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Improving response time of real time control systems based on multidimensional interval-logical controllers

AUTOMATION AND REMOTE CONTROL 2015年第3期76卷 480-486页

作者： Antipin, A. F. Bashkir State Univ Sterlitamak Branch Sterlitamak Russia

We consider multidimensional fuzzy interval-logical controllers as a central device in real time control systems, which lets us reduce their response time by reducing the number of processed production rules and comparison operations. We show a computation that demonstrates the corresponding reduction of these parameters when implementing the controller with a Siemens S7 314 controller.

关键词： AUTOMATIC control REAL-time control REACTION time MULTIDIMENSIONAL scaling programmable controllers FUZZY systems

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Experimental investigation of convective drying kinetics of kiwi under different conditions

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HEAT AND MASS TRANSFER 2015年第8期51卷 1167-1176页

作者： Darici, Selcuk Sen, Soner Selcuk Univ Fac Engn Dept Mech Engn TR-42250 Konya Turkey Selcuk Univ Fac Tech Educ Mech Educ Dept TR-42250 Konya Turkey

The effects of air temperature, velocity and humidity on drying characteristics of kiwi are experimentally investigated for the temperatures in the range of 50-80 A degrees C, of the velocities 0.5-2.0 m/s, of the relative humidity values of 5-20 % and for two slice thicknesses. It is observed that there is a very close agreement between the model of Midilli et al. (Dry Technol 20:1503-1513, 2002) and the present study with coefficients of correlation R-2 of 0.9949-0.9996.

关键词： FRUIT -- Drying KIWIFRUIT HEAT -- Convection ARRHENIUS equation DIFFUSION coefficients THERMAL diffusivity MICROWAVE drying programmable controllers

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Signal differentiation in automatic control systems

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AUTOMATION AND REMOTE CONTROL 2015年第12期76卷 2110-2123页

作者： Emel'yanov, S. V. Afanas'ev, A. P. Russian Acad Sci Inst Informat Transmiss Problems Kharkevich Inst Moscow Russia Natl Univ Sci & Technol MISiS Moscow Russia Moscow MV Lomonosov State Univ Moscow Russia

Realization of the traditional approaches to differentiation of signals in the automatic control systems is hindered by the negative effect of gain on the accuracy of differentiation and stability to high-frequency noise. An approach was proposed based on representing the considered signal as a power function with coefficients that are calculated by repeated integration and approximate the derivative of the original signal. At that, the accuracy of differentiation and the level of noise immunity can be improved by using more integrators, rather than increasing the gains.

关键词： AUTOMATIC control CONTROL theory (Mathematics) programmable controllers ELECTRONIC controllers MOTION control devices

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Improved synthesis method for Markov jump systems with uncertain transition rates

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2015年第12期352卷 6011-6018页

作者： Guo, Yafeng Tongji Univ Dept Control Sci & Engn Shanghai 201804 Peoples R China

This paper focuses on exploring a new controller design method for Markov jump linear systems with uncertain transition rates. By fully considering the property of transition rates and the characteristic of uncertain domains, a more tailored technique instead of the traditional Young inequality is proposed to bind the uncertain terms. Benefited from the new technique, an improved method for controller design is obtained, which involves much less decision variables and has no any compromise on conservatism comparing with the existing ones. A numerical example is given to show the validity of the developed results. (C) 2015 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： MARKOV processes MATHEMATICAL analysis ALGEBRA ELECTRONIC controllers programmable controllers

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X4-MaG: A Low-Cost Open-Source Micro-Quadrotor and Its Linux-Based Controller

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INTERNATIONAL JOURNAL OF MICRO AIR VEHICLES 2015年第2期7卷 89-109页

作者： Manecy, Augustin Marchand, Nicolas Ruffier, Franck Viollet, Stephane Aix Marseille Univ CNRS ISM UMR 7287 Biorobot Res Grp F-13288 Marseille 09 France Univ Grenoble CNRS GIPSA Lab Lab Control Syst DeptSySCo Team F-38402 St Martin Dheres France

The new open-source quadrotor platform called X4-MaG presented here was developed for academic and research applications. X4-MaG is a small, low-cost open quadrotor of only 307-grammes which offers two levels of controllers providing a manual mode and an automatic mode thanks to powerful Linux-based controller embedded onboard. The experiments presented here show the reliability of the open hardware and software embedded onboard the quadrotor. To estimate the robot s attitude, a quaternion-based complementary filter requiring very few computational resources was developed and implemented on an 8-bit Arduino board. It was also established that the stabilization feedback system based on quaternions tracks the attitude setpoints with precision up to twice greater than a classical cascaded PI controller. The controllers and estimators were designed in the Matlab/Simulink environment and directly implemented onboard the tiny Linux-based autopilot board using a custom made toolbox (RT-MaG toolbox). The autopilot was tested in the brand-new Marseilles Flying Arena with various 3-D flight trajectories and found to be highly accurate with errors of only 0.7cm in hover and less than 3.2cm at 1.2m.s(-1). The X4-MaG quadrotor was able to reach speeds greater than 2m.s(-1) and reject attitude disturbances of 20' within 0.8s.

关键词： QUADROTOR helicopters LINUX operating systems programmable controllers DETECTORS POWER supply circuits

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Scalability of QP solvers for Embedded Model Predictive Control Applied to a Subsea Petroleum Production System

Scalability of QP solvers for Embedded Model Predictive Cont...

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IEEE Conference on Control and Applications (CCA)

作者： Binder, B. J. T. Kufoalor, D. K. M. Johansen, T. A. Norwegian Univ Sci & Technol Dept Engn Cybernet OS Bragstads Plass 2D NO-7491 Trondheim Norway NTNU Ctr Autonomous Marine Operat & Syst Trondheim Norway

ISBN: (纸本)9781479977871

The performance of two different Quadratic Programming (QP) solvers for embedded Model Predictive Control (MPC), FiOrdOs and qpOASES, is evaluated for a relevant case study from the petroleum industry. Embedded MPC for the considered system is implemented on a PLC (programmable Logic Controller) using both solvers. The focus is on the computation time and memory requirements of the solvers as the dimensions of the control problem increase. The results show that qpOASES has a superior performance for small systems with respect to computation time. However, qpOASES has a near cubic growth in computation time with respect to the number of system variables, while FiOrdOs only has a near linear growth. FiOrdOs may thus be faster for larger systems. FiOrdOs has a smaller memory footprint than qpOASES for small systems;however, the program size grows faster than with qpOASES, and for the largest system configuration, the program sizes were almost identical. For even larger systems, qpOASES may have smaller program memory requirements than FiOrdOs, though qpOASES requires more data memory for all problem sizes.

关键词： embedded systems petroleum industry predictive control programmable controllers quadratic programming FiOrdOs PLC QP solvers computation time cubic growth data memory embedded MPC embedded model predictive control linear growth memory footprint program memory requirements program sizes programmable logic controller qpOASES subsea petroleum production system system configuration system variables Generators Inductors Manifolds Mathematical model Memory management Petroleum programmable logic controllers Petroleum Industry quadratic programming computational time Data storage devices Predictive control Program size Store management inductors Solvers Manifolds Embedded systems Petroleum dynamos Mathematical Model

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Reduction of End Effector Oscillations of a Parallel Mechanism with Modified Motion Profiles 10

Reduction of End Effector Oscillations of a Parallel Mechani...

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10th IEEE Conference on Industrial Electronics and Applications

作者： Oeltjen, Julian Kotlarski, Jens Ortmaier, Tobias Leibniz Univ Hannover Inst Mechatron Syst Hannover Germany

ISBN: (纸本)9781479983896

This paper addresses the efficient and user. friendly application of input shaping to a nonlinear parallel mechanism, i.e. the delta robot. The objective is the reduction of residual end effector oscillations at the end of a point-to-point (PTP) movement, without a need for profound user experience. Hence, a detailed identification of system characteristics and computationally intensive model equations are avoided. Instead, configuration dependent oscillation characteristics are followed by an adaptive look-up table. The data acquisition is based on existing standard sensors, in order to avoid additional hardware investments. Uncertain natural frequencies and nonlinear oscillations are handled by the selection of a robust input shaper design with adjustable insensitivity. The performance of the method is proven by experimental validation on a delta robot, that is operated by a standard industrial PLC motion control system. The experiments show an extensive decrease of residual oscillations and, hence, reduced decay times at the end of a commanded motion. Due to the system specific motion profiles, basic motion constraints as acceleration and jerk can be significantly increased for a further reduction of motion time.

关键词： end effectors industrial manipulators motion control programmable controllers uncertain systems PTP movement acceleration adaptive look-table computationally intensive model equations configuration dependent oscillation characteristics data acquisition decay time reduction delta robot input shaping jerk modified motion profiles motion constraints motion time reduction nonlinear oscillations nonlinear parallel mechanism point movement residual end effector oscillation reduction robust input shaper design selection standard industrial PLC motion control system standard sensors system characteristics system specific motion profiles uncertain natural frequencies Kinematics Robots Three-dimensional displays Vibrations end effectors nonlinear vibration programmable logic controllers three-dimensional displays industrial manipulators Robot Data Collection Methods uncertain systems Motor Control acceleration Vibration kinematics Ballismus

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Evaluation of Optimization Solvers on programmable Logic Controller

Evaluation of Optimization Solvers on Programmable Logic Con...

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IEEE Conference on Control and Applications (CCA)

作者： Purohit, Amit Buch, Jyot ABB Corp Res Ctr Control & Optimizat Grp Bangalore 560048 Karnataka India UNC Charlotte 9201 Univ City Blvd Charlotte NC 28223 USA

ISBN: (纸本)9781479977871

programmable logic controller (PLC) is a reliable platform for regulatory control in industrial environment. Capability of PLC as an automation solution platform is getting enhanced over the years. Advancements in PLC capability open up possibility of deploying advanced control and optimization solutions on PLC. Optimization solver is primary building block of the advanced automation solutions;feasibility of deploying open source optimization solvers on PLC is uncertain because of platform related constraints. This work evaluates feasibility of deploying open source optimization solvers on PLC and highlights deployment challenges for PLC platform. Optimization complexity is varied using widely used generalized test functions to assess limitations of PLC platform. A realistic case study of parallel compressor train load allocation optimization is presented to validate the analysis findings and discuss a practical application of optimization on PLC platform.

关键词： optimisation programmable controllers PLC capability PLC platform automation solution platform generalized test functions industrial environment open source optimization solvers optimization complexity optimization solutions optimization solvers evaluation parallel compressor train load allocation optimization programmable logic controller regulatory control Automation Complexity theory Hardware Linear programming Memory management Optimization Resource management programmable logic controllers regulatory control factory environment Store management Complexity theory Automation management of resources linear programming Computer hardware Solvers logic controller Platform

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programmable Logic Controller based Embedded Quadratic Programming for input-constrained Internal Model Control

Programmable Logic Controller based Embedded Quadratic Progr...

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European Control Conference (ECC)

作者： Adegbege, Ambrose A. Mauro, Eric Coll New Jersey Dept Elect & Comp Engn Ewing NJ 08628 USA

ISBN: (纸本)9783952426937

advanced control algorithms such as optimization-based controls are known to offer superior performance as well as systematic constraints handling when compared to classical control strategies. However, the complexity of such advanced control methods makes their implementations difficult, especially on controllers with limited computational capacity such as the programmable logic controllers (PLC). This paper presents the capability of a low-cost low-end PLC for online computation of advanced control. In particular, an online quadratic program within the framework of input-constrained internal model control is implemented, and the effectiveness is illustrated using a hardware-in-the-loop experiment.

关键词： optimal control programmable controllers quadratic programming PLC computational capacity embedded quadratic programming hardware-in-the-loop experiment input-constrained internal model control online computation online quadratic program optimization-based controls programmable logic controllers systematic constraints handling Computational modeling Computers MATLAB Programming Quadratic programming Stability analysis

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测量、控制和实验室用电气设备的安全要求第2-202部分:电动阀门驱动的特殊要求

测量、控制和实验室用电气设备的安全要求第2-202部分:电动阀门...

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标准类型：国际电工委员会标准

IEC 61010-2-202:2016 specifies the safety requirements for electric ACTUATORs and SOLENOIDs, as applied to valves, intended to be installed in an industrial process or discrete control environment. This publication is... 详细信息

标准号: IEC 61010-2-202-2016

关键词： Control equipment Definitions Electric actuators Electric control equipment Electrical engineering Electrical measuring instruments Input-output programs Laboratory apparatus Laboratory ware Measuring instruments Process automation Process control Process control engineering programmable controllers Safety Safety regulations Safety requirements Testing Valves

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