This chapter presents the application of a particle swarm optimization (PSO) to a controller tuning in selected power electronic and drive systems. The chapter starts with a relatively simple tuning of a cascaded PI speed and position control system for a BLDC servo drive. This example serves as the background for a discussion on selecting the objective function for the PSO. Then the PSO is used in two challenging controller tuning tasks. This includes optimizing selected learning parameters in the adaptive artificial neural network (ANN) based online trained speed controller for an urban vehicle (3D problem) and selecting penalty factors in the LQR with augmented state (i.e. with oscillatory terms) for a three-phase four-leg sine wave inverter (15D problem). It is demonstrated with the help of these case studies why and where the PSO, or any other similar population based stochastic search algorithm, can be beneficial. Engineers encounter many non-straightforward controller tuning problems in power electronic systems and this chapter illustrates that in some cases it is relatively easy to reduce these tasks into the objective function selection problem. The relevant controller parameters are then determined automatically by the PSO.

关键词：粒子群优化；人工神经网络；搜索算法

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The scope of this chapter is to trace the recent developments in the field of Intelligent Multiple Models based Adaptive Switching Control (IMMASC) and provide at the same time all the essential information about the conventional single model and multiple models adaptive control, which constitute the base for the development of the new intelligent methods. This work emphasizes on the importance and the advantages of IMMASC in the field of control systems technology presenting control structures that contain linear robust models, neural models and T-S (Takagi-Sugeno) fuzzy models. One of the main advantages of switching control systems against the single model control architectures is that they are able to provide stability and improved performance in multiple environments when the systems to be controlled have unknown parameters or highly uncertain parameters. Some hybrid multiple models control architectures are presented and a numerical example is given in order to illustrate the efficiency of the intelligent methods.

关键词：自适应转换控制；单模式；神经模型

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This paper proposes two types of force control system based on measurements of an acceleration sensor attached on the tip-position of a 3-link planar redundant manipulator. To estimate the acceleration with high accuracy, Kalman filter(KF) based on dynamic model of the manipulator and extended Kalman filter(EKF) based on kinematic model of that are introduced to each system. Furthermore, Disturbance Force Observer(DFOB) and Reaction Force Observer(RFOB) are also implemented in the force control system, and estimated acceleration information by KF/EKF is directly utilized in those observers. Experiments are conducted to examine the characteristics of estimation performance and compare the force control performance based on each of KF and EKF.

关键词：力控制；冗余机械臂；加速度传感器

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Based on Lyapunov stabilization theory, this paper proposes a proportional plus integral time-delayed controller to stabilize unstable equilibrium points (UPOs) embedded in chaotic attractors. The criterion is successfully applied to the classic Chua's circuit. Theoretical analysis and numerical simulation show the effectiveness of this controller.

关键词：混沌系统；比例加积分时间延迟控制器；泰勒逼近

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对某型车用直列4缸柴油机开展了机油消耗、窜气和曲轴箱压力试验研究,试验结果表明该发动机在低负荷低转速工况下燃油消耗与机油消耗的比值(机燃比)不满足设计要求,随着转速和负荷的提高,总机油消耗量呈增加趋势,曲轴箱通风(PCV)系统所占总机油消耗比例较高,各工况点平均值约为10%。借助CFD仿真手段对原油气分离器及改进方案进行了对比分析,得知原结构油气分离效率较低,改进方案分离效率大幅提高。验证试验表明,3种对比工况下改进方案窜气特性和曲轴箱压力均满足设计要求,PCV系统机油消耗均大幅度下降,说明改进方案合理可行。

关键词：柴油机；曲轴箱通风系统；气缸盖罩；油气分离

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对一台车用高压共轨直喷式柴油机,分别燃用纯柴油和B20燃料,在未加装后处理装置的原机和加装柴油机氧化催化器与颗粒氧化催化转化器(DOC+POC)后处理装置的两种状态下,利用EEPS颗粒粒径谱仪,测试其排气颗粒数量排放及其粒径分布。结果表明:未加装后处理装置时,燃用B20燃料的核态颗粒数量排放略高于柴油;而聚集态颗粒的数量排放则低于柴油;加装DOC+POC后处理装置后,排气颗粒数量排放明显下降,颗粒净化效率存在两个较高的峰值,一个在粒径10nm附近的核态颗粒区域,另一个在粒径300nm附近的聚集态颗粒区域。燃用B20燃料时,总的来说排气颗粒数量排放低于柴油,一DOC+POC对多数工况下颗粒的净化效率明显高于柴油。

关键词：柴油机；生物柴油；颗粒排放；柴油机氧化催化器；颗粒氧化催化转化器

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Position and speed control of the torpedo present a real problem for the actuators because of the high level of system nonlinearity and because of the external disturbances. The nonlinear systems control is based on several different approaches, which include the sliding mode control. This chapter deals with the basic concepts, mathematics, and design aspects of a control for nonlinear systems that make the chattering effect lower. As solution to this problem we will adopt as a starting point the high order sliding mode approaches and then the PID-sliding surface. Simulation results show that this control strategy can attain excellent control performance with no chattering problem.

关键词：滑模控制；PID控制器；抖振现象；非线性系统

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In this chapter we describe an iterative two-layer hierarchical approach to MPC of large-scale linear systems subject to coupled linear constraints. The algorithm uses constraint tightening and applies a primal-dual iterative averaging procedure to provide feasible solutions in every sampling step. This helps overcome typical practical issues related to the asymptotic convergence of dual decomposition based distributed MPC approaches. Bounds on constraint violation and level of sub-optimality are provided. The method can be applied to large-scale MPC problems that are feasible in the first sampling step and for which the Slater condition holds (i.e., there exists a solution that strictly satisfies the inequality constraints). Using this method, the controller can generate feasible solutions of the MPC problem even when the dual solution does not reach optimality, and closed-loop stability is also ensured using bounded suboptimality.

关键词：迭代两层；大型线性系统耦合；MPC

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针对某柴油机连杆小头衬套松脱问题,提出2种连杆小头结构改进方案,分别从安装状态的衬套背压、工作状态的衬套滑移以及小头内孔变形三方面研究关键参数及敏感区域对结构刚度的影响。结果表明:增加衬套壁厚、增大连杆小头支撑刚度可有效增大衬套背压,减小内孔变形,降低衬套由切向力所导致的滑动风险。

关键词：连杆小头；结构设计；背压；滑移

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In this paper the main idea is to control the flight of an F-16 airplane using fuzzy system and PID controller to achieve the control. In general, to control the total flight is necessary to control the angle of the elevator, angle of the aileron and the angle of the rudder. For this reason, 3 fuzzy systems are used to control the respective angles. In this paper the fuzzy systems are presented with results using the simulation plant of the airplane.

关键词：F-16飞机；电梯；控制器

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