Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24517
Zeyu Liu, J. Wagner
The mathematical modeling of dynamic systems is an important task in the design, analysis, and implementation of advanced automotive control systems. Although most vehicle control algorithms tend to use model-free calibration architectures, a need exists to migrate to model-based control algorithms which offer greater operating performance. However, in many instances, the analytical descriptions are too complex for real-time powertrain and chassis model-based control algorithms. Therefore, model reduction strategies may be applied to transform the original model into a simplified lower-order form while preserving the dynamic characteristics of the original high-order system. In this paper, an empirical gramian balanced nonlinear model reduction strategy is examined for the simplification process of dynamic system descriptions. The empirical gramians may be computed using either experimental or simulation data. These gramians are then balanced and unimportant system dynamics truncated. For comparison purposes, a Taylor Series linearization will also be introduced to linearize the original nonlinear system about an equilibrium operating point and then a balanced realization linear reduction strategy will be applied. To demonstrate the functionality of each model reduction strategy, two nonlinear dynamic system models are investigated and respective transient performances compared.
{"title":"Nonlinear Model Reduction for Automotive System Descriptions","authors":"Zeyu Liu, J. Wagner","doi":"10.1115/imece2001/dsc-24517","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24517","url":null,"abstract":"\u0000 The mathematical modeling of dynamic systems is an important task in the design, analysis, and implementation of advanced automotive control systems. Although most vehicle control algorithms tend to use model-free calibration architectures, a need exists to migrate to model-based control algorithms which offer greater operating performance. However, in many instances, the analytical descriptions are too complex for real-time powertrain and chassis model-based control algorithms. Therefore, model reduction strategies may be applied to transform the original model into a simplified lower-order form while preserving the dynamic characteristics of the original high-order system. In this paper, an empirical gramian balanced nonlinear model reduction strategy is examined for the simplification process of dynamic system descriptions. The empirical gramians may be computed using either experimental or simulation data. These gramians are then balanced and unimportant system dynamics truncated. For comparison purposes, a Taylor Series linearization will also be introduced to linearize the original nonlinear system about an equilibrium operating point and then a balanced realization linear reduction strategy will be applied. To demonstrate the functionality of each model reduction strategy, two nonlinear dynamic system models are investigated and respective transient performances compared.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"15 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75549090","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24617
J. Speich, L. Shao, M. Goldfarb
This paper describes the development of a linear single degree-of-freedom lumped-parameter hand/arm model for the operator of a telemanipulaton system. The model form and parameters were determined from experimental data taken from a single degree-of-freedom telemanipulation system. Typically, the human is modeled as a second order mass-spring-damper system [1, 2]. The model developed in this paper, however, includes an additional spring and damper to better approximate the dynamics of the human while interacting with the manipulator. This model can be used in the design and simulation of control architectures for telemanipulation systems and haptic interfaces.
{"title":"An Experimental Hand/Arm Model for Human Interaction With a Telemanipulation System","authors":"J. Speich, L. Shao, M. Goldfarb","doi":"10.1115/imece2001/dsc-24617","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24617","url":null,"abstract":"\u0000 This paper describes the development of a linear single degree-of-freedom lumped-parameter hand/arm model for the operator of a telemanipulaton system. The model form and parameters were determined from experimental data taken from a single degree-of-freedom telemanipulation system. Typically, the human is modeled as a second order mass-spring-damper system [1, 2]. The model developed in this paper, however, includes an additional spring and damper to better approximate the dynamics of the human while interacting with the manipulator. This model can be used in the design and simulation of control architectures for telemanipulation systems and haptic interfaces.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"42 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72782789","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24532
C. Tartt, J. Moskwa
This paper describes the design and capabilities of a state-of-the-art diesel engine transient test system, which has been developed and built in the Powertrain Control Research Laboratory (PCRL) at the University of Wisconsin - Madison. The system includes a hydrostatic transient dynamometer capable of approximately 300 Hz actuation bandwidth, which is integrated with a dynamic vehicle drivetrain model that runs in real time. This hardware-in-the-loop (HIL) system simulates dynamic torque loading on the engine while performing an FTP, NEDC, J10.15, or any other drive cycles. The dynamometer system is complemented with transient emissions instrumentation to evaluate the state and composition of engine feed gases, and pre and post catalytic converter gases. Included in this paper are details of the design philosophy, why a hydrostatic design was used, specifics on the hardware of the system, as well as experimental data from the system.
{"title":"A Hardware-in-the-Loop Transient Diesel Engine Test System for Control and Diagnostic Development","authors":"C. Tartt, J. Moskwa","doi":"10.1115/imece2001/dsc-24532","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24532","url":null,"abstract":"\u0000 This paper describes the design and capabilities of a state-of-the-art diesel engine transient test system, which has been developed and built in the Powertrain Control Research Laboratory (PCRL) at the University of Wisconsin - Madison. The system includes a hydrostatic transient dynamometer capable of approximately 300 Hz actuation bandwidth, which is integrated with a dynamic vehicle drivetrain model that runs in real time. This hardware-in-the-loop (HIL) system simulates dynamic torque loading on the engine while performing an FTP, NEDC, J10.15, or any other drive cycles. The dynamometer system is complemented with transient emissions instrumentation to evaluate the state and composition of engine feed gases, and pre and post catalytic converter gases. Included in this paper are details of the design philosophy, why a hydrostatic design was used, specifics on the hardware of the system, as well as experimental data from the system.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"61 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80015979","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24549
David W. Knowles, N. Jalili, T. Khan
Active counter-force vibration control has significant advantages over the more traditional motion-based active vibration suppression schemes. A piezoelectric ceramic (PZT) inertial actuator is an efficient and inexpensive solution for this type of structural vibration control. In order to properly tune the control parameters of the absorber subsection, an accurate mathematical model is necessary. For this, a nonlinear model for the PZT inertial actuators is presented. In particular, a polynomial form of non-linearity in the dynamical model of the actuator is assumed. An inverse problem is then formed to identify the model parameters of the actuator (absorber). The model parameters consist of the effective mass, damping and stiffness of the actuator as well as the polynomial form of the non-linearity. Using Lyapunov’s second method, the stability conditions for the proposed nonlinear model are established. An experimental setup is developed to validate the proposed nonlinear model. The results of the model identification using the actual experimental data demonstrate that the nonlinear model would better fit the experimental data, when compared to the linear model.
{"title":"On the Nonlinear Modeling and Identification of Piezoelectric Inertial Actuators","authors":"David W. Knowles, N. Jalili, T. Khan","doi":"10.1115/imece2001/dsc-24549","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24549","url":null,"abstract":"\u0000 Active counter-force vibration control has significant advantages over the more traditional motion-based active vibration suppression schemes. A piezoelectric ceramic (PZT) inertial actuator is an efficient and inexpensive solution for this type of structural vibration control. In order to properly tune the control parameters of the absorber subsection, an accurate mathematical model is necessary. For this, a nonlinear model for the PZT inertial actuators is presented. In particular, a polynomial form of non-linearity in the dynamical model of the actuator is assumed. An inverse problem is then formed to identify the model parameters of the actuator (absorber). The model parameters consist of the effective mass, damping and stiffness of the actuator as well as the polynomial form of the non-linearity. Using Lyapunov’s second method, the stability conditions for the proposed nonlinear model are established. An experimental setup is developed to validate the proposed nonlinear model. The results of the model identification using the actual experimental data demonstrate that the nonlinear model would better fit the experimental data, when compared to the linear model.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"76 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86679222","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24548
David W. Knowles, N. Jalili, Sriram Ramadurai
A novel dynamic vibration absorber is presented while exploring its practical implementation using piezoelectric ceramic (PZT) inertial actuators. It is referred to as active resonator absorber (ARA). The ARA is a passive absorber with an additional dynamic feedback compensator within the PZT actuator. Without any controller, the PZT inertial actuator becomes a passive vibration absorber due to the internal damping and stiffness properties of piezoelectric materials. Hence, it is inherently fail-safe. For active operation, the compensator parameters are designed such that a resonance condition is intentionally created within the absorber to mimic the vibratory energy from the system of concern to which it is attached. The resonance condition can be created through the appropriate design of the compensator and implemented through adjusting the external electrical voltage applied to the absorber. Because the parameters of the PZT actuators (i.e. stiffness, damping, and effective mass) are estimates, compensator designs based on these parameters would result in partial vibration suppression, when utilized in real applications. An auto-tuning method is, therefore, introduced to effectively tune the compensator parameters to improve vibration suppression quality. The effectiveness and stability of the proposed absorber is demonstrated through simulations when appended on a SDOF primary system.
{"title":"Piezoelectric Structural Vibration Control Using Active Resonator Absorber","authors":"David W. Knowles, N. Jalili, Sriram Ramadurai","doi":"10.1115/imece2001/dsc-24548","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24548","url":null,"abstract":"\u0000 A novel dynamic vibration absorber is presented while exploring its practical implementation using piezoelectric ceramic (PZT) inertial actuators. It is referred to as active resonator absorber (ARA). The ARA is a passive absorber with an additional dynamic feedback compensator within the PZT actuator. Without any controller, the PZT inertial actuator becomes a passive vibration absorber due to the internal damping and stiffness properties of piezoelectric materials. Hence, it is inherently fail-safe. For active operation, the compensator parameters are designed such that a resonance condition is intentionally created within the absorber to mimic the vibratory energy from the system of concern to which it is attached. The resonance condition can be created through the appropriate design of the compensator and implemented through adjusting the external electrical voltage applied to the absorber. Because the parameters of the PZT actuators (i.e. stiffness, damping, and effective mass) are estimates, compensator designs based on these parameters would result in partial vibration suppression, when utilized in real applications. An auto-tuning method is, therefore, introduced to effectively tune the compensator parameters to improve vibration suppression quality. The effectiveness and stability of the proposed absorber is demonstrated through simulations when appended on a SDOF primary system.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"125 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85356270","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24567
E. Barth, Jianlong Zhang, M. Goldfarb
This paper presents a rigorous analysis and design method for PWM-based control of pneumatic systems. An equivalent analytical model incorporating the effects of a finite PWM switching period is formulated. This equivalent model was motivated by a lack of control design and analysis techniques needed to treat the inherently non-analytical switching models associated with PWM-based systems. The equivalent model enables the design of a loop compensator that rigorously addresses control design issues of stability robustness, disturbance rejection, insensitivity to sensor noise, performance bandwidth and actuator saturation. Simulation of this compensator with both the equivalent design model and a full nonlinear switching model for a particular pneumatic robot application is presented which demonstrates and validates the proposed method.
{"title":"A Method for the Frequency Domain Design of PWM-Controlled Pneumatic Systems","authors":"E. Barth, Jianlong Zhang, M. Goldfarb","doi":"10.1115/imece2001/dsc-24567","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24567","url":null,"abstract":"\u0000 This paper presents a rigorous analysis and design method for PWM-based control of pneumatic systems. An equivalent analytical model incorporating the effects of a finite PWM switching period is formulated. This equivalent model was motivated by a lack of control design and analysis techniques needed to treat the inherently non-analytical switching models associated with PWM-based systems. The equivalent model enables the design of a loop compensator that rigorously addresses control design issues of stability robustness, disturbance rejection, insensitivity to sensor noise, performance bandwidth and actuator saturation. Simulation of this compensator with both the equivalent design model and a full nonlinear switching model for a particular pneumatic robot application is presented which demonstrates and validates the proposed method.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"19 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90306189","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24584
J. Stein, J. Harder
Control of thermally induced bearing loads remains an important but unsolved problem for precision, high-speed, metal cutting, machining spindles. Spindle dynamic performance, as well as spindle life, depends on bearing loads. Because these loads can change drastically with a change in process conditions, poor spindle dynamic performance, and dramatically reduced bearing life can result. The purpose of this paper is to evaluate the feasibility of controlling bearing loads by controlling the heat generated by a thermal actuator placed around the housing of the spindle. A mathematical model of the open loop response of a laboratory prototype spindle is developed and validated. The model is then used to evaluate the closed loop performance. The results show that closed loop control of the bearing load is achievable in steady state and under bandwidth limited transient conditions. The proposed system has reasonable command authority when additional heat is required, however, it is possible for the system to lose control when the heater is required to “provide” negative heat. This situation can be mitigated by proper choice of initial preload. As expected, measurement noise limits the control gain but is not a limiting factor. More open loop tests are suggested to validate the model under a broader set of conditions. In addition, closed loop validation is suggested. However, based on results obtained it appears bearing load control is achievable by controlling the thermal field around the spindle.
{"title":"Modeling and Analysis for Thermal Control of Spindles for Reconfigurable Machines","authors":"J. Stein, J. Harder","doi":"10.1115/imece2001/dsc-24584","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24584","url":null,"abstract":"\u0000 Control of thermally induced bearing loads remains an important but unsolved problem for precision, high-speed, metal cutting, machining spindles. Spindle dynamic performance, as well as spindle life, depends on bearing loads. Because these loads can change drastically with a change in process conditions, poor spindle dynamic performance, and dramatically reduced bearing life can result. The purpose of this paper is to evaluate the feasibility of controlling bearing loads by controlling the heat generated by a thermal actuator placed around the housing of the spindle. A mathematical model of the open loop response of a laboratory prototype spindle is developed and validated. The model is then used to evaluate the closed loop performance.\u0000 The results show that closed loop control of the bearing load is achievable in steady state and under bandwidth limited transient conditions. The proposed system has reasonable command authority when additional heat is required, however, it is possible for the system to lose control when the heater is required to “provide” negative heat. This situation can be mitigated by proper choice of initial preload. As expected, measurement noise limits the control gain but is not a limiting factor. More open loop tests are suggested to validate the model under a broader set of conditions. In addition, closed loop validation is suggested. However, based on results obtained it appears bearing load control is achievable by controlling the thermal field around the spindle.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90805875","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24592
R. Yedavalli, A. Sparks
Motivated by the Satellite Formation Keeping Control Problem, this paper presents a theoretical framework for designing controllers for the ultimate boundedness of linear switched systems consisting of both controlled (and thus stable) and uncontrolled (unstable) subsystems. It is shown that if the dwell time in the controlled mode (i.e ‘on time’) and that of the uncontrolled mode (’off time’) are chosen judiciously, ultimate boundedness of the switched system is guaranteed. Towards this direction explicit formulae for the switching times between controlled and uncontrolled modes are provided as a function of the parameters of the ultimate boundedness region. Using Lyapunov theory, a control design procedure is presented that achieves a good trade off between the ratio of ‘off’ and ‘on’ times and the size of the ellipsoidal boundedness regions which are representative of the system performance. The proposed control design technique has useful applications in mechanical and aerospace systems. The importance of this theory and possible extensions of these concepts are discussed.
{"title":"Control Design for Ultimate Boundedness of Linear Switched Systems With Controlled and Uncontrolled Subsystems","authors":"R. Yedavalli, A. Sparks","doi":"10.1115/imece2001/dsc-24592","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24592","url":null,"abstract":"\u0000 Motivated by the Satellite Formation Keeping Control Problem, this paper presents a theoretical framework for designing controllers for the ultimate boundedness of linear switched systems consisting of both controlled (and thus stable) and uncontrolled (unstable) subsystems. It is shown that if the dwell time in the controlled mode (i.e ‘on time’) and that of the uncontrolled mode (’off time’) are chosen judiciously, ultimate boundedness of the switched system is guaranteed. Towards this direction explicit formulae for the switching times between controlled and uncontrolled modes are provided as a function of the parameters of the ultimate boundedness region. Using Lyapunov theory, a control design procedure is presented that achieves a good trade off between the ratio of ‘off’ and ‘on’ times and the size of the ellipsoidal boundedness regions which are representative of the system performance. The proposed control design technique has useful applications in mechanical and aerospace systems. The importance of this theory and possible extensions of these concepts are discussed.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"26 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73522784","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24515
J. Ferris
Road profiles are typically characterized by their spectral content. It has been noted by several researches, however, that road profiles are generally nonstationary signals that contain significant irregularities such as potholes. Such signals are not well described in the spectral domain. The objective of this work is to describe road profiles in the spatial domain by developing a set of characteristic shapes onto which individual events can be cast. A set of analytical functions describing these shapes is also developed. In order to develop a set a characteristic shapes, more than a million events are investigated from a mixture of road types (from highways to gravel roads) and a variety of locations throughout the United States. A set of characteristic shapes is developed for each road type and location. Although the events were drawn from diverse samples, the resulting sets of characteristic shapes are nearly indistinguishable. This similarity allows a single set of characteristic shapes to describe events for a wide class of roads. Variations in these sets are discussed and used in deriving a set of orthogonal analytical functions that describe the characteristic shapes. Individual road events are then mapped onto this set of characteristic shapes. The implications of decomposing road events into these characteristic shapes are discussed.
{"title":"Singular Value Decomposition of Road Events Into Characteristic Shapes","authors":"J. Ferris","doi":"10.1115/imece2001/dsc-24515","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24515","url":null,"abstract":"\u0000 Road profiles are typically characterized by their spectral content. It has been noted by several researches, however, that road profiles are generally nonstationary signals that contain significant irregularities such as potholes. Such signals are not well described in the spectral domain. The objective of this work is to describe road profiles in the spatial domain by developing a set of characteristic shapes onto which individual events can be cast. A set of analytical functions describing these shapes is also developed.\u0000 In order to develop a set a characteristic shapes, more than a million events are investigated from a mixture of road types (from highways to gravel roads) and a variety of locations throughout the United States. A set of characteristic shapes is developed for each road type and location. Although the events were drawn from diverse samples, the resulting sets of characteristic shapes are nearly indistinguishable. This similarity allows a single set of characteristic shapes to describe events for a wide class of roads. Variations in these sets are discussed and used in deriving a set of orthogonal analytical functions that describe the characteristic shapes. Individual road events are then mapped onto this set of characteristic shapes. The implications of decomposing road events into these characteristic shapes are discussed.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"4 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79261239","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}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24539
Feng‐Li Lian, J. Moyne, D. Tilbury
This paper discusses the impact of network architecture on control performance in a class of distributed control systems called Networked Control Systems (NCS), and provides design considerations related to control quality of performance (QoP) as well as network quality of service (QoS). The integrated network-control system changes the characteristics of time delays between application devices. This study first identifies several key components of the time delay through an analysis of network protocols and control dynamics. The analysis of network and control parameters is used to determine an acceptable working range of sampling periods in an NCS. A network-control simulator and an experimental networked machine tool have been developed to help validate and demonstrate the performance analysis results, and identify the special performance characteristics in an NCS. These performance characteristics are useful guidelines for choosing the network and control parameters when designing an NCS.
{"title":"Time Delay Modeling and Sample Time Selection for Networked Control Systems","authors":"Feng‐Li Lian, J. Moyne, D. Tilbury","doi":"10.1115/imece2001/dsc-24539","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24539","url":null,"abstract":"\u0000 This paper discusses the impact of network architecture on control performance in a class of distributed control systems called Networked Control Systems (NCS), and provides design considerations related to control quality of performance (QoP) as well as network quality of service (QoS). The integrated network-control system changes the characteristics of time delays between application devices. This study first identifies several key components of the time delay through an analysis of network protocols and control dynamics. The analysis of network and control parameters is used to determine an acceptable working range of sampling periods in an NCS. A network-control simulator and an experimental networked machine tool have been developed to help validate and demonstrate the performance analysis results, and identify the special performance characteristics in an NCS. These performance characteristics are useful guidelines for choosing the network and control parameters when designing an NCS.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"44 3 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83886308","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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