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IEEE International Symposium on Computer Aided control system design (CACSD)

作者： J. Bals H.-D. Joos G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

The ANDECS-Matlab environment provides two alternatives for databased computational experimenting using Matlab: The module Amatlab is a re-implementation of the classic matlab syntax to be used for interactive specification of matrix calculations in modular computation sequences. This syntax is extended to allow database access for data communication with other databased modules. Alternatively, the module PROMAT allows one to use commercial MATLAB via process communication with online data transfer between the ANDECS database and the MATLAB workspace in both directions. This allows a convenient use of the matlab syntax and a coherent integration of M-file Toolboxes in any module sequence of the control-engineering software environment ANDECS.< >

关键词： MATLAB design engineering Data engineering Communication system control Mathematical model Spatial databases Visual databases control design Packaging Trademarks

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A graphical matrix editor to be used in ANDECS/MATLAB computation environments

A graphical matrix editor to be used in ANDECS/MATLAB comput...

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IEEE International Symposium on Computer Aided control system design (CACSD)

作者： R. Finsterwalder E.G. Berger G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

Application and programming aspects of a portable graphical matrix editor are described. The editor is realized based on the X-Windows/Motif user interface library. It can be used as a stand-alone matrix data input and-display facility which is independent of a particular programming system. It can also be used as a module within interactive computation environments, like ANDECS or MATLAB, using client/server process communication or the MEX-file facility of MATLAB.< >

关键词： MATLAB Graphical user interfaces Computer interfaces Portable computers Dynamic programming Communication system control control systems Character recognition Trademarks control design

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ANDECS: a computation environment for robot-dynamics design automation

ANDECS: a computation environment for robot-dynamics design ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G. Grubel R. Finsterwalder H.-D. Joos A. Lewald M. Otter DLR Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics Wessling Germany

Features of an available computation environment for robot-dynamics design are described. These are environments for object-oriented mechatronics/robot dynamics modeling, for executing dynamics simulation experiments, for multiobjective parameter and trajectory optimization, and for multivariate result visualization. The environments have a common look and feel and are coherently integrated using an engineering database system.< >

关键词： robotics and automation design automation Object oriented modeling Mechatronics design engineering systems engineering and theory Physics computing Robots Computational modeling Data engineering

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Visual programming in ANDECS for controlled systems design experimenting

Visual programming in ANDECS for controlled systems design e...

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IEEE International Symposium on Computer Aided control system design (CACSD)

作者： R. Finsterwalder G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

Computer-aided design of 'well-balanced' dynamic systems is an iterative search process which requires multi-models/multi-criteria experimenting by means of appropriate computational chains and loops. Visual programming is the way to set up or to modify such an experimentation environment from reusable computational modules, and to monitor its functioning. As realized in the control-engineering software environment ANDECS (Analysis and design of controlled systems), visual programming relies on data abstraction in form of control data objects, and on tool abstraction to compose a software system from separate function modules which do not communicate among each other directly but via a suited database system only. In particular, this kind of visual programming yields a direct view on those parts of a modular computational set-up which can be automatically parallelized by the PVM (parallel virtual machine) software.< >

关键词： control systems Functional programming design automation Computerized monitoring Communication system software Software tools Software systems Database systems Automatic programming Parallel programming

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The ANDECS-CACE framework A RSYST for integrated analysis and design of controlled systems

The ANDECS-CACE framework A RSYST for integrated analysis an...

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IEEE International Symposium on Computer Aided control system design (CACSD)

作者： G. Grubel Control Design Engineering Institute for Robotics and Systems Dynamics DLR-Oberpfaffenhofen Wessling Germany

Computer-aided control engineering (CACE) environments, in order to be reusable in a broad spectrum of applications, have to be based on an open software framework which provides seven classes of services: database services; model-definition services; algorithmic services; tool-control services; task-control services; user-interaction services; message services. Details of the ANDECS framework A RSYST are given.< >

关键词： control systems Databases Computer aided software engineering Algorithm design and analysis control system synthesis Data engineering design engineering Application software Software packages control engineering computing

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Multi-objective design of controllers with fuzzy logic using the control engineering computation environment ANDECS

Multi-objective design of controllers with fuzzy logic using...

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IEEE International Symposium on Computer Aided control system design (CACSD)

作者： H.-D. Joos M. Schlothane G. Grubel Control Design Engineering Institute for Robotics and Systems Dynamics DLR-Oberpfaffenhofen Wessling Germany

The fuzzy-control methodology can be seen as a systematic way to specify controllers with nonlinear gain surfaces. To properly tune such controllers, computer-aided techniques can be applied provided appropriate plant models are available such as in more classical design approaches. In particular, it is shown how a multi-models/multi-criteria design for controllers with fuzzy logic can be carried out by using the ANDECS-MOPS Multi-Objective Programming system. For that a control Data Object 'Fuzzy-controller' is developed together with a graphical editor for defining the linguistic variables. This represents the dynamic synthesis part of the design framework. Using a model building environment like Dymola or ACSL which is linked to ANDECS via DSblock, the fuzzy controller connected to dynamic plant models can be optimized by MOPS. This is demonstrated for a multi-criteria design problem for an aerodynamically unstable aircraft.< >

关键词： Fuzzy logic control engineering control engineering computing Fuzzy control Aerodynamics design engineering control systems control design Nonlinear control systems Buildings

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An ACSL-model translator to the neutral Fortran DSblock-model format

An ACSL-model translator to the neutral Fortran DSblock-mode...

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IEEE International Symposium on Computer Aided control system design (CACSD)

作者： G. Grubel M. Otter F. Breitenecker A. Prinz G. Schuster I. Bausch-Gall H. Fischer Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Simulation Engineering Group Institute for Technical Mathematics Vienna Technical University Vienna Austria Bausch-Gall GmbH Karlsruhe Germany

One problem in multidisciplinary simulation is to merge models which originate in different disciplinary environments into a common computer-executable model for computational experimenting. The paper reports on a possible solution thereof. This is based on a public-domain, application-neutral, formally defined Fortran or C format for dynamic input/output systems, called DSblock, to which "higher level" models can be translated. In particular, it is reported on A-CoSiLa, an ACSL model translator to the neutral DSblock format.< >

关键词： Object oriented modeling Computational modeling Computer simulation Runtime design engineering Robots Electronic mail Mathematical model Physics computing Temperature control

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on Computer Aided control system design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control control design design engineering Robot kinematics

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Dvelopments in the Field of control Libraries and their Impact on control Eduction

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IFAC Proceedings Volumes 1994年第9期27卷 269-272页

作者： Ad Van Den Boom Aloys Geurts Georg Grübel Andras Varga Dept. of Electrical Engineering Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands Dept. of Mathematics and Computing Science Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics D-82230 Wessling Germany

The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLIC... 详细信息

关键词： control libraries computer aided system design numerical control software education educational aids

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The ANDECS design Environment for control engineering

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IFAC Proceedings Volumes 1993年第2期26卷 789-796页

作者： G. Grübel H.-D. Joos M. Otter R. Finsterwalder DLR - German Aerospace Research Establishment Control Design Engineering Institute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

ANDECS belongs to the new generation of open CAE systems for computational experimenting in controlled dynamic systems simulation, analysis, and multi-objective optimization. Strict databased function modularization with neutral object-oriented data- and model interfaces allows a flexible configuration of application programs. This modularity also guarantees side-effect free functional extensions by an application programmer. Module operation can be switched any time from interactive line commands to an X-Window graphical user interface. Via macro scripts stored on database, module sequences can be operated in batch mode with automatic parameter incrementation. Function modules are available for basic mathematical methods, control methods, simulation, parameter- and trajectory optimization, and interactive visualization for result- and algorithm animation.

关键词： Computer-Aided control engineering Computational Experimenting Databased Simulation engineering Database

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