFrA-24
Repetitive Adaptive Control Based on Sliding Filter Observer in Servo
Turntable, pp.116–121
Gan, Ming Gang
Ma, Hui-xia
Beijing Inst. of Tech.
Bejing Inst. of Tech.
A repetitive adaptive compensation scheme based on observer is proposed
to improve low speed position tracking precision for the nonlinear
dynamic friction and periodic force ripples in a DC motor turntable system.
Based on LuGre friction model, the adaptive component is used
to compensate the dynamic friction, while the repetitive component is
used to restrain force ripple. At the same time, dual sliding filter is
adopted to approximate the parameter estimation error of the observed
state so that the parameters update rate can be driven by tracking error
signal as well as estimating error signal to improve the position tracking
performance. The system asymptotic stability is guaranteed by Lyapunov
function. Simulation results verify contrastively the effectiveness
and superiority of the repetitive adaptive compensation scheme.
◁ PFrA-25
Iterative Learning Control Algorithm with Self-adaptive Steps, pp.122–
127
WANG, Yan
Beihang Univ.
Most Iterative Learning Control (ILC) algorithms being used currently
still follow the essence of the original idea of Arimoto, in which the
control error with its derivative and integral are composed to deduce
the iterative-learning-rate. Although these ILCs gain a wide range of
successful applications in various control fields, they are still with intrinsic
shortcomings of conventional ILC such as huge computation, big
storage capacity demanded for algorithm data, and the control law is
sensitive to control errors. To solve these problems and enhance ILC
performances, a novel ILC with self-adaptive steps is proposed as a
new approach. In this approach, the control step for each iteration is
set according to the error sum of the last time iteration, and the step
value will decrease as the iteration goes which could obtain the merits
of quick convergence speed at early stage and high control precision at
late stage of control process; while the sign of the step is decided by the
instant sampling value of the control error. The stability of the algorithm
is analyzed using newly designed adaptive steps. Both simulation and
experimental results demonstrate that the self-adaptive steps method
proposed in this paper could reduce iterative calculation and storage
size of the algorithm, it also avoids error amplification in error differentiating.
Moreover, the method is with easy-to- set steps within a wide
range.
◁ PFrA-26
Real-Time Simulation of Hydraulic Turbine Governing System Based
on ARM, pp.170–173
GUO, Jiang
Wu, Nian
Gu, Kaikai
Bai, Weimin
Zeng, Bing
Liu, Yajin
Wuhan Univ.
Wuhan Univ.
Wuhan Univ.
Wuhan Univ.
Wuhan Univ.
Wuhan Univ.
Abstract―Simulation of hydraulic turbine governing system plays an
important role in teaching, testing and experimental study. This paper
presents the overall structure of the ARM-based real-time simulation
system on the basis of a comprehensive analysis of the characteristics
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