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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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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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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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NUMERICAL CHARACTERISTICS OF FAST RECURSIVE LEAST-SQUARES TRANSVERSAL ADAPTATION ALGORITHMS - A COMPARATIVE-STUDY

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SIGNAL PROCESSING 1992年第3期27卷 317-331页

作者： SCHUTZE, H REN, Z Research Institute Deutsche Bundespost Telekom P.O. Box 420200 W-1000 Berlin 42 Germany Institute of Control Engineering and System Dynamics Technische Universität Berlin Berlin Germany

In this paper, eight known fast recursive least squares (FLRS) algorithms are compared with respect to computing effort and numerical stability. A uniform mathematical notation makes the close affinity between the different algorithms transparent. For the exact FRLS algorithms (without additional stabilization measures) transformation equations are given which allow an unambiguous mutual conversion. Under certain conditions, FRLS algorithms with additional stabilization are equivalent to the exact ones. Consequently all FRLS algorithms examined should theoretically in each iteration step yield the same estimate values as the well-known recursive least squares (RLS) algorithm. As a result of unpredictable round-off errors, deviations or even instability may occur. Simulations demonstrate the different numerical sensitivity of the algorithms and the effects of stabilizing efforts.

关键词： FAST RECURSIVE LEAST SQUARES ALGORITHM ADAPTIVE TRANSVERSAL FILTER ADAPTATION IDENTIFICATION STABILITY ACOUSTIC ECHO CANCELER

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Design of Optimal Dynamical Experiments for Parameter Estimation

Design of Optimal Dynamical Experiments for Parameter Estima...

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American control Conference (ACC)

作者： Axel Munack Clemens Posten Federal Agricultural Research Centre Institute of Biosystems Engineering Brunswick Germany Institute of Control and System Dynamics Technical University Hamburg-Harburg Hamburg Germany

Measurement errors often lead to large uncertainties in parameter estimation for dynamical systems. However, a considerable improvement of the preciseness may be obtained by a suitable choice of the experimental conditions. An approach is given to calculate optimal input functions by solving a minimization problem, based on a calculation of the Fisher information matrix. This approach is applied to a model describing the growth of plant cells in suspension culture in a stirred tank reactor. The simple model is based on the metabolic structure, limiting rates, mass and energy balances of the cells as well as the reactor equations. A significant increase in the accuracy of the parameter estimations is shown to be possible by fed batch experiment design using the method indicated above, compared to the accuracy which could be obtained using batch experimental data.

关键词： Parameter estimation Biological system modeling Biochemistry Equations Inductors Mathematical model Sugar Agricultural engineering Design engineering Optimal control

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HISTORY OF COAST-GUARD SURFACE EFFECT SHIP PERFORMANCE IMPROVEMENTS

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NAVAL ENGINEERS JOURNAL 1988年第3期100卷 237-250页

作者： LARIMER, G MCCOLLUM, J SCHAUB, B VANLIEW, D WHIPPLE, C Gary Larimer:received his B.S. (1974) and M.S. (1975) degrees in naval architecture and marine engineering from the University of Michigan. He has worked with the Bechtel Professional Corporation the David Taylor Naval Ship Research and Development Center and the United States Coast Guard. He is a member of SNAME ASNE ABYC and IMTI. He is the author of “Reaction Fin Applications In Marine Propulsion” which documented the use of asymmetric pre-swirl vanes to increase propulsion efficiency aboard a 41-ft Coast Guard utility boat. It was presented on 5 March 1987 at the Hampton Roads section of SNAME and was nominated for the section paper of the year award. CWO3 Joe Bobby McCollum USCG: iscurrently engineering officer of the Surface Effect Ship Division Seventh Coast Guard District Key West Florida. Prior to this assignment he was assistant engineering officer on the USCGCUte.His other duty tours included engineering assignments on theCape Currenta 95-foot patrol boat on the USCGCUnimak a 311-foot cutter CG Loran Station Upolo Point Hawaii and CG Station Sabine Pass Texas. CWO McCollum was responsible for modifying and repairing the SESs and contributed many unique problem solving ideas which resulted in much improved operation of the Coast Guard Surface Effect Ship Division. Benton H. Schaub:is a senior engineer with Maritime Dynamics Inc. He has a bachelor of science degree in naval architecture and marine engineering from the Massachusetts Institute of Technology. Mr. Schaub has fifteen years of experience working as a test engineer project engineer and design engineer on advanced marine vehicle projects and is a recognized authority in the areas of hull structure seal system and machinery design for surface effect ships. He has participated in virtually every USN SES design development and test evaluation program including: XR-5 XR-10 SES-100A SES-100A1 and the SES-200. He is currently responsible for performing detailed design and analysis in support of the seal system for the Germa

During the early 1980s the United States Coast Guard took delivery of three surface effect ships (SES) from Bell Halter, Inc. These 136-ton, 30-knot plus, aluminum hulled cutters were to be used primarily for drug interdiction in the southeastern United States. By early 1985, however, the full load weight of these cutters had grown to 150 long tons, and their top speed had dropped to below 23 knots in calm water. By mid-1985, operation of all three SESs was suspended to prevent possible catastrophic failure of their main engines. At this point, the USCG joined ranks with Textron Marine systems (then Bell Aerospace), and Detroit Diesel to analyze what had gone wrong, and to propose solutions to the problems encountered. From that beginning, the performance of the Coast Guard's SESs has steadily and dramatically improved until at present all three cutters are able to exceed their original performance specifications. This paper discusses the problems experienced with the SESs, including engine overloading, vibration, ride quality, seal wear, poor lift system performance, and metal cracking, along with the corrective actions taken to solve them. The cooperation between government and private industry, which made this dramatic turn-around in performance possible, is also explored. Lessons learned about SES technology are viewed in relation to the general experience of the Coast Guard with other types of high performance hull forms.

关键词： NAVAL VESSELS

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TECHNICAL EVALUATION OF THE SES-200 HIGH LENGTH-TO-BEAM SURFACE EFFECT SHIP

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NAVAL ENGINEERS JOURNAL 1984年第3期96卷 77-93页

作者： ADAMS, JD BEVERLY, WF John D. Adams:is currently Manager of Marine Programs at Maritime Dynamics Inc. Tacoma Washington. He received his B.S.E. degree in naval architecture and marine engineering from the University of Michigan in 1972. His professional career began at Stevens Institute of Technology working as a research engineer in the Davidson Laboratory where he conducted model test programs of both conventional and advanced ships. Some of his responsibilities included hydrodynamic model testing of the Navy SES-100A and SES-100B testcraft and the early 2000-ton and 3000-ton SES designs. In 1975 he accepted a position as Director of Maritime Dynamics' field activities at the USN Surface Effect Ship Test Facility where he had responsibility for SES-100A trials analysis. While at SESTF he directed several unique programs including the development of an experimental Ride Control System for the XR-1D SES testcraft. At his present position since 1982 Mr. Adams has directed the development of a production SES Ride Control System the SES-200 trial analysis and analytical research and design studies for SES. He is a member of ASNE and SNAME. Walter F. Beverly III:is Test Director of the lead Landing Craft Air Cushion for Bell Aerospace in Panama City Florida. He has worked with surface effect ships (SES) for over ten years in various roles: SESTF. Past assignments included: Technical Director of the Navy Surface Effect Ship Test Facility (SESTF) Project engineer on the world's fastest warship the SES-100B and Program Manager's representative and T&E manager for the 3KSES Program in San Diego. Prior to his involvement with SES he was a flight test engineer at the Naval Air Test Center Patuxent River Maryland and graduated from the USN Test Pilot School test project engineering curriculum. Mr. Beverly received his BS in aerospace engineering from Virginia Polytechnic Institute in 1970 and his MS in systems management from the University of Southern California in 1977. He is a member of the American Institute of Aeronautics and

Recent Navy surface effect ship (SES) research has been aimed at achieving efficient operation at task force speeds without compromising the SES advantage of operating at higher speeds. Results showed that this objective could be achieved by designing ships with higher length-to-beam ratios than the previous generation of Navy SES. These ships are typically referred to as “High Length-to-Beam SES”. This paper describes an extensive program undertaken by Naval Sea systems Command (NAVSEA) to validate this research and demonstrate high length-to-beam SES capabilities. Under this program a 110 ft commercial SES was procured and stretched from a length-to-beam of 2.65 to 4.25 by installing a 50 foot hull extension amidships. This ship is the SES-200; it is the only large high length-to-beam SES in the world. A brief history of the SES-200 is provided, and the use of standard marine construction and systems in this ship is described. A synopsis of the SES-200 Technical Evaluation Program completed in the Chesapeake Bay and Atlantic Ocean is given, and results of performance, seakeeping and maneuvering tests are presented. The effect of cushion length-to-beam proportions on both cushion wave making resistance and total SES resistance is explained. Performance test data are presented to show that the advantages of high length-to-beam design have been validated. Full power operation in heavy weather at all headings is demonstrated, and heavy weather motion responses are compared to Navy surface ship criteria to show that limits are satisfied for both high and low speed operation. Directional stability and maneuvering test results are cited for both normal operation and impaired situations. Implications of high length-to-beam technology relative to multithousand ton ship design are discussed. The speed and seakeeping capabilities that SES in this size range offer are indicated by scaling SES-200 test data.

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