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An explicit model-matching approach to lateral-axis autopilot design

IEEE control systems Magazine 1990年第4期10卷 22-28页

作者： K.D. Minto J.H. Chow J.W. Beseler GECorporate Research and Development Center Schenectady Control Systems Laboratory NY USA Electrical Systems and Computer Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The application of a linear multivariable control law design methodology to an autopilot design for large transport aircraft is described. The design method is an explicit model-matching approach, whereby compensator parameters are tuned via a least-squares optimization approach to minimize the error between the desired and the actual closed-loop frequency responses. This method incorporates some recent theoretical advances, including controller parameterization and plant factorization, and has been implemented within the ISICLE software package, a MATLAB-based control design toolbox. A desirable feature of the ISICLE design software is the capability to constrain the compensator dynamic order and structure, issues motivated by the necessity for low complexity implementations in order to simplify gain scheduling and limit protection.< >

关键词： Mathematical model Design methodology Aircraft Aerospace control Design optimization Frequency Software packages computer languages control design Software design

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The Linear Constrained Regulation Problem for Discrete-Time systems

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IFAC Proceedings Volumes 1990年第8期23卷 321-326页

作者： G. Bitsoris M. Vassilaki Control Systems Laboratory Electrical Engineering Department. University of Patras 26500 Patras Greece AMBER S.A. Computer Systems P.D. Box 3500 Athens Greece

In this paper the Linear Constrained Regulation Problem for discrete-time systems is studied. The first part of the paper deals with the problem of existence of linear state-feedback control laws that transfer asymptotically to the origin all initial states belonging to a polyhedral subset of state space while linear state and control constraints are respected. Then an eigenstructure assignment technique is developed for derivation of a solution to this problem. The results presented in the paper are based on the properties of systems possessing polyedral positively invariant sets.

关键词： Constraint theory discrete time systems eigenvalue assignment, invariance linear systems stability

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Synthesis of Nonlinear controllers with Rate Feedback via Sinusoidal-Input Describing Function Methods

Synthesis of Nonlinear Controllers with Rate Feedback via Si...

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American control Conference (ACC)

作者： James H. Taylor James R. O'Donnell Control Systems Laboratory General Electric Corporate Research and Development Schenectady NY USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development of a new nonlinear controller synthesis approach that includes derivative action in an inner-loop feedback path (nonlinear rate feedback), and its application to a motor + load model with torque saturation and stiction. This approach is capable of treaing nonlinear systems of a very general nature, with no restrictions as to system order, number of nonlinearities, configuration, or nonlinearity type; additionally, the techniques can be generalized for the design of nonlinear controllers of different structures. The end result is a closed-loop nonlinear control system that is relatively insensitive to reference-input amplitude.

关键词： Feedback control system synthesis Nonlinear control systems Signal synthesis Three-term control Load modeling Nonlinear systems control systems Laboratories Research and development

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Simultaneous H2/H∞ optimal control with state feedback

Simultaneous H2/H∞ optimal control with state feedback

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American control Conference (ACC)

作者： Mario A. Rotea Pramod P. Khargonekar Center for Control Sciences and Dynamical Systems University of Minnesota Minneapolis MN USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

In this paper we consider a mixed H 2 /H ∞ -optimal control problem. It is assumed that the plant as well as the feedback controller are finite-dimensional and linear time-invariant, and that the plants state is available for feedback. More specifically, among all the state-feedback controllers that minimize the H 2 -norm of a closed loop transfer matrix, we give necessary and sufficient conditions for the existence of a controller that also satisfies a prescribed H ∞ -norm bound on some other closed loop transfer matrix. When these conditions are satisfied, the solution to the above problem is also a global solution to the constrained optimization problem of minimizing an H 2 -norm performance measure subject to an H ∞ -norm constraint. We also give state-space formulae for computing the solutions. An example is given in which all solutions to the constrained optimization problem are necessarily dynamic, i.e, there is no static gain solution even though plant state is available for feedback. A conclusion of this work is that a priori assumptions on the structure of the solutions to mixed H 2 /H ∞ problems could turn out to be conserative.

关键词： Optimal control Hydrogen State feedback Sufficient conditions Performance evaluation Gain measurement Tellurium Performance gain Ice Robustness

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Trends in shop floor control: modularity, hierarchy, and decentralization

Trends in shop floor control: modularity, hierarchy, and dec...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T.L. Johnson A.D. Baker Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department Electrical & Computer Engineering Rensselaer Polytechnic Institute Troy NY USA

Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National Institute of Standards and Technology's Automated Manufacturing Research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >

关键词： computer integrated manufacturing Hardware Power capacitors Local area networks Subcontracting Debugging Workstations Programmable control Cost function Software packages

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CAD CAM MANUFACTURING OF PROTOTYPE SHIPBOARD COMPONENTS

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 93-99页

作者： CALVERT, TE RODRIGUEZ, FA SLEBZAK, JS Thomas E. Calvert P.E.: is a senior project engineer with the Propulsion and Auxiliary Systems Department David Taylor Research Center Annapolis Md. His interests include application of computers to all aspects of engineering with particular emphasis on utilization of small computers. Mr. Calvert is a licensed professional engineer in Maryland. He received a BSEE from Drexel University in 1969 and since that time has completed a number of graduate courses related to machinery acoustics. Francisco A. Rodriguez:is an engineer with the Propulsion and Auxiliary Systems Department David Taylor Research Center. He was formerly with the Computer-Aided Design/Interactive Graphics Group of the Division of Engineering and Weapons U.S. Naval Academy. His interests include interfacing the computer aided design to the computer aided manufacturing along with related software and hardware development. Mr. Rodriguez received a BSEEfrom the University of Virginia in 1968. James S. Slebzak:is a mechanical engineering technician with the Propulsion and Auxiliary Systems Department David Taylor Research Center. He received his machinists papers in 1971 after serving his apprenticeship at David Taylor Research Center. He continued his education and became the senior numerical control programmer at the Annapolis Laboratory. He completed his mechanical technology degree from Anne Arundel Community College in 1986. His interests are in the application of numerically controlled manufacturing techniques to prototype machinery components.

The machine shop at the Annapolis Laboratory of the David Taylor Research Center (DTRC) provides model making and prototype support to a large variety of naval ship related engineering projects. In order to meet these challenging requirements, computer aided design/computer aided manufacturing (CAD/CAM) techniques are being used to produce “one of a kind” prototypes or very low volume production parts. The use of computer aides in these cases is to facilitate the accurate manufacture of a difficult part, rather than to improve manufacturing efficiencies. In addition, the approach provides the flexibility required to support research and development projects. Several examples of prototype shipboard components manufactured using CAD/CAM techniques are presented in this paper. The hardware and software that facilitated these projects are discussed. The examples described have met the requirements to produce a wide variety of prototype shipboard machinery components quickly and accurately.

关键词： Ship Equipment

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computer-SYSTEM ARCHITECTURE CONCEPTS FOR FUTURE COMBAT systems

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 43-62页

作者： ZITZMAN, LH FALATKO, SM PAPACH, JL Dr. Lewis H. Zitzman:is the group supervisor of the Advanced Systems Design Group Fleet Systems Department The Johns Hopkins University Applied Physics Laboratory (JHU/APL). He has been employed at JHU/APL since 1972 performing applied research in computer science and in investigating and applying advanced computer technologies to Navy shipboard systems. He is currently chairman of Aegis Computer Architecture Data Bus and Fiber Optics Working Group from which many concepts for this paper were generated. Dr. Zitzman received his B.S. degree in physics from Brigham Young University in 1963 and his M.S. and Ph.D. degrees in physics from the University of Illinois in 1967 and 1972 respectively. Stephen M. Falatko:was a senior engineering analyst in the Combat Systems Engineering Department Comptek Research Incorporated for the majority of this effort. He is currently employed at ManTech Services Corporation. During his eight-year career first at The Johns Hopkins University Applied Physics Laboratory and currently with ManTech Mr. Falatko's work has centered around the development of requirements and specifications for future Navy systems and the application of advanced technology to Navy command and control systems. He is a member of both the Computer Architecture Fiber Optics and Data Bus Working Group and the Aegis Fiber Optics Working Group. Mr. Falatko received his B.S. degree in aerospace engineering with high distinction from the University of Virginia in 1982 and his M.S. degree in applied physics from The Johns Hopkins University in 1985. Mr. Falatko is a member of Tau Beta Pi Sigma Gamma Tau the American Society of Naval Engineers and the U.S. Naval Institute. Janet L. Papach:is a section leader and senior engineering analyst in the Combat Systems Engineering Department Comptek Research Incorporated. She has ten years' experience as an analyst supporting NavSea Spa War and the U.S. Department of State. She currently participates in working group efforts under Aegis Combat System Doctrin

This paper sets forth computer systems architecture concepts for the combat system of the 2010–2030 timeframe that satisfy the needs of the next generation of surface combatants. It builds upon the current Aegis computer systems architecture, expanding that architecture while preserving, and adhering to, the Aegis fundamental principle of thorough systems engineering, dedicated to maintaining a well integrated, highly reliable, and easily operable combat system. The implementation of these proposed computer systems concepts in a coherent architecture would support the future battle force capable combat system and allow the expansion necessary to accommodate evolutionary changes in both the threat environment and the technology then available to effectively counter that threat. Changes to the current Aegis computer architecture must be carefully and effectively managed such that the fleet will retain its combat readiness capability at all times. This paper describes a possible transition approach for evolving the current Aegis computer architecture to a general architecture for the future. The proposed computer systems architecture concepts encompass the use of combinations of physically distributed, microprocessor-based computers, collocated with the equipment they support or embedded within the equipment itself. They draw heavily on widely used and available industry standards, including instruction set architectures (ISAs), backplane busses, microprocessors, computer programming languages and development environments, and local area networks (LANs). In this proposal, LANs, based on fiber optics, will provide the interconnection to support system expandability, redundancy, and higher data throughput rates. A system of cross connected LANs will support a high level of combat system integration, spanning the major warfare areas, and will facilitate the coordination and development of a coherent multi-warfare tactical picture supporting the future combatant command st

关键词： computer Architecture

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TRANSPUTER control OF A FLEXIBLE ROBOT LINK

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MICROPROCESSORS AND MICROsystems 1989年第3期13卷 227-232页

作者： STAVENUITER, ACJ TERREEHORST, G BAKKERS, AWP Control Systems and Computer Engineering Laboratory Department of Electrical Engineering University of Twente PO Box 217 7500 AE Enschede The Netherlands

The applicability of transputers in control systems is investigated. This is done by implementing a controller for a flexible robot arm with one degree of freedom on a system consisting of an IBM-AT and four transputers. It is found that a control system with transputers offers a great improvement compared with conventional digital control systems. Transputers can solve the common problem in control practice, i.e. having very sophisticted controllers but not being able to implement them because they need too much computing time. However, transputers are not an optimal solution for more sophisticated control systems because of shortcomings in the scheduling mechanism.

关键词： control systems robots transputers

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Racing wheelchair crown compensation

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Journal of Rehabilitation Research and Development 1989年第1期26卷 25-32页

作者： Cooper, R.A. Control Systems Lab Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106 United States

This paper is concerned with the directional stability of racing wheelchairs on crown roads. Three types of crown compensators are described and evaluated: the push-pull, the push-push, and the pull-pull. It was found that the push-push and the push-pull types of compensators have the most desirable characteristics, and were, in general, safer than the pull-pull type. In addition, the equations necessary to specify the minimum spring force required to compensate for the downhill turning moment, were derived and compared to the actual preset forces for the various compensators presently in use. It was found that the force required to maintain directional stability was less than that to deflect the crown compensator. This was due to the preference of athletes for additional stiffness needed for disturbance rejection, and to help compensate for any asymmetry in their stroke kinematics.

关键词： Biomedical Equipment

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Racing wheelchair rear wheel alignment

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Journal of Rehabilitation Research and Development 1989年第1期26卷 47-50页

作者： Cooper, R.A. Control Systems Lab Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106 United States

This technical note describes a time-saving device for aligning the rear wheels of a racing wheelchair. The newly-developed analog alignment device is compared to the now standard discrete alignment device. The analog alignment device is found to reduce the time needed to align the rear wheels by nearly 75 percent, while increasing the accuracy of the alignment. The device does not noticeably alter the performance of the racing wheelchair and, if installed properly, the device is sufficiently resistant to fatigue.

关键词： Biomedical Equipment

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