This chapter shows how a broad class of uncertain mechanical systems (including robots) can be forced to behave like a chosen and therefore perfectly known reference model. This model can be used to calculate off-line some particular trajectories or to design some model based control schemes. The presented results are well suited for applications where the robot has to repeatedly perform certain tasks, e.g. in assembly operations with very high precision requirements. A nonlinear reference model and a simple regulator with variable structure control is used. The advantages of using a nonlinear reference model are twofold.
{"title":"Variable structure controllers for robots","authors":"L. Guzzella, H. Geering","doi":"10.1049/PBCE040E_CH7","DOIUrl":"https://doi.org/10.1049/PBCE040E_CH7","url":null,"abstract":"This chapter shows how a broad class of uncertain mechanical systems (including robots) can be forced to behave like a chosen and therefore perfectly known reference model. This model can be used to calculate off-line some particular trajectories or to design some model based control schemes. The presented results are well suited for applications where the robot has to repeatedly perform certain tasks, e.g. in assembly operations with very high precision requirements. A nonlinear reference model and a simple regulator with variable structure control is used. The advantages of using a nonlinear reference model are twofold.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131499464","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 chapter presents the modelling, simulation and control of direct-fired liquid-gas vaporizers. The British Gas Isle of Grain Storage Facility was built to meet the requirement for a large volume peak shave storage facility to serve the south east of England. Liquefied natural gas (LNG) was chosen as the most suitable means of providing this storage. The installation consists of four 21,000-tonne LNG storage tanks, two liquefaction plants and a vaporisation/export system. LNG is stored at a temperature of -160°C and a pressure of 100 mbar, and for export into the National Transmission System the gas temperature must be raised to ambient and the pressure to grid conditions, i.e. between 40 and 70 bar.
{"title":"Modelling, simulation and control of direct fired liquid gas vaporisers","authors":"A. Lees","doi":"10.1049/PBCE041E_CH12","DOIUrl":"https://doi.org/10.1049/PBCE041E_CH12","url":null,"abstract":"This chapter presents the modelling, simulation and control of direct-fired liquid-gas vaporizers. The British Gas Isle of Grain Storage Facility was built to meet the requirement for a large volume peak shave storage facility to serve the south east of England. Liquefied natural gas (LNG) was chosen as the most suitable means of providing this storage. The installation consists of four 21,000-tonne LNG storage tanks, two liquefaction plants and a vaporisation/export system. LNG is stored at a temperature of -160°C and a pressure of 100 mbar, and for export into the National Transmission System the gas temperature must be raised to ambient and the pressure to grid conditions, i.e. between 40 and 70 bar.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127805889","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 chapter presents parallel processing for computer control. The use of general purpose microprocessors in direct digital control is very beneficial, so adopted in many wide and varied applications. These early microprocessors were rather primitive; they were 8-bit machines working with clock rates of the order of 1 MHz and possessed little software support usually the programming had to be performed in the assembly language. The situation is somewhat better now. The capabilities of electronic chip manufacturers have evolved to the stage where very large scale integration (VLSI) is possible and 32-bit microprocessors working at 25 MHz are commonly available; such modern microprocessors are powerful computing devices, which are able to perform many millions of instructions every second. In addition, they can also have on-chip floating-point support and are able to be programmed in standard high-level languages.
{"title":"Parallel processing for computer control","authors":"G. Virk","doi":"10.1049/PBCE041E_CH7","DOIUrl":"https://doi.org/10.1049/PBCE041E_CH7","url":null,"abstract":"This chapter presents parallel processing for computer control. The use of general purpose microprocessors in direct digital control is very beneficial, so adopted in many wide and varied applications. These early microprocessors were rather primitive; they were 8-bit machines working with clock rates of the order of 1 MHz and possessed little software support usually the programming had to be performed in the assembly language. The situation is somewhat better now. The capabilities of electronic chip manufacturers have evolved to the stage where very large scale integration (VLSI) is possible and 32-bit microprocessors working at 25 MHz are commonly available; such modern microprocessors are powerful computing devices, which are able to perform many millions of instructions every second. In addition, they can also have on-chip floating-point support and are able to be programmed in standard high-level languages.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"159 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133447866","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}
In sliding mode control theory the major attention has been paid to finite dimensional systems described by ordinary differential equations. However, mathematical models of a wide range of processes in modern technology are partial differential equations, integro-differential equations and equations with delays. Attempts at theoretical generalisations and applications of sliding modes to control of infinite-dimensional plants show that control scientists and engineers are faced the challenge of increased complexity. Practically all the concepts of discontinuous control theory should be completely revised. Even the basic concepts discontinuity surface, sliding mode, component-wise design should be clarified or reintroduced. In the examples in this chapter we have touched upon infinite-dimensional systems mainly with distributed control.
{"title":"Control of infinite-dimensional plants","authors":"V. Utkin","doi":"10.1049/PBCE040E_CH17","DOIUrl":"https://doi.org/10.1049/PBCE040E_CH17","url":null,"abstract":"In sliding mode control theory the major attention has been paid to finite dimensional systems described by ordinary differential equations. However, mathematical models of a wide range of processes in modern technology are partial differential equations, integro-differential equations and equations with delays. Attempts at theoretical generalisations and applications of sliding modes to control of infinite-dimensional plants show that control scientists and engineers are faced the challenge of increased complexity. Practically all the concepts of discontinuous control theory should be completely revised. Even the basic concepts discontinuity surface, sliding mode, component-wise design should be clarified or reintroduced. In the examples in this chapter we have touched upon infinite-dimensional systems mainly with distributed control.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"301 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114478021","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}
In this chapter attention has been focused mainly on research undertaken by the author and his colleagues. Considerable effort has also been devoted in many other laboratories world-wide on research on VLSI array processor architectures which are pipelined at the bit level and suitable for high performance DSP chip design. Quite a number of these architectures have been used as the basis of chip designs. Further information on these designs are available from a number of sources.
{"title":"Systolic arrays for high performance digital signal processing","authors":"J. McCanny, Roger Francis Woods, M. Yan","doi":"10.1049/PBCE042E_CH20","DOIUrl":"https://doi.org/10.1049/PBCE042E_CH20","url":null,"abstract":"In this chapter attention has been focused mainly on research undertaken by the author and his colleagues. Considerable effort has also been devoted in many other laboratories world-wide on research on VLSI array processor architectures which are pipelined at the bit level and suitable for high performance DSP chip design. Quite a number of these architectures have been used as the basis of chip designs. Further information on these designs are available from a number of sources.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125708951","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}
When McCulloch and Pitts first studied artificial neural networks (ANNs), their neuron model consisted of binary signals contributing to a sum which was then thresholded to produce the output of the neuron. This model quickly evolved to the well known 'function of weighted sum of inputs' model.The definition 'an interconnected system of parameterised functions' covers many types of ANNs and neuron models.The functions are respectively, 'output a function of the weighted sum of inputs', and 'output a function of the contents of the addressed memory location'.
{"title":"Digital neural networks","authors":"A. Redgers, I. Aleksander","doi":"10.1049/PBCE053E_CH2","DOIUrl":"https://doi.org/10.1049/PBCE053E_CH2","url":null,"abstract":"When McCulloch and Pitts first studied artificial neural networks (ANNs), their neuron model consisted of binary signals contributing to a sum which was then thresholded to produce the output of the neuron. This model quickly evolved to the well known 'function of weighted sum of inputs' model.The definition 'an interconnected system of parameterised functions' covers many types of ANNs and neuron models.The functions are respectively, 'output a function of the weighted sum of inputs', and 'output a function of the contents of the addressed memory location'.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124968054","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 system described has shown that the use of a DSP in the role of measurement for control gives advantages over conventional systems. Increased speed, and the capability to use more complex algorithms leads to improved controller performance. Although designed specifically for a laboratory system, the necessity for improved measurement systems in industry is growing. Manufacturers are now starting to implement digital controllers, the performance of which will soon be limited by a lack of accurate information at high transfer rates. Parameters which were once deemed unmeasurable can now be constructed on-line and in real-time. This opens up greater possibilities for control system designers. Specialist hardware which was originally designed for communications processing will have an increasing role in control systems implementation due to the similarities in algorithm structure. Manufacturers have already seen this trend, and have begun to produce high performance devices specifically for these applications. It is now up to the systems engineer to recognise the advantages of the DSP for particular applications, and to use these to the full.
{"title":"A case study in digital control","authors":"E. Swindenbank","doi":"10.1049/PBCE042E_CH26","DOIUrl":"https://doi.org/10.1049/PBCE042E_CH26","url":null,"abstract":"The system described has shown that the use of a DSP in the role of measurement for control gives advantages over conventional systems. Increased speed, and the capability to use more complex algorithms leads to improved controller performance. Although designed specifically for a laboratory system, the necessity for improved measurement systems in industry is growing. Manufacturers are now starting to implement digital controllers, the performance of which will soon be limited by a lack of accurate information at high transfer rates. Parameters which were once deemed unmeasurable can now be constructed on-line and in real-time. This opens up greater possibilities for control system designers. Specialist hardware which was originally designed for communications processing will have an increasing role in control systems implementation due to the similarities in algorithm structure. Manufacturers have already seen this trend, and have begun to produce high performance devices specifically for these applications. It is now up to the systems engineer to recognise the advantages of the DSP for particular applications, and to use these to the full.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134302944","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 chapter discusses the signal processing capability of the TMS320 can be readily harnessed to implement a range of digital controllers. It has demonstrated that the powerful architecture of this DSP lends itself to implement efficiently the kind of algorithms met in discrete controllers and that a great deal of structure is possible with the system.
{"title":"Implementation and performance of digital controllers","authors":"D. Rees","doi":"10.1049/PBCE042E_CH27","DOIUrl":"https://doi.org/10.1049/PBCE042E_CH27","url":null,"abstract":"This chapter discusses the signal processing capability of the TMS320 can be readily harnessed to implement a range of digital controllers. It has demonstrated that the powerful architecture of this DSP lends itself to implement efficiently the kind of algorithms met in discrete controllers and that a great deal of structure is possible with the system.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134546718","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 chapter reviews some of the issues relating to the development and design of real-time software and briefly outlines two design methodologies. With the increased use of microprocessors in equipment, there is a growing need for software engineers and other engineers to be familiar with techniques for developing real-time software. Implementors are moving away from reliance on monolithic, general-purpose operating systems and are using minimum operating system kernels. The additional operating system features required are then built using a high-level language for a particular application or group of applications. There is also an increasing use of multiprocessor systems with a consequent increased concern with communications, distributed databases and distributed operating systems.
{"title":"Design of software for real-time system","authors":"S. Bennett","doi":"10.1049/PBCE041E_CH8","DOIUrl":"https://doi.org/10.1049/PBCE041E_CH8","url":null,"abstract":"This chapter reviews some of the issues relating to the development and design of real-time software and briefly outlines two design methodologies. With the increased use of microprocessors in equipment, there is a growing need for software engineers and other engineers to be familiar with techniques for developing real-time software. Implementors are moving away from reliance on monolithic, general-purpose operating systems and are using minimum operating system kernels. The additional operating system features required are then built using a high-level language for a particular application or group of applications. There is also an increasing use of multiprocessor systems with a consequent increased concern with communications, distributed databases and distributed operating systems.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134328095","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}
M. Willis, C. Massimo, G. Montague, M. Tham, A. Morris
Artificial neural networks are made up of highly inter-connected layers of simple 'neuron' like nodes. The neurons act as nonlinear processing elements within the network. An attractive property of artificial neural networks is that given the appropriate network topology, they are capable of characterising nonlinear functional relationships. Furthermore, the structure of the resulting neural network based process model may be considered generic, in the sense that little prior process knowledge is required in its determination. The methodology therefore provides a cost efficient and reliable process modelling technique.
{"title":"Solving process engineering problems using artificial neural networks","authors":"M. Willis, C. Massimo, G. Montague, M. Tham, A. Morris","doi":"10.1049/PBCE044E_CH7","DOIUrl":"https://doi.org/10.1049/PBCE044E_CH7","url":null,"abstract":"Artificial neural networks are made up of highly inter-connected layers of simple 'neuron' like nodes. The neurons act as nonlinear processing elements within the network. An attractive property of artificial neural networks is that given the appropriate network topology, they are capable of characterising nonlinear functional relationships. Furthermore, the structure of the resulting neural network based process model may be considered generic, in the sense that little prior process knowledge is required in its determination. The methodology therefore provides a cost efficient and reliable process modelling technique.","PeriodicalId":290911,"journal":{"name":"IEE control engineering series","volume":"726 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116132632","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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