Control Software for Mechanical Systems

D.M. AUSLANDER is Professor of Mechanical Engineering at the University of California, Berkeley. His research interests include automatic control system design, mini-microcomputer system bioengineering, modeling and simulation of dynamic systems, and process control. He is co-author of Mechatronics: Mechanical System Interfacing (Prentice Hall) and Real-Time Software for Implementation of Feedback Control.   J.R. RIDGELY is Assistant Professor of Mechanical Engineering, California Polytechnic State University, San Luis Obispo, where he teaches mechanical design and mechatronics. He is co-author of Real-Time Software for Implementation of Feedback Control.   J.D. RINGGENBERG holds a Master's Degree in Mechanical Engineering from the University of California, Berkeley.

Preface.


1. Mechatronics.


A History of Increasing Complexity. Mechatronic System Organization. Amplifiers and Isolation. Scope:The Unit Machine. Control. Real-Time Software. Nasty Software Properties. Engineering Design and Computational Performance. Control System Organization. Software Portability. Operator Interface. Multicomputer Systems: Communication. The Design and Implementation Process.



2. Tasks.


Example: Task Selection in a Process System. Tasks and the Control Hierarchy. Task Structure Examples. Simulation. More Task Structure Examples.



3 State Transition Logic.


States and Transitions. Transition Logic Diagrams. Tabular Form for Transition Logic. Example: Pulse-Width Modulation (PWM). Transition Logic for the Process Control Example. Nonblocking State Code. State-Related Code. State Scanning: The Execution Cycle. Task Concurrency: Universal Real-Time Solution.



4. Direct Realization Of System Control Software.


Language. Time. Program Format. Simulation. Simulation in Matlab. Intertask Communication. Real-Time Realization. Real-Time Realization with Matlab.



5. Software Realization In C++.


Simulation in C++. Templates for Simulation in C++(group-priority). PWM Simulation Using C++(group-priority). Simulation in C++(with TranRun4). Real-Time Realization with C++.



6. Intertask Communication.


Communication Within a Process. Communication Across Processes.



7. Timing Techniques On Pc Compatibles.


Calibrated Time. Free-Running Timer. Interrupt-Based Timing.



8. Multitasking: Performance In The Real World.


Priority-Based Scheduling—Resource Shifting. Matlab Template for Minimum-Latency Dispatcher. Cooperative Multitasking Using C++. Preemptive Multitasking Modes. Realization of Interrupt-Based Dispatching.



9. A Character-Based Operator Interface.


Operator Interface Requirements. Context Sensitive Interfaces. User Interface Programming Paradigms. Mechatronics System Operator Interface. Operator Interface Programming.



10. Graphical Operator Interfaces.


Graphical Environments. The Times-2 Problem. Screen Change. Heat Exchanger Control in Bridgeview. Interprocess Communication: DDE. Putting It All Together.



11. Distributed Control I: Net Basics.


Multiprocessor Architectures. TCP/IP Networking. Implementation of UDP. The Application Layer.



12. Distributed Control II: A Mechatronics Control Application Layer.


Control System Application Protocol. Startup of Distributed Control Systems. Testing the Application Protocol. Using the Control Application Protocol. Compiling.



13. Java For Control System Software.


The Java Language and API. Preconditions for Real-Time Programming in Java. Advantages of Java for Control Software Design. Java and the Task/State Design Method. The Current State of Real-Time Java.



14. PROGRAMMABLE LOGIC CONTROLLERS (Plcs).


Introduction. Goals. PLC Programming. The Task/State Model. State Transition Logic for a PLC. PLC Multitasking. Modular Design. Example: Model Railroad Control. Simulation - Portability.



15. Illustrative Example: Assembly System.


The Assembly System. System Simulation. Development Sequence. Belt Motion Simulation (Glue00). Oven Temperature Simulation (Glue01). PID Control of Belt Position and Oven Temperature (Glue02). Better Control of Motion (Glue03). A Command Structure for Profiled Motion (Glue04). Clamps (Glue05).Robots (Glue06). Cure/Unload (Glue07). Making Widgets (Glue08).



16. The Gluing Cell Exercise In Tranrun4.


The Gluing System. Simulation and Prototyping. The Project Components. Glue00: Conveyor Simulation. Glue01: An Oven Simulation. Glue02: PID Control. Glue03: The Operator Interface. Glue04: Motion Profiling. Glue05: Belt Sequencing. Glue06: The Glue Application Machine. Glue07: Transport Task Supervision. Glue08: The Completed Assembly System.



17. The Gluing Cell Exercise In Tranrunj.


Getting Started. Writing Custom Tasks and States. Implementing State Transition Logic. Global Data and Intertask Messaging. Continuous vs. Intermittent Tasks. Scheduler Intervals. Execution Profiling. Intertask Messaging Across Different Processes. Tips And Tricks. Additional Information.



Bibliography.


Index.