The performance of complex and advanced applications of industrial reports requires large computational power. The control system presented in this paper is designed as a multi-microcomputer system. The main purpose o...
详细信息
The performance of complex and advanced applications of industrial reports requires large computational power. The control system presented in this paper is designed as a multi-microcomputer system. The main purpose of this system is to create a pleasant environment for present and further studies in robotic research. The Advanced Robot control System (ARC) uses multiple microcomputers based on iAPX 8086 processors. A local bus of each processor allows additional memory and Input/output expansions for increased throughput. Nevertheless, the rising calculation effort for the kinematic and dynamic relations shows the insufficient computing power of standard microprocessors. Therefore a fast floating-point processor has been developed. This Robot Arithmetic Processor (RAP) is built up with bipolar bit-slice components, special arithmetic modules and hardware control mechanisms for on- and off-line diagnostic functions.
The paper discusses a self tuning control algorithm for a multivariable plant applied to a grammage cross profile control of a paper machine. The plant model represents the steady-state couplings as well as the dynami...
详细信息
The paper discusses a self tuning control algorithm for a multivariable plant applied to a grammage cross profile control of a paper machine. The plant model represents the steady-state couplings as well as the dynamics behaviour of the system. The control algorithm handles special situations including the case where the numper of measurments is not equal to the numper of actuators and the case where special actuators are locked. The whole identification algorithm with a specical filter and an estimation of the required measurment accuary for a succesful identification of the steady-state couplings will be discussed. The paper shows how to proof the stability of the control system including the cases of locked actuators and identification errors. Finally, the whole conrol system is verified by in house simulations and at a real plant. The obtained control results are discussed.
作者：
REID, REwas born in Glasgow
Scotland. He received the BS degree with honors in 1964 from the University of Glasgow and the ME and Ph.D. degrees from the University of Virginia in 1977 and 1979 all in mechanical engineering. From 1964 to 1970
he worked for Ferranti Ltd. Edinburgh Scotland as research engineer in the design of inertial navigation systems. From 1970 to 1972 he was systems engineer with Litton Ship Systems responsible for the navigation system for the Spruance class destroyer. He was research section head with Sperry Marine Systems Charlottesville Virginia from 1972 to 1978 responsible for the design and development of navigation and steering control systems. He is currently president of Erskine Systems Control Inc. and also holds an appointment as associate professor of mechanical engineering at the University of Illinois at Urbana-Champaign the faculty of which he joined in 1979. His present primary research interests are in the application of control and estimation theory to ship control and operations with particular emphasis on energy efficiency and management. Dr. Reid is chairman of the technical panel on optimal control in the Dynamic Systems and Control Division of the American Society of Mechanical Engineers
and is a member of the Institute of Electrical and Electronic Engineers the Society of Naval Architects and Marine Engineers Tau Beta Pi and Sigma Xi. He is registered as a Chartered Engineer in the United Kingdom.
The paper describes a microprocessor based onboard automatic ship condition/performance monitoring system. The capabilities of the system for achievement of improved maintenance management and increased operational st...
详细信息
The paper describes a microprocessor based onboard automatic ship condition/performance monitoring system. The capabilities of the system for achievement of improved maintenance management and increased operational standard are presented. By the design principles employed, and the system implementation as a distributed digital processing system, it is shown that the technology described is compatible with current U.S. Navy goals both for onboard control and surveillance systems and for reduction in the maintenance costs necessary to achieve high availability and performance of its ship.
The paper proposes a method for the solution of the general kinematic problem, i.e. the transformations between the joint coordinate and the cartesian robot coordinate system. Based on homogeneous transformation matri...
详细信息
The paper proposes a method for the solution of the general kinematic problem, i.e. the transformations between the joint coordinate and the cartesian robot coordinate system. Based on homogeneous transformation matri...
详细信息
The paper proposes a method for the solution of the general kinematic problem, i.e. the transformations between the joint coordinate and the cartesian robot coordinate system. Based on homogeneous transformation matrices the method solves the kinematic problem for a series of n (n >/=/< 6) one-degree-of-freedom joints either revolute or prismatic and with or without branching analytically. The inverse kinematic problem is handled numerically via linearization. The numerical solution is evaluated with respect to some constraints like joint workspace, velocities, energy, e.t.c. The numerical results and the computation time show the applicability of the method for real-time controlsystems.
暂无评论