Abstract: A method for controlling an operation of a vapor compression system (VCS) determines values of measured outputs of the operation of the VCS that include performance and constrained outputs. The method determines states of the VCS using an estimator model of the VCS defining a relationship between the states of the VCS, control inputs and controlled outputs, such that a difference between outputs predicted using the estimator model and the measured outputs asymptotically approaches zero. The states of the VCS include a main state representing the operation of the VCS and an auxiliary state representing the effect of unknown disturbances on each measured output of the VCS. The control inputs for controlling the operation of the VCS are determined using a prediction model, such that the constrained output satisfies the constraints, and a difference between the performance output and the value of the setpoint asymptotically approaches zero.

Abstract: A method determines trajectories of redundant actuators of a machine including a first actuator and a second actuator. The method determines a first trajectory of the first actuator tracking a reference trajectory with an error tolerance, wherein the error tolerance is a function of a constraint of the second actuator, and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory.

Abstract: A method computes reference signals for a machine with redundant positioning by first generating a reference trajectory according to an ordered list of points. Then, using a filter or by choosing the value of the reference at each sampling time, a reference trajectory for the slow subsystem is produced. Next, determine whether the reference trajectory and the slow subsystem reference trajectory violate feasibility constraints, and if true, slowing down the reference trajectory and repeating with the generation of the slow subsystem reference trajectory. The slow subsystem reference trajectory is sent, via a model predictive control block, to a slow positioning subsystem controller, and a combination of the slow subsystem reference trajectory and the reference trajectory is sent to a fast positioning subsystem controller.

Abstract: A method determines a sway of an elevator rope during an operation of an elevator system. The method includes acquiring at least one measurement of a motion of the elevator rope during the operation of the elevator system; and determining the sway of the elevator rope connecting an elevator car and a pulley based on an interpolation between boundaries of the elevator rope based on the measurement of the motion.

Abstract: The optimization of cost function representing a movement of the mass by the multi-motor control system from an initial point to a final point is subject to non-convex constraints due to avoidance of a region of the obstacle located between the initial point and the final point. Hence, the method determines a union of convex regions connecting the initial point with the final point, such that each convex region does not intersect the region of the obstacle, a convex constraint for each convex region and a set of switching times when the trajectory crosses boundaries of the convex regions. The method optimizes the cost function by jointly updating the positions and the set of switching times to produce an optimal trajectory of the movement. The optimizing is subject to the set of convex constraints applied independently for each corresponding convex region.

Abstract: A method controls an operation of a laser processing machine with redundant actuators including a first actuator and a second actuator. The method determines a feasible region for states of the first actuator and states of a reference trajectory of the first actuator defined by constraints of the laser processing machine, constraints on the reference trajectory and constraints on a range of motion of the second actuator. The method selects a subset of the feasible region, such that for any state of the first actuator and any state of the reference trajectory within the subset, there is an admissible control maintaining the state of the first actuator within the subset of the feasible region for admissible future states of the reference trajectory, and selects an admissible control action for controlling the operation such that the state of the first actuator remains in the subset of the feasible region.

Abstract: A method and a system determine a position of at least one sway sensor in an elevator system for sensing a lateral motion of an elevator rope between a first boundary location and a second boundary location. An operation of the elevator system is simulated with a model of the elevator system to produce an actual shape of the elevator rope caused by the operation. At least one sway location is determined, such that an error between the actual shape of the elevator rope and an estimated shape of the elevator rope is minimized. The estimated shape of the elevator rope is determined by interpolation of the first boundary location, the second boundary location, and the sway location. The position of the sway sensor is determined, such that the sway sensor senses the lateral motion of the elevator rope at the sway location.

Abstract: A motion-control system for moving a mass according to different tasks includes at least one controllable actuator for performing the different tasks and an input module for receiving a specific task to perform. The system also includes a controller for controlling a performance of the specific task by the controllable actuator according to a specific control law and a tunable actuator having a tunable parameter of mechanical response, wherein the tunable actuator is mechanically arranged in the system, such that different values of the tunable parameter change dynamics of the system. An optimization module of the system jointly selects a value of the tunable parameter and the specific control law based on the specific task.

Abstract: The optimization of cost function representing a movement of the mass by the multi-motor control system from an initial point to a final point is subject to non-convex constraints due to avoidance of a region of the obstacle located between the initial point and the final point. Hence, the method determines a union of convex regions connecting the initial point with the final point, such that each convex region does not intersect the region of the obstacle, a convex constraint for each convex region and a set of switching times when the trajectory crosses boundaries of the convex regions. The method optimizes the cost function by jointly updating the positions and the set of switching times to produce an optimal trajectory of the movement. The optimizing is subject to the set of convex constraints applied independently for each corresponding convex region.

Abstract: An elevator including a car is arranged in a shaft. A set of compensator cables are attached to a bottom of the car and engaged with a compensator drum. A set of hoist cables are attached to a top of the car and engaged with a hoist drum to move the car vertically in the shaft, wherein the set of compensator cables and the set of hoist cables are configured to only move the car vertically.

Abstract: A branch controller operates with a system for temperature and humidity control. The branch controller includes a fluid control system for controlling a flow of the liquid desiccant in an arrangement of channels forming a first path for exchanging the liquid desiccant between a liquid desiccant conditioning unit and at least a first space conditioning unit and a second path for directing the liquid desiccant received from the first space conditioning unit to a second space conditioning unit. The branch controller includes a processor for comparing operational conditions of the first space conditioning unit and the second space conditioning unit. The processor selects between the first path and the second path based on the comparison and commands the fluid control system to control the flow of the liquid desiccant according to the selected path.

Abstract: A laser cutting machine includes a platform and a motion system. The motion system includes a first prismatic joint facilitating a first motion of the platform along a first direction and a second prismatic joint facilitating a second motion of the platform along a second direction. A galvano arranged on the platform, such that a motion of the platform causes a motion of the galvano, the galvano including a first mirror, wherein a third motion of the first mirror positions the laser beam along a third direction, and a second mirror, wherein a fourth motion of the second mirror positions the laser beam along a fourth direction. A control module controls concurrently the motion system and the galvano, such that a position of the laser beam on the workpiece is a vector sum of the first motion, the second motion, the third motion, and the fourth motion.

Abstract: A method calibrates a laser processing machine by commanding a scan head to direct a laser beam to a desired position, then senses an actual position of the laser beam directly using a position sensitive detector (PSD) after the scan head is positioned. A relative position between the scan head and PSD is altered using one or more linear actuators. A position feedback loop is closed around the linear actuators so that the relative position of the laser beam on the PSD is reduced to zero. The actual position of the laser spot is then measured indirectly by encoders attached to linear axes of the laser processing machine. The actual position is stored in a memory. An error is determined as a difference between the desired position and the actual position. Compensation coefficients are determined from the error and stored for later use during operation of the laser processing machine.

Abstract: Vibration in a mechanical system driven by a motor connected to a load is reduced by providing an angular position and an angular velocity of the motor to a linear feedback term and to a nonlinear feedback term. Outputs of the linear feedback term and the nonlinear feed term, and an optimal feedforward term determined off-line are summed to produce a summed signal, which is fed back to control a torque of the motor.

Abstract: A method of coordinated flow control in a heat exchanger system includes adjusting a position of a variable actuator of the heat exchanger system if an associated monitored temperature of the heat exchanger system needs adjustment, determining if the adjusted position of the variable actuator is within a predetermined range of positions, adjusting a position of a discrete actuator of the heat exchanger system if the adjusted position of the variable actuator is not within the predetermined range of positions, and resetting the position of the variable actuator in response to adjusting the position of the discrete actuator.

Abstract: A method controls a vapor compression system including a variable speed compressor. A desired discharge temperature of the compressor is determined using a mapping between values of the discharge temperature of the compressor and values of speed of the compressor and outdoor air temperature. A transition function for transitioning a current discharge temperature to the desired discharge temperature is determined, such that the transition function is continuous and a rate of change of the transition function is limited. Next, a valve of the vapor compression system is controlled such that the discharge temperature is transitioned to the desired discharge temperature based on the transition function.

Abstract: A method controls a set of semi-active actuators arranged in an elevator system to minimize a vibration of an elevator car. The elevator system is represented with a model of a virtual elevator system having a single virtual semi-active actuator arranged to compensate a virtual disturbance. The virtual disturbance is determined using a motion profile of position of the elevator car during the operation and a disturbance profile of the virtual disturbance. A state of the elevator system is determined using the model of the virtual elevator system, the virtual disturbance and a signal indicative of a horizontal acceleration of the elevator car during the operation. Each actuator of the set of semi-active actuators is controlled based on the state of the elevator system and according to a control policy of the virtual semi-active actuator.

Abstract: A method controls a set of semi-active actuators arranged in an elevator system represented with a model of a virtual elevator system having a single virtual semi-active actuator arranged to compensate a virtual disturbance proportional to a sum of disturbances from the set of disturbances. The method determines the virtual disturbance during an operation of the elevator car using a motion profile of position of the elevator car during the operation and a disturbance profile of the virtual disturbance, and determines amplitude of a virtual force of the virtual semi-active actuator using the model and the virtual disturbance. A gain of a controller for controlling the set of semi-active actuators is adjusted based on the amplitude of the virtual force and a reference force of the virtual semi-active actuator.

Abstract: A control signal for controlling an operation of a motion control system suitable for positioning a load is generated using determining a cost function based on a model of energy consumption of the system and a function of a tracking time; and minimizing the cost function subject to constraints to determine a trajectory of the control signal. The control signal is generated based on the trajectory and a current state of the system, wherein the steps of the method are performed by a processor.

Abstract: A set of semi-active actuators is arranged in an elevator system to compensate a vibration of an elevator car. The actuators are controlled in accordance with the control policy based on a measured signal including values of the parameter measured during the operation of the elevator system. The control policy is determined, based on a model of the elevator system, wherein the control policy includes a state function representing an operation of the elevator system and a function of displacement representing an operation of the set of semi-active actuators. The state function is approximated, using the model of the elevator system, as a first function of a parameter representing the vibration. The function of displacement is approximated, using the model of the elevator system, as a second function of the parameter.