This paper first reviews existing Quantitative Feedback Theory (QFT) based design techniques and difficulties that a designer encounters. Based on this analysis and taking into account practical constraints, an evolut...
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This paper first reviews existing Quantitative Feedback Theory (QFT) based design techniques and difficulties that a designer encounters. Based on this analysis and taking into account practical constraints, an evolutionary computation enabled automatic design procedure is developed. It can be employed to provide an initial controller quickly on which to base manual loop-shaping and refinements, or be used to further tune existing controllers or start from scratch. A design example against a MATLAB QFT Toolbox benchmark problem shows that this methodology not only automates loop-shaping but also improves design quality and, most usefully, improves the quality with a reduced order controller. The entire design is targeted towards global optimisation, including the prefilter selection.
Symbolic computing can facilitate the application of modern nonlinear system analysis and design methods to engineering problems. Reasonably complex models can be efficiently assembled and manipulated. In this paper w...
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Symbolic computing can facilitate the application of modern nonlinear system analysis and design methods to engineering problems. Reasonably complex models can be efficiently assembled and manipulated. In this paper we illustrate the symbolic construction and manipulation of a model of an undersea vehicle. While the system considered here is within the realm of hand assembly, doing so is tedious and error prone. On the other hand, it is trivial with the symbolic computing tools described here. More complex multibody configurations of undersea vehicles and robots can be dealt with using these techniques.
The paper describes a solution that enables the controlsystemdesigner to easily and seamlessly integrate visualization into simulations studies. The design target has been that no more than 10 percent of the modelli...
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The paper describes a solution that enables the controlsystemdesigner to easily and seamlessly integrate visualization into simulations studies. The design target has been that no more than 10 percent of the modelling effort should be devoted to modelling the visualization part of the simulation. The visualization module (VRML Animation Toolset) in the prototype implementation is interfaced to Simulink, but the design aims at making the concept simulation platform independent. The visualization module can also be connected to real systems using the Real-Time Workshop (RTW) thus enabling a visual comparison of the simulation system performance and the true system performance. The paper also explains the underlaying simulation centered architecture and the links to the prototype implementation.
A new Matlab toolbox DirectSD for analysis and direct synthesis of sampled-data (SD) systems in continuous time is presented. The design methods used in the toolbox are based on a new theoretical base, the main part o...
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A new Matlab toolbox DirectSD for analysis and direct synthesis of sampled-data (SD) systems in continuous time is presented. The design methods used in the toolbox are based on a new theoretical base, the main part of which is the parametric transfer function concept, which makes it possible to investigate SD systems in continuous time in the frequency domain. The toolbox includes macros for analysis and direct H2- and H∞-optimization of SISO SD systems under deterministic and stochastic disturbances.
GAMMA-1PC is a computer-aidedcontrolsystemdesign (CACSD) tools for controllers algorithms synthesis of multivariable plants. It intends for engineers-developers of real controlsystem. It consists of an USER-ENV en...
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GAMMA-1PC is a computer-aidedcontrolsystemdesign (CACSD) tools for controllers algorithms synthesis of multivariable plants. It intends for engineers-developers of real controlsystem. It consists of an USER-ENV environment for an user (a set of directives that provide design of controlsystem on the base of some technical indices) and tools for modernization and increase of directive quantity by a researcher (the languages for building of directive user interface and calculation part). For researcher's convenience in framework of CACSD GAMMA-1PC researcher's environment was developed. It does not require a knowledge of special researcher's languages. It provides the block-diagram input of a new directive and automatic translation it into the software for user interface and calculation part of directive. Researcher's environment includes a modules library (a set of ready modules for directive creation), an editor for building a block-diagram of directive with these modules and a translator of block-diagram into the program in researcher's languages.
ETAS' CACSD tool ASCET-SD (Advanced Simulation and control Engineering Tool) is specifically designed for controlsystemdesign in automotive applications. It supports the entire design cycle from the early stages...
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ETAS' CACSD tool ASCET-SD (Advanced Simulation and control Engineering Tool) is specifically designed for controlsystemdesign in automotive applications. It supports the entire design cycle from the early stages (i. e. graphical block diagrams) over rapid prototyping, target identical prototyping to eventually optimized code generation for various microcontroller targets. This paper focuses on code generation aspects on three levels of complexity (component, node, network), each of which must be addressed properly in order to obtain optimal results. On the component level the generation of the control algorithm itself with a focus on numerical issues is discussed. The node level addresses data and code structures for the entire program to be run on a microcontroller. When combining several nodes (ECUs) to a network, timing and communication aspects have to be considered.
This contribution describes the integration of different simulation methods for batch processes under one single user interface and based upon one core model. We discuss two different simulation concepts with respect ...
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This contribution describes the integration of different simulation methods for batch processes under one single user interface and based upon one core model. We discuss two different simulation concepts with respect to event detection and handling of hybrid systems, especially of recipe-driven batch processes. The notation of event handling is central to both approaches. Examples demonstrate in which cases a discrete-event simulation of hybrid systems can produce results which are equivalent to those from continuous simulation and under which conditions it fails.
This paper addresses the issue of transforming CACSD to 'computer-Automated controlsystemdesign', the fundamental step towards which is to devise simple performance indices that can reflect all time and freq...
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This paper addresses the issue of transforming CACSD to 'computer-Automated controlsystemdesign', the fundamental step towards which is to devise simple performance indices that can reflect all time and frequency-domain requirements under constraints. The merit and selectivity of five commonly used indices are hence analysed and assessed against design specifications, together with five new indices proposed. It is shown that hybridising indices can offer selectivity for damping ratios ranging from 0.5 to 1.0 (and extending to the infinity) for the overall closed-loop system. Using the ITAE index, evolutionary computation is applied to enable batch PID design automation. This leads to multiple optimal controllers for various time-constant ratios, satisfying both time and frequency domain requirements, including robust stability and low maximum sensitivity.
Automotive companies are increasingly using computer model based product development processes. The usage of models in powertrain embedded controlsystems development is the main focus of this paper. The scope and the...
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Automotive companies are increasingly using computer model based product development processes. The usage of models in powertrain embedded controlsystems development is the main focus of this paper. The scope and the types of models that are used in different steps vary across the development process. However, it is desirable to have an integrated modeling environment and a general model architecture throughout the process for optimal resource utilization. This paper describes a multi-user flexible modeling environment that satisfies such a need. The concept is demonstrated with an example. The resources required to develop and maintain the environment are also discussed.
In the present paper a formal framework based on the object-oriented paradigm for hybrid controlsystems modelling is illustrated. One of the peculiar elements of the proposed approach is modularity, which is realised...
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In the present paper a formal framework based on the object-oriented paradigm for hybrid controlsystems modelling is illustrated. One of the peculiar elements of the proposed approach is modularity, which is realised through the definition of a basic hybrid module, that can be recursively aggregated. Particular attention has been paid in the formal definition of the basic module, classifying its discrete state transitions in apparent, instantaneous and actual transitions. In addition, the composition rules for modules have been formalised, aiming at providing a consistent mathematical framework, especially for the propagation and management of events. As a test application, the controlsystem of the impact of a robotic arm on a stiff surface is discussed.
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