Advances in Control Education 1991 (eBook)

Front Cover 1
Advances in Control Education 4
Copyright Page 5
Table of Contents 10
Foreword 8
CHAPTER 1. AN INDUSTRIAL CHALLENGE TO CONTROL SYSTEM EDUCATORS 14
Abstract 14
TABLE 1 WHERE HVE ALL THE ENGINEER GONE ? 14
CONTROL SYSTEM TALENTS SOUGHT BY INDUSTRY 16
INDUSTRY-UNIVERSITY RELATIONSHIPS 18
REFERENCES 19
CHAPTER 2. A RESPONSE FROM ACADEMIA 20
Abstract. 20
1. Introduction 20
2. Course Structure 20
3. The Control Laboratory 22
4. Computer Aided Control Engineering(CACE 23
5. Interactions wih Industry 24
6. References 24
CHAPTER 3. CONTROL SYSTEMS CURRICULA INTHE UNITED STATES: RESULTS OF TWORECENT SURVEYS 26
Abstract. 26
1. INTRODUCTION 26
2. CONTROL ENGINEERING PROGRAMS 26
3. CONTROL ENGINEERING WITHIN ELECTRICAL ENGINEERING 27
4. CONTROL ENGINEERING WITHIN MECHANICAL ENGINEERING 28
5. CONTROL LABORATORIESAND SOFTWARE 28
6. CONCLUSIONS 28
REFERENCES 28
CHAPTER 4. AN EDUCATIONAL ENVIRONMENT FOR THE TEACHING OF QUANTITATIVE FEEDBACK THEORY 30
Abstract 30
1 INTRODUCTION 30
2 QFT FUNDAMENTALS 30
3 EDUCATIONAL REQUIREMENTS 31
4 QFT EDUCATION 31
5 QFT CACSD DEVELOPMENT 32
6 CONCLUSIONS 33
7 Bibliography 33
CHAPTER 5. SENSITIVITY FUNCTION METHODS IN CONTROL SYSTEM EDUCATION* 36
Abstract 36
INTRODUCTION 36
SENSITIVITY FUNCTIONS 36
THE GAS METAL ARC WELDING TESTBED 38
CONCLUSIONS: POTENTIAL FOR SENSITIVITY METHODS IN CONTROL EDUCATION 39
REFERENCES 40
CHAPTER 6. A PRACTICAL APPROACH TO THE TEACHING OF MANUFACTURING SYSTEMS 42
Abstract 42
INTRODUCTION 42
C.I.M. TEACHING AT ENSIEG : ORGANIZATION AND PEDAGOGY 42
EXAMPLES OF IMPLEMENTATION 44
CONCLUSION 46
REFERENCES 47
CHAPTER 7. COMPREHENSIVE TEACHWARE FOR AUTOMATIC CONTROL 48
Abstract 48
1. Introduction 48
2. Complementary ways of teaching automatic control 49
3. Computed-aided-learning exercises 50
4. Computed-aided-design tools 50
5. Laboratory projects 50
6. Conclusions and future prospects 52
7. References 53
CHAPTER 8. COMPUTER SIMULATION AND ANIMATION ENVIRONMENT FOR CONTROL EDUCATION 54
Abstract 54
INTRODUCTION 54
RTSA IN CONTROL EDUCATION 55
APPENDIX A: EXISTING RTSA SOFTWARE 58
CLOSING REMARKS 58
BIBLIOGRAPHY 58
CHAPTER 9. DISCRETE TIME SIMULATION AND EXPERIMENTS WITH FPU AND BLOCK-SIM ON IBM PC'S 60
Abstract 60
INTRODUCTION 60
THE PROGRAMS 60
EXPERIENCE 62
EXAMPLES 63
AVAILABILITY 64
CONCLUSIONS 64
REFERENCES 64
APPENDIX 65
CHAPTER 10. THE ROLE OF INTERACTIVE GRAPHIC TOOLS IN TEACHING CONTROL THEORY 66
Abstrac 66
I. INTRODUCTION 66
II. BLOCK DIAGRAM MODELLING 67
III. ANIMATION 67
IV. ANALYSIS AND SIMULATION 68
V. EXAMPLES FOR INSTRUCTION 68
VI. CONCLUSIONS 68
ACKNOWLEDGEMENTS 68
REFERENCES 68
CHAPTER 11. A SET OF MATLAB ROUTINES FOR CONTROL SYSTEM ANALYSIS AND DESIGN 72
Abstract 72
1. Introduction 72
2. FRBOX 72
3. PPBOX 73
4. RLBOX 74
5. FRLSBOX 75
6. LQGBOX 75
7. An Example 76
8. References 76
CHAPTER 12. PROGRAMS FOR TEACHING NONLINEAR CONTROL IN MATLAB 78
ABSTRACT 78
INTRODUCTION 78
2. SIMPLE NONLINEAR FEEDBACK SYSTEM 78
3. PROGRAM BASED ON THE TSYPKIN METHOD 80
4. NONLINEAR SAMPLED DATA SYSTEMS 80
CONCLUSIONS 81
ACKNOWLEDGEMENTS 82
REFERENCES 82
CHAPTER 13. DISP - A PROGRAM PACKAGE FOR DIGITAL CONTROL SYSTEM EDUCATION 84
Abstract 84
INTRODUCTION 84
CONTENTS OF THE LECTURE 84
DISP PROGRAMS 84
EDUCATIONAL FEATURES 85
EXAMPLES 86
CONCLUSIONS 87
CHAPTER 14. MSIMJ_RP - A PROGRAM PACKAGE FOR DESIGN AND SIMULATION OF MIMO -SYSTEMS IN UNDERGRADUATE COURSES 88
Abstract 88
INTRODUCriON 88
CAPABILITIES OF THE PROGRAM 88
EXAMPLES 89
CONCLUSION 91
REFERENCES 91
CHAPTER 15. A HARDWARE-SOFTWARE APPROACH TO THE TEACHING OF CLASSICAL AUTOMATIC CONTROL THEORY 92
Abstract. 92
INTRODUCTION 92
THE DC SERVOMOTOR 92
PNEUMATIC POSITIONER 94
THE CONTACT HEATER 94
DISCUSSION 95
REFERENCES 95
CHAPTER 16. VISDYCON: VISUAL DYNAMICS AND CONTROL 98
Abstract 98
INTRODUCTION 98
IMPLEMENTATION DETAILS 98
COURSEWARE MODULES 99
RLOCUS 99
LGRAPH 100
ACKNOWLEDGMENTS 101
REFERENCES 101
CHAPTER 17. THE UNIVERSITY OF ILLINOIS BICYCLEPROJECT 104
Abstract 104
INTRODUCTION 104
PEDAGOGICAL ISSUES 104
ORIGINS OF THE BICYCLE PROJECT 105
RECENT DEVELOPMENTS 106
CONCLUSIONS 106
ACKNOWLEDGMENTS 107
REFERENCES 107
CHAPTER 18. CONTROL STRUCTURAL INTERACTION TESTBED: A MODEL FOR UNIVERSITY INDUSTRY INTERACTION 110
Abstract 110
INTRODUCTION 110
TESTBED DEVELOPMENT 110
UNIVERSITY INTERACTION 111
CONCLUSION 114
ACKNOWLEDGEMENTS 114
REFERENCES 114
Chapter 19. MICROPROCESSOR-BASED CONTROL SYSTEMS: A FIRST STEP IN TEACHING MECHATRONICS 116
Abstract 116
INTRODUCTION 116
CONCLUSIONS 118
CHAPTER 20. IDENTIFICATION OF MIMO PLANT AS ONE-AFTERNOON LABORATORY EXERCISE 122
Abstract 122
INTRODUCTION 122
PLANT 122
IDENTIFICATION CRITERION 123
SOFTWARE 124
CONCLUSIONS 127
REFERENCES 127
CHAPTER 21. OPEN ARCHITECTURE DIRECT DRIVE MANIPULATOR RESEARCH AND DEVELOPMENT PACKAGE 128
Abstract. 128
1. INTRODUCTION 128
2. DESCRIPTION OF SYSTEM MODULES 129
3. EXAMPLE CONTROLLER IMPLEMENTATIONS 131
4. CONCLUSIONS 132
References 132
CHAPTER 22. THE WEDGE - A CONTROLLER DESIGN EXPERIMENT 136
Abstract 136
1. INTRODUCTION 136
2. MECHANICAL DESIGN 136
3. SYSTEM MODELING 138
4. CONTROLLER DESIGN 139
5. EXPERIMENTAL RESULTS 139
5. SIMULATIONS 140
6. CONCLUSIONS 141
APPENDIX 141
REFERENCE 141
CHAPTER 23. AN EXPERIMENT TO DEMONSTRATE THE BANDWIDTH REQUIREMENTS OF A NONLINEAR CONTROLLER 142
Abstract 142
1 Introduction 142
2 Description of the Apparatus 143
3 Equations of motion and the control strategy 143
4 The Experiment 144
References 144
Figures 144
CHAPTER 24. A NEW INVERTED PENDULUM APPARATUS FOR EDUCATION 146
Abstract 146
1. INTRODUCTION 146
2. SYSTEM CONSTRUCTION 147
3. MODELLING OF CONTROLLED OBJECT 147
4. CONSTRUCTION OF CONTROL SYSTEM 149
5. EXPERIMENTAL RESULTS 150
6. CONCLUSION 151
REFERENCES 151
CHAPTER 25. AN UNDERGRADUATE PROCESS CONTROL LABORATORY 152
Abstract 152
INTRODUCTION 152
EXPERIMENTAL HARDWARE 153
COMPUTER EQUIPMENT 154
EXPERIMENTS 155
SUMMARY 156
ACKNOWLEDGEMENTS 156
CHAPTER 26. AN INSTRUCTIONAL ROBOTICS AND MACHINE VISION LABORATORY STATION 158
Abstract 158
INTRODUCTION 158
ROBOTICS COURSES 158
ROBOTICS LABORATORY CONFIGURATION 159
CONCLUSION 163
REFERENCES 163
CHAPTER 27. SENIOR CONTROL SYSTEMS LABORATORY AT PURDUE UNIVERSITY 164
Abstract 164
INTRODUCTION 164
ANALOG SIMULATIONS 165
SYSTEM IDENTIFICATION 165
CONTROLLER DESIGN AND IMPLEMENTATION 166
DIGITAL SIMULATIONS 167
DESIGN PROJECT 167
DIGITAL CONTROL 168
CONCLUSION 168
ACKNOWLEDGEMENTS 169
REFERENCES 169
CHAPTER 28. A PC-BASED REAL TIME DIGITAL CONTROL LABORATORY 170
Abstract 170
INTRODUCTION 170
REAL-TIME CONTROL SOFTWARE 170
DIGITAL CONTROL LABORATORY COURSE 172
TWO-TANK LEVEL CONTROL EXPERIMENT 172
SUMMARY AND CONCLUSIONS 174
ACKNOWLEDGEMENTS 174
REFERENCES 174
CHAPTER 29. COMPUTER-AIDED CONTROL SYSTEM DESIGN ENVIRONMENT 176
ABSTRACT. 176
INTRODUCTION 176
INTEGRATION OF IMP AND MATRIXx 177
ILLUSTRATIVE EXAMPLE 179
CONCLUSIONS AND FUTURE WORK 180
ACKNOWLEDGMENTS 180
REFERENCES 180
CHAPTER 30. KNOWLEDGE-BASED INTERFACES TO A COMPUTER-AIDED CONTROL SYSTEM DESIGN PACKAGE 182
Abstract. 182
INTRODUCTION 182
MODEL-BASED REPRESENTATION 183
OBJECT-BASED REPRESENTATION 183
SFPACK AS AN EDUCATIONAL PACKAGE 185
CONCLUSIONS 185
REFERENCES 185
CHAPTER 31. COMPUTER INTEGRATED INSTRUCTION FOR/WITH ACACSD-TOOL 188
Abstract 188
Introduction 188
The System Architecture of the LearningEnvironment TUTOR 190
Hypertext Database 190
Teaching Control Theory with a CACSD Tool 191
Conclusion 192
References 192
CHAPTER 32. CONTROL IMPLEMENTATION: REAL TIME MULTITASKING/MULTIPROCESSING 194
Abstract 194
1 Control of Engineering Systems 194
2 Embedded Computing 194
3 Multitasking/Multiprocessing 194
4 Role in Engineering Education 195
5 Multitasking Concepts 195
6 Multiprocessing Concepts 197
7 Computing Environment 198
8 Course Structure 199
9 Evaluation and Future Development 199
CHAPTER 33. A PACKAGE FOR LABORATORYEXPERIMENTS IN DISCRETE TIMECONTROL 202
Abstract. 202
1. Introduction 202
2. Functional Description 202
3. Man-Machine Interface 204
4. Implementation 204
5. Examples 205
6. Conclusions 207
7. References 207
CHAPTER 34. AFTERWORD 208
1. NOT IN FOUR YEARS, YOU DON'T 208
2. NOT ONLY IN THE UNIVERSITY, YOU DONT 208
3. NOT ALL AT ONCE, YOU DONT 209
4. WITH HARD WORK, GOOD HUMOR, BROAD UNDERSTANDING, AND AN APPROPRIATE SENSE OF URGENCY 209
CHAPTER 35. REFLECTIONS ON THE 1991 ADVANCES IN CONTROL EDUCATION 210
AUTHOR INDEX 212
KEYWORD INDEX 214