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Frequency-domain Modeling of Nonlinear Multivariable systems

IFAC Proceedings Volumes 1988年第8期21卷 301-305页

作者： A. Nassirharand J.H. Taylor Department of Mechanical Engineering University of Kentucky Lexington 40506-0046 USA Control Systems Laboratory GE Corporate Research & Development Schenectady 12345 USA

A frequency-domain technique for input/output (I/O) characterization of stable, multivariable, and highly nonlinear systems (e.g., industrial robots, aerospace vehicles, chemical processes) is presented. We require only that the nonlinear system is representable in state-variable differential equation form, and that it is possible to integrate the system of equations numerically when input signals are sinusoidal. Otherwise, the technique is not restricted with respect to system order, number of nonlinearities, configuration, or nonlinearity type. The I/O characterization technique involves determining the gain and phase of the nonlinear system response to sinusoidal inputs of various excitation amplitudes at a set of user-defined discrete frequencies. These sinusoidal-input describing function (SIDF) models are obtained by exciting all input channels at one time with sinusoids of different but nearly equal frequencies, integrating the dynamic equations of motion over time, and simultaneously performing a Fourier analysis (evaluating Fourier integrals) on the output signals after they are at steady-state. Repeating this procedure for various amplitude-levels of the excitation signal will result in a number of matrix sinusoidal-input describing function I/O models.

关键词： Nonlinear control computer-aided design describing function methods Fourier analysis frequency domain modeling

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Integrated Design/Implementation of Nonlinear Digital controllers

Integrated Design/Implementation of Nonlinear Digital Contro...

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American control Conference (ACC)

作者： Carl N. Nett John A. Polley GE Corporate Research and Development Control Systems Laboratory Schenectady NY USA Manager Dynamic Analysis Technology GE Aircraft Engines Cincinnati OH USA

In this paper we propose a `roadmap' which provides a basis for an integrated solution to the following problems in control system design/implementation: (i) operational/physical constraints, (ii) full-envelope operation, and (iii) digital processor implementation. A key component of this roadmap is the so-called minimal modal canonical form, a new canonical state-space form which possesses a number of useful properties relative to the design/implementation process. This roadmap is expected to provide a basis for the achievement of enhanced controller performance with reduced development and production costs.

关键词： Digital control control systems Design engineering Scheduling Design methodology Nonlinear control systems Process design Production Costs Aerospace engineering

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Robust Observer Design with Application to Fault Detection

Robust Observer Design with Application to Fault Detection

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American control Conference (ACC)

作者： N. Viswanadham K. Dean Minto Department of Computer Science and Automation Indian Institute of Science Bangalore India Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA

A new scheme for robust estimation of the partial state of linear time-invariant multivariable systems is presented, and it is shown how this may be used for the detection of sensor faults in such systems. We consider an observer to be robust if it generates a faithful estimate of the plant state in the face of modelling uncertainty or plant perturbations. Using the Stable Factorization approach we formulate the problem of optimal robust observer design by minimizing an appropriate norm on the estimation error. A logical candidate is the 2-norm, corresponding to an H ∞ optimization problem, for which solutions are readily available. In the special case of a stable plant, the optimal fault diagnosis scheme reduces to an internal model control architecture.

关键词： Robustness Fault detection Observers State estimation MIMO Sensor systems Face detection Uncertainty Estimation error Fault diagnosis

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An Integrated Approach to controls and Diagnostics: The 4-Parameter controller

An Integrated Approach to Controls and Diagnostics: The 4-Pa...

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American control Conference (ACC)

作者： C. N. Nett C. A. Jacobson A. T. Miller Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

In this paper we present a theoretical basis for an integrated approach to the design of reliable control systems. In this approach, the control and diagnostic modules of a reliable control system are designed together, instead of independently, thereby accounting for the interactions which occur between these two modules in a functioning reliable control system. The approach makes use of a significant generalisation of the familiar 2-parameter controller known as the 4-parameter controller. This controller has two vector inputs and not one, but two vector outputs; correspondingly, this controller is comprised of not two, but four matrix parameters. The additional controller output is monitored to detect and isolate sensor and actuator faults, thereby providing the controller with diagnostic capabilities, or "intelligence," in addition to its control capabilities. Using a parameterization of all stabilising 4-parameter controllers, the fundamental limitations and inherent tradeoffs governing the design of reliable control systems are clarly delineated, with special attention given the issues of uncertainty and control/diagnostic interaction. Several means for resolving these desig tradeoffs are proposed, and illustrated by way of non-trivial examples. These results are expected to pave the way for the achievement of improved overall control/dignostic performance in reliable control systems, and also to pave the way for the achivement of significant complexity reductions in both the design and implementation of reliable control systems.

关键词： control systems Fault detection Signal processing research and development Jacobian matrices Reliability theory Monitoring Actuators Uncertainty Intelligent control

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An Interface for Computer-Aided control Engineering based on an Engineering Data-Base Manager

An Interface for Computer-Aided Control Engineering based on...

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American control Conference (ACC)

作者： Peter A. Mroz Phil McKeehen James H. Taylor Jackson Laboratory DuPont Chambers Works Deepwater NJ USA Flight Dynamics Laboratories Air Force Wright Aeronautical Laboratories OH USA Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA

A companion paper [1] describes an engineering data-base manager (EDBM) for computer-aided control engineering (CACE). The need for an EDBM to support the complete control system design cycle is also discussed. The obvious benefit of integrating an EDBM into a CACE environment, as demonstrated in [1,2], is knowing how all system models and analysis and design result data are interrelated. This results in a data base that is documentable and reproducible. If the user interface of the system is designed correctly, there can be several major secondary pay-offs as well: information hiding (eliminating the need to recall commands and file names, for example) and direct integration of CACE activity and EDBM functionality. Conversely, if the CACE environment and EDBM are not integrated well, many users will not be motivated to use the EDBM to track models and results. The features of an EDBM-based user interface to a CACE software environment are described in detail below. This includes demonstrating the execution of all data base operations, including browse, display, edit, purge, delete, and replicate, as well as executing certain CACE activity directly from the EDBM displays. Some of these features have been implemented in a rapid prototype software environment [3,4]; more of them are currently being incorporated in version 1.0 of our CACE environment [5]; a few will remain to be realized in future stages of this work. The primary goal of this user interface design is to make EDBM an integral part of the environment, not merely an appendage.

关键词： control engineering computing Computer interfaces control engineering Data engineering Engineering management User interfaces Displays control systems System analysis and design Software prototyping

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Vision processing and control of robotic Arc welding system

Vision processing and control of robotic Arc welding system

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IEEE Conference on Decision and control

作者： R. S. Baheti Corporate Research and Development Control Theory and Systems Program General Electric Company Limited Schenectady NY USA

A microprocessor-based control system is presented for a Gas Tungsten Arc Welding (GTAW) process to join thin sheet metal parts. The system uses a welding robot, a vision sensor, and an image processor to control the welding torch in real-time. A vision-processing algorithm is developed to compute weld puddle geometry parameters from the noisy image of the molten pool. The weld quality is controlled by regulation of puddle area, puddle width, arc length, and puddle center over the joint. Experimental results indicate successful operation of the control system with heat sink disturbances in the weld fixture.

关键词： Robot control Process control control systems Robot vision systems Robot sensing systems Tungsten Plasma welding Image sensors Sensor systems Real time systems

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Abstracts

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Environmental Management 1977年第1期1卷 67-96页

作者： Frankenfeld, John W. Schulz, Wolfgang McMurty, george J. Petersen, Gary W. May, G. A. Hering, F. S. Schwartz, J. I. Heywood, J. B. Chigier, N. A. Grohse, E. W. Walker, J. D. Colwell, R. R. Petrakis, L. Pergament, H. S. Thorpe, R. D. Schoepf, Richard W. Krzyczkowski, Roman Henneman, Suzanne S. Hudson, Charles L. Putnam, Evelyn S. Thiesen, Donna J. Parks, G. A. McCarty, Perry L. Leckie, J. O. Schrumpf, Barry J. Simonson, G. H. Paine, D. P. Lawrence, R. D. Pyott, W. T. Leh, M. Elders, W. Combs, J. Caplen, T. Harrison, F. L. Wong, K. M. Heft., R. E. Charnell, Robert L. Lehmann, Edward J. Mallon, Lawrence G. Hatfield, Cecile Adams, gerald H. Johanning, James Talvitie, Antti Noll, Kenneth E. Miller, Terry Smiarowski, Joseph F. Willis, Cleve E. Foster, John H. Schlesinger, Benjamin Daetz, Douglas Lear, Donald U. Smith, Mona F. Hundemann, Audrey S. Crockett, Pernell W. Werner, Kirk G. Carroll, Thomas E. Maase, David L. genco, Joseph E. Ifeadi, Christopher N. Lowman, F. G. Christensen, S. W. Van Winkle, W. Mattice, J. S. Harrison, Elizabeth A. Barker, James C. Chesness, Jerry L. Smith, Ralph E. Shaheeen, Donald G. Raney, R. Keith Borton, T. Wezernak, C. T. Raney, R. K. Sherwani, Jabbor K. Moreau, David H. Eisenberg, Norman A. Lynch, Cornelius J. Breeding, Roger J. Johnson, J. D. Foster, K. E. Mouat, D. A. Clark, R. Hyden, John William Owen, Wilfred Bayfield, Neil G. Barrow, Graham C. Stolz, Stephanie B. Wienckowski, Louis A. Brown, Betram S. Keyfitz, Nathan Wilson, W. L. Newman, Peter W. G. Bammi, Deepak Bammi, Dalip Goddard, James E. Chisholm, Tony Walsh, Cliff Brennan, geoffrey Thompson, K. S. Richardson, R. Jensen, Clayton E. Brown, Dail W. Mirabito, John A. Cowing, Thomas G. Binghamton, Suny Siehl, george H. Albrecht, O. W. Alexander, Ariel Barde, Jean -Philippe Darby, William P. McMichael, Francis Clay Dunlap, Robert W. Muckleston, Keith W. Frankenhoff, Charles A. Giulini, Lorenzo T. Wyatt, T. Black, Peter E. Keating, William Thomas Leonard, M. E. Fisher, E. L. Brunelle, M. F. Dickinson, J. E. Pethig, Rudiger Clapham Exxon Research & Engineering Co. Linden Government Research Lab Coast Guard Washington D.C. Department of Transportation Washington D.C. Office For Remote Sensing of Earth Resources. NASA Earth Resources Survey Program Pennsylvania State University Washington D.C. Department of the Navy Washington D.C. Cambridge. Dept. of Mechanical Engineering Massachusetts Inst. of Technology USA Huntsville. School of Graduate Studies and Research Alabama Univ. USA Dept. of Microbiology. Office of Naval Research Maryland Univ. Arlington Research and Development Co. Pittsburgh AeroChem Research Labs. Inc. Princeton Dept. of the Interior Office of Library Services. Bibliographic Series (Final) Washington D.C. Interplan Corp. Santa Barbara Urban Mass Transportation Adm. Washington D.C. Naval Underwater Systems Center Newport Calif. Mercury Project. National Science Found Stanford Univ Washington D.C. Div. of Advanced Environmental Research & Tech. USA Corvallis. NASA Earth Resources Survey Program Oregon State Univ. Washington D.C. Riverside. Inst. of Geophysics and Planetary Physics National Science Foundation California Univ. Washington D.C. Livermore Lawrence Livermore Lab. California Univ. USA Atlantic Oceanographic and Meteorological Labs. National Oceanic and Atmospheric Administration Miami National Technical Information Service Springfield Miami Univ. Coral Gables School of Law National Oceanic and Atmospheric Administration Rockville National Academy of Sciences Office of Sea Grant Washington D. C. School of Law National Oceanic and Atmospheric Administration Office of Sea Grant. Rockville Norman. Dept. of Civil Engineering and Environmental Science. Urban Mass Transportation Administration Oklahoma Univ. Washington D. C. Knoxville.Dept. of Civil Engineering. Federal Highway Administration Tennessee Univ. Washington D. C. Amherst.Water Resources Research Center. Office of Water Research and Technology Massachusetts Univ. Washington D. C. Calif. Dept. of Industria

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BANQUET ADDRESS - BUILT-IN COMBAT READINESS - APPROACH TO FUTURE SHIP DESIGN

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NAVAL ENGINEERS JOURNAL 1976年第3期88卷 40-43页

作者： MARCY, HT The Honorable H. Tyler (“Ty”) Marcy:was born in 1918 in Rochester New York but moved to Baltimore Maryland at an early age where he attended public schools. He is a graduate of the Massachusetts Institute of Technology from which he received both his BS and MS degrees in Electrical Engineering. Subsequent to receiving the latter degree in 1941 he designed and developed gun control systems in the MIT Servomechanism Laboratory until 1946 when he became Associate Director Special Projects Department M. W. Kellogg Company and worked on rocket engine development missile controls and analog air defense systems. In 1951 Mr. Marcy left Kellogg Company to join the IBM Corporation where he remained until 1972 and was employed in various engineering and managerial positions. At IBM his first assignment concerned the bomb/navigational system for the B-52 aircraft. He then moved into commercial development of data processing machines and peripheral devices subsequently being placed in a series of technical management positions which included Assistant Manager of Product Development Corporate Headquarters New York (1956) Manager Poughkeepsie N.Y. Laboratory (1957) Vice-President General Products Division (1962) Vice-President Systems Development Division (1965) and Director of Technology Corporate Headquarters Armonk N. Y. (1968). His last position was held until 1972 when he left IBM to do private consulting work in engineering management technology and program review. In October 1974 he was appointed by the President to his present office as Assistant Secretary of the Navy for Research and Development. Mr. Marcy has been a member of the Instrument Society of America since 1963 serving as its President from 1971 until 1974. In 1967 he became a Fellow of the Institute of Electrical and Electronic Engineers (IEEE) for his leadership in feedback control and for his significant contribution to the management of technical enterprise. In addition to these professional organizations he is also a member of the

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control of Sandwich Nonlinear systems Authors 1

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丛书名： Lecture Notes in control and Information Sciences

1000年

作者： Avinash Taware Gang Tao

ISBN: (数字)9783540461272

ISBN: (纸本)9783540441151

V VII X Table of Contents Table of Contents XI XII Table of Contents A. Taware and G. Tao: control of Sandwich Nonlinear systems, LNCIS 288, pp. 1-8, 2003. Springer-Verlag Berlin Heidelberg 2003 A. Taware and G. Tao: control of Sandwich Nonlinear systems, LNCIS 288, pp. 9-16, 2003. Springer-Verlag Berlin Heidelberg 2003 x(t), pilot valve piston position Return Pressure Source Return Load M, b y(t) A. Taware and G. Tao: control of Sandwich Nonlinear systems, LNCIS 288, pp. 17-28, 2003. Springer-Verlag Berlin Heidelberg 2003 load displacement, y(t) 3 2 1 0 ?1 ?2 ?3 0 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted? with DZ Load displacement, y(t) 0.4 0.2 0 ?0.2 ?0.4 ?0.6 ?0.8 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted?with DZ, dashdot?compensated Load displacement, y(t) 3 2 1 0 ?1 ?2 ?3 0 10 20 30 40 50 60 70 80 90 100 control input, x(t) 0.8 0.6 0.4 0.2 0 ?0.2 ?0.4 ?0.6 0 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted?with DZ, dashdot?compensated Load displacement, y(t) 0.6 0.4 0.2 0 ?0.2 ?0.4 ?0.6 ?0.8 0 10 20 30 40 50 60 70 80 90 100 solid?without DZ, dotted?with DZ, dashdot?compensated A. Taware and G. Tao: control of Sandwich Nonlinear systems, LNCIS 288, pp. 29-54, 2003. Springer-Verlag Berlin Heidelberg 2003

关键词： control, Robotics, Mechatronics Solid Mechanics Mathematical and Computational Engineering systems Theory, control Complex systems Statistical Physics and Dynamical systems

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