The holistic approach to PID controller tuning, which involves the coordinated use of modified relay feedback test and tuning rules, is presented in this chapter. It is shown that with this approach, specifications to gain margin or phase margin can be satisfied. Performance requirements to a number of typical industrial processes are analysed, and optimal tuning rules for the modified relay feedback test application are produced on the basis of this analysis.

关键词：控制器；继电反馈测试；PID控制器；定时

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The derivation, implementation and testing of an active surge controller for a centrifugal compressor is presented in this chapter. The control method proposed here employs the thrust AMB to servo control the axial clearance between the impeller tip and the static shroud. Through the modulation of the impeller axial position, the disturbances associated with the initiation of the surge instability can be counteracted, and surge can be suppressed before it reaches the full amplitude of the limit cycle. The surge controller derived in this chapter is first tested in simulation to verify the theory and assumptions needed for the design of the control algorithm, and then implemented on the experimental compressor test rig in order to validate the theory and demonstrate the effectiveness of the control method in an actual industrial compressor.

关键词：控制器；压缩机；喘振控制

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关键词：控制器；容错传感节点；智能；涡轮发动机

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This paper describes the application of the optimization algorithm based on particle swarms known by its acronym as PSO, used to adjust the parameters of membership functions of a fuzzy logic controller (FLC) to find the optimal intelligent control for a wheeled autonomous mobile robot. Results of several simulations show that the PSO is able to optimize the type-1 and type 2 FLCs for this specific application.

关键词：控制器；粒子群算法；自主移动机器人；模糊控制器；优化隶属度函数

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We develop and describe a stable gain scheduling controller for a gas turbine engine that drives a variable pitch propeller. A stability proof is developed for gain scheduled closed-loop system using global linearization and linear matrix inequality (LMI) techniques. Using convex optimization tools, a single quadratic Lyapunov function is computed for multiple linearizations near equilibrium and non-equilibrium points of the nonlinear closed-loop system. This approach guarantees stability of the closedloop gas turbine engine system. Simulation results show the developed gain scheduling controller is capable of regulating a turboshaft engine for large thrust commands in a stable fashion with proper tracking performance.

关键词：控制器；增益调度控制；燃气涡轮发动机

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Modern conventional submarines use diesel generators to provide power for propulsion and the hotel load. The governor, often a proportional- integral controller, attempts to maintain a constant speed by regulating the fuel flow to compensate for the back pressure disturbances due to the underwater exhaust. Poor control can cause fluctuating exhaust gas temperatures, leading to increased wear and reduced reliability. This paper develops a low order engine model which is then used to investigate the performance benefits that can be obtained through proper tuning of the governor control parameters. It is found that the engine exhibits stable behaviour over a very wide range of controller gains, and that tuning the governor solely to minimise the engine speed fluctuations may not minimise the exhaust gas temperature fluctuations.

关键词：控制器；潜艇柴油机；调速器控制；参数设置

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关键词：控制器；多目标进化算法；分数阶控制器

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This paper is concerned with the problem of robust fault-tolerance tracking control on the omni-directional rehabilitative training walker. The nonlinear robust fault-tolerance method is proposed when one wheel actuator stuck is happened. The aim is to design an asymptotically stable controller which can guarantee the safety of walker and can ensure tracking the training path planned by a physical therapist when one actuator is faulted. The controller which can satisfy asymptotic stability is obtained by constructing the energy storage function and the γ dissipation inequality. The evaluation signal is designed which has verified the nonlinear L_2 gain performance index. Finally, the simulation results confirm the feasibility and effectiveness of the designed scheme.

关键词：控制器；全向康复训练；容错跟踪控制

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A contents authoring software with device management for interactive shows and performances is proposed. The proposed system allows user to register and to manage various stagerelated devices such as lighting system, fog generator, robots or multimedia players. In this paper, we describe software architecture, XML specification for unified protocol description, and user interface of the proposed system. The system can control multiple devices of heterogeneous protocols in timely manner. Once devices are registered, user can browse commands of each device and can organize commands to stepbased list according to the performance scenario. Unlike current commercialized products, the system allows to manipulate authored list of commands during the show instantly.The proposed system also supports to control playback of authored commands by sensor inputs so that a player can trigger devices to execute according to events. The contributions of this paper can be summarized to three points; (1) define unified protocol description with XML structures for simplicity (2) give sensor triggering capability to control devices, and (3) implement fast and instant manipulation user interface during the show.

关键词：控制器；统一性创作工具；异构设备

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This paper proposes a vision-based force controller for a haptic bilateral control system. According to the particular objects movement, a haptic bilateral system can be navigated in a specific direction by the proposed vision-based force controller. The generated force is treated as a disturbance in the bilateral control strategy. In the paper, the scaling effect which involves the distance between the object and the manipulator is considered as a key feature to be studied. The same magnification factor of vertical movement will be used for the horizontal displacement. The performance of this scaling effect produced by the visual force to the bilateral control system will be examined and analyzed through the actual experiments.

关键词：控制器；触觉；双边控制系统；视觉力；缩放

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