This paper presents the modelling and supervisory control design of a flexible manufacturing system (FMS). We propose a design technique to model the system using finitely recursive processes. The model is constructed using the system's modular structure and the connections between inputs and outputs of its subsystems which is appropriate for complex manufacturing processes operating in parallel, and where a modular top-down design is required. Next we develop control strategies in order to ensure desirable behaviour of the model. We propose a distributed control system where each component of the system is controlled by a local controller following global specifications. Such a local controller can perform "dynamic" control in the sense that it disables and enables events depending on the (dynamic) process behaviour. This technique is appropriate for complex discrete event systems or for "dynamic" plants, where no automaton representation is available.<>
{"title":"Hierarchical modelling and distributed control systems design of a flexible manufacturing system","authors":"M. A. de Ridder, M. Spathopoulos","doi":"10.1109/CCA.1994.381290","DOIUrl":"https://doi.org/10.1109/CCA.1994.381290","url":null,"abstract":"This paper presents the modelling and supervisory control design of a flexible manufacturing system (FMS). We propose a design technique to model the system using finitely recursive processes. The model is constructed using the system's modular structure and the connections between inputs and outputs of its subsystems which is appropriate for complex manufacturing processes operating in parallel, and where a modular top-down design is required. Next we develop control strategies in order to ensure desirable behaviour of the model. We propose a distributed control system where each component of the system is controlled by a local controller following global specifications. Such a local controller can perform \"dynamic\" control in the sense that it disables and enables events depending on the (dynamic) process behaviour. This technique is appropriate for complex discrete event systems or for \"dynamic\" plants, where no automaton representation is available.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121956522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
H. J. Beestermoller, G. Thiele, I. Balcke, T. Trittin, D. Popovic
We present a PEARL (Process Experimental Automation Real-time Language)-based multi-loop control-unit for distributed systems, which allows consistent configuration of closed-loop and sequence-control tasks in a function block oriented approach. The tasks can be configurated and parametrised either with a sequence of commands in a menu driven way or, graphically, in a WINDOWS oriented way. The extensive function block library contains many different function blocks for conventional and modern control-algorithms. The function blocks that are needed to configurate tasks for sequence-control and those which are needed for identification, filtering and process I/O are available as well. The performance of a control-unit is also assessed by comparing the control-unit communicates with the other approaches. We show that it is possible to reduce significantly the needed calculating time for sequence-control tasks if a real-time management is used, which allows a periodic scheduling as well as an aperiodic scheduling. We also demonstrate that, if a complex sequence-control algorithm is divided up into small synchronised parts, it is possible to reduce the calculating time even more.<>
{"title":"An online and offline programmable multi-loop controller for distributed systems","authors":"H. J. Beestermoller, G. Thiele, I. Balcke, T. Trittin, D. Popovic","doi":"10.1109/CCA.1994.381276","DOIUrl":"https://doi.org/10.1109/CCA.1994.381276","url":null,"abstract":"We present a PEARL (Process Experimental Automation Real-time Language)-based multi-loop control-unit for distributed systems, which allows consistent configuration of closed-loop and sequence-control tasks in a function block oriented approach. The tasks can be configurated and parametrised either with a sequence of commands in a menu driven way or, graphically, in a WINDOWS oriented way. The extensive function block library contains many different function blocks for conventional and modern control-algorithms. The function blocks that are needed to configurate tasks for sequence-control and those which are needed for identification, filtering and process I/O are available as well. The performance of a control-unit is also assessed by comparing the control-unit communicates with the other approaches. We show that it is possible to reduce significantly the needed calculating time for sequence-control tasks if a real-time management is used, which allows a periodic scheduling as well as an aperiodic scheduling. We also demonstrate that, if a complex sequence-control algorithm is divided up into small synchronised parts, it is possible to reduce the calculating time even more.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115776216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Digital control of continuous time processes is usually designed on the basis of a constant sampling rate. The use of multirate strategies can improve the time or frequency specifications of the process output, modifying the overshoot, the settling time, hidden oscillations, or the phase and magnitude margins. A new methodology based in classical techniques is presented in order to provide a closed loop model suitable to compare different structures and their associated performances. Finally, the control of a DC motor confirms the results obtained.<>
{"title":"Digital controller improvement by multirate control","authors":"J. Salt, P. Albertos, J. Tornero, B. Ledesma","doi":"10.1109/CCA.1994.381302","DOIUrl":"https://doi.org/10.1109/CCA.1994.381302","url":null,"abstract":"Digital control of continuous time processes is usually designed on the basis of a constant sampling rate. The use of multirate strategies can improve the time or frequency specifications of the process output, modifying the overshoot, the settling time, hidden oscillations, or the phase and magnitude margins. A new methodology based in classical techniques is presented in order to provide a closed loop model suitable to compare different structures and their associated performances. Finally, the control of a DC motor confirms the results obtained.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"143 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129392097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The application of direct active adaptive control (DAAC) for the roll angle control problem of a vertical take-off airplane is considered for a laboratory pilot-version of the plant. Adaptive real-time control is applied to the experimental setup. The peculiarities of the controlled system are that the considered plant is unstable (double integral) and the exact description is given by a nonlinear model. Moreover, the discrete-time model of the plant has nonminimum phase characteristics and an actuator restriction is necessary. It is shown that DAAC provides improved control quality in comparison with standard adaptive control schemes based on the certainty equivalence (CE) assumption. The results of the real-time adaptive control for the considered plant shows the efficiency and possibility for practical application of this direct active adaptive control approach.<>
{"title":"Application of active adaptive control to an unstable mechanical plant","authors":"N. Filatov, U. Keuchel, H. Unbehauen","doi":"10.1109/CCA.1994.381198","DOIUrl":"https://doi.org/10.1109/CCA.1994.381198","url":null,"abstract":"The application of direct active adaptive control (DAAC) for the roll angle control problem of a vertical take-off airplane is considered for a laboratory pilot-version of the plant. Adaptive real-time control is applied to the experimental setup. The peculiarities of the controlled system are that the considered plant is unstable (double integral) and the exact description is given by a nonlinear model. Moreover, the discrete-time model of the plant has nonminimum phase characteristics and an actuator restriction is necessary. It is shown that DAAC provides improved control quality in comparison with standard adaptive control schemes based on the certainty equivalence (CE) assumption. The results of the real-time adaptive control for the considered plant shows the efficiency and possibility for practical application of this direct active adaptive control approach.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131093121","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A dynamic compensation system (DC-system) has been developed. It is used as an extension of the KaMeWa polar joystick system, where the horizontal motions of a ship are controlled by main propellers, rudders and bow thrusters. It acts like a compensator for wind and current disturbances, allowing the joystick operator to run the ship in almost all weather conditions as if it were calm. It generates additional commands, which are superimposed on the commands from the operator. It uses measurements of speed and heading, and wind speed and direction. Position measurements can also be processed. A nonlinear Kalman filter and a nonlinear controller is the kernel of the DC-system, which also includes a wind influence model and a separation model for dividing the measured speeds into a ship's speed part and a water current part. Entering alarm limits is very simple. The parameters for a specific ship are determined with straightforward step response tests.<>
{"title":"Dynamic compensation system [ships]","authors":"C. Kallstrom, K. Theorén","doi":"10.1109/CCA.1994.381362","DOIUrl":"https://doi.org/10.1109/CCA.1994.381362","url":null,"abstract":"A dynamic compensation system (DC-system) has been developed. It is used as an extension of the KaMeWa polar joystick system, where the horizontal motions of a ship are controlled by main propellers, rudders and bow thrusters. It acts like a compensator for wind and current disturbances, allowing the joystick operator to run the ship in almost all weather conditions as if it were calm. It generates additional commands, which are superimposed on the commands from the operator. It uses measurements of speed and heading, and wind speed and direction. Position measurements can also be processed. A nonlinear Kalman filter and a nonlinear controller is the kernel of the DC-system, which also includes a wind influence model and a separation model for dividing the measured speeds into a ship's speed part and a water current part. Entering alarm limits is very simple. The parameters for a specific ship are determined with straightforward step response tests.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130980944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The rapid progress of microprocessing techniques enables us to simulate the complex system by using the microcomputer. In this paper, the adaptive temperature control of a furnace is considered based on the multivariable self-tuning control (STC) theory. The main reason to adopt the multivariable STC algorithm is that the measurement data looks like random signal and the control system can be modelled as minimum-phase. The control input has been determined by using the multivariable STC method in the microcomputer. According to the control input, solid state relays (SSRs) are controlled such that the desired power can be supplied. The experimental results are illustrated to show the effectiveness of the present algorithm compared with the results using PID control methods by Ziegler-Nichols and conventional PID controller.<>
{"title":"Furnace temperature control by self-tuning control theory","authors":"S. Omatu, K. Iwasa, K. Shinohara","doi":"10.1109/CCA.1994.381202","DOIUrl":"https://doi.org/10.1109/CCA.1994.381202","url":null,"abstract":"The rapid progress of microprocessing techniques enables us to simulate the complex system by using the microcomputer. In this paper, the adaptive temperature control of a furnace is considered based on the multivariable self-tuning control (STC) theory. The main reason to adopt the multivariable STC algorithm is that the measurement data looks like random signal and the control system can be modelled as minimum-phase. The control input has been determined by using the multivariable STC method in the microcomputer. According to the control input, solid state relays (SSRs) are controlled such that the desired power can be supplied. The experimental results are illustrated to show the effectiveness of the present algorithm compared with the results using PID control methods by Ziegler-Nichols and conventional PID controller.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"161 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133589188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A general robot controller based on multiple processors is described in this article. INMOS Transputers have been chosen as the processing elements of the controller. For achieving real-time robot manipulator control, parallel processing of the control algorithms is applied.<>
{"title":"Parallel processing for real-time robot manipulator control","authors":"H. Lecocq, Z. Zheng","doi":"10.1109/CCA.1994.381370","DOIUrl":"https://doi.org/10.1109/CCA.1994.381370","url":null,"abstract":"A general robot controller based on multiple processors is described in this article. INMOS Transputers have been chosen as the processing elements of the controller. For achieving real-time robot manipulator control, parallel processing of the control algorithms is applied.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133456166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Many processes with nonlinear behaviour are difficult to model. Consequently model based approaches to fault detection can not be applied. For a certain class of these processes with mainly constant input signals a combination of parameter estimation techniques and the parity space approach allows online fault detection with small signal models. Only few knowledge of the process is required: An idea about the dynamic model order and the static nonlinear characteristic curve. Using the proposed method fault detection is performed at a flowrate control with a pneumatic driven valve.<>
{"title":"Estimation of parity equations in nonlinear systems","authors":"T. Hofling, R. Deibert","doi":"10.1109/CCA.1994.381358","DOIUrl":"https://doi.org/10.1109/CCA.1994.381358","url":null,"abstract":"Many processes with nonlinear behaviour are difficult to model. Consequently model based approaches to fault detection can not be applied. For a certain class of these processes with mainly constant input signals a combination of parameter estimation techniques and the parity space approach allows online fault detection with small signal models. Only few knowledge of the process is required: An idea about the dynamic model order and the static nonlinear characteristic curve. Using the proposed method fault detection is performed at a flowrate control with a pneumatic driven valve.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115461875","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The spacecraft attitude control which combines the concepts of artificial neural networks and nonlinear adaptive control, is investigated as an alternative to linear control approaches. Two capabilities of neuro-controllers are demonstrated using a nonlinear model of the Space Station Freedom. These capabilities are: 1) synthesis of robust nonlinear controllers using neural networks; and 2) adaptively modifying neuro-controller characteristics for varying inertia characteristics. The main components of the adaptive neuro-controllers include an identification network and a controller network. Both these networks are trained using the backpropagation of error learning paradigm. To ensure robustness of the neuro-controller, an optimally connected neural network is synthesized for the identification network. For the online adaptive control problem, a new technique using a memory filter for error backpropagation is introduced. The performances of the nonlinear neuro-controllers for cases listed above are verified using a nonlinear simulation of the Space Station. Results presented substantiate the feasibility of using neural networks in robust nonlinear adaptive control of spacecraft.<>
{"title":"Adaptive neuro-control for spacecraft attitude control","authors":"K. Krishnakumar, S. Rickard, Susan Bartholomew","doi":"10.1109/CCA.1994.381353","DOIUrl":"https://doi.org/10.1109/CCA.1994.381353","url":null,"abstract":"The spacecraft attitude control which combines the concepts of artificial neural networks and nonlinear adaptive control, is investigated as an alternative to linear control approaches. Two capabilities of neuro-controllers are demonstrated using a nonlinear model of the Space Station Freedom. These capabilities are: 1) synthesis of robust nonlinear controllers using neural networks; and 2) adaptively modifying neuro-controller characteristics for varying inertia characteristics. The main components of the adaptive neuro-controllers include an identification network and a controller network. Both these networks are trained using the backpropagation of error learning paradigm. To ensure robustness of the neuro-controller, an optimally connected neural network is synthesized for the identification network. For the online adaptive control problem, a new technique using a memory filter for error backpropagation is introduced. The performances of the nonlinear neuro-controllers for cases listed above are verified using a nonlinear simulation of the Space Station. Results presented substantiate the feasibility of using neural networks in robust nonlinear adaptive control of spacecraft.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115536817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents two methodologies allowing a performance improvement for the control of a civil aircraft. In both cases, the noninteractivity in steady state will be achieved by an integral control design in order to be robust with respect to parameter uncertainties or disturbances. However, this structure will not lead to sufficiently good performance: the performance in terms of decoupling and time responses will be ensured by introducing a feedforward. In both cases, the transient mode/output decoupling will be achieved by eigenvector assignment In the first methodology, the feedforward will improve the time response of the system while in the second one, the feedforward will ensure the transient reference input/mode decoupling. These two methodologies will be illustrated by simulations obtained for a civil aircraft in lateral flight.<>
{"title":"Performance improvement by feedforward: application to civil aircraft control design","authors":"T. Livet, F. Kubica, J. Magni","doi":"10.1109/CCA.1994.381444","DOIUrl":"https://doi.org/10.1109/CCA.1994.381444","url":null,"abstract":"This paper presents two methodologies allowing a performance improvement for the control of a civil aircraft. In both cases, the noninteractivity in steady state will be achieved by an integral control design in order to be robust with respect to parameter uncertainties or disturbances. However, this structure will not lead to sufficiently good performance: the performance in terms of decoupling and time responses will be ensured by introducing a feedforward. In both cases, the transient mode/output decoupling will be achieved by eigenvector assignment In the first methodology, the feedforward will improve the time response of the system while in the second one, the feedforward will ensure the transient reference input/mode decoupling. These two methodologies will be illustrated by simulations obtained for a civil aircraft in lateral flight.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124222143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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