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检索条件"任意字段=Proceedings of the IEEE/IFAC Joint Symposium on Computer-Aided Control System Design"

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CACSD for hydraulic cylinders

CACSD for hydraulic cylinders

引用

ieee International symposium on computer aided control system design (CACSD)

作者： M. Lemmen M. Brocker Universitat Duisburg-Essen Duisburg Nordrhein-Westfalen DE

ISBN: (纸本)0780365666

Hydraulic drives such as synchronizing cylinders or differential cylinders have nonlinear plant dynamics. This paper demonstrates the advantage of using the computer algebra/symbolic computation system Maple to compute nonlinear controllers for the two different kind of plants treated here. Thus, we compute an exact linearizing controller for synchronizing cylinders with static state feedback using Maple. The controller shows good performance in experiments. Hydraulically driven differential cylinders, however, are not exact linearizable by static feedback with respect to the piston rod position as output. Thus, we design an input-output-linearizing controller for this kind of plant with the same software package. Again, this controller is tested in experiments and shows good performance.

关键词： Hydraulic drives Nonlinear dynamical systems Algebra Nonlinear control systems control systems Linear feedback control systems State feedback Output feedback Pistons Software packages

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Noncollocated passive transfer functions for a flexible link robot

Noncollocated passive transfer functions for a flexible link...

引用

ieee International symposium on computer aided control system design (CACSD)

作者： M. Saad L. Saydy O. Akhrif École Polytechnique de Montréal Montreal Canada École de technologie supérieure Montreal Canada

ISBN: (纸本)0780365666

We apply the concept of passivity to control the position of one link flexible robot using the input torque at the base. Since the choice of the tip position as an output leads to a nonpassive transfer function, we propose a new choice for the output, namely the noncollocated output measurement, consisting of the angle of rotation at the hub augmented with a weighted value of the angle of rotation of the link's extremity. A technique for determining the closest output to the tip resulting in a passive transfer function is given.

关键词： Transfer functions Robots Rotation measurement Extremities Damping Payloads Torque control Position measurement control theory system testing

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Zero-latency engineering/sup TM/ for control design

Zero-latency engineering/sup TM/ for control design

引用

ieee International symposium on computer aided control system design (CACSD)

作者： J. Ernst S. Washburn

ISBN: (纸本)0780365666

We have developed a novel, Internet-based approach to increase the productivity of multi-disciplinary, distributed engineering teams that use today's commercial vendors' best-of-class development tools in order to develop innovative computing-enabled devices under strong time-to-market and cost pressures. This approach is a combination of methodology and commercial, Internet-based software technology that interacts with and integrates with today's users' best-of-class commercial tools in a collaborative, multi-disciplinary environment. We believe this approach elegantly sidesteps the technical and economic obstacles described above. We call this approach Zero-latency Engineering/sup TM/, where "latency" refers to unnecessary, time consuming and high-risk problems.

关键词： design engineering control design Productivity Collaborative tools Software tools Internet Collaborative work Hardware Environmental economics Collaborative software

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Complex stability margin computation based on computer algebra

Complex stability margin computation based on computer algeb...

引用

ieee International symposium on computer aided control system design (CACSD)

作者： Nainn-Ping Ke Department of Electrical Engineering-Systems University of Southern California Los Angeles CA USA

ISBN: (纸本)0780365666

This paper describes a symbolic method for robust stability analysis of which the stability margin (k/sub M/) problem can be formulated by solving polynomial systems using symbolic computation. Once the solutions are found, the stability margin problem can be easily solved. For the complex k/sub M/ problem, no matter how many uncertainties, there is only one polynomial system which needs to be solved in order to find all singularities to determine whether the boundary of Horowitz template intercepts the origin or not. In addition, the corresponding polynomial systems can be transformed into several zero-dimensional polynomial systems which are considered as easy problems by many mathematicians and computer scientists. Therefore, we can compute exact the complex /spl mu/ efficiently by this method.

关键词： Algebra Robust stability Polynomials Uncertainty Robust control Grid computing Stability analysis Application software computer applications Feedback

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Real-time Linux Target: a MATLAB-based graphical control environment

Real-time Linux Target: a MATLAB-based graphical control env...

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ieee International symposium on computer aided control system design (CACSD)

作者： Zhigoa Yao N.P. Costescu S.P. Nagarkatti D.M. Dawson Department of Electrical and Computer Engineering Clemson University Clemson SC USA

ISBN: (纸本)0780365666

Real-Time Linux Target (RTLT) is a real-time Linux-based software environment for data acquisition and control that is integrated with MATLAB/SIMULINK. RTLT is a low-cost, user-friendly graphical tool for the design and implementation of digital computer control programs and is the first of its kind available under the Linux operating system. RTLT eliminates redundant hardware by using only one central processing unit (CPU) to perform deterministic real-time control computations as well as general-purpose non-deterministic processing of the Linux kernel and user programs (such as the user-interface), RTLT uses off-the-shelf consumer grade computer hardware, low-cost motion control boards, and a free operating system (OS). The non-proprietary open architecture makes this system more flexible than the current state-of-the-art as it is possible to combine various types of sensors from different vendors as inputs to one control program. The usual learning curve associated with new software tools is virtually eliminated as a result of the complete integration with the design and analysis tools provided by MATLAB/SIMULINK.

关键词： Linux computer languages control systems Operating systems MATLAB Hardware Central Processing Unit Motion control Data acquisition Digital control

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Sliding mode control with decreased chattering-model and simulations

Sliding mode control with decreased chattering-model and sim...

引用

ieee International symposium on computer aided control system design (CACSD)

作者： R. Gessing Politechnika śl∅ska Instytut Automatyki Gliwice Poland

ISBN: (纸本)0780365666

The idea of the system with sliding mode control and adaptation of the switched /spl beta//sup +/ and /spl beta//sup -/ amplitudes of the relay output is proposed. This is possible owing to the observation that the sliding mode control is equivalent to the two-position relay control of the sliding surface signal on the level zero. The slopes of the increasing and decreasing parts of the sliding surface signal curve are used for independent adaptation of /spl beta//sup +/ and /spl beta//sup -/ values of the relay output, respectively. The adaptation causes that the difference (/spl beta//sup +/-/spl beta//sup -/) is decreased and both the values tend to be placed symmetrically with respect to the needed mean value of the control. Owing to this the chattering effect appearing in the sliding control is decreased significantly and the system remains very robust. Simplified model of the proposed solution is described and simulations are performed.

关键词： Sliding mode control Relays control systems Robust control Voltage control Alternators MIMO Ear Actuators Adaptive systems

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Validating executable controller specifications through formal model checking

Validating executable controller specifications through form...

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ieee International symposium on computer aided control system design (CACSD)

作者： J.J. Scillieri K.R. Butts J.S. Freudenberg Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Powertrain Control Systems Department Ford Research Laboratory Dearborn MI USA

ISBN: (纸本)0780365666

In many embedded control system applications, the control algorithm includes both logical and data flow portions. We apply formal methods of system verification to discrete-state algorithms. Specifically, we make use of a formal model checking tool to prove or disprove various properties of the algorithm. Questions pertaining to the achievability of states and paths and proper variable assignment are cast as logical assertions in computation tree logic (CTL), and evaluated using the model checker. In addition, we describe an approach for generating scenarios; that is, a sequence of inputs and parameters that will take a discrete-state system model through a given sequence. We present several examples illustrating various questions that the designer may wish to pose, and an appropriate CTL assertion for each.

关键词： Mathematical model system testing Power system modeling control system synthesis Logic design engineering computer science Mechanical power transmission Laboratories Application software

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Discrete-time linear-quadratic output regulator for two variable systems

Discrete-time linear-quadratic output regulator for two vari...

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ieee International symposium on computer aided control system design (CACSD)

作者： R. Gessing Politechnika ślaska Instytut Automatyki Gliwice Poland

ISBN: (纸本)0780365666

An augmented and minimum realization state space models of a two input two output plant are proposed for direct derivation of the discrete-time linear-quadratic regulator (DLQR) with measured not all the state variables but only the plant outputs. Both the models are related by means of original transformation based on the system modes. Using this transformation it is shown that the resulting closed-loop (CL) system with dynamic output feedback regulator (DOFR) has the same stable roots of its characteristic equation as the CL with state feedback regulator. It is shown that the observer appearing in DOFR is optimal and dead-beat. It is also shown that the CL system with DOFR realizes the optimal LQ control of the system with feedback from the augmented state.

关键词： Regulators State feedback Equations State-space methods Output feedback control systems Optimal control MIMO Books Steady-state

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Singular perturbation approximation of large, dense linear systems

Singular perturbation approximation of large, dense linear s...

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ieee International symposium on computer aided control system design (CACSD)

作者： P. Benner E.S. Quintana-Orti G. Quintana-Orti Zentrum für Technomathematik Fachbereich S Mathematik und Informatik Universität Bremen Bremen Germany Departamento de InformAtica Universidad Jaume I Castellon Spain

ISBN: (纸本)0780365666

We discuss the parallel implementation of singular perturbation approximation (SPA) model reduction methods for large-scale linear control systems. The methods are based on balanced truncation methods using full-rank factors of the system Gramians. These factors are computed via an efficient iterative scheme based on the sign function method for solving linear matrix equations. The implementation of these iterations and of the SPA formulae is shown to be highly efficient on parallel computers with distributed memory.

关键词： Linear systems Reduced order systems Frequency Steady-state Large-scale systems control system synthesis Iterative methods Equations Concurrent computing Distributed computing

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design of a cyclic one-spot tuning PID controller and its application for an atmospheric distillation process

Design of a cyclic one-spot tuning PID controller and its ap...

引用

ieee International symposium on computer aided control system design (CACSD)

作者： K. Fujii T. Yamamoto Idemitsu Kosan Co. Ltd. Yamaguchi Japan Department of Technology and Information Education Faculty of Education Hiroshima University Hiroshima Japan

ISBN: (纸本)0780365666

PID controllers are used in most cases even nowadays, although generally most of chemical processes are complex multivariable systems with strong interactions. However, it is well known that the tuning of their parameters is very difficult. On the other hand, though dynamic matrix control (DMC) has become to be often used for such control systems, its development was costly and time-consuming. In this paper, a new tuning scheme of PID parameters is proposed, which is called a cyclic one-spot tuning scheme. Moreover, the proposed control scheme is evaluated on a real atmospheric distillation process refining petroleum.

关键词： Three-term control control systems Petroleum Automatic control Poles and towers Process control Refining Electronic mail Costs Industrial control

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