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DISCRETE-TIME TIP POSITION control OF A FLEXIBLE ONE ARM ROBOT

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第3期114卷 428-435页

作者： CETINKUNT, S WU, SJ ZENITH CONTROLS INC CHICAGO IL 60609 USA

A predictive adaptive control algorithm is developed for tip position control based on the zero-order-hold equivalence of the nondimensionalized dynamic model of a flexible robot arm. A lattice filter is utilized for the purpose of parameter identification. The proposed control scheme provides an optimal output feedback control and, together with the lattice filter parameter identifier, it forms a special self-tuning regulator. It is then compared with other methods, such as linear quadratic Gaussian and stable factorization. A stability criterion for this control algorithm is also presented. The effects of the actuator dynamics on the overall system response and stability are investigated. Actuator dynamics model parameters are chosen from the actual specifications provided by manufacturers.

关键词： Position control Actuators Stability Filters Adaptive control Dynamics (Mechanics) control algorithms Feedback Dynamic models algorithms Robots

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Comparative Study of Dedicated Motion-control Processors

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IFAC Proceedings Volumes 1992年第25期25卷 301-306页

作者： E. Bertran A. Guimerá G. Montoro Department of Signal Theory and Communications Universitat Politècnica de Catalunya P.O. Box 30.002 08080 Barcelona Spain Oteman S.A. P.O. Box 205 0877 Igualada Spain

A comparison of dedicated motion-control microcomputers is presented. Following an overview of different hardware alternatives and devices to D.C. motor control, two usual motion-control processors are compared in terms of manufacturer's characteristics and development experience. In addition, the behaviour of both processors in an specific application, emphasizing dynamical aspects and control law programming facility, is shown.

关键词： Microprocessor Based Systems Motion control control algorithms D.C. Motors

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A PREVIEW STEERING AUTOPILOT control ALGORITHM FOR 4-WHEEL-STEERING PASSENGER VEHICLES

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第3期114卷 401-408页

作者： LEE, AY Jet Propulsion Laboratory California Institute of Technology Pasadena Calif. 91109

This paper addresses the control law design of a preview steering autopilot for a four-wheel-steering vehicle to perform automatic lane tracking. In the concept, an On-board computer vision system is used in lieu of the driver's vision to track the roadway. The steering autopilot design is formulated as an optimal, discrete-time preview path tracking problem under the "perfect measurement" assumption. Simulation results indicate that the tracking performance of the steering autopilot was improved by preview relative to that calculated for an autopilot without preview. These results also indicate the existence of an effective preview time with which almost all the benefits of previewing future information can be obtained. This effective preview time is about three times the reciprocal of the autopilot's bandwidth. Our study also indicates that preview steering autopilots can tolerate the use of actuators with a lower bandwidth than those designed without preview information.

关键词： Roads Actuators Vehicles Autopilots control algorithms Design Computers Simulation results Wheels

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FUNCTIONAL PERSISTENCE OF EXCITATION AND OBSERVABILITY FOR LEARNING control-SYSTEMS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第3期114卷 500-507页

作者： MOORE, JB HOROWITZ, R MESSNER, W UNIV CALIF BERKELEY DEPT MECH ENGNBERKELEYCA 94720

Adaptive systems involving function learning can be formulated in terms of integral equations of the first kind, possibly with separable, finite-dimensional kernels. The learning process involves estimating the influence functions (Messner et al., 1989). To achieve convergence of the influence function estimates and exponentially stability, it is important to have persistence of excitation in the training tasks. This paper develops the concept of functional persistence of excitation (PE), and the associated concept of functional uniform complete observability (UCO). Relevant PE and UCO properties for linear systems are developed. For example, a key result is that uniform complete observability in this context is maintained under bounded integral operator output injection-a natural generalization of the corresponding finite dimensional result. This paper also demonstrates the application of the theory to linear error equations associated with a repetitive control algorithm.

关键词： Errors Stability Excitation control algorithms control systems Integral equations Linear systems

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ANALYSIS OF LINEAR TIME-INVARIANT SYSTEMS WITH TIME-DELAY

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第4期114卷 544-555页

作者： YOUCEFTOUMI, K REDDY, S Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139

Time Delay control has recently been suggested as an alternative scheme for control of systems with unknown dynamics and unpredictable disturbances. The proposed control algorithm does not require an explicit plant model nor does it depend on the estimation of specific plant parameters. Rather, it uses information in the recent past to directly estimate the unknown dynamics at any given instant, through time delay. In earlier papers, analysis and implementation of Time Delay controller for nonlinear systems were discussed. This paper analyzes the continuous Time Delay controller for a class of linear systems and presents necessary and sufficient conditions for control system stability. A necessary condition for stability is derived using the properties of linear time-delayed systems. This condition involves only a few of the system and controller parameters and facilitates design of the Time Delay controller. It is proved that this necessary condition is also sufficient if the delay time is chosen to be infinitesimally small. The convergence of closed loop system error to zero for certain classes of inputs and disturbances when the system is stable is also established. It is also shown that certain approximations in the control algorithm and certain additional unmodeled dynamics render the closed loop system under continuous Time Delay control to be not exponentially stable due to the controller poles on the imaginary axis at infinitely high frequencies. However, in digital implementation, all the signals are prefiltered by anti-aliasing filters prior to sampling. Hence, the highest frequency component is automatically limited and the issue of exponential instability is not encountered. A discussion is presented comparing Time Delay control with Repetitive control. It is indicated that the Time Delay controller can perform the functions of a repetitive controller with the delay time replaced by the period of the reference input while the repetitive controller can pe

关键词： Stability Delays Errors Filters Closed loop systems Nonlinear systems Poles (Building) Signals Dynamics (Mechanics) control algorithms Design control systems Time-invariant systems Approximation control equipment Time delay systems Linear systems

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ESTIMATION OF VEHICLE SHAFT TORQUE USING NONLINEAR OBSERVERS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第3期114卷 394-400页

作者： MASMOUDI, RA HEDRICK, JK UNIV CALIF BERKELEY MECH ENGN BERKELEY CA 94720 USA

Current closed-loop automotive shift control algorithms could greatly benefit if a measurement of the drive axle shaft torque was available. Direct measurements using strain gauges are too expensive for commercial applications. Magnetic pickup sensors that count the passage of gear teeth provide very inexpensive RPM measurements and are currently being used in production vehicles. This paper shows through simulations how these sensors can be used with a nonlinear observer technique (sliding mode) to estimate axle shaft torque from measurements of transmission output speed and driven wheel speed.

关键词： Torque Engineering simulation Vehicles Simulation Strain gages control algorithms Wheels Sensors Gear teeth

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EFFECT OF control algorithms ON FIXED PITCH WIND TURBINE GENERATORS

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JOURNAL OF SOLAR ENERGY ENGINEERING-TRANSACTIONS OF THE ASME 1990年第3期112卷 147-152页

作者： RIZZI, MP AUSLANDER, DM UNIV CALIF BERKELEY BERKELEY CA 94720 USA

The effect of control upon wind turbine performance is described using actual wind speed data from a wind farm in California. The algorithms studied are currently in use by some turbine manufacturers. The algorithms were studied using a computer model of a fixed pitch, utility connected wind turbine with an induction generator. The algorithm efficiency was found to be robust over a wide range of parameters. However, the number of start/stops varied greatly with different algorithms and parameters. ?1990 The American Society of Mechanical Engineers

关键词： Wind turbines Wind velocity Turbines control algorithms Computers Generators Wind farms Electromagnetic induction algorithms

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OPTIMIZING AIRCRAFT PERFORMANCE WITH ADAPTIVE, INTEGRATED FLIGHT PROPULSION control

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JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER-TRANSACTIONS OF THE ASME 1991年第1期113卷 87-94页

作者： SMITH, RH CHISHOLM, JD STEWART, JF NASA AMESDRYDENEDWARDS AIR FORCE BASECA 93523

An adaptive, integrated flight/propulsion control algorithm called Performance Seeking control (PSC) has been developed to optimize total aircraft performance during steady-state engine operation. The multimode algorithm will minimize fuel consumption at cruise conditions;maximize excess thrust (thrust minus drag) during aircraft accelerations, climbs, and dashes;and extend engine life by reducing Fan Turbine Inlet Temperature (FTIT) when the extended life mode is engaged. On-board models of the inlet, engine, and nozzle are optimized to compute a set of control trims, which are then applied as increments to the nominal engine and inlet control schedules. The on-board engine model is continually updated to match the operating characteristics of the actual engine cycle through the use of a Kalman filter, which accounts for anomalous engine operation. The PSC algorithm will be flight demonstrated on an F-15 test aircraft under the direction of the NASA Ames/Dryden Flight Research Facility. This paper discusses the PSC design strategy, describes the control algorithm, and presents results from high-fidelity, nonlinear aircraft/engine simulations. Simulation results indicate that thrust increases as high as 15 percent and specific fuel consumption reductions up to 3 percent are realizable by the PSC system.

关键词： Flight Simulation Turbines control algorithms Temperature Nozzles Propulsion Aircraft engines Simulation results Steady state algorithms NASA Engineering simulation Aircraft Fuel consumption Drag (Fluid dynamics) Design Cycles Thrust Engines Kalman filters

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IMPLEMENTATION OF PID controlLERS ON THE MOTOROLA DSP56000/DSP56001 .2.

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MICROPROCESSORS AND MICROSYSTEMS 1991年第7期15卷 385-392页

作者： STOKES, J SOHIE, GRL Motorola Ltd The Manager APR5/D REV European Literature Centre 88 Tanners Drive Blakelands Milton Keynes MK14 5BP UK

The purpose of this application note is to show how the Motorola DSP56000/DSP56001 digital signal processor (DSP) may be used to solve real-time digital control problems. It concentrates on implementing some general c... 详细信息

关键词： PID controlLERS DIGITAL SIGNAL PROCESSORS control algorithms

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A STOCHASTIC REGULATOR FOR INTEGRATED COMMUNICATION AND control-SYSTEMS .1. FORMULATION OF control LAW

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1991年第4期113卷 604-611页

作者： LIOU, LW RAY, A PENN STATE UNIV DEPT MECH ENGNUNIV PKPA 16802

Integrated Communication and control Systems (ICCS), recently introduced and analyzed in a series of papers [1-7], are applicable to complex dynamical processes like advanced aircraft, spacecraft, automotive, and manufacturing processes. Time-division-multiplexed computer networks are employed in ICCS for exchange of information between spatially distributed plant components as well as for coordination of the diverse control and decision-making functions. Unfortunately, an ICCS network introduces randomly varying, distributed delays within the feedback loops in addition to the digital sampling and data processing delays. These network-induced delays degrade the system dynamic performance, and are a source of potential instability. This two-part paper presents the synthesis and performance evaluation of a stochastic optimal control law for ICCS. In this paper, which is the first of two parts, a state feedback control law for ICCS has been formulated by using the dynamic programming and optimality principle on a finite-time horizon. The control law is derived on the basis of a stochastic model of the plant which is augmented in state space to take into account the effects of randomly varying delays in the feedback loop. The second part [8] presents numerical analysis of the control law and its performance evaluation by simulation of the flight dynamic model of an advanced aircraft.

关键词： Dynamic programming Delays Flight Simulation Aircraft State feedback control algorithms control systems Simulation results Numerical analysis Dynamic models

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