MaTX/RtMaTX has been introduced as a basic language for computer simulations and real time control applications. In this article, robot motion control problems are considered to demonstrate the effectiveness of MaTX/R...
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MaTX/RtMaTX has been introduced as a basic language for computer simulations and real time control applications. In this article, robot motion control problems are considered to demonstrate the effectiveness of MaTX/RtMaTX. control engineers can benefit by implementing this language.
This paper deals with a methodology for computer-aideddesign (CAD) of sliding mode speed control of Permanent Magnet Synchronous Motor (PMSM). The drive system is built around several components that have their own t...
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This paper deals with a methodology for computer-aideddesign (CAD) of sliding mode speed control of Permanent Magnet Synchronous Motor (PMSM). The drive system is built around several components that have their own technology and multiple time-scales: electrical machine power semiconductors and control circuits from the firing sequences to the different regulators. By using digital simulation as a reliable way a methodology for CAD has been implemented to test the different dynamics of the drive system. In this paper the sliding mode control is applied in all regulation loops from speed regulation until the minimization of harmonics introduced by the line converter.
We derive analytic expressions for the stability radius of polynomial matrices for all Holder norms and discuss numerical issues for computing these stability radii for the 1, 2 and ∞ norm.
We derive analytic expressions for the stability radius of polynomial matrices for all Holder norms and discuss numerical issues for computing these stability radii for the 1, 2 and ∞ norm.
Recently, improved versions of some basic algorithms for computer-aidedcontrolsystems designs have been developed. In this article, several functional capabilities of SLICOT Library routines are presented. Performan...
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Recently, improved versions of some basic algorithms for computer-aidedcontrolsystems designs have been developed. In this article, several functional capabilities of SLICOT Library routines are presented. Performance results for some components of the library are compared with equivalent computations performed by some MATLAB functions included in the MATLAB nucleus or in the MATLAB control Toolbox. All the results show that SLICOT has better performance than MATLAB.
Safety-critical software development is a field of active growth and research. Many of the emerging software standards and guidelines used by industries are placing increased emphasis on safety and reliability. This a...
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Safety-critical software development is a field of active growth and research. Many of the emerging software standards and guidelines used by industries are placing increased emphasis on safety and reliability. This article discusses safety-critical software development practices and identifies characteristics needed for tools used in this process, including those used for automated coding and unit testing.
The force control of robot manipulator RD500 is presented. Then, a multiobjective robust controller synthesis approach for LTI systems subject to a passive perturbation is proposed. Finally, the design of a single-joi...
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The force control of robot manipulator RD500 is presented. Then, a multiobjective robust controller synthesis approach for LTI systems subject to a passive perturbation is proposed. Finally, the design of a single-joint of the manipulator is performed and numerical experiments demonstrate the effectiveness of the proposed multiobjective approach.
In this paper, we design the Generalized Sampled and Hold Functions (GSHF)-based state-feedback controllers for the continuous-time systems with the normbounded time-varying rank-1 uncertainty. A sufficient stability ...
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In this paper, we design the Generalized Sampled and Hold Functions (GSHF)-based state-feedback controllers for the continuous-time systems with the normbounded time-varying rank-1 uncertainty. A sufficient stability condition for such sample-data controlsystems is the given by using a Riccati equation approach.
A Mathematica-based numerical library, called Numerical Linear control Library, is described. The package is valuable for the practicing control and vibration engineers in automobile, aerospace, chemical and vibration...
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A Mathematica-based numerical library, called Numerical Linear control Library, is described. The package is valuable for the practicing control and vibration engineers in automobile, aerospace, chemical and vibration industries, and students and researchers in engineering, scientific computations and applied mathematics. The package will also play a role in transfer of technology to industries.
An account is given on the current and future tool support requirements for efficient controlsystem development. Focus is on general goals for vendors hoping to support an efficient ECU development process. To suppor...
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An account is given on the current and future tool support requirements for efficient controlsystem development. Focus is on general goals for vendors hoping to support an efficient ECU development process. To support the essential aspects of an efficient ECU development process, example through the tools of ETAS Inc. and the development of a gasoline engine ECU is presented.
The purpose of this paper is to give an overview of a cost-efficient integrated CACSD environment MaTX/RtMaTX. The software supports not only the analysis of controlsystems, and the design of controllers, but also th...
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The purpose of this paper is to give an overview of a cost-efficient integrated CACSD environment MaTX/RtMaTX. The software supports not only the analysis of controlsystems, and the design of controllers, but also the real-time implementation of controllers. MaTX/RtMaTX is distributed as a free software and is used in many universities and several companies mainly in Japan. This session focuses on the applications in some fields, such as robot motion control, visual simulation, mathematical modeling with symbolic manipulation, economics, and education in control engineering.
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