Design Of Complex Control Systems Research Articles

An Investigation of Stability, Controllability and Observability of a Three Degree of Freedom Translational Mechanical System using State Space Approach

State-space modelling approach which is essentially time-domain developed in the late 1960s is a new approach to the analysis and design of complex control systems. Several researches have carried out modelling and analysis of mechanical systems with a number of degrees of freedom of movement using state space approach among which is the work of Sivak and Darina (2012) who modelled a system with two degrees of freedom. In this paper, therefore, we provide an extension of the work of Sivak and Darina to model and analyse a three degree of freedom translational mechanical system using state-space approach. The system was first presented in equivalent free body diagrams, then Newton's second law of motion was used to derive its equations of motion. The State-space formulation in the controllable canonical form obtained from the time-domain differential equations is adopted and the Laplace transform method was used in the analysis to determine the poles (natural frequencies) of the system using two numerical examples in MATLAB software. The software was also used to determine the controllability and observability matrices of the system. The stability, controllability and observability of the system were then discussed from the poles, controllability matrix and observability matrix respectively. Tables of numerical values and line graphs were used to present the results obtained from the analysis. Finally, in these results, the system was found to be stable, controllable and observable suggesting that a state feedback ( pole placement ) control design for the system is possible.

До питання стабілізації руху методами практичної стійкості

Topicality. When solving a number of problems associated with the design of complex control systems [1-3], it often becomes necessary to adjust the motion in the vicinity of the calculated trajectories set at the initial moment of time and belong to some dynamic sets of phase space [2, 3]. In this case, the correction requirements may relate to the individual coordinate of the calculated trajectories and their linear combination. These tasks belong to the class of tasks of stabilization of motion and reduce to the construction of regulatory influences that provide the original system a certain type of stability [1, 2, 4]. This approach is used, for example, in modeling charged particles in order to control them in dynamics in the presence of appropriate sustainability requirements. To construct constructive algorithms, the stability analysis is carried out on a finite time interval, and the initial conditions are given in the structural form [3, 5-7]. The latter allows us to obtain numerical estimates for the stabilization of motion to practical stability in the presence of dynamic constraints on phase coordinates. Analysis of recent research and publications. With the analysis of practical stability and sensitivity of dynamic systems, problems of optimal control of a beam of trajectories are closely related [2, 3, 6]. Thus, numerical algorithms for calculating the optimal areas of practical stability are used to estimate the area of particle capture in the acceleration process. In this case, the field of initial conditions can be in the given structures (sphere, ellipsoid), and the maximum in volume (optimal by inclusion). Then the question is raised about optimization of estimates of such sets due to the proper choice of system parameters [7]. The tasks of constructing regulatory influences that provide the desired stability requirements are an important part of a set of tasks that arise in the design of technical systems, in particular accelerating-focusing [1, 2]. Unlike the classical statements [1], the analysis of the stability of parametric systems [2-4, 6, 7] allows us to study the system's performance in real modes, taking into account the requirements for sensitivity, and to solve such problems numerically from the standpoint of stability [3]. The purpose of the research ─ development of constructive algorithms for solving stabilization problems for practical stability for linear parametric systems with disturbances. Materials and methods of research. The paper uses methods of stability theory, differential equations and control theory. Research results and their discussion. For linear parametric systems of differential equations with perturbations, the sequence of stabilization problems to practical stability in the given domains of dynamic constraints is investigated. Considered cases of known and limited perturbation norm. For structurally-defined areas of initial conditions, numerical estimates of the stabilization of motion to practical stability have been obtained. Conclusions and perspectives of further research. Formation of stabilization problems for practical stability of linear parametric systems with perturbations is formulated. On the basis of practical stability algorithms, numerical criteria for stabilizing the system motion to a certain type of stability were obtained. Such an approach can be extended to the solution of problems of stabilization of motion to asymptotic stability in regions of a more general structure. Keywords: mathematical model, stabilization, regulator, parameters, practical stability, parametric system, dynamic constraints

Digital Controller Implementation for Electrohydraulic Motion Simulator Based on MAS and RCP

A digital controller based on DSP was proposed for electrohydraulic motion simulator. This digital controller not only offered an integral solution for position servo system in motion simulator, but also benefited to illustrate how to combine MAS methodology with RCP technology in complex control system design. By applying MAS methodology, motion simulator's control system was partitioned into cooperated controller agents with clear hierarchy. Digital controller in this paper was implemented as an agent controller corresponding to the role on an actuator's position control. According to the division of controller's agent task, hardware and software platforms were modularized. Furthermore, the software platform was coded using Matlab/Simulink and RTW based on RCP technology, which is distinguished with classic MAS methodology. By integrating RCP technology with MAS methodology, a seamless and efficient route for control system design was provided from system requirement to practical digital controller and the performance of this controller was also investigated.

Модифіковані мережі Петрі (Petri netze) для формування паралельних процесів у системах управління

The problems of detecting errors in the design of complex control systems. Offered as a reference model for verification of a software system using a model based on control of Petri nets

Design of an embedded fuzzy PD controller for thermal comfort applications

In this paper, a reasoning-based intelligent system makes use of fuzzy control approach, which is designed for thermal comfort applications by using an embedded microcontroller system. In general, it is not possible to implement the mathematical thermal comfort models in actual environment. Thermal comfort usually depends on four environmental parameters and two personal parameters. Normally, only air temperature and humidity could be controlled in conventional heating ventilation and air conditioning (HVAC) systems. Managing and controlling the temperature and humidity parameters are very important for creating healthy living and comfortable working places. As known, fuzzy logic allows complex control system design directly from human experience. Therefore, preferring fuzzy model-based control systems to traditional ones may provide valuable advantage in applications requiring different control strategies for personal choices like thermal comfort control in buildings. So, in this paper, a comfortable fuzzy control system is investigated and performance of this suggested system is tested by Proteus virtual system modelling software. As a result, success of system is founded acceptable from view of the thermal comfort.

小型精密機器のための組込み型多軸アクティブ制振・除振装置の開発(機械力学,計測,自動制御)

Recently, high-resolution measurement instruments such as probe microscopes have been used widely, since their price is getting lower, and their size is becoming smaller. Therefore, these measurement instruments have been used in various environments. However, to use these instruments effectively, it is important to isolate the environmental vibration transmitted to the instruments. For this reason, we are developing new built-in type multi-axis vibration isolation devices equipped with inertia force generators (IFG). In designing this vibration isolation device, modal analysis and "direct inertia force control (DIFC)" are used. DIFC is the newly developed design method for the vibration control systems proposed by authors. Combination of modal analysis and DIFC can make the complex control system design process simple and clear. In this paper, we show how the controller is designed, and also discuss the effectiveness of the method by experiment.

529 直接慣性力制御を用いた組込み型多軸振動制御装置の研究

Recently, high-resolution measurement instruments such as probe microscopes have widely been used, since their price is getting down, their size is becoming compact. Therefore, these measurement instruments have been used at various environments. However, to use these instruments effectively, it is important to isolate the environmental vibration transmitted to these instruments. For this reason, we are developing new built-in type multi-axis vibration isolation device with inertia force generators (IFG). Designing this vibration isolation device, modal analysis and "direct inertia force control (DIFC)" was used. DIFC is the newly developed design method for the vibration control systems proposed by authors. Modal analysis and DIFC could make the complex control system design process more simple and clear. In this paper, we will show how the controller is designed, and also discuss the effectiveness of the method in experiment.

A structured methodology for the design and implementation of control and supervision systems for robotic applications

The adoption of a structured development methodology, based on a design cycle and on formal reference models, is a key issue to manage, possibly in a step-by-step fashion, the design of industrial control and supervision systems, as there are in modern robotic applications. In the present work, a development technique is illustrated, which extends some of the most relevant solutions and methods used to effectively deal with the design of complex control systems and integrates them into a structured methodology with analysis and simulation facilities. The main discriminating features of the presented framework are: the object-oriented approach, compliance with international standards for control software specification, hybrid dynamic models and automatic code generation. The development and implementation of a robot mission for a six degree-of-freedom manipulator is illustrated to highlight the benefits and advantages of the proposed methodology.

Complex control system design and implementation using the NIST-RCS software library

Due to demands for higher levels of automation from systems, the use of hierarchical and distributed control systems that integrate estimation, prediction, control, fault tolerance, adaptation, learning, etc., into one framework is becoming widespread. Specific applications that use complex control of this sort include robots, manufacturing and automation systems, automated highway systems (AHS), and other intelligent vehicles. Here, we study the use of the Real-Time Control System (RCS) software library, developed by the Intelligent Systems Division (ISD) at the National Institute of Standards and Technology (NIST) for the design and implementation of such complex control systems. We examine the theory behind both the development and implementation, and provide a physical implementation example (a process control problem) and a conceptual example of how to use RCS in the design of a hierarchical controller for an AHS.

Analysis and design for a class of complex control systems part II: Fuzzy controller design

In this second paper on the analysis and design of complex control systems, we present a controller design method for a class of complex control systems. This class of systems can be represented by a discrete-time dynamical fuzzy model as discussed in Part I, the companion paper. A necessary and sufficient condition for stabilization of this kind of discrete-time fuzzy control system is given. Furthermore, a constructive algorithm is developed to obtain the stabilizing feedback control law. The main contribution of this paper is the development of a decomposition principle that is, the design of a fuzzy discrete-time control system can be decomposed into the design of a set of discrete-time subsystems. Each subsystem can be designed independently, and the individual solutions can be combined to get a solution for the overall design problem. Two examples are given to illustrate the application of the method.

Computer-aided Design, Simulation and Analysis of Complex Control Systems

Abstract This paper shows how Petri-nets can be used for the design of complex control systems. Particular emphasis is laid on the investigation of specific requirements of the system for which computer-aided tools will be presented. Methods of graph theory which can prove the lifeness of a Petri-net are the basis of the introduced methods of analysis.

Multilevel Control Structures for Three Discrete Manufacturing Processes

Discrete manufacturing systems represent a large fraction of industrial processes and involve control problems whose dimension precludes straightforward solution. In general, such systems involve transformationfrom raw material to finished product and include a sequence of discrete operations (machining or parts, storage in and retrieval from inventory, etc.). Concornmitant with each of these operations are control problems including monitoring, reporting, scheduling, machine loading, start up, shut down, batch control, emergency actions, security enforcement, etc. The great differences among the disturbances and contingencies which can affect the operation of such processes suggests that the controls associated with each stage of the process and with each type or class of disturbance be handled as separate tasks. This decomposition of the control system, in turn, requires coordination between the subunits in order that the overall process objectives are achieved.Hierarchical control systems have proved to be effective models for the design of complex control systems for continuous processes. The objective of this paper is to demonstrate how a hierarchical structure can also lead to the effective control of discrete processes.Three examples are presented, each illustrating a different aspect of the discrete control problem formulation. It is shown, in each case, how the control tasks organize naturally into a multilayer hierarchical structure. The examples focus on problems of scheduling, control of discrete operations, and security control, the latter being control in the face of catastrophic disturbances. Generalizations are drawn from the experiences of these examples. Various features of the proposed structure are pointed up with specific reference made to problems of hardware and software implementation.