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controlLED MOTION IN AN ELASTIC WORLD

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1993年第2B期115卷 252-261页

作者： BOOK, WJ The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA 30332-0405

The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feedforward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status and future directions in this area.

关键词： Nonlinear systems Design Feedforward control control algorithms Modeling Structural design Passive damping Feedback Manipulators

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ON THE DESIGN OF DIGITAL TRACKING controlLERS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1993年第2B期115卷 412-418页

作者： TOMIZUKA, M Department of Mechanical Engineering University of California at Berkeley Berkeley CA 94720

This paper describes my work on the design of digital tracking controllers over the past two decades. In tracking control, the control object must be moved along a time varying desired output and the transient path error must be minimized. Tracking control is discussed for the following two typical situations: one is the situation where the desired output is known in advance and the other is where the desired output itself is not known but has a certain known property, e.g., it is periodic with a known period. control algorithms for dealing with these situations will be reviewed and applications to mechanical systems are discussed.

关键词： Errors Tracking control control algorithms Design control equipment Transients (Dynamics)

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Specification methods for material-handling control algorithms in flexible manufacturing systems

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International Journal of Flexible Manufacturing Systems 1991年第3-4期3卷 231-250页

作者： Thomasma, Timothy Hilbrecht, Kurt Department of Industrial and Systems Engineering University of Michigan-Dearborn Dearborn 48128 MI 4901 Evergreen Rd. United States Department of Industrial and Systems Engineering University of Michigan-Dearborn Dearborn 48128 MI 4901 Evergreen Rd. United States

Good methods are needed to specify, test, and debug material-handling control logic. This article surveys a number of representative methods for defining and describing control algorithms for programmable material-handling equipment used in flexible manufacturing systems. The methods are evaluated with regard to their suitability for communication between people and as bases for interfaces to automatic program generators. It is concluded that no single method is entirely satisfactory. Three methods (position diagrams, function block diagrams, and operation networks) have potential to be combined into an effective hybrid approach that minimizes the need for the user to switch between various conceptual models. © 1991 Kluwer Academic Publishers.

关键词： control algorithms function block diagrams material handling operation networks position diagrams

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DISCRETE-TIME INVERSE DYNAMICS control OF FLEXIBLE JOINT ROBOTS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第2期114卷 229-233页

作者： JANKOWSKI, KP VANBRUSSEL, H Katholieke Universiteit Leuven Department of Mechanical Engineering B-3030 Leuven Belgium

This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm.

关键词： Electromechanical actuators Dynamics (Mechanics) control algorithms Numerical analysis Algebra Robots

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Connection management in high-speed interconnection systems

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Journal of High Speed Networks 1992年第2期1卷 145-166页

作者： Chlamtac, Imrich Martin, G. Kienzlet Department of Electrical and Computer Engineering University of Massachusetts United States

High-speed interconne ction systems for linking high-performance computers with each other and with their intelligent peripheral devices have gained great importance in recent years. The HIPPI standard which governs the interfaces to most of today’s high-speed interconnection systems is a representative, standardized interconnection solution and its control and performance issues are consequently of particular interest. This paper examines the issue of connection management control for these interconnection systems. It describes the interconnection system environment, the characteristics of the traffic being carried, and the ensuing problem of efficient connection management. Different management policies are described, ranging from policies that require a complete knowledge of the whole interconnection system’s state for their operation, to policies operating with only local client state knowledge. Considerations relevant to performance and switch implementation complexity trade-offs of the different policies are presented. Finally, priority access supporting connection management policies using preemptive and non-preemptive disciplines are described, and for the first time compared, using an analytic model introduced in this paper. Comparison of the two disciplines gives insights useful in choosing the preferred connection management policy and priority discipline, as a function of implementation objectives, the system’s particular traffic characterization and its performance requirements. © 1992 IOS Press. All rights reserved.

关键词： Connection-Oriented Communication control algorithms HIPPI Multitasking

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FINITE-ELEMENT ANALYSES OF REAL-TIME STABILITY control IN SHEET FORMING PROCESSES

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JOURNAL OF ENGINEERING MATERIALS AND TECHNOLOGY-TRANSACTIONS OF THE ASME 1992年第2期114卷 180-188页

作者： SIM, HB BOYCE, MC Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA

Sheet metal forming processes involve the plastic deformation of a sheet of material into a desired shape. In practice, the uncontrolled variation of boundary and material conditions have made the continual reproducibility of a sheet forming process a very difficult operation. Recently, real-time control schemes based on simplified models of "average" in-process stresses and/or strains have provided a repeatability of end product quality in terms of final shape, failure modes, and/or material state. The success of these control schemes have warranted a more detailed investigation into the complete physics of the deformation process. This study takes one such operation, the axisymmetric cup-forming process, and conducts an off-line detailed analysis using the finite element method in order to obtain information on the state of the material during the deformation process. In our analysis, actual closed-loop feedback control laws which have previously been applied in experiments have been numerically simulated with a novel method of modifying the boundary conditions based on current conditions. This has lead to further understanding of the role of the control law in optimizing draw failure height. Our further investigation and analysis directly incorporates the predicted localized nature of failure of this process into the feedback loop and has lead to the construction of an improved control algorithm which has the potential of dramatically increasing the failure height and which can be used in on-line control of the process. The study clearly demonstrates the utility and power of using off-line detailed analyses which incorporate closed-loop feedback laws to obtain a better understanding of the physics of the deformations which occur during processing, and thereby greatly improve upon the algorithms which are used for real time control of forming or other processing.

关键词： Stability Sheet metal work Product quality control algorithms Shapes Stress Construction Failure Boundary-value problems Finite element methods Real-time control Feedback algorithms Physics Deformation Failure mechanisms Finite element analysis

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MODELING AND VALIDATION OF AUTOMOTIVE ENGINES FOR control ALGORITHM DEVELOPMENT

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第2期114卷 278-285页

作者： MOSKWA, JJ HEDRICK, JK UNIV CALIF BERKELEY BERKELEYCA 94720

There is considerable interest in coordinated automotive engine/transmission control to smooth shifts, and for traction control of front wheel vehicles. This paper outlines a nonlinear dynamic engine model of a port fuel-injected engine, which can be used for control algorithm development. This engine model predicts the mean engine brake torque as a function of the engine controls (i.e., throttle angle, spark advance, fuel flow rate, and exhaust gas recirculation (E. G. R. ) flow rate). The model has been experimentally validated for a specific engine, and includes: . intake manifold dynamics, . fuel delivery dynamics, and . process delays inherent in the four-stroke engine. This model is used in real time within a control algorithm, and for system simulation. Also, it is flexible enough to represent a family of spark ignition automotive engines, given some test and/or simulation data for setting parameters.

关键词： Brakes Simulation control algorithms Ignition Traction Automotive engines Intake manifolds Flow (Dynamics) Delays Four-stroke engines Wheels Torque Fuels Exhaust gas recirculation Vehicles Dynamics (Mechanics) Modeling Engines

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VEHICLE LATERAL VELOCITY AND YAW RATE control WITH 2 INDEPENDENT control INPUTS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第4期114卷 606-613页

作者： MATSUMOTO, N TOMIZUKA, M UNIV CALIF BERKELEY DEPT MECH ENGNBERKELEYCA 94720

In automatic lateral control, which will play a key role in highway automation, vehicles must follow a given path and vehicle direction must be controlled as desired. Therefore, the ideal is for the lateral motion and yaw motion of the vehicle to be controlled independently. This requires at least one additional control input which is independent of the front steering angle. This paper explores the use of two independent control inputs, which are the front steering angle and an extra control input. Three types of extra control inputs are considered. (1) a differential driving torque between the two front wheels;(2) that between the two rear wheels;and (3) the rear steering angle. The analysis utilizing a linearized vehicle model shows that the front and rear independent steering allows a wider variation of lateral velocity and yaw rate in the steady state. A control algorithm with front and rear independent steering, which features continuously changing gains dependent on vehicle velocity and road conditions, is presented. Performance evaluation is based on a simulation study on a nonlinear vehicle model and an experimental study with a laboratory model vehicle.

关键词： Yaw Roads Torque Vehicles Simulation Model vehicles control algorithms Highways Wheels Performance evaluation Steady state

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SELF-TUNING control OF A COAL-FIRED FLUIDIZED-BED COMBUSTOR

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JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER-TRANSACTIONS OF THE ASME 1992年第1期114卷 139-144页

作者： JUNK, KW FULLMER, RR BROWN, RC Department of Mechanical Engineering Iowa State University Ames IA 50010

This paper investigates the temperature control of a two-bed fluidized combustor using a self-tuning control algorithm to vary secondary air flow rate. The controller consists of a recursive least-squares parameter estimator, an observer, and a linear optimal control design procedure. This combination enables the controller to estimate the system parameters and update the feedback gains when necessary. Further, this study addresses the tracking form of optimal control, accomplished by augmenting the state vector with an integrator. The self-tuning control algorithm was compared with a simple PI controller, which was tuned using the Ziegler-Nichols method. In this study, self-tuning control provided improved performance over classical control. Compared with conventional, constant-gain control, self-tuning control reduced steady-state variance by a factor of 6.67 while maintaining good tracking characteristics.

关键词： Fluidized beds Optimal control Steady state control algorithms Design Air flow Temperature control Combustion chambers control equipment Feedback Coal

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INPUT OUTPUT LINEARIZATION USING TIME-DELAY control

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第1期114卷 10-19页

作者： YOUCEFTOUMI, K WU, ST Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139

A control procedure that uses Time Delay control to achieve input/output linearization of a class of nonlinear systems is presented. The control system is characterized by a simple algorithm and enhanced robustness properties in comparison with current control algorithms. The paper first reviews the fundamentals of input/output linearization. The use of Time Delay control is then shown to result in an exact linear system for sufficiently small delay time. Modified controllers for systems with a low-pass filter are also investigated. Simulation results show that the algorithm works well with measurement noise. The controller is also tested on a single-link flexible arm to show the effectiveness of the simple algorithm in the control of complicated systems.

关键词： Delays Nonlinear systems Noise (Sound) algorithms control algorithms control systems Low-pass filters Robustness Simulation results control equipment Time delay systems Linear systems

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