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REAL-TIME control OF PHYSICALLY distributed systems - APPLICATION - MOTION control

COMPUTERS & ELECTRICAL ENGINEERING 1992年第1期18卷 51-72页

作者： TORNGREN, M WIKANDER, J ROYAL INST TECHNOL DEPT MACHINE ELEMENTSDAMEK RES GRPS-10044 STOCKHOLM 70SWEDEN

A distributed control system. controlling the motion of a mechanical system, consists of several intelligent modules, one for each degree of freedom. Each module contains one actuator, one or more sensors and a microelectronics subsystem. The modules together execute the control engineering solution of the actual control theory problem. Typical motion control applications which could benefit from distributed control include industrial robots, vehicles, and tunnel drilling machines. By way of introduction the characteristics of motion control applications are described. Reasons for and trends towards distributing intelligence to actuators and sensors are presented. Due to harsh environments the microelectronic subsystems must be compact and robust. Technical trends facilitating integration of mechanics and microelectronics are described. The following issues are identified as critical when designing distributed control systems: Specification and verification methods or real-time systems;the view of time;consistency constraints;communication system architectures;predictable behaviour and debugging. A state of the art survey is given. Finally the question of how to map the control engineering solution of the actual control theory problem to the intelligent actuators is treated, i.e. choice of suitable allocation strategies, scheduling algorithms and communication system architectures. Fundamental static allocation strategies include master slave application systems (ranging from distributed low level I/O handling to distributed servo functions) and fully distributed application systems (ranging from distributed servo and superior control functions to a fully replicated global servo function).

关键词： control systems, distributed parameter

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distributed control WITHOUT MODE SHAPES OR FREQUENCIES

DISTRIBUTED CONTROL WITHOUT MODE SHAPES OR FREQUENCIES

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1991 ASTRODYNAMICS CONF

作者： LUPI, VD CHUN, HM TURNER, JD Massachusetts Inst of Technology Cambridge United States

ISBN: (纸本)0877033471

This paper applies optimal distributed control theory to the distributed full state feedback control of a Bernoulli-Euler beam model. The distributed-parameter beam model is mathematically exact and therefore retains the high-frequency dynamics of the system, in contrast with traditional finite element models. As a result, it is possible to design the distributed controller without resorting to a truncated modal description of the system. The feedback gain kernels are determined by numerical solution of a nonlinear, coupled system of integropartial differential equations. These gain kernels are found to depend strongly on the type of physical control actuation utilized. The optimal solutions are compared with both control laws developed from discrete structural models and analytical results previously determined for the distributed control of an infinite beam. Closed-loop simulations of beams subject to distributed control forces are also presented.

关键词： control systems, distributed parameter

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CORRECTION

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IEEE TRANSACTIONS ON AUTOMATIC control 1992年第6期37卷 895-896页

作者： HELMICKI, AJ Dept of Electr & Comput Eng Univ of Cincinnati OH USA

In the above-titled paper (ibid., vol. 37, no. 4, pp. 488-491, Apr. 1992), a modification to Corollary 3 and its proof, which were to have been added to the paper during its final typesetting, were omitted. The modifi... 详细信息

关键词： control systems, distributed parameter

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MOMENT MODELS FOR control-PROBLEMS IN PHYSICAL systems

AVTOMATIKA

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AVTOMATIKA 1992年第2期 23-32页

作者： GUBAREV, VF Inst Kibernetiki im. V.M. Glushkova AN USSR Kiev Russian Federation

Moment models with indeterminacy are suggested to be used for control problems in technical devices and units with complex physical processes. A procedure of their construction is described on the base of general equations of the continuum evolution which are widely used in many physical systems. Properties of the obtained models are studied and control problems are discussed.

关键词： control systems, distributed parameter

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A HYBRID ARCHITECTURE FOR distributed AUTONOMOUS control AGENTS

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CYBERNETICS AND systems 1992年第3-4期23卷 359-366页

作者： HADAVI, KC Siemens Corporate Research Inc. Princeton NJ 08540 755 College Road East United States

Business environments, like most other real systems, are distributed in nature. However, the fact that the environment itself is distributed does not justify a distributed control architecture. On the other hand, a centralized architecture is not exactly an ideal form of control. The architecture proposed herein is a hybrid control architecture that maps the decision-making environment of many situations ranging from factory floors to traffic control. The architecture assumes the presence of self-reliant (autonomous) decision-making agents, which are required to respond in a certain amount of time. Cooperation between these agents is assumed, and therefore each agent is expected to perform as best as it can in order to complete a well-defined task. No central coordination or control agent is assumed. Thus an asynchronous behavior is assumed.

关键词： control systems, distributed parameter

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Target approximation method for spillover effect minimization

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Journal of the Astronautical Sciences 1992年第1期40卷 135-164页

作者： Tang, Tian-Shen Huang, Garng Texas A&I Univ Kingsville United States

control and observation spillover minimization is a major concern in the control design of distributed-parameter systems when controller dimensions are small due to limitations on on-board computers and limited availability of actuators and sensors. The spillovers couple the controlled and uncontrolled modes and shift the system's closed-loop poles away from their desired locations. Thus, a desirable controller is the one which simultaneously provides enough control force and minimizes spillover effect. In this paper, we propose a target approximation method which can achieve this goal. The method not only optimizes the locations of actuators and sensors, but also utilizes feedback and observer gain structures to minimize the spillover effect. The design method has two stages. The first stage generates an idealized, totally distributed closed-loop system as a target which meets the posed performance specifications and has no spillovers. The second stage designs an actual controller including the locations of actuators and sensors. The design is carried out in such a way that the closed-loop system approximates the performance of the target. At the end of the paper, this simple novel design procedure is shown superior to the other approaches such as H∞ and other classical methods in the stabilizing controller design of a widely studied simple flexible beam.

关键词： control systems, distributed parameter

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Proceedings of the IFIP WG 7.2 Working Conference on control Theory of distributed parameter systems

Proceedings of the IFIP WG 7.2 Working Conference on Control...

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Proceedings of the IFIP WG 7.2 Working Conference on control Theory of distributed parameter systems

Proceedings incorporates 23 papers that emphasize theoretical considerations associated with distributed-parameter and optimal control systems. Topics discussed include: parabolic control systems, PWM samplers, singularities, nonlinear distributed systems, population evolution, Banach and Hilbert spaces, nuclear reactors, semilinear systems, controllability and identification of control systems, stochastic systems, partial differential equations, flexible beams, linear time-delay systems, ill-posed problems, infinte dimensional systems, asymptotic regulator design, robust stabilization, heat exchangers, temperaure control systems, open population large-scale systems, meteorology, algebraic Riccati equations, Stokes flows, nonlinear least squares problems, and mobile controls on a surface.

关键词： control systems, distributed parameter

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Proceedings of IFIP (W.G.7.2.)-IIASA Conference on Modelling and Inverse Problems of control for distributed parameter systems

Proceedings of IFIP (W.G.7.2.)-IIASA Conference on Modelling...

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Proceedings of IFIP (W.G.7.2.)-IIASA Conference on Modelling and Inverse Problems of control for distributed parameter systems

The proceedings contains 16 papers. Some of the specific topics discussed are: estimation of catalyst pellet activity distribution;convergence rates for regularized illposed problems;and sensitivity analysis of shallo... 详细信息

关键词： control systems, distributed parameter

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Lumped input and distributed output systems at the control of distributed parameter systems

Problems of control and information theory

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Problems of control and information theory 1991年第2期20卷 113-128页

作者： Hulko, G.

The paper deals with fundamental problems of control of some classes of distributed parameter systems by means of Lumped Input and distributed Output systems. For illustration some results are indicated from engineeri... 详细信息

关键词： control systems, distributed parameter

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H-INFINITY-control OF A distributed parameter SYSTEM WITH NONMINIMUM PHASE

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INTERNATIONAL JOURNAL OF control 1991年第1期53卷 45-79页

作者： GAUTHIER, JP XU, CZ Laboratoire d"Automatique et de Génie des Procédés URA CNRS D13284 Novembre 1918 Villeurbanne Cedex 69622 France

In this paper we examine the ability of H(infinity)-control theory to perform actually linear control of distributed parameter systems in non-trivial cases. The process to be controlled is originally an alumina furnace, which is modelled by trivializing combustion phenomena as a rather special heat exchanger. This process has an intrinsic non-minimum phase, due to its particular geometry. It is modelled as a non-linear partial differential system, which is linearized and controlled using H(infinity)-techniques. Algorithms are developed to accomplish this task, in particular to factorize the (transcendental) transfer function into its inner and outer parts. Simulation and comparisons with classical controllers are performed.

关键词： control systems, distributed parameter

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