5,328 research outputs found
Zur Kombination von Flachheit und Backstepping für den Entwurf einer Trajektorienfolgeregelung für ein Diffusions-Konvektions-Reaktions-System
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Zum Entwurf einer exponentiell stabilisierenden Trajektorienfolgeregelung für parabolische PDgln. mit orts- und zeitvariablen Parametern
No full textFachtagung Mechatronik 2019 / Elektromagnetische Schwingungstilgung für Stahlbänder mit unbekannter harmonischer Störung
No full textIn diesem Beitrag wird eine robuste Ausgangsregelung für die elektromagnetische Positionierung und Schwingungsdämpfungvon unter Zugspannung stehenden Stahlbändern entwickelt. Dabei wird die nichtlineare Strom-Kraft-Charakteristikder verwendeten elektromagnetischen Aktuatoren im Entwurf explizit berücksichtigt. Weiters nutzt das vorgestellte Regelungskonzeptmaßgeblich die Eigenschaften der Passivität des mechanischen Subsystems, wodurch sich eine hoheRobustheit gegenüber unbekannten und langsam variierenden Prozessparametern ergibt. Anschließend wird das vorgestellteRegelungskonzept um eine Kompensation unbekannter harmonischer Störungen erweitert. Die Robustheit des mechatronischenGesamtkonzepts ermöglicht die systematische Unterdrückung von Störungen mit beliebigen unbekanntenFrequenzen, unabhängig von den mechanischen Resonanzfrequenzen des Stahlbandes.Lukas Marko, Martin Saxinger, Andreas Steinboeck, Andreas Kugi, Christian Doppler (Labor für modellbasierte Prozessregelung in der Stahlindustrie, Technische Universität Wien, Institut für Automatisierungs- und Regelungstechnik
Planning and Real Time Control of a Minimally Invasive Robotic Surgery System
No full textThis paper introduces the planning and control software of a teleoperating robotic system for minimally invasive surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom including robot setup planning, force feedback control and nullspace handling with three robotic arms. The planning software is separated into sequentially executed planning and registration procedures. An optimal setup is first planned in virtual reality and then adapted to variations in the operating room. The real time control system is composed of hierarchical layers. The design is flexible and expandable without losing performance. Structure, functionality and implementation of planning and control are described. The robotic system provides the surgeon with an intuitive hand-eye-coordination and force feedback in teleoperation for both hands
Closed-loop stability analysis of a gantry crane with heavy chain and payload
No full textIn this paper, we analyze a systematically designed and easily tunable backstepping-based boundary control concept developed by Thull, Wild, and Kugi (2006) for a gantry crane with heavy chain and payload. The corresponding closed-loop system is formulated as an abstract evolution equation in an appropriate Hilbert space. Non-restrictive conditions for the controller coefficients are derived, under which the solutions are described by a C0-semigroup of contractions, and are asymp-totically stable. Moreover, by applying Huang's theorem we can finally even show that under these conditions the controller renders the closed-loop system exponen-tially stable
Model calibration strategy for energy-efficient operation of induction machines
No full textThis contribution describes a novel calibration procedure for nonlinear induction machine models. It is based on measurements of the electrical quantities and the rotational speed, and uses additional measurements of the torque. Since the method uses quasi steady-state measurements, the calculations required for the model calibration can be performed with low computational costs in the frequency domain. Compared to the scientific state of the art, higher harmonics are taken into account in addition to the fundamental wave. The main goal of the parametrized model is to accurately capture the behavior of the induction machine in the vicinity of maximum efficiency operating points. Thus, the calibration strategy is tailored to these important operating points and allows to obtain a very high accuracy with a rather simple model. The proposed calibration procedure is verified by measurements on a test bench. It is shown that a high model accuracy can be achieved with the calibrated model
Stylos kai edraiōma tēs ekklēsias, sive, Dissertatio de iustificatione hominis
No full textquam ... sub praesidio ... Ioh. Henrici Heideggeri ... placido eruditorum examini subiicit Andreas Steinerus, Vitod. author & respondens, ad diem Octobris loco horisque solitisDiss. Hohe Schule Zürich, 167
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