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Modelling and simulation of underwater vehicles

Modelling and simulation of underwater vehicles

引用

IEEE International symposium on computer aided control System design (CACSD)

作者： G. Conte A. Serrani Department of Electronics And Automation University of Ancona Ancona Italy Department System Science and Mathematmatics Washington University Saint Louis MO USA

The paper describes an integrated computer simulation package for underwater automation. Underwater vehicles are the main tools in exploring and exploiting subsea resources. As a result of the high cost of off shore tests, computer simulation has gained absolute priority in the process of designing control architectures for unmanned underwater vehicles, and efficient and reliable simulations programs are needed. The main focus of the paper is to the description of a general model for underwater vehicles dynamics, and its implementation as a modular structure in the context of an integrated environment for the development and testing of guidance and control system for underwater autonomous vehicles.

关键词： Underwater vehicles computer simulation Computational modeling Packaging Automation Costs Testing Process design Automatic control Process control

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Rapid prototyping of chassis control systems

Rapid prototyping of chassis control systems

引用

IEEE International symposium on computer aided control System design (CACSD)

作者： M.R. DePoyster J.F. Hoying K.N. Majeed Delphi Chassis Systems Dayton OH USA

The process of developing and testing chassis systems control algorithms has improved significantly from earlier methods. Previously, ideas were implemented in assembly language targeted for a fixed-point processor for real-time implementation in a vehicle controller. In this paper an example is presented that illustrates the use of rapid prototyping tools in the development of chassis control algorithms. The development of a new brake algorithm using a Simulink block diagram model is described. The multiprocessor development system employs a microprocessor-based brake controller acting as the master with a DSP-based dSPACE Autobox serving as a slave processor. The base braking algorithm resides in the microprocessor-based controller allowing utilization of all of the original brake system inputs and outputs. The advanced braking algorithm resides in the dSPACE Autobox. Sensor inputs are read by the brake controller and passed to the Autobox over a high speed optical CAN bus. The Autobox performs the necessary computations and sends the results back to the brake controller which adjusts the outputs accordingly. The development control system architecture is described in detail in the paper. The advantages of rapid prototyping over previous methods are also outlined with estimated savings in development time given.

关键词： Prototypes control systems Optical sensors System testing Assembly Vehicles Master-slave Optical control High speed optical techniques computer architecture

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A nonlinear PI controller based on a low-order empirical process model

A nonlinear PI controller based on a low-order empirical pro...

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IEEE International symposium on computer aided control System design (CACSD)

作者： R.J. Brendel B.A. Ogunnaike P.S. Dhurjati Department of Chemical Engineering University of Delaware Newark DE USA Experimental Station E.I. du Pont de Nemours슠and Company Wilmington DE USA

A nonlinear PI controller is developed from a low-order nonlinear empirical process model. Implementation issues such as model parameter identification and open-loop stability are discussed. The procedure for constructing effective controllers (including a simple model identification procedure) is illustrated with an example process of industrial significance.

关键词： Steady-state Parameter estimation Vectors Equations Taylor series Stability Signal processing Frequency Signal generators Adaptive control

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Combined modelling and simulation of dynamic systems using Oberon

Combined modelling and simulation of dynamic systems using O...

引用

IEEE International symposium on computer aided control System design (CACSD)

作者： M. Kottmann Automatic Control Laboratory Zurich Switzerland

Simulation packages traditionally have been developed for the simulation of certain narrow classes of models, such as continuous-time, discrete-time or discrete-event models. In some cases this happened by incorporating simulation possibilities into formerly pure matrix calculation packages, in other cases by designing new programming languages suited for special simulation problems. Combined models are models consisting of continuous as well as discrete parts. The first attempts to simulate combined models go back to the days of analog and hybrid computers. Today's digital computers allow combined simulation on a very high level, using object-oriented techniques for representing different model components. This paper describes a simulation package which allows combined modelling and simulation. The package is written in Oberon System 3, an object-oriented language which offers a high flexibility in extending existing models as well as embedding them into other environments.

关键词： Object oriented modeling Mathematical model Power system modeling Discrete event simulation Packaging Computational modeling Differential equations Laboratories computer simulation Automatic control

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Rapid prototyping for the development of powertrain control systems

Rapid prototyping for the development of powertrain control ...

引用

IEEE International symposium on computer aided control System design (CACSD)

作者： R.E. Dorey D. Maclay Research and Engineering Center Ford Motor Company Limited Basildon Essex UK Cambridge Control Limited Cambridge UK

There is enormous downward pressure on cost and the time to develop powertrain control systems. Today's automotive programs have aggressive timing, technically complex powertrains and demanding performance targets. Success depends upon producing well engineered powertrain control systems with cost and performance in careful balance. To help this one of the most important quality tools that can be applied during the development process is rapid prototyping. This provides quantitative engineering data at an early stage and an effective lever to take time and effort out of the development process. This paper explores the role of rapid prototyping in the upfront investigation phase associated with system definition, design and analysis, where a fast, but structured process is needed to progress from customer and legal requirements, associated with the vehicle platform, the market and business factors, to the point in the vehicle development program where the hardware and software are principally fixed and only relatively small modifications can be made. It is suggested that the use of rapid prototyping must be considered carefully alongside the use of CASE and CACSD tools, in order to provide the overall environment in which to engineer the architecture of the control system and develop its functionality and performance. The particular information transferred between these tools, the timing of this and the deliverables made to other parts of the vehicle development program are crucial to a successful implementation.

关键词： Prototypes Mechanical power transmission control systems Automotive engineering design engineering Vehicles Costs Timing Power engineering and energy Software prototyping

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Mechatronic blockset for Simulink-concept and implementation

Mechatronic blockset for Simulink-concept and implementation

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IEEE International symposium on computer aided control System design (CACSD)

作者： O. Ravn M. Szymkat T. Uhl M. Betemps A. Pjetursson J. Rod Dept. of Autom. Tech. Univ. Lyngby Denmark Division of Control Engineering Department of Mechanical Engineering Staszic Technical University Krakow Poland Department of Automation Technical University of Denmark Lyngby Denmark

The paper describes the design considerations for modelling and simulation of mechatronic systems. The system is based on a component concept enabling the designer to pick component models that match the physical components of the setup to be modelled from a block library. Another important feature of the system is the ability to change the complexity of the simulation model in a simple, powerful and well structured way. This feature makes it simple for the designer to evaluate the influence of including different aspects of the components. The complexity can be changed both on the component level and for the whole model. This library that can be extended by the user contains standard components, such as DC-motors, potentiometers, encoders, pneumatic elements, and a Maple based facility to generate symbolic equations of motion. To evaluate the concepts the mechatronic Simulink library blockset has been implemented as a prototype based on MATLAB and Simulink and has been used to model several mechatronic systems. The library is presently being tested in different projects.

关键词： Mechatronics Mathematical model Libraries Power system modeling Robotics and automation System testing design automation Buildings control engineering Service robots

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A cone complementarity linearization algorithm for static output-feedback and related problems

A cone complementarity linearization algorithm for static ou...

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IEEE International symposium on computer aided control System design (CACSD)

作者： L. El Ghaoui F. Oustry M. AitRami Lab. de Math. Appl. Ecole Nat. Superieure de Tech. Avancees Paris France Laboratoire de Mathématiques Appliquées Ecole Nationale Supérieure de Techniques Avancées Paris France

This paper describes a linear matrix inequality (LMI)-based algorithm for the static and reduced-order output-feedback synthesis problems of n-th order linear time invariant (LTI) systems with n/sub u/ (resp. n/sub y/) independent inputs (resp. outputs). The algorithm is based on a "cone complementarity" formulation of the problem, and is guaranteed to produce a stabilizing controller of order m/spl les/n-max(n/sub u/,n/sub y/), matching a generic stabilizability result of Davison and Chatterjee (1971). Extensive numerical experiments indicate that the algorithm finds a controller with order less or equal to that predicted by Kimura's (1994) generic stabilizability result (m/spl les/n-n/sub u/-n/sub y/+1). A similar algorithm can be applied to a variety of control problems, including robust control synthesis.

关键词： Robust control Symmetric matrices control system synthesis Linear matrix inequalities Feedback control Internet Scholarships Books Bismuth Radiofrequency interference

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On the matrix sign function method for the computation of invariant subspaces

On the matrix sign function method for the computation of in...

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IEEE International symposium on computer aided control System design (CACSD)

作者： R. Byers Chunyang He V. Mehrmann Dept. of Math. Kansas Univ. Lawrence KS USA Department of Mathematics University of Kansas Lawrence KS USA Fakultät für Mathematik Technical University of Chemnitz-Zwickau Chemnitz Germany

There is some concern about the numerical stability of algorithms that use the matrix sign function to solve Riccati and Lyapunov equations and to find bases of invariant subspaces. In this paper, we demonstrate that evaluating the matrix sign function is a more ill-conditioned computational problem than the problem of finding bases of the two invariant subspaces. Nevertheless, we also give perturbation and error analyses, which show that the accuracy of the Newton iteration with the scaling for the computation of the invariant subspaces in most circumstances is competitive with conventional methods.

关键词： Eigenvalues and eigenfunctions Riccati equations Numerical stability Error analysis Helium Mathematics Snow Matrix decomposition Contracts computer architecture

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ACSL Code: a high quality code generator for control applications

ACSL Code: a high quality code generator for control applica...

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IEEE International symposium on computer aided control System design (CACSD)

作者： M. Englehart Honeywell Technology Center Minneapolis MN USA

Honeywell and MGA Software have collaborated to produce ACSL Code, a high-quality C code generator for control applications. ACSL Code was designed using the lessons learned by Honeywell when they developed the language and code generator controlH, under an ARPA (Advanced Research Projects Agency) DSSA (Domain-Specific Software Architecture) contract. We describe the language that the algorithm definitions are captured in by the ACSL Code tool, before being translated to C code. The language is designed to capture control algorithms concisely and rigorously. The language has both a textual and a graphical syntax. The textual syntax is a variant of MGA's language ACSL (Advanced Continuous Simulation Language), while the graphical syntax is derived from MGA's graphic modeling language. Highlights of the language include the integration between the textual and the graphical syntaxes, the rich base of presupplied blocks, and strong support for vectors and matrices. We describe our philosophy for code generation, and the ways in which ACSL Code implements that philosophy. The goal of the code generator is to produce software whose quality and structure are comparable to that produced by an experienced software engineer. One important characteristic is that the code produced preserves the structure of the original algorithm definition. Another characteristic is that the generated code is very portable and may be easily inserted into legacy environments. Finally, we present an example of a representative control law definition, and excerpts from the corresponding generated code.

关键词： Application software Collaborative software Software quality Graphics Decision support systems Contracts Algorithm design and analysis Character generation Automatic generation control Libraries

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applications of small-sample statistical condition estimation in control

Applications of small-sample statistical condition estimatio...

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IEEE International symposium on computer aided control System design (CACSD)

作者： T.T. Gudmundsson C.S. Kenney A.J. Laub M.S. Reese Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

Standard approaches to measuring the condition of various problems in numerical linear algebra compress all sensitivity information into a single condition number. Thus, a loss of information can occur in situations in which this standard condition number does not accurately reflect the actual sensitivity of a solution or particular entries of a solution. We describe a new method that overcomes these and other common deficiencies. The new procedure measures the effects on the solution of small random changes in the input data. And, by properly scaling the results, obtains condition estimates for each entry of a computed solution. This approach, which is referred to as small-sample statistical condition estimation (SCE), applies to both linear and nonlinear problems. The method has a rigorous statistical theory available for the probability of accuracy of the condition estimates. The theory of this approach is described along with several illustrative examples related to solving linear equations, linear least squares problems, and eigenvalue/eigenvector problems. applications to problems of specific interest to control engineers are also discussed, including the solution of matrix Lyapunov, Sylvester, and Riccati equations.

关键词： Riccati equations MATLAB Military computing computer errors Application software Measurement standards Linear algebra Costing Probability Least squares methods

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