In this paper, a gain-scheduled equivalent-cascade internal-model-control (IMC) tuning method for water level control system of nuclear steam generator is presented. First, a water level control system for a steam generator is transferred into an equivalent cascade-feedforward control system. Second, analytical tuning rules for the equivalent cascade control system are derived based on the IMC-(proportional-integral-derivative) PID method, which can simultaneously tune the primary/secondary loops and avoid the re-identification step. Finally, gain scheduling is performed to eliminate the influence of process nonlinearity. The experimental results of nuclear simulation platform have demonstrated the superiority of the proposed tuning method.

In this paper, we consider a class of first-order hyperbolic distributed parameter systems. Our focus is on the design of a new class of model predictive control schemes using a quasi-Shannon wavelet basis. First, the first-order hyperbolic distributed parameter system is transformed into an equivalent system using collocation techniques for the approximation of spatial derivatives and Euler forward difference method for the approximation of the time component. Then, a model reduction method is applied to obtain a reduced-order system on which a nonlinear model predictive controller is designed through solving a nonlinear quadratic programming problem with input constraints. For illustration, the temperature control of a flow-control long-duct heating system is considered to be an example. A comparative simulation study is conducted to demonstrate the effectiveness of the proposed method.

In order to improve the energy efficiency and dynamic of negative control swing systems of excavators, this paper proposes a technical scheme of adding two PRVs (pressure reducing valves) to main valve pilot control circuit, which can adjust main value opening arbitrarily according to the working condition. A pump-value compound control strategy was formulated to regulate the system power flow. During swing motor acceleration, main pump and the two PRVs are controlled to match system supply flow with motor demand flow, thereby reducing motor overflow and shortening system response time. During swing motor braking, the channel from motor to tank is opened to release hydraulic brake pressure by controlling PRVs before swing speed reduces to zero, which prevents the motor from reversing and oscillating. A simulation model of 37-ton excavator was established, and the control strategy was simulated. The original and optimized performance of the swing system were compared and analyzed, and r... [more]

A two-patch epidemic model is considered in order to assess the impact of virtual dispersal on disease transmission dynamics. The two-patch system models the movement of individuals between the two-patches using a residence-time matrix P, where P depends on both residence times and state variables (infected classes). In this work, we employ this approach to a general two-patch SIR model in order to investigate the effect of state dependent dispersal behaviors on the disease dynamics. Furthermore, optimal control theory is employed to identify and evaluate patch-specific control measures aimed at reducing disease prevalence at a minimal cost. Optimal policies are computed under various dispersal scenarios (depending on the different residence-time matrix configurations). Our results suggest there is a reduction of the outbreak and the proportion of time spent by individuals in a patch exhibits less fluctuations in the presence of patch-specific optimal controls. Furthermore, the optimal... [more]

The matrix/fracture conductivity of a fractured low-permeability reservoir is variable, and its heterogeneity is serious. When carrying out deep profile control measures, it is difficult to inject under the premise of ensuring the plugging effect. According to the characteristics of the fractured low-permeability reservoir in Chaoyanggou Oilfield, the polymer/chromium ion deep profile control system was optimized via a viscosity evaluation experiment, liquidity experiment and oil displacement experiment. The experimental results show that the high molecular weight main agent/low concentration system and low molecular weight main agent/high concentration system can meet the gel strength requirement. The evaluation results of the injection ability and plugging performance of the fractured low-permeability core show that a high molecular weight profile control system is difficult to inject, while a low molecular weight profile control system has a poor plugging performance and high cost a... [more]

As a new type of suspension bearing, Magnetic-Liquid Double Suspension Bearing (MLDSB) is mainly supported by electromagnetic suspension and supplemented by hydrostatic supporting. Its bearing capacity and stiffness can be greatly improved. Because of the small liquid film thickness (it is smaller 10 times than air gap), the eccentricity, crack, bending of the rotor, and the assembly error, it is easy to cause a clearance-rubbing fault between the rotor and stator. The coating can be worn and peeled, the operating stability can be reduced, and then it is one of the key problems of restricting the development and application of MLDSB. Therefore, the clearance-rubbing dynamic equation of 2-DOF system of MLDSB is established and converted into Taylor Series form and the nonlinear components are retained. Dimensionless treatment is carried out by dimensional normalization method. Finally, the rotor displacement response under different rotor eccentricity ratio and rotating speeds is numeri... [more]

During the voyage of a ship, the performance of a controllable pitch propeller (CPP) is severely affected by the changing load demand and ever-present disturbance from ocean waves, which will also result in model uncertainty. In order to improve the performance of the CPP system, an online high-performance genetic algorithm (HPGA)-based sliding mode control (SMC) strategy is proposed. Firstly, the model of the CPP system is obtained according to the manufacturer’s instructions. Then, a chattering-free sliding mode controller (CF-SMC) is designed for the CPP system, after which the parameters in the CF-SMC are optimized with the HPGA method. Finally, the optimized CF-SMC is applied to an experimental setup of a prototype CPP system. In order to validate the effectiveness of the proposed method, it is compared with a proportional-integral-derivative (PID) controller, which is typically applied on real CPP-systems, with results indicating the superiority of the proposed method.

The optimization of production cost has always been a key issue in manufacturing systems; for the single product type manufacturing systems, lots of research studies have proved the validity of the hedging point control policy in production cost control. However, due to the complexity of the multiple machines and multiple product types manufacturing systems with uncertain fault, it is difficult to achieve a good control effect only by using the hedging point control policy. To optimize the total production cost under constantly changing demands, an integrated control policy that combines the prioritized hedging point (PHP) control policy with the production capacity planning during production is proposed, and the decision variables are obtained by a particle swarm optimization (PSO) algorithm. The simulation experiments show the effectiveness of the proposed integrated control policy in production cost control for the multiple machines and multiple product types manufacturing system.

The milk pasteurization process is nonlinear in nature, and for this reason, the application of linear control algorithms does not guarantee the obtainment of the required performance in every condition. The problem is here addressed by proposing an adaptive algorithm, which was obtained by starting from an observer-based control approach. The main result is the obtainment of a simple PI-like controller structure, where the control parameters depend on the state of the system and are adapted online. The proposed algorithm was designed and applied on a simulated process, where the temperature dependence of the milk’s physical properties was considered. The control strategy was tested by simulating different situations, particularly when time-varying disturbances entered the system. The use of the adaptive rule reduces the variance generally introduced by the PI or PID controller.

This manuscript addresses the regulator design in the discrete-time setting for the unstable linearized Saint−Venant−Exner model, which describes the dynamics of a sediment-filled water canal. The proposed regulator ensures the closed-loop stability and proper tracking of polynomial and periodic reference signals using output feedback in a sample-data setting. To design this regulator, the system discrete representation is achieved by the application of the structure-preserving Cayley-Tustin time discretization and the direct relation with the regulator in the continuous-time setting is shown. The regulator design in the continuous-time setting is developed using the backstepping methodology ensuring the closed-loop stability and the observer design, while the Sylvester equations are solved to achieve proper tracking. Finally, the numerical simulation results are presented to show the performance of the regulator.

Gantry-type computer numerical control (CNC) machines are widely used in the manufacturing industry. A novel structure with moveable gantry is proposed to improve the traditional gantry-type machine structure’s disadvantage of taking up too much space. Geometric errors have direct impacts on the actual position of the tool, which significantly reduces the accuracy of machines. Errors of different components are always coupled and have uncertain effects on the total geometric error. Thus, it is essential to find an effective way to identify the dominant errors and do targeted compensation. First, a novel identification method using value leaded global sensitivity analysis (VLGSA) is proposed to find the dominant errors. In VLGSA, weighting factors which show the influence of the error range are used to modify the multi-body system (MBS) error model. Results show that the dominant errors in three directions respectively contribute 80%, 86% and 85% of the total error in their directions.... [more]

Flatness control system is characterized by multi-parameters, strong coupling, pure time delay, which complicate the establishment of an accurate mathematical model. Therefore, a control scheme that combines dynamic decoupling, PI (Proportion and Integral) control and adaptive Smith predictive compensation is proposed. To this end, a dynamic matrix is used to decouple the control system. A multivariable coupled pure time-delay system is transformed into several independent generalized single-loop pure time-delay systems. Then, a PI-adaptive Smith predictive controller is constructed for the decoupled generalized single-loop pure time-delay system. Simulations show that the scheme has a simple and feasible structure, and good control performance. When the mathematical model of the control system is inaccurate, the control performance of adaptive Smith control method is evidently better than that of the ordinary Smith control method. The model is successfully applied to the cold rolling... [more]

The availability of predictions of future system inputs has motivated research into preview control to improve set-point tracking and disturbance rejection beyond that achievable via conventional feedback control. The design of preview controllers, typically based upon model predictive control (MPC) for its constraint handling properties, is often performed in a monolithic nature, coupling the feedback and feed-forward problems. This can create problems, such as: (i) an additional feedback loop is introduced by MPC, which alters the closed-loop dynamics of the existing feedback compensator, potentially resulting in a deterioration of the nominal sensitivities and robustness properties of an existing closed-loop and (ii) the default preview action from MPC can be poor, degrading the original feedback control performance. In our previous work, the former problem is addressed by presenting a modular MPC design on top of a given output-feedback controller, which retains the nominal closed-... [more]

We address the question of how to reduce the inevitable loss of performance that is incurred by robust multi-stage NMPC due to the lack of knowledge compared to the case where the exact plant model (no uncertainty) is available. Multi-stage NMPC in the usual setting over-approximates a continuous parametric uncertainty set by a box and includes the corners of the box and the center point into the scenario tree. If the uncertainty set is not a box, this augments the uncertainty set and results in a performance loss. In this paper, we propose to mitigate this problem by two different approaches where the scenario tree of the multi-stage NMPC is built using sigma points. The chosen sigma points help to capture the true mean and covariance of the uncertainty set more precisely. The first method computes a box over-approximation of the reachable set of the system states whereas the second method computes a box over-approximation of the reachable set of the constraint function using the unsc... [more]

The processing of fine and ultrafine particles using a fluidized bed is challenging in view of their unpredictable hydrodynamic behavior due to interparticle forces. The use of assisted fluidization techniques in such cases can be effective in improving the bed hydrodynamics. This work investigates the dynamics of pulsed fluidized bed of ultrafine nanosilica subjected to square-wave flow pulsations. The pulse duration used in this study is sufficient to allow the complete collapse of the pulsed fluidized bed between two consecutive flow pulsations. The proposed pulsation strategy is carefully implemented using electronic mass flow controllers with the help of analog output signals from data acquisition system. Given that the different regions of the fluidized bed exhibit varying dynamics, which together contribute to overall bed dynamics, the bed transients in the upper, central, and lower regions of the fluidized bed are monitored using several sensitive pressure transducers located a... [more]

A dynamic model of a Direct Methanol Fuel Cell is developed in the MATLAB platform. A newly proposed Coefficient Diagram based Proportional Integral Controller (CD-PIC) is designed and its parameters are calculated. The newly designed CD-PIC is implemented in a real time Direct Methanol Fuel Cell (DMFC) experimental setup. Performances in real time operation of the Direct Methanol Fuel Cell (DMFC) are evaluated. The performance of CD-PIC is obtained under tracking of set point changes. In order to evaluate the CD-PIC performances, most popular tuning rules based Conventional PI Controllers (C-PIC) are also designed and analyzed. Set point tracking is carried out for the step changes of ±10% and ±15% at two different operational points. The controller performances are analyzed in terms of Controller Performance Measuring (CPM) indices. The said performance measures indicate that the proposed CD-PIC gives the superior performances for set point changes and found very much robust in contr... [more]

This work proposes a Generic Model Control (GMC) strategy to regulate biomass growth in fed-batch cultures of Escherichia coli BL21(DE3). The control law is established using a previously validated mechanistic model based on the overflow metabolism paradigm. A model reduction is carried out to prevent the controller from relying on kinetics, which may be uncertain. In order to limit the controller to the use of a single measurement, i.e., biomass concentration which is readily available, a Kalman filter is designed to reconstruct the nonmeasurable information from the outlet gas and the remaining stoichiometry. Several numerical simulations are presented to assess the controller robustness with respect to model uncertainty. Experimental validation of the proposed GMC strategy is achieved with a lab-scale bioreactor.

The drive at the center of gravity (DCG) principle has been adopted in computer numerical control (CNC) machines and industrial robots that require heavy-duty and quick feeds. Using this principle requires accurate corrections of positioning errors. Conventional error compensation methods may cause vibrations and unstable control performances due to the delay between compensation and motor motion. This paper proposes a new method to reduce the positioning errors of the dual-driving gantry-type machine tool (DDGTMT), namely, a typical DCG-principle-based machine tool. An error prediction method is proposed to characterize errors online. An algorithm is proposed to quickly and accurately compensate the errors of the DDGTMT. Experiment results verify that the non-delay error compensation method proposed in this paper can effectively improve the accuracy of the DDGTMT.

This paper proposes a theoretical framework for generalization of the well established first order plus dead time (FOPDT) model for linear systems. The FOPDT model has been broadly used in practice to capture essential dynamic response of real life processes for the purpose of control design systems. Recently, the model has been revisited towards a generalization of its orders, i.e., non-integer Laplace order and fractional order delay. This paper investigates the stability margins as they vary with each generalization step. The relevance of this generalization has great implications in both the identification of dynamic processes as well as in the controller parameter design of dynamic feedback closed loops. The discussion section addresses in detail each of this aspect and points the reader towards the potential unlocked by this contribution.

Accurate control of the specific growth rate (µ) of microorganisms is dependent on the ability to quantify the evolution of biomass reliably in real time. Biomass concentration can be monitored online using various tools and methods, but the obtained signal is often very noisy and unstable, leading to inaccuracies in the estimation of μ. Furthermore, controlling the growth rate is challenging as the process evolves nonlinearly and is subject to unpredictable disturbances originating from the culture’s metabolism. In this work, a novel feedforward-feedback controller logic is presented to counter the problem of noise and oscillations in the control variable and to address the exponential growth dynamics more effectively. The controller was tested on fed-batch cultures of Kluyveromyces marxianus, during which μ was estimated in real time from online biomass concentration measurements obtained with dielectric spectroscopy. It is shown that the specific growth rate can be maintained at dif... [more]

Nosiheptide is a sulfur-containing peptide antibiotic, showing exceptional activity against critical pathogens such as methicillin-resistant Staphylococcus aureus (MRSA) and vancomycin-resistant Enterococci (VRE) with livestock applications that can be synthesized via fed-batch fermentation. A simplified mechanistic fed-batch fermentation model for nosiheptide production considers temperature- and pH-dependence of biomass growth, substrate consumption, nosiheptide production and oxygen mass transfer into the broth. Herein, we perform dynamic simulation over a broad range of possible feeding policies to understand and visualize the region of attainable reactor performances. We then formulate a dynamic optimization problem for maximization of nosiheptide production for different constraints of batch duration and operability limits. A direct method for dynamic optimization (simultaneous strategy) is performed in each case to compute the optimal control trajectories. Orthogonal polynomials... [more]

A substantial part of Distributed Control Systems are SCADA systems that require connection to low level electronics through standard industrial interfaces and protocols. When implementing Distributed Control Systems for physics experiments, it is often necessary to use custom made electronics that do not have the ability to communicate using standard protocols, but instead use custom communication protocols. This paper describes the new Front End Device (FRED) framework, which provides the possibility of connecting custom electronics to standard SCADA systems, thus filling the gap in the implementation of Distributed Control Systems that deploy custom electronics. The FRED framework also serves as a translation layer, which provides translation of raw values acquired from electronics to real physical quantities and vice versa. At the same time, it is easy to use, since there is no need for additional programming when used in the simple mode, and its entire functionality can be configu... [more]

Smart control processes have been proposed for many years, while for smart flow control—especially when “smart flow control” comes at the microscale—it turns out that many new innovations and enabling technologies are possible [...]

This study assessed a variable flow rate control method for a circulation pump based on the geothermal water temperature difference in a geothermal heat pump system. As interest in energy conservation and efficient use is increasing around the world, the development and use of renewable energy is increasing and various related studies are currently underway. Among the renewable energy systems, the interest in geothermal energy system is high because of its efficient year-round operation. Geothermal heat pump system installations have increased in number, but the systems operate inefficiently. Generally in Korea, geothermal heat pump system operates under partial load conditions, but the circulation pump operates at constant speed and supplies a constant flow rate. Therefore, this study examined the operation of the current problems of a geothermal heat pump system. A variable flow rate control method of the circulation pump is proposed to improve the efficiency of the geothermal heat p... [more]

Based on the equilibrium point equations of a classic three-node system integrated with a large-scale photovoltaic cell (PV) power plant, the impact of PV output fluctuation on the saddle-node bifurcation (SNB) was derived and analyzed. When PV runs in a unity power factor and the PV output active power Ppv is not too large (several hundred MW and below), the PV output fluctuation has little effect on the SNB point position and load margin index, so that the load margin index can be calculated online using the SNB point at Ppv = 0 pu. On the other hand, the local reactive power compensation in the load center can effectively raise the load bus voltage and make the voltage stability problem become more concealed; the traditional under-voltage load-shedding (UVLS) strategy only carries out load shedding when the bus voltage amplitude is below the specified value and cannot effectively maintain the system static voltage stability in some occasions. In this paper, a fuzzy load-shedding str... [more]