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Input and output scaling and reordering for diagonal dominance and block diagonal dominance

IEE PROCEEDINGS-control THEORY AND APPLICATIONS 1998年第6期145卷 523-530页

作者： Edmunds, JM UMIST Control Syst Ctr Manchester M60 1QD Lancs England

The scaling of the input and output units has very significant effects for multivariable systems. It affects interaction, design aims, weighting functions, model order reduction, etc. The paper presents a scaling algorithm to balance the input and output units of square systems, This algorithm is independent of the order of the inputs and outputs and ensures that the row and column dominances are balanced for any choice of input-output pairs. It also maximises the geometric mean of the row and column dominance ratios. A second algorithm is then used to reorder the inputs and outputs to help obtain diagonal dominance. A third algorithm is used to obtain block diagonal dominance in large-scale systems enabling the use of simpler control structures. These algorithms can be used for dynamic multivariable system control, and can also be used for large scale systems, to divide them into sets of multivariable systems.

关键词： scaling input-output programs multivariable control systems control algorithms diagonal dominance block diagonal dominance

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Home appliances get smart

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IEEE SPECTRUM 1998年第8期35卷 36-43页

作者： Badami, VV Chbat, NW GE Ctr Corp Res & Dev Schenectady NY 12301 USA

The authors describe how novel sensors and control algorithmsembedded in today's domestic appliances make them smart enough toestimate the size and dirtiness of a load of clothes tossed in a washeror to determine whether water in a pot on the stove is boiling. Theyargue that, as semiconductor costs come down, such appliances will geteven smarter

关键词： control systems domestic appliances electric sensing devices home automation intelligent control control algorithms home appliances intelligent operation semiconductor costs sensors smart appliances stove washer Appliances control systems smart appliance Stoves Intelligent control home automation grommets Sensors Electric sensing devices Computer algorithms

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An empirical tool force model for precision machining

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JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME 1998年第4期120卷 700-707页

作者： Arcona, C Dow, TA IBM Corp San Jose CA 95193 USA N Carolina State Univ Precis Engn Ctr Raleigh NC 27695 USA

The accuracy of precision machining operations could be improved through tool force feedback. Tool force is ideally suited for use in a control algorithm because it contains information on the instantaneous depth of cut, feed rare and condition of the tool. A tool force model that could form the basis of this new control technique has been developed. By measuring the shear angle from micrographs of chip cross sections, equations for the forces due to chip formation and the friction between the chip and the tool have been written. Furthermore, the effects of elastic deformation of the workpiece (spring back) on chip formation and the measured forces, which can be significant in precision machining have been included in the model. Machining experiments were conducted with a 0 deg rake diamond tool and four metals that are commonly diamond turned. For machining with newly lapped as well as worn tools, the calculated forces were in excellent agreement with the measured values for the array of workpiece materials.

关键词： Machining Metals Friction Diamonds Cross section (Physics) control algorithms Force feedback Shear (Mechanics) Deformation Diamond tools Springs

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Targeted processor architectures for high-performance controller implementation

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control ENGINEERING PRACTICE 1998年第7期6卷 867-878页

作者： Jones, S Goodall, R Gooch, M Univ Loughborough Dept Elect & Elect Engn Loughborough LE11 3TU Leics England

The requirements for hardware implementation of complex linear time-invariant controllers are addressed. This includes the basic formulation of the equations and their associated numerical properties. Hardware architectures which are directly targeted to these formulations are designed, and their performance is compared with a conventional digital signal processor for a relatively high-end controller task. (C) 1998 Published by Elsevier Science Ltd. All rights reserved.

关键词： control algorithms architectures arithmetic and logic units control applications hardware

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Virtual environment testbed for autonomous underwater vehicles

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control ENGINEERING PRACTICE 1998年第5期6卷 653-660页

作者： Gracanin, D Valavanis, KP Matijasevic, M Univ SW Louisiana Ctr Adv Comp Studies Lafayette LA 70504 USA

A virtual-environment-based testbed offers an alternative to difficult, costly, and possibly hazardous real-time testing and evaluation of control algorithms for autonomous underwater vehicles (AUVs). Various methods are used in the testbed to model the vehicle and its environment. Pertinent control algorithms are integrated with the testbed through sensor and control interfaces. A review of selected virtual environment testbeds and related standards is provided. Some implementation issues and results are discussed. A path-planning algorithm is described to illustrate this approach. (C) 1998 Published by Elsevier Science Ltd. All rights reserved.

关键词： autonomous vehicles computer simulation control algorithms vehicle simulators virtual reality

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A Network for Agricultural Management Systems: The Communications and control Platforms

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IFAC Proceedings Volumes 1998年第12期31卷 319-324页

作者： Carlos Serôdio J. Boaventura Cunha Raul Morais Carlos Couto João Monteiro Grupo de Comunicações - Universidade de Trás-os-Montes e Alto Douro 5000 Vila Real Portugal Grupo de Controlo e Instrumentação - Universidade de Trás-os-Montes e Alto Douro 5000 Vila Real Portugal Depanamento de Electrónica Industrial - Universidade do Minho 4700 Braga Portugal

Greenhouse control computers are an essential part of modem greenhouse operation. Climate, irrigation and nutrient supply must be controlled, in an economically way, to produce the best crop conditions. Current research on CO 2 enrichment and optimal growth strategies implies the use of powerful tools, either based on hardware or software. This paper describes the implementation of a distributed data acquisition and control system for computerised agricultural management systems. To accomplish with the emergent and future tendencies in this area the network uses different communications platforms to achieve low-cost, flexibility, and functionality. The techniques and tools, that provide to the user a transparent, friendly and intuitive Graphical User Interface will be also presented.

关键词： Agriculture Automation control algorithms Models Network topologies

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Wiener Model Based Nonlinear Predictive control of a pH Neutralisation Process

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IFAC Proceedings Volumes 1998年第11期31卷 547-552页

作者： Samo Gerkšič Đani Juričić Department of Computer Automation and Control Jožef Stefan Institute Jamova 39 SI-1000 Ljubljana Slovenia

A case-study evaluation of a Wiener model based nonlinear predictive control method is presented. The approach makes use of Wiener model identification and does not require first-principles modelling. It was tested on a simulated model of a pH neutralisation process that was reconstructed from the literature. The obtained results are better than those resulting from the original physical model based nonlinear control and also of an artificial neural network (ANN) based approach. The performance is excellent also in the case of a considerable plant-to-model mismatch. There is a clear relation to the underlying linear model based method in a form of gain scheduling, so that the properties of the nonlinear control system can be analysed from the comprehensible linear control aspect. The method combines advantages of linear model based predictive control and gain scheduling while retaining a moderate level of computational complexity, thus it can be applied as the first next step in cases where performance of linear control is unsatisfactory due to process nonlinearity.

关键词： control algorithms nonlinear control optimization problems predictive control

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control and Reference Trajectory for a Running Biped

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IFAC Proceedings Volumes 1998年第27期31卷 171-176页

作者： C. Chevallereau B. Perrin A. Formal’sky Institut de Recherche en Cybernetique de Nantes 1 rue de la Noë BP92101 44321 Nantes Cedex 03 France Institute of Mechanics Moscow Lomonosov State University 1 Michurinsky Prospect Moscow 119899 Russia

The goal of this paper is to define a reference trajectory for the running of a biped with feet. The running is composed of fly and single support phases. In a first stage, ballistic motion and impulsive control perform a cyclic reference trajectory. Then this initial reference trajectory is smoothly changed into a trajectory feasible with finite torques and respecting the physical constraints on ground reaction forces. During fly the global motion of the biped is only defined by its initial state and the gravity effect.

关键词： Robotics Walking Reference input control algorithms Constraints

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Experiences with the Application of Discrete Formal Methods to the Development of Engine control Software

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IFAC Proceedings Volumes 1998年第32期31卷 49-56页

作者： Andy J. Galloway Trevor J. Cockram John A. McDermid High Integrity Systems Engineering Department of Computer Science University of York York UK Rolls-Royce Military Aeroengines Filton UK

In this paper we outline an approach to the application of Formal Methods to the development of aircraft engine control software. We outline the difficulties in applying traditional formalisms to control software and propose an approach in which the discrete requirements are specified as aggregations of state-based and reactive requirements; the particular value of (formally) aggregating requirements is that assumptions are discharged in their context or else propagated outward toward the sensory environment. We briefly discuss extensions of the approach to distributed engine control and avionics systems.

关键词： Formal Specification Formal Methods control algorithms Safety Critical Aerospace Computer control Software Engineering Software Safety

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Model Predictive control of Large Scale Processes

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IFAC Proceedings Volumes 1998年第11期31卷 153-158页

作者： Jeremy G. VanAntwerp Richard D. Braatz Large Scale Systems Research Laboratory Department of Chemical Engineering University of Illinois at Urbana- Champaign 600 South Mathews Avenue Box C-3 Urbana fllinois 61801-3792 USA

Model predictive control is a receding horizon control policy in which a linear or quadratic program with linear constraints is solved on-line at each sampling instance. An algorithm is developed that allows quick computation of sub-optimal control moves. The linear constraint set is approximated by an ellipsoid and a change of variables is performed so that a solution may be computed efficiently via bisection. The ellipsoid is rescaled on-line to reduce conservatism. This allows the implementation of model predictive control algorithms to large scale processes using simple control hardware.

关键词： Model-based control Large-scale systems Process control Quadratic programming Time-varying systems Convex optimization Digital control control algorithms

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