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A control THEORETIC STUDY ON DYNAMICAL BIPED LOCOMOTION

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1980年第4期102卷 233-239页

作者： MIYAZAKI, F ARIMOTO, S Department of Mechanical Engineering Osaka University Toyonaka Osaka 560 Japan

The dynamics of the biped locomotion system with many degrees of freedom are analyzed from a control theoretic point of view. By the use of the singular perturbation technique, it is shown that biped locomotion can be divided into two modes with respective time scales, the fast mode and the slow mode. Based on this fact, a control system for dynamical biped locomotion is constructed. The effectiveness of the proposed control algorithm is verified using computer simulation.

关键词： Dynamics (Mechanics) control algorithms control systems Computer simulation Degrees of freedom

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Development, Comparison and Application of Various Parameter-Adaptive Digital control algorithms

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IFAC Proceedings Volumes 1978年第1期11卷 443-452页

作者： H. Kurz R. Isermann R. Schumann Institut für Regelungstechnik Fachgebiet Regelsystemtechnik Technische Hochschule Darmstadt Darmstadt F. R. Germany

Various recursive parameter estimation algorithms and controller design procedures can be combined to build up parameter adaptive control algorithms. Three parameter estimators and seven control algorithms have been selected taking into account good convergence properties and small computational expense and regarding the conditions for closed loop identification. The resulting 21 adaptive control algorithms are compared and tested with a process computer in on-line operation with analog simulated stable and unstable processes for stochastic and deterministic disturbances without and with external perturbation signals. The results are very promising. In many cases a good control performance is achieved. As a priori knowledge only the sampling time, the process model order and time delay and in some cases a weighting factor for the process input signal are required. The best adaptive control algorithms are applied for digital adaptive control of a nonlinear pipeline pilot plant and an air heater. Conclusions are given for the selection of parameter adaptive control algorithms, depending on the type of process and its disturbances. The adaptive control algorithms can be applied for adaptive control of constant and time variant, linear and nonlinear, stable and unstable processes with process computers or micro computers or for self-tuning of control algorithms or tuning of conventional analog PID controllers.

关键词： Process control adaptive control digital control parameter estimation identifiability control algorithms

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TIME OPTIMUM control OF A 2 CAPACITY THERMAL ENVIRONMENTAL SYSTEM WITH LOUVERS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1979年第2期101卷 150-156页

作者： ERCAN, Y Middle East Technical University Ankara Turkey

An environmental system with two conditioned spaces is considered. Conditioned spaces are assumed to have limited heat transfer through ducts with the ambient, a cold air source and a hot air source as well as with each other. The ducts are equipped with louvers and are idealized by variable thermal resistances. The conditions for optimal control are derived by using Pontryagin’s maximum principle. The control action is shown to be of bang-bang type. A method which makes use of the behavior of the costate variables is used to determine the optimal control sequence. Solutions for a typical physical system show that the time optimal control is achieved by switching the control variables at most two times. The state space is divided into eight regions and within each region one and the same control algorithm applies. The results also show that time optimum control of two capacity thermal systems leads to energy as well as time savings if the two capacities are interconnected by a controllable thermal resistance.

关键词： Thermal systems Ducts control algorithms Thermal resistance Space Optimal control Time optimal control Heat transfer

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MICROCOMPUTER IMPLEMENTATION OF DIRECT DIGITAL control algorithms FOR THERMAL PROCESS-control APPLICATIONS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1977年第4期99卷 233-240页

作者： JACOBS, D DONAGHEY, LF Materials and Molecular Research Division Lawrence Berkeley Laboratory and Department of Chemical Engineering University of California Berkeley Calif.

The implementation and performance of direct digital control algorithms in a microcomputer-based controller was studied in relation to the control of nonlinear thermal processes. Particular emphasis was given to discrete algorithms such as proportional-integral and finite time settling control algorithms. Experimental studies were carried out with a nonlinear diffusion furnace controlled by an Intel 8080-based microcomputer system, on which the control algorithms were implemented. The performance of different, modified, linear control algorithms were evaluated in thermal process control applications.

关键词： Process control control algorithms Diffusion (Physics) control equipment algorithms Furnaces

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control ALGORITHM FOR REACTOR SPATIAL control DURING NUCLEAR STATION LOAD CYCLING

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1978年第3期100卷 219-226页

作者： CHERCHAS, DB MEWDELL, CG Department of Mechanical Engineering University of Toronto Toronto Canada M551A4 Babcock and Wilcox Cambridge Ontario

A multivariable reactivity control algorithm is developed to maintain acceptable reactor spatial kinetics response during reactor power cycling. A modal model for describing the space-time kinetics response of a CANDU (Canadian Deuterium Uranium) reactor is devised and ultilized in the control study. A one neutron energy group approximation and other assumptions appropriate to the CANDU reactor studied are used to derive a diffusion equation from the linearized Boltzman equation. The effects of Xe135and I135are incorporated in the model. The kinetics variables are expanded in terms of an infinite series of eigenfunctions which are solutions of the scalar Helmholtz equation solved on the volume of the reactor. The control reactivities are modelled as an evenly distributed reactivity for gross reactor load cycling and point reactivity devices for spatial control. The system dynamics equations are written in a bilinear state space form. An algorithm is devised to determine the control vector required to achieve a desired kinetics behaviour about the nominal response. The algorithm is illustrated for a typical load cycle by means of a digital computer program.

关键词： Scalars Uranium Computer software Stress control algorithms Cycles Diffusion (Physics) Neutrons Eigenfunctions System dynamics Approximation Spacetime algorithms

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COMPARISON OF CONTINUOUS AND DISCRETE ADAPTIVE IDENTIFICATION algorithms

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1977年第4期99卷 313-315页

作者： COLBURN, BK BOLAND, JS Department of Electrical Engineering Texas A & M University College Station Texas Department of Electrical Engineering Auburn University Auburn Ala.

Discretization of a popular continuous-time control algorithm is effected and an equivalent discrete-time identification law developed and compared to a published discrete identification algorithm developed from Lyapunov Theory. Results are compared as regards asymptotic stability as insured using Lyapunov theory. Some analysis and design guidelines are proposed as regards implementation and practical utility.

关键词： Stability Design control algorithms algorithms

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EVALUATION OF EXOGENOUS INSULIN HOMEOSTASIS BY ARTIFICIAL PANCREAS IN INSULIN-DEPENDENT DIABETES

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DIABETOLOGIA 1977年第3期13卷 273-278页

作者： MIROUZE, J SELAM, JL PHAM, TC CAVADORE, D HOP ST ELOI MALADIES METABOL & ENDOCRINIE F-34059 MONTPELLIER FRANCE

With an artificial pancreas insulin was delivered through a venous infusion and the rate of delivery was adjusted according to data provided by a continuous blood glucose monitor. After different trials, control algorithms integrating 2 parameters were selected: instantaneous blood glucose concentration and increasing or decreasing patterns of blood glucose. A constant basal insulin infusion rate was added and improved the control of glycemic excursions. Different parameters concerning exogenous insulin homoeostasis were determined. The delay to reach an insulin effect was 18 .+-. 2 min and was shortened by a priming-dose at the beginning of the infusion. The insulin effect remained for 28 .+-. 2 min after the infusion had been stopped, but differences were noted in the morning (21 .+-. 2 min), in the afternoon (32 .+-. 2 min) and during the night (25 .+-. 3 min). Insulin needs were evaluated during meals. Related to the amount of carbohydrates, the doses fell from 0.53 units/h per g of carbohydrate for breakfast to 0.15 for dinner. From these data, it appears that the efficiency of exogenous insulin exhibits a circadian rhythm.

关键词： Insulin infusion artificial betacell artificial endocrine pancreas control algorithms continuous blood glucose measurement

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PROCESS-control EXPERIENCE AND A SELF-TUNING METHOD FOR A DISCRETE-TIME, FINITE TIME SETTLING controlLER-OBSERVER

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1977年第3期99卷 209-211页

作者： AUSLANDER, DM TOMIZUKA, M TAKAHASHI, Y UNIV CALIF BERKELEY DEPT MECH ENGNBERKELEYCA 94720

A self-tuning method is described for a simple discrete-time control algorithm presented in a previous paper. With self-tuning, the algorithm is a candidate for a new class of single-loop controllers that would be considerably more convenient to use than the present analog PID controllers. Experimental results are presented indicating the applicability of the tuning and control algorithms to typical, nonideal processes.

关键词： Process control control equipment control algorithms algorithms

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Precision insertion control robot and its application

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Journal of Manufacturing Science and Engineering, Transactions of the ASME 1976年第4期98卷 1313-1318页

作者： Takeyasu, K. Goto, T. Inoyama, T. Central Research Laboratory Hitachi Ltd. Tokyo Kokubunjl Japan

A tactile-controlled robot that makes possible precision inserting operations with a clearance of only a few microns is described. The principal part of this robot is the insertion control unit, which integrates positioning ability, sensibility, and flexibility, both mechanically and electronically. The most important feature of this robot is effective utilization of the flexible mechanism. A theoretical study proves the notable advantage of flexibility in precision inserting operations. As an insertion control algorithm suited flexibility, an adaptive search method that uses only one tactile sensor is developed. An experimental evaluation shows that a gentle and dexterous insertion simulating that of an experienced operator is possible using this control method. Computers are not used in operations;only a simple sequence controller is required. © 1976 by ASME.

关键词： control algorithms Computers Tactile sensors Programmable sequence controllers Clearances (Engineering) Robots

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ATTEMPTS AT PERFECT NORMALIZATION OF GLUCOSE-TOLERANCE TEST OF SEVERE DIABETICS BY ARTIFICIAL BETA-CELL

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HORMONE AND METABOLIC RESEARCH 1976年第4期8卷 256-261页

作者： KERNER, W THUM, C TAMAS, G BEISCHER, W CLEMENS, AH PFEIFFER, EF MILES LABS INC ELKHART IN USA UNIV ULM CTR INTERN MED & PEDIAT DEPT INTERN MED ENDOCRINOL & METAB D-7900 ULM FED REP GER

The artificial .beta.-cell is a Glucose controlled Insulin (and dextrose) Infusion System (CGIIS) for maintaining normoglycemia in diabetic conditions and other disturbances of metabolism. The insulin and dextrose infusion rates are calculated by a microcomputer according to the static glucose concentration (proportional control) and to its rate of change (dynamic control). The algorithms controlling the computer can be adapted to the subjects'' requirements. The artificial .beta.-cell is able to maintain blood sugar values in diabetics within physiological ranges during the course of the day. The response of the artificial .beta.-cell was examined using a 100 g oral glucose load in severe diabetics. The 1st type of control algorithms applied effected a small initial insulin infusion following OGTT in 8 juvenile diabetics connected with the artificial .beta.-cell. The glucose responses thus obtained were similar to latent diabetes. When the computer was controlled by the 2nd type of algorithms with a more responsive dynamic control and a consequently higher initial insulin infusion, in 1 diabetic OGTT [oral glucose tolerance test] fully normalized, whereas an improvement was achieved in another diabetic patient. control algorithms must be varied individually, depending on residual .beta.-cell function and glucose regulatory mechanisms.

关键词： Glucose controlled Insulin Infusion System (GCIIS) Artificial Beta Cell Artificial Endocrine Pancreas control algorithms Continuous Plasma Glucose Measurement Oral Glucose Tolerance Test First Phase Insulin Secretion

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