The problem of controlling highly nonlinear servo systems subject to severe disturbances is addressed. The objective is to apply modern controlsystems theory to control and to enhance armored vehicle fire control. Th...
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The problem of controlling highly nonlinear servo systems subject to severe disturbances is addressed. The objective is to apply modern controlsystems theory to control and to enhance armored vehicle fire control. The focus is on the development and evaluation, through computer-aidedcontrolsystemdesign simulation studies, of a digital controller using optimal feedback control as a replacement for conventional analog classical control of an armored vehicle's main weapon and sight systems.
Real-time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end-effector. For this purpose, a general-purpose framewo...
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Real-time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end-effector. For this purpose, a general-purpose framework, incorporating position, velocity, and acceleration, is developed. The computation requirements of a novel inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open-channel) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its feasibility for real-time applications.
This paper reviews the basic features of a high-level, interactive, conversational language called L-A-S (Linear Algebra and systems). Emphasis is placed upon recent developments of this computer-aideddesign (CAD) la...
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ISBN:
(纸本)0080325572
This paper reviews the basic features of a high-level, interactive, conversational language called L-A-S (Linear Algebra and systems). Emphasis is placed upon recent developments of this computer-aideddesign (CAD) language. Unlike the conventional menu-driven approach of many CAD packages, L-A-S provides the user with considerable flexibility in the development and maintenance of linear algebra and control algorithms. L-A-S is both a language and an interpreter. Users of L-A-S write programs while interacting with the interpreter. Programs may be edited, stored, recalled, and executed with the same or a different data set. L-A-S data structures include matrices, polynomials (continuous or discrete), and matrices of polynomials. We review the basics of the L-A-S language. We concentrate on those features of L-A-S which have been added within the last year. These include the Multiple Operator Statement (MOS), L-A-S user-defined subroutines, and the most-recent 'echo' feature for interaction with the interpreter. Examples illustrate each new feature.
The extension of computer-aidedcontrol engineering software to cover the stage of implementing a complex controller on digital target processors is discussed. The feature of the implementation process and of digital ...
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The extension of computer-aidedcontrol engineering software to cover the stage of implementing a complex controller on digital target processors is discussed. The feature of the implementation process and of digital controller modeling are examined. A survey of methods that could form a basis for an implementation-oriented toolset was given. It is concluded that there is high potential for user support right up to almost full automatization, by integrating tools working on appropriate models of the controller in the various stages of the implementation process.
An interactive computer-aided analysis and design (ICAAD) technique is described for solving the problem of producing energy-efficient metro (subway) systems. The specific problem considered is the choice of energy-ef...
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An interactive computer-aided analysis and design (ICAAD) technique is described for solving the problem of producing energy-efficient metro (subway) systems. The specific problem considered is the choice of energy-efficient tunnel trajectories when trains traveling in both directions must follow the same trajectory. A trajectory is displayed on an interactive graphics terminal, and the designer may easily modify the trajectory to reduce the sum of the energy consumed by the trains. The ICAAD technique is simple to use, and has the advantage of allowing the engineer to immediately visualize the trajectory he has chosen and thus take explicitly into account a number of considerations in addition to energy consumption.
The authors describe and illustrate SCEW (software for control engineering windowing), their software for control engineering education developed in the CMU distributed workstation computing environment. They describe...
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The authors describe and illustrate SCEW (software for control engineering windowing), their software for control engineering education developed in the CMU distributed workstation computing environment. They describe the CMU environment and discuss the design of SCEW, which is written in the C programming language under the unix operating system. The authors discuss the current status of SCEW and their plans for future extensions.
This presentation describes a dialogue-oriented software implemented on a portable computer for computer-aided engineering and training in control instrumentation and also for on-line verification of the performances ...
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This presentation describes a dialogue-oriented software implemented on a portable computer for computer-aided engineering and training in control instrumentation and also for on-line verification of the performances of the analog controllers installed on power plants. The SINCRO/CAR software includes algorithms for controller design, simulation, identification, optimization, frequency response and real time data acquisition. Various results obtained on fossil-fired and nuclear plants are given to illustrate the efficiency of the SINCRO/CAR software.
computer-aidedcontrolsystemdesign tools have evolved to cover the entire control engineering cycle. This includes process modeling, process characterization, control synthesis, closed-loop analysis, real-time simul...
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computer-aidedcontrolsystemdesign tools have evolved to cover the entire control engineering cycle. This includes process modeling, process characterization, control synthesis, closed-loop analysis, real-time simulation, pilot plant testing, start-up tuning and implementation. Highly integrated tools cover the entire cycle, enhancing reliability, and user-friendliness of all the tools.
The authors report some initial computational experience in solving both nominal and worst-case controlsystemdesign problems formulated as semi-infinite programming problems. Worst-case design problems are formulate...
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The authors report some initial computational experience in solving both nominal and worst-case controlsystemdesign problems formulated as semi-infinite programming problems. Worst-case design problems are formulated in a computationally efficient manner using a technique called majorization. Nominal and worst-case problems are solved by the square algorithm. A comparison is made of the computational difficulty in solving the two as well as the difficulty that would result from literal transcription of the design requirements for the family of uncertain plants.
A description is given of ACOLADES, an expert system for the design of linear servo command tracking controlsystems. The inference engine uses both backward and forward chaining rules. Backward chaining rules outline...
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A description is given of ACOLADES, an expert system for the design of linear servo command tracking controlsystems. The inference engine uses both backward and forward chaining rules. Backward chaining rules outline possible approaches while forward chaining rules indicate which approach has the highest probability of success. The user interacts with the system using a high-resolution screen and a mouse or other pointing device. Windows in the screen display tree data structures describing mathematical models used in the design process and lines of reasoning about design methods, performance data on tentative designs, and fundamental mathematical operations executed during the design.
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