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pc-based control and simulation of an electro-hydraulic system

COMPUTER APPLICATIONS IN ENGINEERING EDUCATION 2017年第5期25卷 706-718页

作者： Topcu, Elif Erzan Uludag Univ Fac Engn Dept Mech Engn TR-16059 Gorukle Bursa Turkey

This article addresses the development of a control system design methodology to make control courses easier to understand. The methodology can be handled in four stages: Modeling, controller design and tuning of the controller gains, simulation, and experimental studies. A pc-based control system environment is chosen to help students/researchers understand the control system both theoretically and experimentally. An electro-hydraulic system is used for training. Such fluid power systems are widely used in the industrial area and combine different engineering system properties. First, a system is defined by a mathematical model and simulated using the MATLAB/Simulink environment. An easy to use toolbox, Simscape/Simhydraulics, is used to facilitate the modeling phase in simulation of the hydraulic system. Next, the design of the feedback controller is proposed. Basic controllers in control education, such as proportional+derivative+integral (PID) and a Fuzzy Logic controller (FLC), are utilized, and the gains of the controllers are tuned with a simplified method according to the given design criteria. The proposed tuning method can also be useful for overdamped or first-order systems. Time and frequency responses of the system are obtained and evaluated. The experimental studies are conducted on a hydraulic control system at the Automatic control Laboratory of the Mechanical Engineering Department of Uluda University. This work aims to train engineering students/researchers both theoretically and practically regarding pc-based control system design and fluid power systems.

关键词： control education electro-hydraulic systems mathematical modeling MATLAB Simulink Simscape pc-based control

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Practical Investigation of Load Angle Oscillations with Grid Connected Synchronous Generator 55

Practical Investigation of Load Angle Oscillations with Grid...

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55th International Universities Power Engineering Conference (UPEC)

作者： Nowak, Timo Schulze, Wolf Dimitrov, Kristian Suriyah, Michael Leibfried, Thomas Karlsruhe Inst Technol KIT Inst Elect Energy Syst & High Voltage Technol IEH Karlsruhe Germany

ISBN: (数字)9781728110783

ISBN: (纸本)9781728110783

This paper presents a practical investigation of load angle oscillations in a test rig consisting of a grid connected synchronous generator. An embedded real-time pc connected to various sensors and actuators manages both the active power control and the excitation system control. Different control schemes, including Matlab/Simulink controllers, can be implemented and tested. The generator is connected to the European power grid via a variable inductance. Two different kinds of load angle oscillations are investigated. One is caused by a weak electrical connection of the synchronous machine to the grid because of a large inductance and the other is caused by the active power control of the generator. The practical results are compared to analytic and simulated results. The test rig can be used for practical tests of various control schemes to damp load angle oscillations in order to demonstrate if a certain control scheme can be practically implemented in a state of the art programmable logic controller.

关键词： inter area modes load angle oscillations pc-based control power system stability synchronous generator

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基于OROCOS的工业机械臂控制系统

基于OROCOS的工业机械臂控制系统

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作者： Gilbert Kipkemoi Cheruiyot 上海交通大学

学位级别：硕士

本文介绍了一种针对现有工业机械臂基于pc控制应用程序系统的设计和实施研究。该系统基于OROCOS组件化框架实现实时功能软件模块及软件模块间交互,加快了开发进程。由于现已有诸多工具开发平台都包含有相关的函数库和组件模块集,本研究... 详细信息

本文介绍了一种针对现有工业机械臂基于pc控制应用程序系统的设计和实施研究。该系统基于OROCOS组件化框架实现实时功能软件模块及软件模块间交互,加快了开发进程。由于现已有诸多工具开发平台都包含有相关的函数库和组件模块集,本研究的重点聚焦于借助工具平台所需采取的关键步骤。提出并描述了将直接寻址操作pcI采集卡的I/O外围硬件封装成可复用组件的方法作为解决Linux中因缺乏对设备驱动程序的支持而导致I/O硬件存在长期挑战的新方案。该方案可以实现全功能的控制应用程序,提供标准操控功能模块、在线分析工具,兼容基于传感器的扩展功能。此外,所提出的方案是基于通用商业化的成品硬件,具有很好的复用性。第1章试着阐述本研究工作的发展背景,特别是机器人技术在人类生活中从基于SLAM的扫地机器人到自动驾驶汽车而越来越广泛地应用的新兴趋势。围绕基于pc的应用系统,出现了以促进模块化、构建共享功能和算法模块的函数库和软件架构,以及活跃的机器人在线社区;本研究在兴起的广泛应用发展趋势和活跃社区之间构建了一个连接渠道。在此背景下,对组件化软件工程(CBSE)模式下基于pc的控制系统的未来发展进行了展望。基于这些背景介绍形成和决定了本研究工作的主要相关内容。第2章主要分为两个部分:第一部分深入研究基于pc环境进行开发的一些基本原则和实时编程范式。通过大量细节的描述该部分主题,一方面为了理解和介绍应用开发的具体实施过程,另一方面为了理解和介绍采用这种实时架构去隐藏一些细节的通用实用性;也努力阐释了实时编程中遇到的常见术语和实施过程中的共性问题。第二部分主要详细介绍了Linux系统下pcI硬件驱动程序实施的错综复杂性,因为海量的应用都需要将硬件I/O功能模块封装成通用且可重复使用的OROCOS软件组件。鉴于此,更深入的理解pcI驱动实现过程而非简单了解概念被认为是至关重要的。系统的设备识别、驱动注册、设备驱动定位、初始化及清除、内存及I/O权限等也进行了研究。实例中采用的符号均遵循Linux变量命名区分大小写和标准“foo/bar”隐藏参数规则。第3章则着重介绍了与本研究工作直接相关的OROCOS框架搭建方面内容,其主要包括:工具设置和依赖项配置、架构和操控力学、选择和配置组件、数据传输端口、脚本处理组件和组件开发等。第4章在继续介绍部分系统内容的基础上,深入探讨系统的机械和电子电气系统及其所包括的关键元件,数字输出和报警锁存器电路在接收控制应用程序逻辑中发挥的中心作用等。之后同样深入广泛地谈论了依照第2章中概括的架构pcII/O采集卡的具体实施细节,并进一步重点介绍了所开发的控制应用。第5章主要研究软件工程在综合分析、设计、开发和测试周期等环节所需考虑的问题并讨论了这些因素对OROLab应用整体性的影响。第6章进一步探讨了其实施情况,第7章从控制系统方面进一步深入.最后第8章呈现了操作和测试参数结果,并进行了简短的讨论和总结

关键词： OROCOS pc-based control Direct Addressing Component-based Software Engineering

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Parallel Task Processing on a Multicore Platform in a pc-based control System for Parallel Kinematics

Parallel Task Processing on a Multicore Platform in a PC-bas...

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International Multi-Conference on Engineering and Technological Innovation

作者： Dadji, Yannick Maass, Jochen Michalik, Harald Inst Comp & Commun Network Engn Braunschweig Germany Inst Mach Tools & Prod Technol Braunschweig Germany

ISBN: (纸本)9781934272442

Multicore platforms are such that have one physical processor chip with multiple cores interconnected via a chip level bus. Because they deliver a greater computing power through concurrency, offer greater system density multicore platforms provide best qualifications to address the performance bottleneck encountered in pc-based control systems for parallel kinematic robots with heavy CPU-load. Heavy load control tasks are generated by new control approaches that include features like singularity prediction, structure control algorithms, vision data integration and similar tasks. In this paper we introduce the parallel task scheduling extension of a communication architecture specially tailored for the development of pc-based control of parallel kinematics. The Scheduling is special designed for the processing on a multicore platform. It breaks down the serial task processing of the robot control cycle and extends it with parallel task processing paths in order to enhance the overall control performance.

关键词： Multicore parallel processing pc-based control Parallel Kinematics

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Reconfigurable control of robotized manufacturing cells

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2007年第1期23卷 94-106页

作者： Bruccoleri, Manfredi Univ Palermo Dept Mfg Prod & Management Engn I-90128 Palermo Italy

This paper investigates the field of manufacturing system control. The addressed subject is indeed very fascinating, due to the importance that it has reached in the last decades both at research and industrial level. On the other hand, it seems to the author that most of the complexity intrinsic to the subject itself relies on the different meanings or levels of abstraction that both the terms "manufacturing system" and "control" may symbolize. The presented research aims to face the topic in a concrete fashion, i.e., by developing a control software system for a specific, although easy to be generalized, robotized manufacturing cell. Two different development methodologies, from the conceptual design to the actual implementation, of a cell control system are presented and compared. The former, based on ladder logic diagrams, for a PLC controlled manufacturing cell;the latter, based on object-oriented modeling and programming techniques, for a pc controlled manufacturing cell. The analysis has been conducted considering the internal and external requirements of the manufacturing system, mostly driven by the contemporary industrial need of reconfigurable control systems, largely acknowledged as the critical key to succeed in the new era of mass customization. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： object-oriented modeling reconfigurable control interlocking logic PLC-based control pc-based control

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Design and testing of a robotic system for MR image-guided interventions

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2006年第2期47卷 175-196页

作者： Christoforou, Eftychios G. Tsekos, Nikolaos V. Oezcan, Alpay Washington Univ Mallinckrodt Inst Radiol Cardiovasc Imaging Lab St Louis MO 63130 USA Washington Univ Dept Elect & Syst Engn St Louis MO 63130 USA Washington Univ Cardiovasc Imaging Lab Mallinckrodt Inst Radiol St Louis MO 63110 USA Washington Univ Dept Biomed Engn St Louis MO 63110 USA Washington Univ Biomed MR Lab St Louis MO 63110 USA

The effective integration of robotics together with magnetic resonance (MR) technology is expected to facilitate the real-time guidance of various diagnostic and therapeutic interventions. Specially designed robotic manipulators are required for this purpose, the development of which is a challenging task given the strong magnetic fields and the space limitations that characterize the MR scanning environment. A prototype MR-compatible manipulator is presented, designed to operate inside cylindrical MR scanners. It was developed for the study of minimally invasive diagnostic and therapeutic interventions in the abdominal and thoracic area with real-time MR image guidance. Initial tests were performed inside a high-field clinical MR scanner and included MR-compatibility tests and phantom studies on image-guided targeting.

关键词： medical robotics MR-compatibility MR-compatible manipulator MR image-guided robotic intervention pc-based control u-joints transmission

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Development of a multi-optical source rapid prototyping system

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2005年第1-2期27卷 63-69页

作者： Huang, SJ Shen, WC Natl Taiwan Univ Sci & Technol Dept Mech Engn Taipei 106 Taiwan

Two sets of optical sources with different laser beam diameter are integrated into a rapid prototyping system for increased machining speed in this research. The smaller laser beam is used to scan the object contour to obtain an accurate machining surface and the larger laser beam is used to quickly scan the inner part of the contour without precision control limitation to save machining time. The fabrication parameters of this system are investigated based on product quality and accuracy of practical implementations. The path planning of the inner part and the outer contour are discussed. The user-friendly man-machine interface is developed using the Visual Basic program .

关键词： multi-optical source rapid prototyping system pc-based control

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pc-based off-line programming in the shipbuilding industry: open architecture

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ADVANCED ROBOTICS 2005年第4期19卷 435-458页

作者： Kim, CS Hong, KS Han, YS Pusan Natl Univ Sch Mech Engn Pusan 609735 South Korea Daewoo Shipbldg & Marine Engn Ltd Robot Res & Dev Team Geoje Si 656714 Gyeongsangnam D South Korea Daewoo Shipbldg & Marine Engn Ltd Ind Applicat Res & Dev Inst Geoje Si 656714 Gyeongsangnam South Korea Pusan Natl Univ Korea Sch Mech Engn Pusan 609735 South Korea

In this paper, a pc-based off-line programming (OLP) method using the virtual reality modeling language is proposed. The developed OLP system consists of simulation programs, a block-arrangement algorithm, an optimal traveling-path generation algorithm, an automatic robot program generator and the TRIBON CAD interface. The strength of the developed pc-based OLP system lies in its flexibility in handling the changes in the robot's target objects. The operator can generate robot programs very easily and quickly. Possible applications of the developed OLP can be extended to port automation, container loading/unloading processes as well as painting and grinding processes in the shipbuilding industry.

关键词： pc-based control open architecture off-line programming crane and shipbuilding industrial robot virtual reality modeling genetic algorithm

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pc-based control of robotic and mechatronic systems under MS-Windows NT workstation

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2001年第3期6卷 311-321页

作者： Lee, CHJ Mavroidis, C Rutgers State Univ Dept Mech & Aerosp Engn Piscataway NJ 08854 USA

In this paper, a method is proposed to perform control using INTEL(R) based pcs operated by Windows NT(TM) directly. The software package that was developed is called WinRec v.1 (Windows Real-time control). This low cost method keeps all the advantages of Windows NT without attaching any other kernels and avoids switching different operating systems between experimentation and control design/analysis. A thorough description of the method to set up the multimedia timer provided by Microsoft Development Network (MSDN) Library is presented. Self-customized algorithms based on advanced control techniques can be implemented with the standard protocol that is established here. The proposed protocol is evaluated using two different systems in control experiments. In the first, an industrial robot manipulator is controlled by applying an independent joint PID control scheme. Results are also shown from experiments where LQR and H-2 controllers are applied to suppress vibrations of a flexible payload carried by the robot manipulator. In the second system, position, force, temperature, voltage and current data are simultaneously recorded in order to evaluate the performance of a Shape-Memory-Alloy (SMA) mire bundle actuator in open loop control experiments.

关键词： digital control pc-based control robotics

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A new design of DCS based on pc and fieldbus

A new design of DCS based on PC and fieldbus

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IEEE Region 10 Technical Conference on Computers, Communications, control and Power Engineering

作者： Xing, JC Yang, QL Wang, P PLA Engn Inst Engineer Corps Res Inst Control & Measurement Nanjing 210007 Peoples R China

ISBN: (纸本)0780374908

This paper, using the new technologies and control solutions recently emerging in the area of industrial automation, brings forward a new design of distributed control system based on pc and fieldbus. In the hardware design, the system is more distributed using tile field-installed I/O modules which replace the I/O cards in the traditional DCS. And a kind of redundant Profibus-DP fieldbus is used as the reliable communication path between the I/O modules and the CPUs in the DPU. While for the software system of DPU we realize the control engine compatible with the standard IEC61131.

关键词： distributed control system pc-based control fieldbus profibus-DP

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