Global asymptotic saturated PID control for robot manipulators / Yuxin Su in IEEE Transactions on control systems technology, Vol. 18 N° 6 (Novembre 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1280-1288 Titre : Global asymptotic saturated PID control for robot manipulators Type de document : texte imprimé Auteurs : Yuxin Su, Auteur ; C. Müller, Auteur ; Chunhong Zheng, Auteur Année de publication : 2011 Article en page(s) : pp. 1280-1288 Note générale : Génie Aéroqpatial Langues : Anglais (eng) Mots-clés : Actuator saturation Asymptotic stability Bounded control Global Proportional-integral derivative (PID] Robot Index. décimale : 629.1 Résumé : This paper addresses the global asymptotic regulation of robot manipulators under input constraints, both with and without velocity measurements. It is proven that robot systems subject to bounded inputs can be globally asymptotically stabilized via a saturated proportional-integral-derivative (PID) control in agreement with Lyapunov's direct method and LaSalle's invariance principle. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and an ability to ensure actuator constraints are not breached. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. The effectiveness of the proposed approach is illustrated via simulations. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5353633 [article] Global asymptotic saturated PID control for robot manipulators [texte imprimé] / Yuxin Su, Auteur ; C. Müller, Auteur ; Chunhong Zheng, Auteur . - 2011 . - pp. 1280-1288. Génie Aéroqpatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1280-1288 Mots-clés : Actuator saturation Asymptotic stability Bounded control Global Proportional-integral derivative (PID] Robot Index. décimale : 629.1 Résumé : This paper addresses the global asymptotic regulation of robot manipulators under input constraints, both with and without velocity measurements. It is proven that robot systems subject to bounded inputs can be globally asymptotically stabilized via a saturated proportional-integral-derivative (PID) control in agreement with Lyapunov's direct method and LaSalle's invariance principle. Advantages of the proposed controller include an absence of modeling parameters in the control law formulation and an ability to ensure actuator constraints are not breached. This is accomplished by selecting control gains a priori, removing the possibility of actuator failure due to excessive torque input levels. The effectiveness of the proposed approach is illustrated via simulations. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5353633

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Improvement and application of a numerical model for optimizing the design of magnetic refrigerators / M. Risser in International journal of refrigeration, Vol. 36 N° 3 (Mai 2013)  

Public ISBD [article]  inInternational journal of refrigeration > Vol. 36 N° 3 (Mai 2013) . - pp. 950–957 Titre : Improvement and application of a numerical model for optimizing the design of magnetic refrigerators Titre original : Amélioration et application d'un modèle numérique pour l'optimisation de la conception des réfrigérateurs magnétiques Type de document : texte imprimé Auteurs : M. Risser, Auteur ; C. Vasile, Auteur ; C. Müller, Auteur Année de publication : 2013 Article en page(s) : pp. 950–957 Note générale : Refrigeration Langues : Anglais (eng) Mots-clés : Magnetocaloric refrigerator  Modelling  Thermodynamic cycle  Exergy  Gadolinium Résumé : Magnetocaloric systems are interesting from the point of view of energy efficiency and could be environment-friendly products. Numerous prototypes have demonstrated the feasibility of such systems for applications around room temperature, but there is still room for improvement. The research of an optimal configuration only by an experimental approach is a complex and difficult task due to numerous building parameters and driving parameters. Therefore we propose here a methodology based on a numerical approach. A numerical model calibrated with respect to experimental tests is used to make a parametric analysis of a magnetocaloric system. The design of the system is made according to given functional specifications, targeting different design strategies such as the power density, the energy efficiency, the maximizing of the temperature span, etc. This work is a step forward to the increase of the efficiency in the design of our future systems. En ligne : http://www.sciencedirect.com/science/article/pii/S0140700712002721 [article] Improvement and application of a numerical model for optimizing the design of magnetic refrigerators = Amélioration et application d'un modèle numérique pour l'optimisation de la conception des réfrigérateurs magnétiques [texte imprimé] / M. Risser, Auteur ; C. Vasile, Auteur ; C. Müller, Auteur . - 2013 . - pp. 950–957. Refrigeration Langues : Anglais (eng) in International journal of refrigeration > Vol. 36 N° 3 (Mai 2013) . - pp. 950–957 Mots-clés : Magnetocaloric refrigerator  Modelling  Thermodynamic cycle  Exergy  Gadolinium Résumé : Magnetocaloric systems are interesting from the point of view of energy efficiency and could be environment-friendly products. Numerous prototypes have demonstrated the feasibility of such systems for applications around room temperature, but there is still room for improvement. The research of an optimal configuration only by an experimental approach is a complex and difficult task due to numerous building parameters and driving parameters. Therefore we propose here a methodology based on a numerical approach. A numerical model calibrated with respect to experimental tests is used to make a parametric analysis of a magnetocaloric system. The design of the system is made according to given functional specifications, targeting different design strategies such as the power density, the energy efficiency, the maximizing of the temperature span, etc. This work is a step forward to the increase of the efficiency in the design of our future systems. En ligne : http://www.sciencedirect.com/science/article/pii/S0140700712002721

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Magnetic heat pumps / J. M. Gatti in International journal of refrigeration, Vol. 37 N° 1 (Janvier 2014)  

Public ISBD [article]  inInternational journal of refrigeration > Vol. 37 N° 1 (Janvier 2014) . - pp. 165–175 Titre : Magnetic heat pumps : configurable hydraulic distribution for a magnetic cooling system=Distribution hydraulique configurable pour un système de froid magnétique Titre original : Pompe à chaleur magnétiques Type de document : texte imprimé Auteurs : J. M. Gatti, Auteur ; C. Müller, Auteur ; C. Vasile, Auteur Année de publication : 2014 Article en page(s) : pp. 165–175 Note générale : Refrigeration Langues : Anglais (eng) Mots-clés : Magnetocaloric heat pump  hydraulic distribution  linear system  rotary AMRR cycle  dynamic seal Résumé : Magnetic cooling technology has experienced significant developments over the last five years. Most of the magneto-caloric prototypes use magneto-caloric alloys subject to variable magnetic field and coolant flow synchronized with the magnetisation/demagnetisation cycles. Hydraulic flow regulation has a major impact on the AMRR cycle and on the performance of the magnetic heat pump. This paper discloses a hydraulic solution implemented in a two stage linear prototype, where the volume, the flow rate and the coolant velocity can be controlled. The dynamic sealing of the system is also described, as well as the performance of a two stage prototype integrating this hydraulic distribution solution to this first generation solution. A brief description of a third generation ‘rotative’ architecture is provided, with results obtained just after the last Thermag V conference. En ligne : http://www.sciencedirect.com/science/article/pii/S0140700713002399 [article] Magnetic heat pumps = Pompe à chaleur magnétiques : configurable hydraulic distribution for a magnetic cooling system=Distribution hydraulique configurable pour un système de froid magnétique [texte imprimé] / J. M. Gatti, Auteur ; C. Müller, Auteur ; C. Vasile, Auteur . - 2014 . - pp. 165–175. Refrigeration Langues : Anglais (eng) in International journal of refrigeration > Vol. 37 N° 1 (Janvier 2014) . - pp. 165–175 Mots-clés : Magnetocaloric heat pump  hydraulic distribution  linear system  rotary AMRR cycle  dynamic seal Résumé : Magnetic cooling technology has experienced significant developments over the last five years. Most of the magneto-caloric prototypes use magneto-caloric alloys subject to variable magnetic field and coolant flow synchronized with the magnetisation/demagnetisation cycles. Hydraulic flow regulation has a major impact on the AMRR cycle and on the performance of the magnetic heat pump. This paper discloses a hydraulic solution implemented in a two stage linear prototype, where the volume, the flow rate and the coolant velocity can be controlled. The dynamic sealing of the system is also described, as well as the performance of a two stage prototype integrating this hydraulic distribution solution to this first generation solution. A brief description of a third generation ‘rotative’ architecture is provided, with results obtained just after the last Thermag V conference. En ligne : http://www.sciencedirect.com/science/article/pii/S0140700713002399

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