Algorithms and Architectures for Real-Time Control 1992 (eBook)

Front Cover 1
Algorithms and Architectures for Real-Time Control 2
Copyright Page 3
Table of Contents 6
IFAC Workshop on Algorithms and Architectures for Real-Time Control 4
Preface 5
CHAPTER 1. CONTEMPORARY COMPUTERS CONSIDERED INAPPROPRIATE FOR REAL TIME CONTROL 12
INTRODUCTION 12
REAL TIME REQUIREMENTS 13
UNPREDICTABLE BEHAVIOUR 13
DATA CONVERSIONS 14
INHERENT DELAYS 14
MULTI-VARIABLE CONTROL 15
TIME 16
INAPPROPRIATE PRACTICE 16
SAFETY CRITICAL CONTROL 17
A PERSPECTIVE FOR THE FUTURE DEVELOPMENT 17
REFERENCES 19
CHAPTER 2. HARD DEADLINES IN REAL-TIME CONTROL SYSTEMS 20
1 Introduction 20
2 The Effects of Controller Computer Failures 21
3 Derivation of Hard Deadlines 21
4 Examples 24
5 Application of Hard Deadline Information 24
6 Conclusion 25
Acknowledgement: 25
References 25
CHAPTER 3. PARALLEL ALGORITHMS FOR CONTROL 26
INTRODUCTION 26
SYSTOLIC ALGORITHMS FOR MATRIX CALCULATIONS 27
SYSTOLIC ALGORITHMS FOR DISCRETE KALMAN FILTERING 27
ALGORITHM ENGINEERING 28
TRANSPUTER IMPLEMENTATIONS 29
PARALLEL KALMAN-BUCY FILTERING 29
DISCUSSION AND CONCLUSIONS 30
REFERENCES 30
CHAPTER 4. PARALLEL ALGORITHMS FOR THE QUASI-TRIANGULAR GENERALIZED SYLVESTER MATRIX EQUATION ON A SHARED MEMORY MULTIPROCESSOR 34
1. INTRODUCTION 34
2. SOLUTION OF THE TRIANGULAR GENERALIZED SYLVESTER EQUATION 35
3. SOLUTION OF THE QUASI-TRIANGULAR GENERALIZED SYLVESTER EQUATION 36
4. ALLIANT FX/80 IMPLEMENTATION 38
5. CONCLUSIONS 38
References 39
CHAPTER 5. A SYSTOLIC ALGORITHM FOR THE TRIANGULAR SYLVESTER EQUATION IN A LINEAR ARRAY 40
INTRODUCTION 40
TRIANGULAR FORM OF SYLVESTER EQUATION 40
SYSTOLIC ALGORITHM FOR THE TRIANGULAR SYLVESTER EQUATION 40
SIZE-DEPENDENT BIDIMENSIONAL ARRAY 41
SIZE-INDEPENDENT BIDIMENSIONAL ARRAY 41
SIZE-DEPENDENT LINEAR ARRAY 42
SIZE-INDEPENDENT LINEAR ARRAY 42
CONCLUSION 43
REFERENCES 43
Chapter 6. Real Time Control of a Multiple Arm System by Large Scale Multiprocessing 48
INTRODUCTION 48
TRANSPUTER FAMILY 48
PERIPHERAL INTERFACE 49
OCCAM/TDS 50
WELL STRUCTURED SYSTEM SOFTWARE 51
APPLICATION TO ROBOT SYSTEM CONTROL 53
CONCLUDING REMARKS 53
ACKNOWLEDGMENT 53
REFERENCES 53
CHAPTER 7. A MODULAR, MASSIVELY PARALLEL COMPUTER ARCHITECTURE FOR TRAINABLE REAL-TIME CONTROL SYSTEMS 54
INTRODUCTION 54
SYSTEM ARCHITECTURE: THE CONCEPT 54
SYSTEM ARCHITECTURE: IMPLEMENTATION 56
SYSTEM DEVELOPMENT: IMPLEMENTATION 57
DISCUSSION AND CONCLUSION 59
REFERENCES 59
CHAPTER 8. PARALLELIZED INVERSE DYNAMICS ALGORITHM FOR DYNAMIC CONTROL OF A ROBOT MANIPULATOR 60
INTRODUCTION 60
ROBOT INVERSE DYNAMICS 60
PARALLELIZATION OF ROBOT INVERSE DYNAMICS 61
TRANSPUTER AND PARALLEL PROCESSING SYSTEM 63
EXPERIMENTAL RESULT 63
CONCLUSION AND FURTHER STUDIES 64
REFERENCE 64
CHAPTER 9. ROBOT POSITION CONTROL BASED ON A TRANSPUTER NETWORK WITH A CONTACTLESS SENSOR 66
Introduction 66
Control Architecture 66
Transputer Network 67
Sensor System 68
Results 69
References 71
CHAPTER 10. A TRANSPUTER-BASED CONTROLLER FOR THE RTX ROBOT 72
Abstract 72
1 Introduction 72
2 The RTX Robot 73
3 The Transputer 73
4 The Interface — Hardware Aspects 73
5 The Interface - Software Aspects 74
6 Robot trajectory planning 74
7 Conclusions 76
References 76
Chapter 11. Implementation of Parallel Logic Solving Algorithmfor the PLC Based On Dataflow Architecture 78
INTRODUCTION 78
EVENT DRIVEN SEQUENCE CONTROL 79
LOGIC PROGRAMMING AND FORMALIZATION 79
OPERATION OF EVENT DRIVEN PLC 80
RUN TIME OPTIMIZATION ALGORITHM 81
ARCHITECTURE OF EVENT DRIVEN PLC 81
PERFORMANCE EVALUATION 82
CONCLUSION 83
REFERENCES 83
CHAPTER 12. AN ARCHITECTURE ENABLING THE SAFETY LICENSING OF REAL TIME CONTROLLERS 84
INTRODUCTION 84
A SOFTWARE ENGINEERING PARADIGM 86
THE ARCHITECTURAL CONCEPT 87
SOFTWARE LICENSING 90
CONCLUSION 91
REFERENCES 91
Chapter 13. Safe, Fault-Tolerant and Deterministic Algorithms for Real Time Control 92
Introduction 92
Parallel Processing in Control 92
Deterministic Timing Environments 92
The virtual programming environment. 93
The CpmmijniaitiQn Harness 93
High Reliability 95
Conclusions 97
References 97
chapter 14. Voting Software for Fault-Tolerant Aircraft Flight Control Systems 98
Abstract 98
1 Introduction 98
2 Background 99
3 Voting Algorithms 99
4 Intelligent Voter Experiments 101
5 Future Experimental Work 103
6 Conclusions 103
7 Acknowledgements 103
8 References 103
CHAPTER 15. A FAULT TOLERANT CONTROL SYSTEM FOR A HIGH PERFORMANCE INDUCTION MOTOR DRIVE 104
INTRODUCTION 104
COMPARISON OF FAULT-TOLERANT CONTROLLERS 104
THE SYSTEM ARCHITECTURE 105
THE ANALYSIS AND COMPARISON OF RELIABILITY 105
THE FAULT-TOLERANT TECHNIQUE 107
CONCLUSION 108
REFERENCE 108
Chapter 16. A Parallel Algorithm for Training Neural Network Based Nonlinear Models 110
INTRODUCTION 110
NEURAL NONLINEAR MODELLING 111
THE BFGS ALGORITHM 111
A PARALLEL BFGS ALGORITHM 112
CONCLUSIONS 115
ACKNOWLEDGEMENT 115
REFERENCES 115
Chapter 17. Review of Identification Techniques for Nonlinear Systems Using Neural Networks 116
Abstract 116
1 Introduction 116
2 Theoretical Background 116
3 Neural Networks Approach 118
4 Radial Basis Function Network 120
5 Conclusion 121
References 121
CHAPTER 18. OPTIMAL EDGE SELECTION BY THE MODIFIED GENETIC ALGORITHM 122
Abstract 122
1 Introduction 122
2 Neural Network Application 123
3 Conclusions 125
4 Future Work 125
References 125
CHAPTER 19. REAL-TIME FAULTS DIAGNOSIS IN A LARGE-SCALE SYSTEM USING NEURAL NETWORKS BASED ON SIGNED GAIN DIGRAPH WITH APPLICATION 128
INTRODUCTION 128
ASSUMPTIONS FOR FAULTS DIAGONSIS 129
PLANT STRUCTURE IDENTIFIER 129
PLANT DESCRIPTION 129
TRAINING DATA EXTRACTION FOR SUBSYSTEM 130
FAULTS DIAGONSIS 130
SIMULATION RESULTS 131
CONCLUSION 131
REFERENCES 133
CHAPTER 20. NEURAL NETWORK IMPLEMENTATION FOR REAL-TIME CLOSED-LOOP MOTION CONTROL OF REDUNDANT ROBOTS 134
ABSTRACT 134
I. INTRODUCTION 134
II. CONTROL SCHEME 135
III. NEURAL NET IMPLEMENTATION 135
V. EXPERIMENTAL RESULTS 136
VI. REAL-TIME TRAINING ALGORITHM 137
VII. CONCLUSION 137
REFERENCES 138
CHAPTER 21. SYSTEM IDENTIFICATON USING NEURAL NETWORKS 140
INTRODUCTION 140
SYSTEM IDENTIFICATION USING NEURAL NETWORKS 140
GAIN ADJUSTMENT OF I-PD CONTROL SYSTEM 143
CONCLUSIONS 144
ACKNOWLEDGMENTS 144
REFERENCES 145
CHAPTER 22. ARTIFICIAL NEURAL NETWORK APPROACH TO INFERENTIAL CONTROL OF VOLATILITY IN REFINERY PLANTS 146
INTRODUCTION 146
ARTIFICIAL NEURAL NETWORK 147
PREDICTION OF VOLATILITY 148
CONCLUSIONS 149
ACKNOWLEDGMENTS 149
REFERENCES 149
Chapter 23. On-Line Identification of State-Space Models via Exploitation of Displacement Structure 152
1 Introduction 152
2 A Conventional State Space Identification Method 153
3 A Fast State Space Model Identification: Recursive Processing 154
4 Simulations 156
5 Conclusions 157
REFERENCES 157
Chapter 24. Index Rule Scheduling Policies Applied To Identification 158
1 Introduction 158
2 Cost functions and sensorcontrol policies 159
3 Multi-armed bandit formulation and optimal solution 160
4 Convergence aspects 161
5 Efficient computation of the indices 161
6 Numerical simulations 162
REFERENCES 162
Appendix 162
CHAPTER 25. A CURVE-BROKEN-LINE METHOD FOR SYSTEM IDENTIFICATION 164
INTRODUCTION 164
ALGORITHM 167
EXAMPLE 168
CONCLUSION 169
APPENDIX 169
REFERENCES 169
CHAPTER 26. ROBUST FAILURE DETECTION AND ISOLATION IN NON-LINEAR CONTROL SYSTEMS 170
INTRODUCTION 170
PROBLEM FORMULATION 170
ROBUST REDUNDANCY RELATIONS 171
MATHEMATICAL TECHNIQUES 171
TRANSFORMATION OF INITIAL MODEL 172
OPTIMAL REDUNDANCY RELATIONS 173
DIAGNOSIS UNDER NOISE CONDITIONS 174
CONCLUSION 175
REFERENCES 175
CHAPTER 27. A NEW DYNAMIC NEUROCONTROL ARCHITECTURE FOR ROBOT MANIPULATORS 176
INTRODUCTION 176
THE PROPOSED NEUROCONTROL ARCHITECTURE 177
TRAINING THE PROPOSED NEUROCONTROLLER 177
DYNAMIC COMPUTER SIMULATION 178
CONCLUSION 180
REFERENCE 180
CHAPTER 28. A SIGNAL PROCESSOR BASED REAL- TIME CONTROL FOR A POSITION AND ORIENTATION MEASUREMENT SYSTEM FOR INDUSTRIAL ROBOTS 182
INTRODUCTION 182
REAL TIME CONTROLLER 185
CONCLUSION 186
ACKNOWLEDGEMENTS 186
REFERENCES 186
CHAPTER 29. ACCURACY INCREASING OF ROBOT REAL-TIME CONTROL 188
INTRODUCTION 188
WORKCELL CALIBRATION ALGORITHM 188
SOFTWARE FOR ROBOTIC CELL CALIBRATION 190
EXPERIMENTAL VERIFICATION 190
CONCLUSION 191
REFERENCES 191
CHAPTER 30. DESIGN OF A SIMPLE AND ROBUST CONTROL SYSTEM FOR A SINGLE-LINK FLEXIBLE ROBOT ARM 192
INTRODUCTION 192
DYNAMIC MODEL OF A FLEXIBLE ROBOT ARM 193
DESIGN OF A CONTROLLER 194
SIMULATION RESULTS 195
CONCLUSION 196
REFERENCES 196
CHAPTER 31. SUPPRESSION METHOD OF DISTURBANCE TORQUE DUE TO SYSTEM DRIFT VIA AN OBSERVER IN THE ROBOT CONTROL SYSTEM 198
INTRODUCTION 198
ESTIMATION OF THE SYSTEM DRIFT 200
CONCLUSION 202
REFERENCES 202
CHAPTER 32. AN EXTENDED WORKSPACE MAPPING ALGORITHM AND ITS IMPLEMENTATION IN A NUCLEAR TELE-ROBOTIC CONTROL SYSTEM 204
INTRODUCTION 204
EXTENDED WORKSPACE MAPPING 205
MASTER-SLAVE MANIPULATOR SYSTEM HARDWARE 205
KINEMATIC ANALYSIS OF THE MASTER-SLAVE SYSTEM 206
PROPOSED EXTENDED WORKSPACE MAPPING METHODS 207
PHYSICAL IMPLEMENTATIONS OF THE MAPPING ALGORITHM 208
CONCLUSION 208
REFERENCES 208
CHAPTER 33. REAL-TIME ALGORITHM OF THE INVERSE DYNAMICS OF FLEXIBLE ARMS 210
INTRODUCTION 210
PRELIMINARIES 210
REAL-TIME IMPLEMENTATION 213
NUMERICAL EXAMPLES 213
CONCLUSIONS 214
REFERENCES 214
CHAPTER 34. REAL-TIME NAVIGATION AND OBSTACLE AVOIDANCE BASED ON GRIDS METHOD FOR FAST MOBILE ROBOT 216
INTRODUCTION 216
CONTROL ALGORITHM 216
EXPERIMENTAL RESULTS 219
CONCLUSIONS 219
REFERENCES 220
CHAPTER 35. STRUCTURED MATRICES AND FAST RLS ADAPTIVE FILTERING 222
INTRODUCTION 222
SQUARE-ROOT CHANDRASEKHAR ALGORITHM 223
STRUCTURED TIME-VARIANT MODELS 223
CONNECTION TO THE SCHUR ALGORITHM 224
RECURSIVE LEAST-SQUARES 225
FAST RECURSIVE LEAST SQUARES 226
EXTENSIONS AND CONCLUDING REMARKS 227
REFERENCES 227
CHAPTER 36. DEVELOPMENT OF A TRACK-WHILE-SCAN FILTER WITH PSEUDOMEASUREMENTS 228
1. INTRODUCTION 228
2. TARGET DYNAMICS AND PSEUDOMEASUREMENTS 229
3. DEVELOPMENT OF A SUBOPTIMAL FILTER 230
4. A CONSTANT GAIN FILTER AND THE EKF 232
5. SIMULATION RESULTS AND CONCLUSIONS 233
REFERENCES 234
CHAPTER 37. A REDUCED ORDER EXTENDED KALMAN FILTER ALGORITHM FOR PARAMETER AND STATE ESTIMATION OF AN INDUCTION MOTOR 236
INTRODUCTION 236
KALMAN FILTERING 237
INDUCTION MOTOR MODELS 238
REDUCED ORDER EXTENDED KALMAN FILTER (REKF) 239
SIMULATION RESULTS 240
CONCLUSIONS 241
AKNOWLEDGEMENTS 241
REFERENCES 241
CHAPTER 38. ON STOCHASTIC LYAPUNOV FUNCTION METHOD IN OPTIMAL LINEAR FILTERING PROBLEM 242
INTRODUCTION. PROBLEM STATEMENT 242
II. PRELIMINERY RESULTS 242
III. DESIGN OF STABLE FILTER FOR SYSTEM STATE 243
IV. SOME PROPERTIES OF STABLE FILTER 244
V. EXAMPLES 245
VI. CONCLUSION 245
APPENDIX 245
REFERENCES 246
Chapter 39. Specification of Intelligent Controllers for Discrete Event Systems in A Temporal Logic Framework 248
1 Introduction 248
2 Temporal Logic Models 249
3 Intelligent Controller Specification 250
4 Conclusions 252
References 252
CHAPTER 40. A NEW DECOMPOSITION METHOD OF RELATION MATRICES OF MULTTV ARIABLE FUZZY SYSTEMS 254
INTRODUCTION 254
OUTPUT INFERENCE FROM TWO-DIMENSIONAL RELATION MATRICES 254
A NEW DECOMPOSITION METHOD OF RELATION MATRICES 256
CONCLUSION 258
REFERENCES 258
Chapter 41. Identif icaion of Fuzzy Control Rules Utilizing GeneticAlgorithms and Its Application to Mobile Robot 260
INTRODUCTION 260
FUZZY IMPLICATION AND REASONING 261
STRUCTURE IDENTIFICATION 261
PARAMETER IDENTIFICATION 261
SIMULATION 262
CONCLUSION 264
ACKNOWLEDGEMENTS 264
REFERENCE 264
CHAPTER 42. CONTROL O F FED-BATCH FERMENTATIONPROCESS USING A SELF-ORGANIZINGFUZZY CONTROLLER 266
INTRODUCTION 266
SELF-ORGANIZING FUZZY CONTROLLER 266
APPLICATION TO FED-BATCH LYSINE FERMENTATION 268
RESULSTS AND DISCUSSIONS 268
CONCLUSIONS 269
ACKNOWLEDGMENT 270
REFERENCES 270
CHAPTER 43. PARALLEL ADAPTIVE CONTROL FOR TURBOGENERATOR SYSTEMS 272
INTRODUCTION 272
MEASUREMENT SYSTEM 273
SELF-TUNING CONTROL 273
TEST RESULTS 274
DISCUSSION AND CONCLUSIONS 276
REFERENCES 276
CHAPTER 44. EXPERT AUTO-TUNER FOR MULTIVARIABLE CONTROL APPLICATIONS 278
Abstract 278
1 INTRODUCTION 278
2 TERMINOLOGY 278
3 THE PROPOSED METHODOLOGY 279
4 PROCESS IDENTIFICATION 279
5 ESTIMATION OF DETUNING FACTOR 280
6 ON-LINE IDENTIFICATION OF THE RDG 280
7 IMPLEMENTATION AND RESULTS 281
8 AN APPLICATION EXAMPLE 282
9 CONCLUSION 282
References 283
Chapter 45. An Intelligent Self-Tuning Controller And Its Application To Load/Pressure Control System 284
1. Introduction 284
2. ISTC algorithm 284
3· SYSTEM DESCRIPTION 287
4. SIMULATION RESULTS 287
5: SUMMARY AND CONCLUTIONS 288
References 289
CHAPTER 46. SYNTHESIS OF ADAPTIVE CONTROL SYSTEMS FOR ROBOTS 290
INTRODUCTION 290
THE CHOICE OF WAYS TO SOLVE SYNTHESIS PROBLEM 290
METHODS OF SYNTHESIS OF ADAPTIVE CONTROL SYSTEMS 291
SOLUTION OF INVERSE DYNAMIC TASK 294
DETERMINING THE INDIVIDUALCOMPONENTS OF MOMENT ACTIONS 294
CONCLUSION 295
REFERENCES 295
CHAPTER 47. A SIMPLIFIED ROBUST PREDICTIVE CONTROLLER IN THE PRESENCE OF EXOGENOUS BOUNDED DISTURBANCES 296
INTRODUCTION 296
TRIANGLE MODEL AND DESIGN OF EXTENDED HORIZON ADAPTIVE PREDICTIVE CONTROLLER 296
STABILITY AND CONVERGENCE ANALYSES 298
CONCLUSION 299
REFERENCE 299
Chapter 48. A Hybrid Method for Real-time Simulation of Continuous-time Bilinear Systems 300
INTRODUCTION 300
SOLUTION STRATEGY 300
ALGORITHM DESCRIPTION 301
ERROR ANALYSIS 302
NUMERICAL EXAMPLES 303
CONCLUSIONS 305
REFERENCES 305
CHAPTER 49. A STUDY ON THE MINIMAL-TTME CONTROL PROBLEM OF A QUANTIZED LINEAR DISCRETE SYSTEM WITH RATIONAL COEFFICIENTS 306
1. INTRODUCTION 306
2. MINIMAL - TIME CONTROL OF DISCRETE QUANTIZED LINEAR CONTROL SYSTEMS WITH RATIONAL COEFFICIENTS 306
CHAPTER 50. PREDICTIVE CONTROL OF SYSTEMS WITH MULTIPLEXED MEASUREMENTS 312
Abstract 312
1 Introduction 312
2 System Model 313
3 Predictive Control 313
4 Multiplexing Algorithm 314
5 Simulations 315
6 Conclusions 316
References 316
Chapter 51. Real-Time Expert Intelligent Control System REICS 318
INTRODUCTION 318
ARCHITECTURE AND KNOWLEDGE REPRESENTATION OF REICS 318
INFERENCE MECHANISM OF REICS 320
SYSTEM SIMULATION & APPLICATION
CONCLUDING REMARK 323
REFERENCES 323
Chapter 52. Control Environment Implementation Issues- with Case Studies 324
Introduction 324
Case Studies 327
Conclusions 329
References 329
CHAPTER 53. REAL-TIME CELL CONTROL FOR FLEXIBLE MANUFACTURING 330
INTRODUCTION 330
THE UniSet ENVIRONMENT 331
OBJECT ORIENTED CELL REPRESENTATION APPROACH 332
TASK INITIATION DIAGRAMS 333
CONCLUSION 334
Reference 336
CHAPTER 54. THE DIGITAL CONTROL SYSTEM REALIZATION OFA SHORT RANGE SURFACE TO AIR MISSILE 338
INTRODUCTION 338
CONFIGURATION OF CONTROL SYSTEM 338
HARDWARE DESIGN AND IMPLEMENTATION 340
REAL TIME HILS 342
CONCLUSION 343
REFERENCE 343
Chapter 55. Continuation Method for Dynamic Economic Load Dispatch with Emission Constraints 344
INTRODUCTION 344
FORMULATION 344
CONTINUATION METHOD 345
CONCLUSIONS 348
REFERENCES 348
CHAPTER 56. REAL-TIME ARCHITECTURE OF AN ACTIVE NOISE ATTENUATION SYSTEM USING MICROPROCESSOR DSP96002 350
1. INTRODUCTION 350
2. ACTIVE NOISE ATTENUATION CONTROLLER 350
3. ROBUST RLS ALGORITHM 352
4. ALGORITHM OF AN ACTIVE NOISECONTROL SYSTEM 353
5. ARCHITECTURE OF AN ACTIVE NOISE ATTENUATION SYSTEM 353
6. EXPERIMENTAL RESULTS. 355
7. CONCLUSIONS 355
REFERENCE 355
CHAPTER 57. A STUDY ON NONLINEAR ROBUST ADAPTIVE CONTROL SYSTEM DESIGN OF INDUSTRIAL ROBOTIC MANIPULATOR 356
1. INTRODUCTION 356
2. DYNAMICS OF ROBOT MANIPULATOR 356
3. ROUBST ADAPTIVE CONTROL OF THE MANIPULATOR 357
4. SIMULATION 360
5.CONCLUSION 361
REFERENCE 361
CHAPTER 58. AN OBJECT-ORIENTED CONCEPTION OF A REAL-TIME CONTROL OF FMS 362
INTRODUCTION 362
THE DESIGN OF AN OBJECT DATA-BASE WITH A PROBLEM ORIENTATION TO FMS 362
PROCESS KNOWLEDGE RULES 364
PRODUCTION PLAN 365
EXPERT SYSTEM 365
TEMPORAL LOGIC AS AN ASSERTION LANGUAGE FOR SPECIFICATION OF SYSTEM'S BEHAVIOUR 366
CONCLUSIONS 368
REFERENCES 368
AUTHOR INDEX 370
KEYWORD INDEX 372