- Type of paper
: Paper in journal
Title: Optimal closed-loop control of a hybrid step motor with
chopper drive
- Authors:
- Crnošija, Petar
- Benaković, M
- Škof, Franko (30804)
- Crnošija, Tihan (129016)
- Preložiček, Ivan (166776)
- Perčinić, Oleg (80973)
Journal: Robotics & Computer-Integrated Manufacturing
Number: 3
ISSN: 0736-5845
Volume: 8
Year: 1991
Pages: from 187 to 192
Number of references: 15
Language: engleski
Summary: Optimal closed-loop control of a hybrid step motor
withchopper drive is described. Expressions for the average torqueand
optimal control angle giving maximal average torque in thestationary state
without phase current chopper control arepresented. The effects of chopper
current control on the torqueand acceleration characteristics of a hybrid
step motor arediscussed. Expressions have been developed for the control
anglein the chopper current control mode, yielding greater torques
andimproved acceleration of hybrid step motors than for the optimalcontrol
angle without phase current control. The speed responseof a hybrid step
motor operated in a closed-loop system has beenstudied by computer
simulation for different supply voltages andtorque loads, using various
control angle algorithms.
- Type of paper
: Paper in journal
Title: Digital algorithm design for microprocessor control of
electromechanical system
- Authors:
- Bortsov, A
- Golik, S
- Crnošija, Petar
- Ban, Željko (134385)
Journal: Automatika
Number: 3
ISSN: 0005-1144
Volume: 33
Year: 1992
Pages: from 111 to 116
Number of references: 10
Language: engleski
Summary: Digital modal, time optimal and model reference
controlalgorithms are discussed. A digital model reference adaptivecontrol
algorithm with signal and parameter adaptation isdescribed. The results
obtained by digital simulation of a DCmotor drive with adaptive control
algorithm based on referencemodel and parameter adaptation are presented.
Keywords: control of electromechanical systems, digital control algorithms, model reference adaptive control, parameter adaptation
- Type of paper
: Paper in journal
Title: Model Reference Adaptive Fuzzy Control of High-order
Systems
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
Journal: Engineering Applications of Artificial Intelligence
Number: 5
ISSN: 0952-1976
Volume: 7
Year: 1994
Pages: from 501 to 511
Number of references: 31
Language: engleski
Summary: The paper presents a model reference adaptive fuzzy control
scheme which is suitable for high-order systems of well-known structure. It
contains a hybrid fuzzy controller composed of a nonintegral fuzzy and a
proportional-integral algorithm. The output of the hybrid fuzzy controller
is adjusted by a fuzzy tuning algorithm. The synthesis of the hybrid fuzzy
controller and the fuzzy tuning algorithm has been described for the
angular speed control problem of the linearized vector controlled permanent
magnet synchronous motor drive. The computer simulation results have proved
the effectiveness of the proposed method, showing stable system responses
with low sensitivity to large parameter variations.
Keywords: Adaptive control, fuzzy control, electrical drives, vector controlled PMSM drive
- Type of paper
: Paper in journal
Title: Robust Angular Speed Control of PMSM Drive with
Coordinated Performance of Nonintegral Fuzzy and PI Controller
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
Journal: Automatika
Number: 3-4
ISSN: 0005-1144
Volume: 34
Year: 1993
Pages: from 99 to 102
Number of references: 8
Language: engleski
Summary: The paper presents a robust control scheme for angular
speed control of a vector controlled permanent magnet synchronous motor
drive. Robustness is achieved with a controller constructed of a
nonintegral fuzzy and a proportional-integral *PI( algorithm. The way of
controller performance is dependent on the magnitudes of the proved the
robustness of the proposed solution. Control algorithm has a digital
character and it is very suitable for microcomputer implementation.
Keywords: electrical motor drives, fuzzy control, permanent magnet synchronous motor drives, servo systems, angular speed control
- Type of paper
: Paper in journal
Title: Design and Simulation of Complex Control Algorithms for
Thyristor Converter-fed Motor drives
- Authors:
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)
- Crnošija, Petar
Journal: Systems Analysis Modelling Simulation
ISSN: 0232-9298
Volume: 18
Year: 1995
Pages: from 361 to 364
Number of references: 9
Language: engleski
Summary: A model of thyristor converter with instantaneous values of
currents and voltages is described together with the implementation of this
model in the C++ and Matrixx programming languages. Time optimal thyristor
converter current control algorithms are realized in the C++ programming
language. Optimization of the coefficients of the parameter adaptation
algorithm in the dc motor drive is performed by using the Matrixx
programming package.
- Type of paper
: Paper in proceedings
Title: Time suboptimal rotation speed control of a
thyristor-supplied dc motor drive
- Authors:
- Ban, Željko (134385)
- Crnošija, Petar
- Editors
- Ferraris, P
Proceedings title: Proceedings of the 4th European Conference on Power Electronics and Application
Language: engleski
Place: Firenze, Italija
Year: 1991
Pages: from 287 to 292
Meeting: 4th European Conference on Power Electronics and Application
Held: from 09/03/91 to 09/06/91
Summary: Various methods of time optimal rotation speed control of
athyristor-supplied DC motor drive have been analyzed. The designof a
rotation speed control algorithm for a DC motor drivewithout inner armature
current feedback providing suboptimalrotation speed step response has been
discussed. An armaturecurrent limiting algorithm has also been developed.
The controlalgorithms have been developed separately for continuous
anddiscontinuous mode of operation of the thyristor converter.Simulation
results have indicated that the algorithms describedprovide suboptimal
rotation speed responses.
Keywords: DC drives, time optimal rotation speed control, armature current limitation.
- Type of paper
: Paper in proceedings
Title: Model reference signal adaptive control of industrial
direct-current motor drives
- Authors:
- Crnošija, Petar
- Bortsov, A
- Polyakhov, N
- Kuznetsov, V
- Kovačić, Zdenko (114335)
- Mujanović, Abdurahman (147371)
- Editors
- Zajc, Baldomir
- Solina, Franc
Proceedings title: Proceedings of the 6th Mediterranean Electrotehnical Conference MELECON '91
Language: engleski
Place: Ljubljana, Slovenija
Year: 1991
ISBN/ISSN: 0-87942-655-1
Pages: from 824 to 827
Meeting: 6th Mediterranean Electrotehnical Conference
Held: from 05/22/91 to 05/24/91
Summary: The synthesis of implementable control algorithms
forelectromechanical systems with incompletely measurable statevariables is
discussed. The design of a model reference adaptivecontrol system based on
signal synthesis is described.Mathematically, the procedure is based on
Lyapunov's secondmethod. The structure of adaptive controllers tested
inindustrial electromechanical systems is presented and the resultsobtained
with adaptive controllers in direct current motor drivesdiscussed.
- Type of paper
: Paper in proceedings
Title:
- Authors:
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Perić, Nedjeljko
- Mihalić, Stjepan
- Mandić, Irenka
Proceedings title: Zbor. XI Vses. naučno-tehničeskaja konf. po problemam avtomatizirannogo elektr.
Language: ruski
Place: Suzdal, Rusija
Year: 1991
Pages: from 0 to 0
Meeting: XI Vsesojuznaja naučno-tehničeskaja konferencija po problemam avtomatizirovannogo elektroprivoda
Held: from 09/30/91 to 10/03/91
- Type of paper
: Paper in proceedings
Title: Adaptive and near optimal armature current control
- Authors:
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Mujanović, Abdurahman (147371)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 36. godišnjeg skupa JUREMA
Language: hrvatski
Place: Zagreb
Year: 1991
ISBN/ISSN: 86-81571-10-1
Pages: from 9 to 12
Meeting: 36. godišnji skup JUREMA
Held: from 04/18/91 to 04/20/91
Summary: A time optimal armature current control algorithm has
beenderived for a linearized armature loop model of athyristor-supplied
direct-current motor. Using a reference model,an adaptation algorithm has
been developed which allows thetransient response to extend over a period
exceeding time optimaltransient response by one sampling interval, provided
that thevalue of parameter change is known. If this value is not know,the
armature current response is extended over several samplingintervals.
Furthermore, an algorithm providing for parameterestimation and parameter
change adjustment has been developed inorder to allow, together with the
time optimal control algofithm,the armature current response to be
completed within foursampling intervals irrespective of the magnitude of
parameterchange. The applicability of the algorithms developed has
beentested by computer simulation.
- Type of paper
: Paper in proceedings
Title: Actuating devices adaptive control of mutually coupled
electromechanical systems
- Authors:
- Bortsov, A
- Gavrilov, S
- Mujanović, Abdurahman (147371)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 36. godišnjeg skupa JUREMA
Language: ruski
Place: Zagreb
Year: 1991
ISBN/ISSN: 86-81571-10-1
Pages: from 1 to 4
Meeting: 36. godišnji skup JUREMA
Held: from 04/18/91 to 04/20/91
Summary: A two-level adaptive control strategy, applied to
complexelectromechanical systems and suitable for practical realization,is
considered. At the lower (local) level, parameteruncertainties and
elasticity effects are compensated, while theinterference of the subsystem
is handled at the higher level. Anexample of the two-level adaptive control
of the robot(manipulator) electromechanical module is presented.
- Type of paper
: Paper in proceedings
Title: Computer simulation of a hybrid stepper motor electrical
drive
- Authors:
- Dobrić, Željan
- Crnošija, Petar
- Nađ, Atila
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 36. godišnjeg skupa JUREMA
Language: hrvatski
Place: Zagreb
Year: 1991
ISBN/ISSN: 86-81571-10-1
Pages: from 54 to 57
Meeting: 36. godišnji skup JUREMA
Held: from 04/18/91 to 04/20/91
Summary: The model of an electrical drive consisting of a hybrid
stepmotor, encoder, phase controller, power amplifier, currentcontroller,
control unit and auxiliary modules is descibed. Inorder to investigate the
behavior of both the individual elementsand the drive as a whole, a
seperate model has been constructedfor each drive component. Moreover, such
drive model allows theinvestigation of various algorithms for hybrid step
motor controlin open and closed loop. Computer simulation was performed
usingthe PADSIM program package. Rotation speed responses of a hybridstep
motor controlled in a open and closed loop are presented.
- Type of paper
: Paper in proceedings
Title: Sensitivity analysis and design of DC servo systems
- Authors:
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)
- Editors
- Vuković, Milena
Proceedings title: Zbornik radova XXXV konferencije ETAN
Language: hrvatski
Place: Ohrid, Makedonija
Year: 1991
ISBN/ISSN: 86-80509-03-5
Pages: from 43 to 50
Meeting: XXXV konferencija ETAN
Held: from 06/03/91 to 06/07/91
Summary: Various definitions of the sensitivity functions are
provided.The design of DC servomechanisms is described using semi
relativesensitivity functions for output (controlled) quantity.
Asensitivity model of a DC electromotor drive has been designedutilizing
Kokotovic's sensitivity points method and the design ofcontroller parameter
are presented. The results of sensitivityanalysis and syntesis obtained by
computer simulation are shown.
Keywords: sensitivity analysis, sensitivity model, syntesis, DC servo systems
- Type of paper
: Paper in proceedings
Title: Digital algorithm design for microprocessor control of
electromechanical system
- Authors:
- Bortsov, A
- Golik, S
- Crnošija, Petar
- Ban, Željko (134385)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Proceedings of the 37th Annual Gathering KoREMA
Language: engleski
Place: Zagreb
Year: 1992
ISBN/ISSN: 86-81571-11-7
Pages: from 655 to 659
Meeting: 37th Annual Gethering KoREMA
Held: from 04/26/92 to 04/29/92
Summary: Digital modal, time optimal and model reference
controlalgorithms are discussed. A digital model reference adaptivecontrol
algorithm with signal and parameter adaptation isdescribed. The results
obtained by digital simulation of a DCmotor drive with adaptive control
algorithm based on referencemodel and parameter adaptation are presented.
Keywords: control of electromechanical systems, digital control algorithms, model reference adaptive control, control parameter adaptation
- Type of paper
: Paper in proceedings
Title: A synthesis of a modified modal and model reference
adaptive control system by computer simulation
- Authors:
- Mujanović, Abdurahman (147371)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 37. godišnjeg skupa KoREMA
Language: hrvatski
Place: Zagreb
Year: 1992
Pages: from 660 to 663
Meeting: 37. godišnji skup KoREMA
Held: from 04/26/92 to 04/29/92
Summary: Methods of modified modal control and model reference
adaptivecontrol are analized and compared. Analitical methods ofsynthesis
of control algorithm parameters are described.Optimization of control
algorithm parameters is done bysimulation using integral criterion of
square error. Simulationresults are given for the modified modal control
and modelreference of armature current of DC motor drive.
- Type of paper
: Paper in proceedings
Title: Modeling and simulation of a vector controlled PMSM drive
- Authors:
- Kovačić, Zdenko (114335)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 37. godišnjeg skupa KoREMA
Language: hrvatski
Place: Zagreb
Year: 1992
ISBN/ISSN: 86-81571-11-7
Pages: from 668 to 671
Meeting: 37. godišnji skup KoREMA
Held: from 04/26/92 to 04/29/92
Summary: Electronically commutated permanent magnet synchronous
motor(PMSM) are widely used in servosystems and robots, since a
vectorcontrol method has significantly improved their controllability.A
vector control is based on the model of the motor in thetwo-dimensional d,
q frame instead of traditionalthree-dimensional RST frame. This paper
presents a simulationmodel of a vector controlled PMSM drive. A PMSM drive
was testedunder various operating conditions and simulation results showthe
effectivness of the proposed model.
- Type of paper
: Paper in proceedings
Title: Microcomputer application for estimation of DC motor drive
parameters
- Authors:
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Vojvodić, Vladimir
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 37. godišnjeg skupa KoREMA
Language: hrvatski
Place: Zagreb
Year: 1992
ISBN/ISSN: 86-81571-11-7
Pages: from 676 to 679
Meeting: 37. godišnji skup KoREMA
Held: from 04/26/92 to 04/29/92
Summary: Estimation methods of DC motor drive parameters applied
duringthe starting procedure, are considered. Graphical-analitycal
andintegral methods for estimation of armature and electromechanicaltime
constant are described. A microcomputer implementation ofthese two methods
has been acomplished. Simulation andexperimental results are given in case
of armature andelectromechanical time constants estimation of thyristor
suppliedDC motor drive.
- Type of paper
: Paper in proceedings
Title: Average torqe optimization of current controlled two-phase
hybrid step motor
- Authors:
- Dobrić, Željan
- Crnošija, Petar
- Nađ, Atila
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 37. godišnjeg skupa KoREMA
Language: hrvatski
Place: Zagreb
Year: 1992
ISBN/ISSN: 86-81571-11-7
Pages: from 680 to 683
Meeting: 37. godišnji skup KoREMA
Held: from 04/26/92 to 04/29/92
Summary: An impact of current control and counterelectromotive force
onaverage torque value of hybrid step motor is discussed. Anexpression
describing average torque value of acurrent-controlled two-phase hybrid
step motor have also beenderived. Expression describing suboptimal control
angles of acurrent-controlled two-phase hybrid step motor have also
beenderived. Torque characteristic and angular speed transientresponse with
respect to different suboptimal control algorithmsof a hybrid step motor
have been obtained by computer simulation.
- Type of paper
: Paper in proceedings
Title: Fuzzy control of DC motor armature current
- Authors:
- Bogdan, Stjepan (189456)
- Kovačić, Zdenko (114335)
- Editors
- Solina, Franc
- Zajc, Baldomir
Proceedings title: Proceedings of the 1st Electrotechnical and Computer Science Conference ERK '92
Language: engleski
Place: Ljubljana, Slovenija
Year: 1992
Pages: from 141 to 144
Meeting: 1st Electrotechnical and Computer Science Conference ERK '92
Held: from 09/28/92 to 09/30/92
Summary: Paper deals with application of fuzzy control in systems
whichrequire fast and accurate responses. Changes of responses due toa
different number of linguistic variables, different samplingtime values and
system parameter variations are analized bycomputer simulation. Controller
was tested in a DC motor armaturecurrent control loop and results are
compared with theperformance of PI controller.
- Type of paper
: Paper in proceedings
Title: Adaptive control with signal adaptation based on measured
output signals
- Authors:
- Crnošija, Petar
- Ban, Željko (134385)
- Mujanović, Abdurahman (147371)
- Editors
- Solina, Franc
- Zajc, Baldomir
Proceedings title: Proceedings of the 1st Electrotechnical and Computer Science Conference ERK '92
Language: engleski
Place: Ljubljana, Slovenija
Year: 1992
Pages: from 189 to 192
Meeting: 1st Electrotechnical and Computer Science Conference ERK '92
Held: from 09/28/92 to 09/30/92
Summary: Application of model reference control with signal
adaptation tosystems with variable or unknown parameters is
considered.Synthesis of control algorithm parameters is described.
Modelreference control with signal adaptation has been applied tocascade
rotation speed control of a DC motor drive. The resultsof computer
simulation confirmed the good performance of thesignum type adaptation
algorithm when armature current androtation speed signals were used. To
obtain satisfactoryadaptation with measured signals of armature current and
rotationspeed, the adaptation algorithm was modified by replacing thesignum
function with a saturation which had different gains forsmall and large
values of error input.
- Type of paper
: Paper in proceedings
Title: Fuzzy rule-based adaptive force control of single DOF
mechanisms
- Authors:
- Bogdan, Stjepan (189456)
- Kovačić, Zdenko (114335)
- Editors
- Leahy, Michael B.
Proceedings title: Proceedings of 8th IEEE International Symposium on Intelligent Control
Language: engleski
Place: Chicago, USA
Year: 1993
ISBN/ISSN: 0-7803-1206-6
Pages: from 469 to 474
Meeting: 8th IEEE International Symposium on Intelligent Control
Held: from 08/25/93 to 08/27/93
Summary: The paper presents a position/force control with
completelyfuzzified adaptive force control system for the single degree
offreedom mechanisms. The proposed force control scheme containsadaptive
fuzzy force controller and subordinated fuzzy velocitycontroller. By using
a second-order referent model, a modelreference-based fuzzy adaptation
mechanism is able to keep theerror between the model and system output
responses within thedesired limits. The results obtained by computer
simulations indicate a stable performance of the force control system for
awide range of environment stiffness variations. The proposedadaptive force
control method has also been efficient in case ofcontact with rough surface
or the complex form workpiece.
- Type of paper
: Paper in proceedings
Title: Adaptive fuzzy control with model reference-based fuzzy
adaptation mechanism
- Authors:
- Kovačić, Zdenko (114335)
- Editors
- Tessier, P
Proceedings title: Proceedings of 2nd IEEE Conference on Control Applications
Language: engleski
Place: Vancouver, Canada
Year: 1993
ISBN/ISSN: 0-7803-0908-1
Pages: from 189 to 195
Meeting: 2nd IEEE Conference on Control Applications
Held: from 09/13/93 to 09/16/93
Summary: The paper presents a new model reference adaptive control
schemecontaining a fuzzy algorithm for tuning the gain coefficientwhich
adjusts the level of the fuzzy controller output. Thesynthesis of a fuzzy
tuning algorithm has been performed forhigh-order processes of well-known
structures. The proposedadaptive control scheme has been applied to the
angular speedcontrol of a vector controlled permanent magnet synchronous
motor(PMSM) drive. The computer simulation results have proved
theefficiency of the proposed method, showing stable systemresponses almost
insensitive to large parameter variations.
- Type of paper
: Paper in proceedings
Title: Adaptive time optimal control of thyristor converter
current
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Ban, Željko (134385)
- Crnošija, Petar
- Editors
- nema, urednika
Proceedings title: Proceedings of the 5th European Conference on Power Electronics and Applications
Language: engleski
Place: London, England
Year: 1993
ISBN/ISSN: 0 85296 582 6
Pages: from 41 to 46
Meeting: 5th European Conference on Power Electronics and Applications
Held: from 09/13/93 to 09/16/93
Summary: Based on a fast on-line parameter estimation algorithm, a
newadaptation procedure, applied to the time optimal current controlof a
thyristor converter loaded with a DC motor is presented. Atime optimal
current control algorithm ensures that in case ofrated system parameter
values a new steady state value is reachedwithin a single current pulsation
even when operating modes arechanged. In case of change system parameter
values, the proposedadaptation mechanism enables the current response to be
completedwithin two current pulsations, thus keeping it time optimal
andmaking it insensitive to parameter variations. Estimation andadaptation
algorithms were verified by computer simulation andthe results obtained are
presented in the paper.
- Type of paper
: Paper in proceedings
Title: Fuzzy rule-based model reference adaptive control of
permanent magnet synchronous motor drive
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Crnošija, Petar
- Editors
- Pietrzykoski, Anthony
Proceedings title: Proceedings of the IECON '93
Language: engleski
Place: New York, USA
Year: 1993
ISBN/ISSN: 0-7803-0891-3
Pages: from 207 to 212
Meeting: 19th Annual Conference of the IEEE Industrial Electronics Society (IECON '93)
Held: from 11/15/93 to 11/19/93
Summary: The paper presents a model reference adaptive control
schemeusing fuzzy logic adaptation mechanism to generate additionalsignal
to the system input. The proposed method has been appliedto the linearized
model of the angular speed control system of avector controlled chopper-fed
permanent magnet synchronous motor(PMSM) drive. Simulation results indicate
that a good adaptationis achieved even for large parameter variations.
Markedsimplicity and digital character of method make it very suitablefor
microcomputer implementation.
- Type of paper
: Paper in proceedings
Title: A robust angular speed control of PMSM drive with
coordinated performance of nonintegral fuzzy and PI controller
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Proceedings of the 38th international annual gethering KoREMA
Language: engleski
Place: Zagreb
Year: 1993
ISBN/ISSN: 953-6037-00-9
Pages: from 720 to 723
Meeting: 38th international annual gethering KoREMA
Held: from 04/26/93 to 04/28/93
Summary: Paper presents a robust control scheme for angular speed
controlof a vector controlled permanent magnet synchronous motor
drive.Robustness is achieved with controller constructed of
nonintegralfuzzy and proportional-integral (PI) controllers. The way
ofcontroller performance is dependent on the state of fuzzycontroller
inputs. Angular speed control scheme was tested bycomputer simulation and
the results have approved the robustnessof the proposed solution. Control
algorithm has a digitalcharacter and it is very suitable for
microcomputerimplementation.
- Type of paper
: Paper in proceedings
Title: Utilization of electrical signals in closed loop control
of hybrid step motor drives
- Authors:
- Crnošija, Petar
- Nađ, Atila
- Kuzmanović, Branislav (157155)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 38. međunarodnog godišnjeg skupa KoREMA
Language: hrvatski
Place: Zagreb
Year: 1993
ISBN/ISSN: 953-6037-00-9
Pages: from 733 to 736
Meeting: 38. međunarodni godišnji skup KoREMA
Held: from 04/26/93 to 04/28/93
Summary: A possibility of utilization of hybrid step motor
electricalsignals for closed loop control is considered. A method
developedfor hybrid step motor control using a signal of
reconstructedmagnetic flux, can also be used in case of
chopper-controlledphase current. The results obtained by computer
simulation,showing starting responses of a closed loop controlled two
phasehybrid step motor with utilization of the reconstructed magneticflux,
indicate a very good corresponding to the responsesobtained in case of
using an incremental encoder.
- Type of paper
: Paper in proceedings
Title: Modification of signal adaptation algorithm in control of
DCM drives
- Authors:
- Mujanović, Abdurahman (147371)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 38. međunarodnog godišnjeg skupa KoREMA
Language: hrvatski
Place: Zagreb
Year: 1993
ISBN/ISSN: 953-6037-00-9
Pages: from 728 to 732
Meeting: 38. međunarodni godišnji skup KoREMA
Held: from 04/26/93 to 04/28/93
Summary: An application of a model reference adaptive control,
statevariable observer and signal adaptation, is considered forcontrol of
DC motor drives used in robotics. A derivationprocedure of a signum type
adaptation algorithm is described. Theproposed adaptive control scheme has
been applied to the cascadeangular speed control of a DC motor drive. The
simulation resultsobtained indicate that transient error can be minimized
by properdetermination of signal adaptation coefficients. In order
toeliminate oscilations present in the system because of signumtype
adaptation algorithm, this function was replaced bysaturation function. The
simulation results indicate thatoscilations have vanished but transient
error has increased.
- Type of paper
: Paper in proceedings
Title: Fuzzy control of a three degrees of freedom manipulator
- Authors:
- Bogdan, Stjepan (189456)
- Laci, Vesna
- Kovačić, Zdenko (114335)
- Editors
- Solina, Franc
- Zajc, Baldomir
Proceedings title: Proceedings of the 2nd Electrotechnical and Computer Science Conference ERK '93
Language: engleski
Place: Ljubljana, Slovenija
Year: 1993
ISBN/ISSN: 961-6062-00-X
Pages: from 197 to 200
Meeting: 2nd Electrotechnical and Computer Science Conference ERK '93
Held: from 09/27/93 to 09/29/93
Summary: The paper deals with an application of fuzzy control in the
jointservo control of three degrees of freedom (DOF) manipulator.
Thedescribed method for a trajectory planning ensures accurateapproximation
of the desired path and includes limits of thevelocities and acceleratons
of each robot joint. The proposedfuzzy controller has a nonlinear PD
character, thus providing ahighly effective path tracking. The path
tracking is alsosatisfactory in the presence of external disturbances.
- Type of paper
: Paper in proceedings
Title: Simplified algorithms of model-reference adaptive control
systems with parameter adaptation
- Authors:
- Crnošija, Petar
- Marijan, Nenad
- Ban, Željko (134385)
- Editors
- Solina, Franc
- Zajc, Baldomir
Proceedings title: Proceedings of the 2nd Electrotechnical and Computer Science Conference ERK '93
Language: engleski
Place: Ljubljana, Slovenija
Year: 1993
ISBN/ISSN: 961-6062-00-X
Pages: from 201 to 204
Meeting: 2nd Electrotechnical and Computer Science Conference ERK '93
Held: from 09/27/93 to 09/29/93
Summary: Model reference adaptive control algorithms with
parameteradaptation have been hereby considered. A simplified
parameteradaptation developed for the first and second order system hasbeen
applied to a high-order system. Parameters of adaptationalgorithm are
determined by using a gradient parameteroptimization method according to
the integral of square errorcriterium. The results obtained by the
parameter optimization areanalyzed under the assumption of the measured
derivative ofoutput variable with respect to the different values of
systemparameters.
- Type of paper
: Paper in proceedings
Title: Analysis of transient error in indirect signal adaptation
MRAS
- Authors:
- Mujanović, Abdurahman (147371)
- Crnošija, Petar
- Ban, Željko (134385)
- Editors
- Solina, Franc
- Zajc, Baldomir
Proceedings title: Proceedings of the 2nd Electrotechnical and Computer Science Conference ERK '93
Language: engleski
Place: Ljubljana, Slovenija
Year: 1993
ISBN/ISSN: 961-6062-00-X
Pages: from 261 to 264
Meeting: 2nd Electrotechnical and Computer Science Conference ERK '93
Held: from 09/27/93 to 09/29/93
Summary: This paper is concerned with transient error analysis in
modelreference adaptive control system with signal adaptation in caseswhen
some of the state variables are not directly accessible,i.e. when
adaptation is based on incomplete state variablesvector and estimated state
variables. The criterion fordetermining signal adaptation algorithm
parameters is the maximumvalue of the transient error in the system without
low-frequencysteady-state oscillations. A parameter optimization of a
signaladaptation algorithm is performed by computer simulationaccording to
the integral of square error criterion. The maximumerror value and the
steady state error are analyzed in case ofmeasured and estimated state
variables by varyng the estimatordynamics with respect to the system
dynamics and different valuesof system parameters.
- Type of paper
: Paper in proceedings
Title: Trajectory Planning, Dynamic Modelling and Robust Control
of Articulated Robot Arm
- Authors:
- Laci, Vesna
- Kovačić, Zdenko (114335)
- Editors
- Troch, I
- Breitenecker, F
Proceedings title: Proceedings of the IMACS Symposium on MATHEMATICAL MODELLING 1. MATHMOD VIENNA
Language: engleski
Place: Vienna, Austrija
Year: 1994
Pages: from 616 to 617
Meeting: IMACS Symposium on MATHEMATICAL MODELLING 1. MATHMOD VIENNA
Held: from 02/02/94 to 02/04/94
Summary: The paper presents an object-oriented software package
developed for educational purposes in the field of robotics. An emphasis
has been given to an improved method of trajetory planning and usage of
object-oriented programming technique in dynamic modelling of robots.
- Type of paper
: Paper in proceedings
Title: Robust Trajectory Tracking by Using Fuzzy Servo Control of
an Articulated Robot Arm
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Laci, Vesna
- Krishnan, R
- Editors
- Banyasz, Cs.
Proceedings title: Preprints of the 2nd IFAC Symposium SICICA 94.
Language: engleski
Place: Budapest, Mađarska
Year: 1994
Pages: from 60 to 65
Meeting: 2nd IFAC Symposium SICICA 1994
Held: from 06/08/94 to 06/10/94
Summary: The paper deals with a robust trajectory tracking by using
fuzzy joint servo control of a five axis electric-driven articulated robot
arm with tool pitch and roll motions. Trajectory planning ensures accurate
approximation of the desired path and includes limits of the velocities and
accelerations of each robot joint. The same fuzzy control algorithm is used
in all joint servo loops, requiring only multiplexing and proper scaling of
the fuzzy controller inputs and outputs. The comparative simulation
experiments were also peformed with a PD and robust controller in the
presence of white measurement noise, load change and nonlinear effects of
robot dynamics. The results obtained have confirmed a very good performance
and fairly robust trajectory tracking in case of using a fuzzy control
method.
Keywords: Fuzzy control, industrial robots, robust control
- Type of paper
: Paper in proceedings
Title: Fuzzy Servo Control of an Articulated Robot Arm
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Laci, Vesna
Proceedings title: IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems IROS 94.
Language: engleski
Place: Munich, Njemačka
Year: 1994
ISBN/ISSN: 0-7803-1933-8
Pages: from 641 to 648
Meeting: IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems IROS 94
Held: from 09/12/94 to 09/16/94
Summary: The paper deals with an application of fuzzy control in
joint servo control of a five-axis electric driven articulated robot arm.
The same fuzzy control algorithm is used in all joint servo loops,
requiring only multiplexing and proper scaling of the fuzy controller
inputs and outputs. The nonlinear character of the proposed fuzzy7
controller has provided for highly effective trajectory tracking.
Trajectory tracking appears satisfactory also in the presence of external
disturbances.
- Type of paper
: Paper in proceedings
Title: Realization of a Low-cost Angular Speed Fuzzy Controller
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Markić, Marinko
- Editors
- Zimmermann, Hans-Jurgen
Proceedings title: 2nd European Congress on Fuzzy and Intelligent Technologies EUFIT 94
Language: engleski
Place: Aachen, Njemačka
Year: 1994
ISBN/ISSN: 3-86073-286-2
Pages: from 274 to 277
Meeting: 2nd EUFIT 1994.
Held: from 09/20/94 to 09/23/94
Summary: The paper considers a design of a low/cost fuzzy controller
suitable for usage of standard 8-bit and 16-bit microcomputers. The
proposals for simplification of fuzzy controller operations including
scaling of binary input values into the binary related pages have been
given. A matrix-based scanning of the fuzzy rule/table has been used the
processing of which does not depend on the total number of control rules. A
synthesis procedure of the proposed controller has been described for the
problem of angular speed control of a DC motor drive. The proposed
simplifcations were implemented and tested experimentally in the laboratory
setup by using the 8-bit microprocessor with 8-bit A/D and D/A converters.
The experimental results have confirmed the efficiency of the discussed
fuzzy control scheme.
- Type of paper
: Paper in proceedings
Title: Optimization of Parameter Adaptation Algorithm in MRAS
- Authors:
- Crnošija, Petar
- Ban, Željko (134385)
- Marijan, Nenad
- Editors
- Yuksel, Onder
Proceedings title: Proceedings of the 7th Mediterranean Electrotechnical Conference
Language: engleski
Place: Antalya, Turska
Year: 1994
ISBN/ISSN: 0-7803-1772-6
Pages: from 739 to 742
Meeting: 7th MELECON 1994.
Held: from 04/12/94 to 04/14/94
Summary: Application of a simplified parameter adaptation algorithm,
which uses a total error of two state variables, has been considered. In
this way, a total number of algorithm parameters was reduced to six.
Parameter optimization used an integral criterium containing the square
error weight with exponential function. By optimizing only two parameters,
and keeping the values of other parameters constant, a satisfactory error
and speed of adaptation was obtained for a large change of system
parameters.
- Type of paper
: Paper in proceedings
Title: Control of a Hybrid Step Motor Drive by Using a Signal of
Reconstructed Magnetic Flux
- Authors:
- Crnošija, Petar
- Nađ, Atila
- Kuzmanović, Branislav (157155)
- Editors
- Jufer, Marcel
- Perriard, Yves
Proceedings title: ELECTRIC DRIVE DESIGN AND APPLICATIONS, 1994
Language: engleski
Place: LAUSANNE, Švicarska
Year: 1994
Pages: from 197 to 202
Meeting: European Power Electronics Chapter Symposium
Held: from 10/19/94 to 10/20/94
Summary: A method of closed-loop hybrid step motor drive control has
been elaborated utilizing signals of reconstructed magnetic flux due to
permanent magnets in the rotor. Additionally, it provides compensation of
phase resistance changes resulting from motor heating. The proposed method
is easy to implement and it may be applied in case of chopper current
control and additional series resistance.
Responses obtainted by simulating a two-phase hybrid step motor drive with
closed-loop control using reconstructed magnetic flux at constant control
angle values are presented. Excellent agreement was observed between these
responses and those obtained by using an incremental encoder. The proposed
method has been found to provide satisfactory compensation of phase
resistance changes.
- Type of paper
: Paper in proceedings
Title: Implementation of a Low-cost Microprocessor-based Fuzzy
Controll
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Markić, Marinko
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 39. godišnjeg skupa KoREMA
Language: engleski
Place: Zagreb
Year: 1994
ISBN/ISSN: 953-6037-02-5
Pages: from 293 to 296
Meeting: 39. godišnji skup KoREMA 1994
Held: from 04/25/94 to 04/27/94
Summary: The paper describes implementation of a low-cost
microprocessor-based fuzzy controller applied to the angular speed control
loop of a DC motor drive. The proposals for simplification of fuzzy
controller operations including register oriented fuzzy encoding and
pagewise scaling of controller's digital input values have been given
together with a simple way of scanning the fuzzy rule-table, which provides
almost invariant computational time consumption with respect to the total
number of control rules. The 8-bit microcomputer version of the proposed
fuzzy controller was built and tested experimentally in the laboratory
setup of a DC drive. The experimental results have confirmed the simplicity
and efficiency of the discussed fuzzy control scheme.
- Type of paper
: Paper in proceedings
Title: A Software Package for Trajectory Planning, Modelling and
Control of Articulated Robot Arms
- Authors:
- Laci, Vesna
- Kovačić, Zdenko (114335)
- Crnošija, Petar
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 39. godišnjeg skupa KoREMA
Language: engleski
Place: Zagreb
Year: 1994
ISBN/ISSN: 953-6037-02-5
Pages: from 440 to 443
Meeting: 39. godišnji skup KoREMA 1994
Held: from 04/25/94 to 04/27/94
Summary: The paper presents a software package developed for
educational purposes in the field of robot control. The programm contains
trajectory planning, dynamic modelling and control of a three-axis planar
articulated robot and an educational five-axis articulated robotic
manipulator Rhino XR-3. The programm involves trajectory planning method
which ensures accurate approximation of the desired path and includes
limits of the velocities and accelerations of each robot joint. Due to the
concept of modular programming, various control techniques, such as a PID,
robust and fuzzy, were included in the software package.
- Type of paper
: Paper in proceedings
Title: Fuzzy emulation of a linear PI controller
- Authors:
- Kovačić, Zdenko (114335)
- Štajdohar, Mario
- Vikalo, Haris
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 40. jubilarnog godišnjeg skupa KoREMA
Language: hrvatski
Place: Zagreb
Year: 1995
ISBN/ISSN: 953-6037-08-4
Pages: from 337 to 340
Meeting: 40. jubilarni godišnji skup KoREMA
Held: from 04/19/95 to 04/21/95
Summary: The paper describes an analytical approach to fuzzy
emulation of conventional linear controllers. Such an approach can be used
for initial setting of the centroid values of the output fuzzy sets laying
in the fuzzy rule-table before an adaptation or self-organization of the
table is started. The design of a fuzzy controller-emulator is explained
for the emulation of a linear PI controller. The fuzzy emulator is
implemented and experimentally verified in the angular speed control system
of a dc motor drive. The experimental results indicate that a full
emulation is achieved, and that a time consuming job of setting of the
fuzzy rule table can be efficiently automated.
- Type of paper
: Paper in proceedings
Title: Model reference-adaptive control of electric drives in
robotics
- Authors:
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)
- Mujanović, Abdurahman (147371)
- Editors
- Štambuk-Boršić, Neda
Proceedings title: Zbornik radova 40. jubilarnog godišnjeg skupa KoREMA
Language: engleski
Place: Zagreb
Year: 1995
ISBN/ISSN: 953-6037-08-4
Pages: from 492 to 497
Meeting: 40. jubilarni godišnji skup KoREMA
Held: from 04/19/95 to 04/21/95
Summary: Model reference adaptive control methods and ways of their
applications in control of robotic drives are considered. Synthesis
procedures of parameter, signal and fuzzy signal adaptation control
algorithms are described. These algorithms use simplified second-order
referent model and the errors of only two state variables, a measured
output signal and its derivative (differential).
The simplified adaptive control structure and methods have been applied to
a permanent magnet synchronous motor drive. The coefficients of parameter
and signal adaptation algorithms are determined by computer simulation and
optimization. The simulation results indicate that an usage of simplified
adaptive control schemes can provide a very good adaptation, and in case of
using a signal adaptation, also a very fast adaptation for three times in
magnitude large changes of the moment of inertia.
- Type of paper
: Paper in proceedings
Title: Design and Parameter Adaptation of a Fuzzy Servo
Controller
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Vikalo, Haris
Proceedings title: Proceedings of the 6th International Fuzzy Systems Association World Congress
Language: engleski
Place: Sao Paulo, Brazil
Year: 1995
Pages: from 389 to 392
Meeting: 6th International Fuzzy Systems Association World Congress
Held: from 07/21/95 to 07/28/95
Summary: The paper describes a phase plane-based method of
presetting a fuzzy control surface. To compensate for parameter variations,
an adaptation mechanism has been added. An adaptation law is based on
finding an adaptive gain coefficient which multiplies the output of the
fuzzy servo controller and which is determined by the value of a
quantitative transient response indicator. The proposed adaptive fuzzy
control scheme has been tested in the angular speed control loop of a dcm
servo drive and the simulation results proved its effectiveness even in
case of large changes of system parameters.
- Type of paper
: Paper in proceedings
Title: Usage of Bode Plots for Synthesis of Servo Controller
Parameters According to the Peak Overshoot of the System Response
- Authors:
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)
- Editors
- Jufer, Marcel
- Munteanu, R.
Proceedings title: Proceedings of the ELECTROMOTION 95 Symposium
Language: engleski
Place: Cluj-Napoca, Rumunjska
Year: 1995
ISBN/ISSN: 973-96983-2-8
Pages: from 54 to 58
Meeting: ELECTROMOTION 95 Symposium
Held: from 05/25/95 to 05/26/95
Summary: Groups of curves for determination of phase margin and
normalized peak overshoot instant of the closed-loop system response are
obtained by using open-loop system Bode plots and computer simulations.
These curves are worked out for the second-order and third-order servo
systems designed according to the technical and symmetrical optimum.
Analysis of the curves has yielded approximative relations which may be
used for the determination of phase margin from the peak overshoot value
and the peak overshoot instant from the gain crossover frequency and peak
overshoot.
The approximative relations were applied to the synthesis of PI controller
parameters in the cascade angular velocity control system of a dc motor
drive.
- Type of paper
: Paper in proceedings
Title: Design and Stability of Self-organizing Fuyyt Control of
High-order Systems
- Authors:
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Crnošija, Petar
- Editors
- Valavanis, K. P.
- Lewis, F. L.
- Barber, K. S.
- Abdallah, C.
Proceedings title: Proceedings of the 10th IEEE International Symposium on Inteligent Control
Language: engleski
Place: Monterey, SAD
Year: 1995
ISBN/ISSN: 0-7803-2722-5
Pages: from 389 to 394
Meeting: 10th IEEE International Symposium on Inteligent Control
Held: from 08/27/95 to 08/29/95
Summary: The paper describes a model reference-based self-organizing
fuzzy control scheme which is suitable for high-order systems of well-known
structure. The conditions for stability of the learning process, which may
be used for determination of the learning coefficient values, have been
worked out. The way of improving the system response in the initial stage
of learning by using thje referent model-based method of presetting a fuzzy
control surface is described. The proposed fuzzy control method has been
tested in the angular speed control loop of a dcm servo drive. The results
obtained have shown the feasibility and marked effectiveness of the
self-organizing fuzzy control scheme indicating a better performance of the
system with the preset fuzzy controller than with a blank fuzzy rule-table
in the initial stage of learning.
- Type of paper
: Paper in proceedings
Title: Impact of State Variables Estimator and Modified Signal
Adaptation Algorithm on Transient Error in Model Reference Adaptive Control
Systems
- Authors:
- Mujanović, Abdurahman (147371)
- Crnošija, Petar
- Editors
- Isidori, A
- Bittanti, S
- Mosca, E
- De Luca, A.
- Di Benedetto, M. D.
- Oriolo, G.
Proceedings title: Proceedings of 3rd European Control Conference
Language: engleski
Place: Rome, Italija
Year: 1995
Pages: from 482 to 487
Meeting: 3rd European Control Conference ECC 95
Held: from 09/05/95 to 09/08/95
Summary: The Effects of a state variable's estimator and modified
signal adaptation algorithm on a transient error in model reference
adaptive control systems are discussed. A method of adaptation coefficient
evaluation based on anticipated variations of systems parameters and state
variables is described.
Signal adaptation algorithm parameters providing minimum transient error
were determined by computer optimization of the system. The dependence of
transient and steady state error on the substitution of a saturation
function for the signum function in the adaptation algorithm is studied.
The influence of estimator dynamics on maximum transient and steady-state
error is analyzed. The dependence of maximum transient and steady-state
error on the adaptation coefficient and estimator dynamics is presented
graphically.
Keywords: Model reference adaptive control, modified signal adaptation, transient error, state observer
- Type of paper
: Paper in proceedings
Title: Self Tuning Time Optimal Algorithm for Thyristor Converter
Current Control
- Authors:
- Bogdan, Stjepan (189456)
- Kovačić, Zdenko (114335)
- Crnošija, Petar
Proceedings title: Proceedings of the 6th European Conference on Power Electronics and Applications
Language: engleski
Place: Sevilla, Španjolska
Year: 1995
Pages: from 3.716 to 3.720
Meeting: 6th European Conference on Power Electronics and Applications
Held: from 09/18/95 to 09/21/95
Summary: A linear dead beat algorithm applied to the current control
of a thyristor convereter loaded with a DC motor is described. A very
simple algorithm for estimation of the thyristor converter gain coefficient
has been developed. based on the estimated gain coefficient value,
adaptation algorithms which perform the self-tuning of the dead beat
algorithm coefficients have been developed. The usage of the proposed
algorithmsensures that transient response of thyristor converter current is
completed within a single current pulsation both in the continuous and the
discontinuous mode of conduction.
- Type of paper
: Paper in proceedings
Title: Self-tuning Time Optimal Control of Servosystems by Using
a Reference Model and a Sensitivity Model
- Authors:
- Bogdan, Stjepan (189456)
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Stajić, Dušan
Proceedings title: Proceedings of the 4th IEEE Conference on Control Applications
Language: engleski
Place: Albany, USA
Year: 1995
ISBN/ISSN: 0-7803-2550-8
Pages: from 730 to 735
Meeting: 4th IEEE CONFERENCE ON CONTROL APPLICATIONS
Held: from 09/28/95 to 09/29/95
Summary: A structure of a self-tuning time optimal control system
which achieves a good and fast adaptation by using a reference model and a
sensitivity model is described. A procedure of determination the time
optimal control algorithm parameters by using the reference model and the
sensitivity model is elaborated. A way of including and unmodelled dynamics
is proposed. Simulation results indicate that the proposed structure
provides very good adaptation to variations of system parameters within
only two to three stepwise changes of the referent input.
- Type of paper
: Ph.D.
Title: Fuzzy model reference adaptive control
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Author: KOVAČIĆ ZDENKO
Date of defense: 12/08/93
Language: hrvatski
Number of pages: 142
- Type of paper
: M.A.
Title: Suboptimal rotation speed control of DC motor drive
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Author: ADLER NEVENKA
Date of defense: 12/23/91
Language: hrvatski
Number of pages: 154
- Type of paper
: M.A.
Title: DC motor drive parameter identification
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Date of defense: 12/23/91
Language: hrvatski
Number of pages: 149
- Type of paper
: M.A.
Title: Adaptive time optimal control of thyristor converter
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Date of defense: 06/23/93
Language: hrvatski
Number of pages: 92
- Type of paper
: Mentorship
Title: Suboptimal rotation speed control of DC motor drive
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Date of defense: 12/23/91
Number of pages: 154
Author: Ban magistar znanosti Željko
Degree level: M.A.
- Type of paper
: Mentorship
Title: DC motor drive parameter identification
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Date of defense: 12/23/91
Number of pages: 149
Author: Banović Zrinko
Degree level: M.A.
- Type of paper
: Mentorship
Title: Adaptive time optimal control of thyristor converter
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Date of defense: 06/23/93
Number of pages: 92
Author: Bogdan magistar znanosti Stjepan
Degree level: M.A.
- Type of paper
: Mentorship
Title: Fuzzy model reference adaptive control
Faculty: Elektrotehnički fakultet Sveučilište u Zagrebu
Date of defense: 12/08/93
Number of pages: 142
Author: Kovačić doktor znanosti Zdenko
Degree level: Ph.D.
- Type of paper
: Computer program
Title: SIMKO
- Authors:
- Mudrovčić, Krešimir
Odering party: Elektrotehnički fakultet
Institution depot: Elektrotehnički fakultet
HW platform: PC
Operating system: DOS
Programming language: Pascal 6.0
Year: 1993
Summary: Cascade control system simulation program.
- Type of paper
: Computer program
Title: SIMKOMO
- Authors:
- Mendiković, Dario
- Krndelj, Hrvoje
Odering party: Elektrotehnički fakultet
Institution depot: Elektrotehnički fakultet
HW platform: PC
Operating system: DOS
Programming language: Borland C++ 2.0
Year: 1993
Summary: Simulation program for hybrid step motor drive.
- Type of paper
: Computer program
Title: WINPMSM
- Authors:
- Mijačević, Velibor
Odering party: Elektrotehnički fakultet
Institution depot: Elektrotehnički fakultet
HW platform: PC
Operating system: DOS
Programming language: Visual Basic & Borland C++
Year: 1993
Summary: Simulation program for permanent magnet synchronuous
motordrive.
- Type of paper
: Computer program
Title: WINVCIM
- Authors:
- Mijačević, Velibor
Odering party: Elektrotehnički fakultet
Institution depot: Elektrotehnički fakultet
HW platform: PC
Operating system: DOS
Programming language: Visual Basic & Borland C++
Year: 1993
Summary: Simulation program for vector controlled induction motor
drive.
- Type of paper
: Computer program
Title: ROB
- Authors:
- Laci, Vesna
Odering party: Elektrotehnički fakultet
Institution depot: Elektrotehnički fakultet
HW platform: PC
Operating system: DOS
Programming language: Borland C++
Year: 1993
Summary: Simulation program for trajectory planning, modelling and
controlof articulated robot arms.
