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Supervision issues in semiautogenous grinding
Abstracts 049 DAML w A Language for Modelling and Simulation of Digital Control Systems Z. Kowakzuk, pp 283-288 The hybrid characteristics of digital control processes, which have to be analysed in both the discrete and the continuous time domains, make the problem of optimal control design espe~ally difficult. In this paper a computer-aided simulation system, suitable for solving these problems, is presented. An associated programming language, the digital and analogue modelling language DAML, supplies facilities for programming analog plants and digital controllers, various types of arithmetic, and different levels of precision. A discrete PID regulator for a stationary plant and an adaptive algorithm for a robotic manipulator illustratethe applicability of D A M L . 050 Approximate Quudtree and Octree Representations for Manufacturing Tasks J. V&'6s, pp 289.294 This paper deals with approximate quadtree and octree representations of two-dimensional and three-dimensional objects for manufacturing tasks,and presents some useful algorithms for robot grasp choice and further applications. These are based on a memory-saving "top-down" form of tree node descriptions, enabling inner as well as outer approximations of regions end solid objects. A simple approach is presented for generation of gripping positions on a solid object dealing with its octree model. Application of approximate representations to robot pathplanning and to investigation of robot moveability is outlined.
051 Minimum Losses Control of the DC Motor Drive Including Supply System Losses P. Halamski, R.Mus~ynski, pp 295.300 Power losses in elements of the supply system (transformers, line, compensator) in minimum-loss con¢ol of DC motor drives are discussed. The separate components of the losses are described. An example is introduced, involving supply system losses in drives with 18 kW motors, in which the effects on the optimum motor field current, as a function of the operating point (torque or armature current, rotational speed), are studied. This dependence is determined, and then reduced to an approximating polynomial by means of a mathematical technique. Finally, the possibility of the inclusion of the supply system losses in known minimum-loss controllers is suggested
052 Comparative Study of Dedicated Motion-Control Processors E. Bertran, A. Gulmerl, G. Montoro, pp 301-306 A comparison of dedicated motion-control microcomputers is presented. Following an overview of different hardware alternatives and devices for D.C. motor control, two common motion-control processors are compared in terms of manufacturer's characteristics and development experience. In addition, the behaviour of both processors in a specific application, emphasizing dynamical aspects and control law programming facility, is shown.
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053 ihtegral Programming for Mechatronic System K. Beiov, V. Geortehev, pp 307-312 Mechatronic systems integrate different, autonomous subsystems for the execution of common activities. They require g ~ o p f i a t e system organization and integral programming. An approach to such programming is described in the paper. A system s~ucture which allows it is described. The problem of structure development is discussed, and a block called the "system organizer" is proposed for its control and evaluation. The main guidelines and restrictions for a mechatronic system, and its integ~d programming, are given.
054 Low-Cost Automatic Control Applied to an Experimental Greenhouse G.M. Claudia, H.R. Gilberto, P.G. GuiHermo, pp 313-316 .The main goal in controlling a greenhouse environment is to have a high level of intensity in plant production with a low-cost investment in automation. This paper describes the control system developed for an experimental greenhouse where several crops were produced. The ~e~ is based on a 68000 Motorola microprocessor. kinds of ramsors are used for monitoring of temperature, relative humidity and C O ~ . These variables, as well as water pumps and fans, are-controlled through the intelligent system and a power module.
055 Supervision Issues in Semiautogenons Grinding A. Cipriano, M. Guarinl, C. Mufioz, J. Ciceres, R. Collado, pp 317-321 This paper presents an application of parameter estimation and signal prediction to the supervision of semiautogenous grinding plants. Firstly, simple dynamic models for mill power and mill load prediction are stated. Then the models are compared using experimental data. The predicted signals show very good agreement with the corresponding measurements.
056 A Control System Using Computer Vision for Marking Carbide Cutting Tiles J. Hones, F. Sole, pp 323-326 Cemented carbide cutting tiles, produced for cutting tools, bear data specifying the type, batch number, ew., inscribed on a relatively nerrow wall of the tile with a laser beam. The tiles are fixed in columns in an open box on a mining table of the marking machine. Due to production tolerances and palletization methods it is not possible to specify the position of individual tiles by mechanical means. Use of a computer vision system that enables the control system to define the position of each tile with required precision and speed removes a bottleneck in cutting-file production and highly improves the quality of tile marking.
051 Minimum Losses Control of the DC Motor Drive Including Supply System Losses P. Halamski, R.Mus~ynski, pp 295.300 Power losses in elements of the supply system (transformers, line, compensator) in minimum-loss con¢ol of DC motor drives are discussed. The separate components of the losses are described. An example is introduced, involving supply system losses in drives with 18 kW motors, in which the effects on the optimum motor field current, as a function of the operating point (torque or armature current, rotational speed), are studied. This dependence is determined, and then reduced to an approximating polynomial by means of a mathematical technique. Finally, the possibility of the inclusion of the supply system losses in known minimum-loss controllers is suggested
052 Comparative Study of Dedicated Motion-Control Processors E. Bertran, A. Gulmerl, G. Montoro, pp 301-306 A comparison of dedicated motion-control microcomputers is presented. Following an overview of different hardware alternatives and devices for D.C. motor control, two common motion-control processors are compared in terms of manufacturer's characteristics and development experience. In addition, the behaviour of both processors in a specific application, emphasizing dynamical aspects and control law programming facility, is shown.
353
053 ihtegral Programming for Mechatronic System K. Beiov, V. Geortehev, pp 307-312 Mechatronic systems integrate different, autonomous subsystems for the execution of common activities. They require g ~ o p f i a t e system organization and integral programming. An approach to such programming is described in the paper. A system s~ucture which allows it is described. The problem of structure development is discussed, and a block called the "system organizer" is proposed for its control and evaluation. The main guidelines and restrictions for a mechatronic system, and its integ~d programming, are given.
054 Low-Cost Automatic Control Applied to an Experimental Greenhouse G.M. Claudia, H.R. Gilberto, P.G. GuiHermo, pp 313-316 .The main goal in controlling a greenhouse environment is to have a high level of intensity in plant production with a low-cost investment in automation. This paper describes the control system developed for an experimental greenhouse where several crops were produced. The ~e~ is based on a 68000 Motorola microprocessor. kinds of ramsors are used for monitoring of temperature, relative humidity and C O ~ . These variables, as well as water pumps and fans, are-controlled through the intelligent system and a power module.
055 Supervision Issues in Semiautogenons Grinding A. Cipriano, M. Guarinl, C. Mufioz, J. Ciceres, R. Collado, pp 317-321 This paper presents an application of parameter estimation and signal prediction to the supervision of semiautogenous grinding plants. Firstly, simple dynamic models for mill power and mill load prediction are stated. Then the models are compared using experimental data. The predicted signals show very good agreement with the corresponding measurements.
056 A Control System Using Computer Vision for Marking Carbide Cutting Tiles J. Hones, F. Sole, pp 323-326 Cemented carbide cutting tiles, produced for cutting tools, bear data specifying the type, batch number, ew., inscribed on a relatively nerrow wall of the tile with a laser beam. The tiles are fixed in columns in an open box on a mining table of the marking machine. Due to production tolerances and palletization methods it is not possible to specify the position of individual tiles by mechanical means. Use of a computer vision system that enables the control system to define the position of each tile with required precision and speed removes a bottleneck in cutting-file production and highly improves the quality of tile marking.