Dissertations / Theses: 'Control systems modelling'

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Iyer, S. N. "Modelling and control of multivariable systems." Thesis, University of Oxford, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.233534.

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Mourik, Simon van. "Modelling and control of systems with flow." Enschede : University of Twente [Host], 2008. http://doc.utwente.nl/58695.

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Clarkson, P. J. "Modelling and control of stepping motor systems." Thesis, University of Cambridge, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.384410.

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Leigh, Philip Alexander. "Modelling and control of micro environmental systems." Thesis, Lancaster University, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.413845.

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Feng, Ming. "Local modelling and control of nonlinear systems." Thesis, University of Southampton, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.326788.

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Panos, Christos. "Modelling, optimization and control of energy systems." Thesis, Imperial College London, 2012. http://hdl.handle.net/10044/1/9511.

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Multi-parametric programming is a mathematical theory to address optimization problems involving varying parameters. This thesis is concerned with the development of model-based controllers via parametric programming and their application to the design, operation and control of process systems. In part I of this thesis two new algorithms are presented for solving parametric optimization problem of linear state space models via dynamic programming. The first algorithm solves the nominal case, while the second introduce the case of uncertainty in the system matrices. Moreover, an algorithm for robust Explicit model based controller for box-constrained linear systems. These algorithms constitute the basis for the development of model based controllers in the rest of the thesis. In part II of this thesis, dynamic mathematical models for the cases of metal hydride tank reactor, Proton Exchange Membrane (PEM) fuel cell unit and tunnel kiln process are presented. These mathematical models are used to derive reduced order linear models in order to design explicit/multi-parametric Model Predictive Controllers. Moreover, the extensive design of an experimental PEM fuel cell unit which includes the process and instrumentation diagram (PID), the complete list of materials and the three dimension design of the unit, is presented. Based on the experimental results provided by the manufacturer, a validated dynamic mathematical model of the PEM fuel cell unit is presented. Finally, mathematical modelling, dynamic optimization and design of PI controller for the firing process of a tunnel kiln is presented.

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Gustafsson, Thomas. "Modelling and control of rotary crane systems." Doctoral thesis, Luleå tekniska universitet, Signaler och system, 1993. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-16918.

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This thesis is devoted to the modelling and control of rotary crane systems. The goal is to design a control system that assists the operator to move a cargo without oscillations and to correctly align the cargo at the final position. The control system is divided into two independent parts, one dealing with the alignment of the load with the aid of a power swivel or a cargo rotating device, and a second that deals with the elimination of load oscillations. Both design and implementation of the control algorithms on a full scale crane are considered. In the cargo alignment system a linear cascade controller is considered that is shown to have near time-optimal performance for a system with saturation in both the angle and the angular rate of the power swivel. In the second part a weakly coupled pair of state feedback controllers with a nonlinear compensator is used to eliminate the load oscillations in two dimensions. In the third part of the thesis a software tool for simulation and real time control is presented. The development of the program started as a spin-off to the crane projects.
Godkänd; 1993; 20070417 (tgu)

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Ghavipanjeh, Farideh. "Modelling and control of wastewater treatment." Thesis, Lancaster University, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.250027.

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Nuttall, Brian William. "Modelling and multivariable control of turbogenerators." Thesis, University of Newcastle Upon Tyne, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.265542.

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Sharif, Z. A. B. M. "Modelling and control of industrial robots." Thesis, City University London, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.356002.

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Guan, Jianshe. "Robustness and modelling in internal model control systems." Thesis, University of Strathclyde, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.291995.

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Rocha, e. Silva Valceres Vieira. "Multivariable control systems design using multiobjective evolutionary computing." Thesis, University of Sheffield, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.310891.

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Wood, Timothy David. "Modelling and control of large flexible spacecraft." Thesis, University of Bath, 1986. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.376345.

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Solgård, Stian Bu. "Modelling, simulation and control of macro economic systems." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2009. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9023.

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Today's Basel-type banking system is compared with a 100% reserve banking system. Furthermore, negative interest rate on deposits is introduced for these two systems thus two new models are introduced. Eventually all four models are compared with each other in terms of debt crisis mechanisms and if they are prone to enter a liquidity trap. The comparing is done for debt to GDP ratio around a certain ratio of 60% thought to give neutral confidence, thus the effect from confidence dynamics can be excluded for these simulations.

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Shoaki, Salman Daif-Allah. "Generic robotic manufacturing systems : modelling/simulation and control." Thesis, Imperial College London, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.390617.

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Cao, Jiangtao. "Modelling and adaptive control of vehicle suspension systems." Thesis, University of Portsmouth, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.500329.

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Vehicle suspension systems, as one kind of typical non-linear systems, play a crucial role in riding comfort, safety handling, and road damage minimization in modern vehicles. Three contributions have been made in this thesis in response to the problems raised from vehicle non-linear and uncertain properties. A novel framework of type-2 fuzzy control system for vehicle active suspensions has been constructed with emphasizes on its mathematical vehicle modelling and control.

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Gow, John A. "Modelling, simulation and control of photovoltaic converter systems." Thesis, Loughborough University, 1998. https://dspace.lboro.ac.uk/2134/6871.

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The thesis follows the development of an advanced solar photovoltaic power conversion system from first principles. It is divided into five parts. The first section shows the development of a circuit-based simulation model of a photovoltaic (PV) cell within the 'SABER' simulator environment. Although simulation models for photovoltaic cells are available these are usually application specific, mathematically intensive and not suited to the development of power electronics. The model derived within the thesis is a circuit-based model that makes use of a series of current/voltage data sets taken from an actual cell in order to define the relationships between the cell double-exponential model parameters and the environmental parameters of temperature and irradiance. Resulting expressions define a 'black box' model, and the power electronics designer may simply specify values of temperature and irradiance to the model, and the simulated electrical connections to the cell provide the appropriate I/V characteristic. The second section deals with the development of a simulation model of an advanced PVaware DC-DC converter system. This differs from the conventional in that by using an embedded maximum power tracking system within a conventional linear feedback control arrangement it addresses the problem of loads which may not require the level of power available at the maximum power point, but is also able to drive loads which consistently require a maximum power feed such as a grid-coupled inverter. The third section details a low-power implementation of the above system in hardware. This shows the viability of the new, fast embedded maximum power tracking system and also the advantages of the system in terms of speed and response time over conventional systems. The fourth section builds upon the simulation model developed in the second section by adding an inverter allowing AC loads (including a utility) to be driven. The complete system is simulated and a set of results obtained showing that the system is a usable one. The final section describes the construction and analysis of a complete system in hardware (c. 500W) and identifies the suitability of the system to appropriate applications.

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Kontoroupis, Periklis. "Modelling and ramp metering control of traffic systems." Thesis, Lancaster University, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.428878.

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Hayat, Tariq. "Modelling, simulation and control of mine ventilation systems." Thesis, University of Sheffield, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.387494.

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Pitcher, Ashley Brooke. "Mathematical modelling and optimal control of constrained systems." Thesis, University of Oxford, 2009. http://ora.ox.ac.uk/objects/uuid:044a26ab-99dc-4b34-b4a3-04e5c0d61ba0.

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This thesis is concerned with mathematical modelling and optimal control of constrained systems. Each of the systems under consideration is a system that can be controlled by one of the variables, and this control is subject to constraints. First, we consider middle-distance running where a runner's horizontal propulsive force is the control which is constrained to be within a given range. Middle-distance running is typically a strategy-intensive race as slipstreaming effects come into play since speeds are still relatively fast and runners can leave their starting lane. We formulate a two-runner coupled model and determine optimal strategies using optimal control theory. Second, we consider two applications of control systems with delay related to R&D expenditure. The first of these applications relates to the defence industry. The second relates to the pharmaceutical industry. Both applications are characterised by a long delay between initial investment in R&D and seeing the benefits of R&D realised. We formulate models tailored to each application and use optimal control theory to determine the optimal proportion of available funds to invest in R&D over a given time horizon. Third, we consider a mathematical model of urban burglary based on the Short model. We make some modifications to this model including the addition of deterrence due to police officer presence. Police officer density is the control variable, which is constrained due to a finite number of police officers. We look at different control strategies for the police and their effect on burglary hot-spot formation.

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Zhao, Xiaowei. "Modelling and control of coupled infinite-dimensional systems." Thesis, Imperial College London, 2009. http://hdl.handle.net/10044/1/5501.

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First, we consider two classes of coupled systems consisting of an infinite-dimensional part [sigma]d and a finite-dimensional part [sigma]f connected in feedback. In the first class of coupled systems, we assume that the feedthrough matrix of [sigma]f is 0 and that [sigma]d is such that it becomes well-posed and strictly proper when connected in cascade with an integrator. Under several assumptions, we derive well-posedness, regularity and exact (or approximate) controllability results for such systems on a subspace of the natural product state space. In the second class of coupled systems, [sigma]f has an invertible first component in its feedthrough matrix while [sigma]d is well-posed and strictly proper. Under similar assumptions, we obtain well-posedness, regularity and exact (or approximate) controllability results as well as exact (or approximate) observability results for this class of coupled systems on the natural state space. Second, we investigate the exact controllability of the SCOLE (NASA Spacecraft Control Laboratory Experiment) model. Using our theory for the first class of coupled systems, we show that the uniform SCOLE model is well-posed, regular and exactly controllable in arbitrarily short time when using a certain smoother state space. Third, we investigate the suppression of the vibrations of a wind turbine tower using colocated feedback to achieve strong stability. We decompose the system into a non-uniform SCOLE model describing the vibrations in the plane of the turbine axis, and another model consisting of a non-uniform SCOLE system coupled with a two-mass drive-train model (with gearbox), in the plane of the turbine blades. We show the strong stabilizability of the first tower model by colocated static output feedback. We also prove the generic exact controllability of the second tower model on a smoother state space using our theory for the second class of coupled systems, and show its generic strong stabilizability on the energy state space by colocated feedback.

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Sun, Jie. "Modelling and intelligent control of vehicle climatronic systems." Thesis, Nelson Mandela Metropolitan University, 2009. http://hdl.handle.net/10948/1118.

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The modelling and control method of a vehicle climatronic system, based on MATLAB/SIMULINK, is presented. In order to achieve high modelling accuracy, a developed simulation model library is introduced. The modelling approach is described and the developed models are validated with some of experimental data obtained. The models are nonlinear, independent of fluid type and based on thermo-dynamic principles. Analysis of the cooling circuit modelling and empirical real-time control models are created by using Fuzzy logic controller and Stateflow. Both of control input and output are implemented essentially at original vehicle CAN-Bus system. Feasible digital automatic control strategy basic to fuzzy theory, hardware and software solution are given. The simulation experiment is achieved with the Hardware-in-Loop technology. This control methodology is easily operated and worth applying for any further studies or methods.

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Baha, B. "Control and modelling of quasi-resonant converters." Thesis, University of Brighton, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.343606.

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Davies, Jessica. "Modelling, control and monitoring of high redundancy actuation." Thesis, Loughborough University, 2010. https://dspace.lboro.ac.uk/2134/6288.

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The High Redundancy Actuator (HRA) project investigates a novel approach to fault tolerant actuation, which uses a high number of small actuation elements, assembled in series and parallel in order to form a single intrinsically fault tolerant actuator. Element faults affect the maximum capability of the overall actuator, but through control techniques, the required performance can be maintained. This allows higher levels of reliability to be attained in exchange for less over-dimensioning in comparison to conventional redundancy techniques. In addition, the combination of both serial and parallel elements provides intrinsic accommodation of both lock-up and loose faults. Research to date has concentrated on HRAs based on electromechanical technology, of relatively low order, controlled through passive Fault Tolerant Control (FTC) methods. The objective of this thesis is to expand upon this work. HRA configurations of higher order, formed from electromagnetic actuators are considered. An element model for a moving coil actuator is derived from first principles and verified experimentally. This element model is then used to form high-order, non-linear HRA models for simulation, and reduced-order representations for control design. A simple, passive FTC law is designed for the HRA configurations, the results of which are compared to a decentralised, active FTC approach applied through a framework based upon multi-agent concepts. The results indicate that limited fault tolerance can be achieved through simple passive control, however, performance degradation occurs, and requirements are not met under theoretically tolerable fault levels. Active FTC offers substantial performance improvements, meeting the requirements of the system under the vast majority of theoretically tolerable fault scenarios. However, these improvements are made at the cost of increased system complexity and a reliance on fault detection. Fault Detection (FD) and health monitoring of the HRA is explored. A simple rule-based FD method, for use within the active FTC, is described and simulated. An interacting multiple model FD method is also examined, which is more suitable for health monitoring in a centralised control scheme. Both of these methods provide the required level of fault information for their respective purposes. However, they achieve this through the introduction of complexity. The rule-based method increases system complexity, requiring high levels of instrumentation, and conversely the interacting multiple model approach involves complexity of design and computation. Finally, the development of a software demonstrator is described. Experimental rigs at the current project phase are restricted to relatively low numbers of elements for practical reasons such as cost, space and technological limitations. Hence, a software demonstrator has been developed in Matlab/Simulink which provides a visual representation of HRAs with larger numbers of elements, and varied configuration for further demonstration of this concept.

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Webb, Adam Christian. "Modelling and control of low bandwidth active suspensions." Thesis, Coventry University, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.387709.

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Mohamed, Zaharuddin. "Dynamic modelling and control of a flexible manipulator." Thesis, University of Sheffield, 2003. http://etheses.whiterose.ac.uk/15085/.

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This thesis presents investigations into dynamic modelling and control of a flexible manipulator system. The work on dynamic modelling involves finite element and symbolic manipulation techniques. The control strategies investigated include feedforward control using command shaping techniques and combined feedforward and feedback control schemes. A constrained planar single-link flexible manipulator is used as test and verification platform throughout this work. Dynamic model of a single-link flexible manipulator incorporating structural damping, hub inertia and payload is developed using the finite element method. Experiments are performed on a laboratory-scale single-link flexible manipulator with and without payload for verification of the developed dynamic model. Simulated and experimental system responses to a single-switch bang-bang torque input are presented in the time and frequency domains. Resonance frequencies of the system for the first three modes are identified. The performance and accuracy of the simulation algorithm are studied in comparison to the experimental results in both domains. The effects of damping and payload on the dynamic behaviour of the manipulator are addressed. Moreover, the impact of using higher number of elements is studied. The application of a symbolic manipulation approach for modelling and performance analysis of a flexible manipulator system is investigated. System transfer function can be retained in symbolic form using this approach and good approximation of the system transfer function can be obtained. Relationships between system characteristics and parameters such as payload and hub inertia are accordingly explored. Simulation and experimental exercises are presented to demonstrate the effectiveness of the symbolic approach in modelling and simulation of the flexible manipulator system. Simulation and experimental investigations into the development of feedforward control strategies based on command shaping techniques for vibration control of flexible manipulators are presented. The command shaping techniques using input shaping, low-pass and band-stop filters are considered. The command shaping techniques are designed based on the parameters of the system obtained using the unshaped bang-bang torque input. ii Abstract Performances of the techniques are evaluated in terms of level of vibration reduction, time response specifications, robustness to error in natural frequencies and processing times. The effect of using higher number of impulses and filter orders on the system performance is also investigated. Moreover, the effectiveness of the command shaping techniques in reducing vibrations due to inclusion of payload into the system is examined. A comparative assessment of the performance of the command shaping techniques in vibration reduction of the system is presented. The development of hybrid control schemes for input tracking and vibration suppression of flexible manipulators is presented. The hybrid control schemes based on collocated feedback controllers for rigid body motion control with non-collocated PID control and feedforward control for vibration suppression of the system are examined. The non-collocated PID control is designed utilising the end-point deflection (elastic deformation) feedback whereas feedforward control is designed using the input shaping technique. The developed hybrid schemes are tested within the simulation environment of the flexible manipulator with and without payload. The performances of the control schemes are evaluated in terms of input tracking capability and vibration suppression of the flexible manipulator. Initially, a collocated PD utilising the hub-angle and hub-velocity feedback signals is used as a feedback controller. Subsequently, to achieve uniform performance in the presence of a payload, a collocated adaptive control is designed based on pole-assignment self-tuning control scheme. Lastly, a comparative assessment of the performance of the hybrid control schemes is presented.

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Backory, Jay K. "Intelligent monitoring, modelling and decision support in anaesthesia." Thesis, University of Sheffield, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.301427.

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Ingram, Gordon Douglas. "Multiscale modelling and analysis of process systems /." [St. Lucia, Qld.], 2005. http://www.library.uq.edu.au/pdfserve.php?image=thesisabs/absthe19319.pdf.

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Hargrave, Stephen Mark. "Spatial material transport and processing systems : modelling, simulation and control." Thesis, University of Sheffield, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322919.

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Perantoni, Giacomo. "Optimal control of vehicle systems." Thesis, University of Oxford, 2013. http://ora.ox.ac.uk/objects/uuid:b75fa69c-ebe0-4812-98e9-984d93476d37.

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This thesis studies the optimal control of vehicular systems, focusing on the solution of minimum-lap-time problems for a Formula 1 car. The basic optimal control theory is summarised as an infinite-dimensional extension of optimisation theory. The relevant numerical techniques for optimisation and integral approximation are compared in view of the application to vehicle systems. The classical brachistochrone problem is revisited from an optimal control perspective, with two vehicle-relevant generalisations. Closed-form solutions are derived for both the optimal trajectory and transit time. Problems involving a steerable disc rolling on the interior surface of a hemisphere are studied. For three-dimensional problems of this type, which involve rolling bodies and nonholonomic constraints, numerical solutions are used. The identification of 3D race track models from measured GPS data is treated as a problem in the differential geometry of curves and surfaces. Curvilinear coordinates are adopted to facilitate optimal control solutions. The track is specified in terms of three displacement-dependent curvatures and two edge variables. The differential model is smoothed using numerical optimal control techniques. The Barcelona track is considered as an illustrative example. The minimum-lap-time problem for a Formula 1 car on a flat track is solved using direct transcription. The driven line and multiple car setup parameters are optimised simultaneously. It is shown that significant lap-time reductions can be obtained from track-specific setup parameter optimisation. Reduced computing times are achieved using a combination of analytical derivatives, model non-dimensionalisation and problem scaling. The optimal control of the car on a 3D track is studied; the results are compared with flat-track solutions. Contemporary kinetic energy-recovery systems are studied and compared with future hybrid kinetic-thermal energy-recovery systems. It is demonstrated that these systems can produce contemporary lap time using approximately two-thirds of the fuel required by present-day vehicles.

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Jordan, Philip [Verfasser]. "Scalable Modelling of Aircraft Environmental Control Systems / Philip Jordan." München : Verlag Dr. Hut, 2019. http://d-nb.info/118151441X/34.

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MacQueen, John. "The modelling and simulation of energy management control systems." Thesis, University of Strathclyde, 1997. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21355.

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This thesis is concerned with improving the integrity and applicability of building energy management systems(BEMS) simulation tools. The present work attempts to overcome certain inadequacies of contemporary simulation applications with respect to environmental control systems, by developing novel building control systems modelling schemes. These schemes are then integrated within a state-of-the-art simulation environment so that they can be employed in practice. After reviewing the existing techniques and various approaches to control systems design and appraisal,a taxonomy of building control system entities grouped in terms of logical, temporal and spatial element, is presented. This taxonomy is subsequently used to identify the models, algorithms, and features comprising a comprehensive modelling environment. Schemes for improving system integrity and applicability are presented based upon a simulation approach which treats the building fabric and associated plant sy stems as an integrated dynamic system. These schemes facilitate the modelling of advanced BEMS control structure and strategies, including: - hierarchical (systems level and zone-level) control systems; - single input, single output (SISO) and multiple input, multiple output (MIMO) systems; - advanced BEMS controller algorithms; - simulated-assisted control strategies based on advanced simulation time-step control techniques. The installation of the developed schemes within a whole building simulation environment, ESP-r, is also presented. Issues related to verification of the developed schemes are subsequently discussed. Users of control system simulation programs are identified and categorised. Typical applications of the new control modelling features are demonstrated in terms of these user groups. The applications are based on both research and consultancy projects. Finally, the future work required to increase the applicability and accuracy of building control simulation tools is elaborated in terms of the required integration with other technical subsystems and related computer-aided design tools.

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Kendall, David. "Formal modelling and analysis of broadcasting embedded control systems." Thesis, University of Newcastle Upon Tyne, 2001. http://hdl.handle.net/10443/2090.

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Embedded systems are real-time, communicating systems, and the effective modelling and analysis of these aspects of their behaviour is regarded as essential for acquiring confidence in their correct operation. In practice, it is important to minimise the burden of model construction and to automate the analysis, if possible. Among the most promising techniques for real-time systems are reachability analysis and model-checking of networks of timed automata. We identify two obstacles to the application of these techniques to a large class of distributed embedded systems: firstly, the language of timed automata is too low-level for straightforward model construction, and secondly, the synchronous, handshake communication mechanism of the timed automata model does not fit well with the asynchronous, broadcast mechanism employed in many distributed embedded systems. As a result, the task of model construction can be unduly onerous. This dissertation proposes an expressive language for the construction of models of real-time, broadcasting control systems, and demonstrates how effi- cient analysis techniques can be applied to them. The dissertation is concerned in particular with the Controller Area Network (CAN) protocol which is emerging as a de facto standard in the automotive industry. An abstract formal model of CAN is developed. This model is adopted as the communication primitive in a new language, bCANDLE, which includes value passing, broadcast communication, message priorities and explicit time. A high-level language, CANDLE, is introduced and its semantics defined by translation to bCANDLE. We show how realistic CAN systems can be described in CANDLE and how a timed transition model of a system can be extracted for analysis. Finally, it is shown how efficient methods of analysis, such as 'on-the- fly' and symbolic techniques, can be applied to these models. The dissertation contributes to the practical application of formal methods within the domain of broadcasting, embedded control systems.

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Xue, Chang-Fei. "Modelling and control of flexible AC transmission systems (FACTS)." Thesis, University of Warwick, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.425979.

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Haas, O. C. L. "Optimisation and control systems modelling in radiotherapy treatment planning." Thesis, Coventry University, 1997. http://curve.coventry.ac.uk/open/items/fc7aad2f-a43a-4045-adb0-9afa7e9033b3/1.

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Crossley, Paul Richard. "Modelling and analysis of traction control systems in automobiles." Thesis, University of Warwick, 1992. http://wrap.warwick.ac.uk/110738/.

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This thesis begins with a brief overview of vehicle control. The thesis places powertrain control, which is discussed in more detail, within the wider context of vehicle control. Traction control is one aspect of powertrain control. The available methods of traction control are reviewed together with a discussion on the systems in current production. The traditional method adopted by the automotive industry for traction control is analysed. The powertrain system is analysed from a control stand-point and a control oriented approach to traction control design identified. The emphasis in this thesis is on the analysis of traction control systems. The analysis is performed on simulation models and is supported by implementations on the real vehicle. The level of modelling appropriate for the analysis is justified and models developed in a modular manner. The individual modules are developed on the basis of published material and previous work within Ford Motor Company. Based on the analysis, two traction control strategies are developed which are subsequently developed and implemented on real vehicles. The results of this vehicle work is discussed.

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Barbalata, Corina. "Modelling and control of lightweight underwater vehicle-manipulator systems." Thesis, Heriot-Watt University, 2017. http://hdl.handle.net/10399/3279.

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This thesis studies the mathematical description and the low-level control structures for underwater robotic systems performing motion and interaction tasks. The main focus is on the study of lightweight underwater-vehicle manipulator systems. A description of the dynamic and hydrodynamic modelling of the underwater vehicle-manipulator system (UVMS) is presented and a study of the coupling effects between the vehicle and manipulator is given. Through simulation results it is shown that the vehicle’s capabilities are degraded by the motion of the manipulator, when it has a considerable mass with respect to the vehicle. Understanding the interaction effects between the two subsystems is beneficial in developing new control architectures that can improve the performance of the system. A control strategy is proposed for reducing the coupling effects between the two subsystems when motion tasks are required. The method is developed based on the mathematical model of the UVMS and the estimated interaction effects. Simulation results show the validity of the proposed control structure even in the presence of uncertainties in the dynamic model. The problem of autonomous interaction with the underwater environment is further addressed. The thesis proposes a parallel position/force control structure for lightweight underwater vehicle-manipulator systems. Two different strategies for integrating this control law on the vehicle-manipulator structure are proposed. The first strategy uses the parallel control law for the manipulator while a different control law, the Proportional Integral Limited control structure, is used for the vehicle. The second strategy treats the underwater vehicle-manipulator system as a single system and the parallel position/force law is used for the overall system. The low level parallel position/force control law is validated through practical experiments using the HDT-MK3-M electric manipulator. The Proportional Integral Limited control structure is tested using a 5 degrees-of-freedom underwater vehicle in a wave-tank facility. Furthermore, an adaptive tuning method based on interaction theory is proposed for adjusting the gains of the controller. The experimental results show that the method is advantageous as it decreases the complexity of the manual tuning otherwise required and reduces the energy consumption. The main objectives of this thesis are to understand and accurately represent the behaviour of an underwater vehiclemanipulator system, to evaluate this system when in contact with the environment and to design informed low-level control structures based on the observations made through the mathematical study of the system. The concepts presented in this thesis are not restricted to only vehicle-manipulator systems but can be applied to different other multibody robotic systems.

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Rogers, Dan. "Modelling, control and scheduling of hydronic domestic heating systems." Thesis, University of Sheffield, 2014. http://etheses.whiterose.ac.uk/6980/.

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Castaneda, Veimar Yobany Moreno. "Transmission line modelling applied to non-linear control systems." Thesis, University of Huddersfield, 2006. http://eprints.hud.ac.uk/id/eprint/17872/.

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Wijewardana, Singappuli M. "Mathematical modelling and control of renewable energy systems and battery storage systems." Thesis, Queen Mary, University of London, 2017. http://qmro.qmul.ac.uk/xmlui/handle/123456789/24860.

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Intermittent nature of renewable energy sources like the wind and solar energy poses new challenges to harness and supply uninterrupted power for consumer usage. Though, converting energy from these sources to useful forms of energy like electricity seems to be promising, still, significant innovations are needed in design and construction of wind turbines and PV arrays with BS systems. The main focus of this research project is mathematical modelling and control of wind turbines, solar photovoltaic (PV) arrays and battery storage (BS) systems. After careful literature review on renewable energy systems, new developments and existing modelling and controlling methods have been analysed. Wind turbine (WT) generator speed control, turbine blade pitch angle control (pitching), harnessing maximum power from the wind turbines have been investigated and presented in detail. Mathematical modelling of PV arrays and how to extract maximum power from PV systems have been analysed in detail. Application of model predictive control (MPC) to regulate the output power of the wind turbine and generator speed control with variable wind speeds have been proposed by formulating a linear model from a nonlinear mathematical model of a WT. Battery chemistry and nonlinear behaviour of battery parameters have been analysed to present a new equivalent electrical circuit model. Converting the captured solar energy into useful forms, and storing it for future use when the Sun itself is obscured is implemented by using battery storage systems presenting a new simulation model. Temperature effect on battery cells and dynamic battery pack modelling have been described with an accurate state of charge estimation method. The concise description on power converters is also addressed with special reference to state-space models. Bi-directional AC/DC converter, which could work in either rectifier or inverter modes is described with a cost effective proportional integral derivative (PID/State-feedback) controller.

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Poon, Ka-Kwai. "Modelling and control of variability in PCB copper electroplating." Thesis, Loughborough University, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.263678.

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Madani, Abdelmalek. "Modelling and control of a two-link flexible manipulator." Thesis, University of Sheffield, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.319485.

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Ho, Ki-Cheong. "Optimisation of neural network architecture for modelling and control." Thesis, Manchester Metropolitan University, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.243714.

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Hunt, Andrew. "Rules for modelling in computer-aided fault tree synthesis." Thesis, Loughborough University, 1992. https://dspace.lboro.ac.uk/2134/27982.

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In the design of process plants safety has assumed an increasingly high profile. One of the techniques used in hazard identification is the fault tree, which involves first the synthesis of the tree and then its analysis. The construction of a fault tree, however, requires special skills and can be a time-consuming process. It is therefore attractive to develop computer aids for the synthesis stage to match those which already exist for the analysis of the tree. A computer based system for fault tree synthesis has been developed at Loughborough University. This thesis is part of a continuing programme of work associated with this facility.

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Economou, John Theodoros. "Modelling and control of multi wheel skid steer vehicles." Thesis, Cranfield University, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.342493.

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Chen, Ho-Hsien. "Bond graphs and qualitative reasoning for intelligent systems modelling and control." Thesis, University of Sheffield, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.387542.

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Foster, Grant. "Local modelling techniques for the management of distributed control systems." Thesis, University of Reading, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.284431.

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Hariri, Bassam. "Modelling and identification of S.I. engines for control system design." Thesis, University of Liverpool, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266264.

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King, Roger Charles. "An integrated approach to the modelling, design and control of industrial systems." Thesis, Cardiff University, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.304858.

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Subudhi, Bidyadhar. "Modelling and control strategies for manipulators with flexible links and joints." Thesis, University of Sheffield, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.251506.

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Dissertations / Theses on the topic 'Control systems modelling'

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