Fleming / Jones Algorithms and Architectures for Real-Time Control 1991

1. Auflage 2014
ISBN: 978-1-4832-9825-2
Verlag: Elsevier Science & Techn.
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 274 Seiten, Web PDF

Reihe: IFAC Workshop Series

Computer scientists have long appreciated that the relationship between algorithms and architecture is crucial. Broadly speaking the more specialized the architecture is to a particular algorithm then the more efficient will be the computation. The penalty is that the architecture will become useless for computing anything other than that algorithm. This message holds for the algorithms used in real-time automatic control as much as any other field. These Proceedings will provide researchers in this field with a useful up-to-date reference source of recent developments.

Autoren/Hrsg.

Fleming, P. J.

Jones, D. I.

Inhaltsverzeichnis

1;Front Cover;1
2;Algorithms and Architectures for Real-Time Control;4
3;Copyright Page;5
4;PREFACE;8
5;Table of Contents;10
6;CHAPTER 1. NEURAL NETWORKS FOR NONLINEA RADAPTIVE CONTROL;14
6.1;INTRODUCTION;14
6.2;NONLINEAR MODELLING;15
6.3;IDENTIFICATION
;15
6.4;NEURAL ADAPTIVE CONTROL;18
6.5;CONCLUSION;22
6.6;REFERENCES;23
7;CHAPTER 2. DESIGN OF MODEL-REFERENCE NEURAL CONTROLLERS USING STEP-RESPONSE DATA;28
7.1;1. INTRODUCTION;28
7.2;MODEL-REFERNCE NEURAL CONTROLLER;28
7.3;ILLUSTRATIVE EXAMPLE;29
7.4;CONLUSION;30
7.5;REFERNCES;30
8;CHAPTER 3. A REAL-TIME IMPLEMENTATION OF A MULTI-LAYER PERCEPTRON WITH AUTOMATIC TUNING OF LEARNING PARAMETERS;34
8.1;INTRODUCTION;34
8.2;THE CLASSICAL BACK-PROPAGATION ALGORTHM;35
8.3;WHY TO SPEED-UP THE LEARNING PHASE;35
8.4;THE PROPOSED STRATEGY;35
8.5;THE HARDWARE STRUCTURE;36
8.6;CONCLUSIONS;37
8.7;REFERENCES;38
9;CHAPTER 4. A NEURAL NETWORK CONTROLLER;40
9.1;INTRODUCTION;40
9.2;A NEURAL NETWORKS'S APPOACH TO PID AUTOTUNING;40
9.3;REAL-TIME IMPLEMENTATION;42
9.4;RESULTS;43
9.5;CONLUSION;45
9.6;ACKNOWLEDGEMENTS;45
9.7;REFERENCS;45
10;CHAPTER 5. COMBINING ADAPTIVE AND NEURAL CONTROL;46
10.1;INTODUCTION;46
10.2;INTELLIGENCE;46
10.3;ARTIFICIAL INTELLIGENCE;46
10.4;NEURAL INTELLIGENCE;47
10.5;CONTROL;47
10.6;ADAPTIVE CONTROL;47
10.7;NEURAL CONTROL;48
10.8;CONCLUSION;48
10.9;ACKNOWLEDGEMENT;49
10.10;REFERENCS;49
11;CHAPTER 6. SYSTOLIC ARCHITECTURE FOR PREDICTIVE CONTROL;50
11.1;1 INTRODUCTION;50
11.2;2 BASIC ALGORITHM;50
11.3;3 MBPC DESIGN;52
11.4;4 SYSTOLIC IMPLEMENTATION;53
11.5;5 CONCLUSION;54
11.6;REFERENCES;54
12;CHAPTER 7. A LINEAR SYSTOLIC ALGORITHM FOR THE TRIAGULAR STEIN1;56
12.1;INTRDUCTION;56
12.2;SEQUENTIAL SOLUTION OF STEIN EQUATION;56
12.3;THE BIDIMENSIONAL SYSTOLIC ARRAY;57
12.4;THE COLUMN SYSTOLIC ARRAY;57
12.5;THE ROW SYSTOLIC ARRAY;58
12.6;SIZE INDEPENDENT ROW ALGORITHM;59
12.7;REFERENCES;60
13;CHAPTER 8. KALMAN FILTERING : A SURVEY OF PARALLEL PROCESSING ALTERNATIVES;62
13.1;1. INTRODUCTION;62
13.2;2. PARALLEL ARCHITECTURES;62
13.3;3. PARALLEL ALGORITHMS;64
13.4;4. Summary;68
13.5;5. References;68
14;CHAPTER 9. A NOVEL BROADCAST ARCHITECTURE FOR THE SQUARE ROOT KALMAN FILTER;70
14.1;INTRODUCTION;70
14.2;A BROADCAST ARRAY FOR OR DECOMPOSITION;70
14.3;A NOVEL BROADCAST ARCHITECTURE FOR THE SRIP;71
14.4;CONCLUSION;72
14.5;REFERENCES;73
15;CHAPTER 10. A REAL-TIME REACTIVE MODEL OF CONTROL OF AN AUTONOMOUS ROBOT;76
15.1;INTRODUCTION;76
15.2;WHY FORMAL SPECIFICATIONS;76
15.3;BEHAVIOUR, FUNCTION AND CONTLOR;77
15.4;THE REAL-TIME REACTIVE MODLE;77
15.5;THE LANGUAGE-STATECHARTS;77
15.6;BEHAVIOURAL SPECIFICATION OF AN AMR USING STATECHARTS;78
15.7;SOME DESIRABLE EXTENSIONS TO STATECHARTS;79
15.8;CONCLUSSIONS;79
15.9;REFERENCES;79
15.10;ACNOWLEDGEMENTS;80
16;CHAPTER 11. ADAPTIVE ACTIVE CONTROL FOR ROBOTS AND ARTICULATED MACHINERY;82
16.1;1. INTRODUCTION;82
16.2;2. ACTIVE FORCE CONTROL;82
16.3;3. ADAPTIVE CONTROL;83
16.4;4. COMBINED ACTIVE/ADAPTIVE CONTROL;83
16.5;5. EXAMPLE - SINGLE DEGREE OF FREE-DOM SYSTEM;83
16.6;CONCIUSION;84
16.7;REFERENCES;84
17;CHAPTER 12. A HARDWARE ACCELERATOR FOR A ROBOT ARM MULTIVARIABLE SELF-TUNING CONTROL;86
17.1;INTRODUCTION;86
17.2;THE ROBOT ARM MOTION CONTROL PROBLEM;87
17.3;THE IDENTIFICATION ALGORITHM;87
17.4;THE CONTROL ALGORITHM;88
17.5;THE HARDWARE ACCELERATOR ARCHITECTURE;90
17.6;IMPLEMENTATION;90
17.7;CONCLUSION;92
17.8;ACKNOWLEDGEMENTS;92
17.9;REFERENCES;92
18;CHAPTER 13. TRANSPUTER-BASED REAL-TIME PARALLEL AND NETWORK INFERENTIAL CONTROL OF ROBOTS;94
18.1;1. INTRODUCTION;94
18.2;2. OPTIMAL INFERENTIAL CONTROL (OIC);95
18.3;3. TRANSPUTER-BASDE PARALLEL ROBOT CONTROLLER;95
18.4;4. EXPERIMENTAL RESULTS AND CONCLUSIONS;96
18.5;5. REFERENCES;96
19;CHAPTER 14. AN ADAPTIVE IMPEDANCE CONTROLLER FOR ROBOT MANIPULATORS;100
19.1;INTRODUCTION;100
19.2;ROBOT MODEL AND PROBLEM FORMULATION;101
19.3;ADAPTIVE IMPEDANCE CONTROLLER;101
19.4;DISCRETIZATION;103
19.5;SIMULATION RESULTS;103
19.6;CONLUSIONS;105
19.7;REFERENCES;105
20;CHAPTER 15.THE APPLICATION OF PACE WITHIN CONTROL;106
20.1;INTRODUCTION;106
20.2;PACE BACKGROUND;106
20.3;PACE ARCHITECTURE;107
20.4;PACE CONTROL;107
20.5;PACE APPLICATION IN CONTROL;107
20.6;CONCLUTIONS;108
20.7;REFERENCES;108
21;CHAPTER 16. AN OPEN DSP-BASED SYSTEM FOR REAL-TIME CONTROL ALGORITHMS;112
21.1;INTRODUCTION;112
21.2;HARDWARE SET-UP;112
21.3;SOFTWARE ARCHITECTURE;113
21.4;FEATURSE AND PERFORMANCES;115
21.5;APPLICATIONS;115
21.6;FUTURE DEVELOPMMENTS;117
21.7;AKNOWLEDGEMSENT;117
21.8;REFERENCES;117
22;CHAPTER 17. FAST LADDER-LATTICE IDENTIFICATION ARCHITECTURE WITH NUMERICALLY ROBUST TRACKING OF PARAMETERS;118
22.1;INTRODUCTION;118
22.2;RLS ALGORITHMS;118
22.3;SIMULATIONS;121
22.4;CONCLUSION
;123
22.5;References;123
23;CHAPTER 18. REAL-TIME CONTROL OF AN ELECTROMAGNETIC SUSPENSION SYSTEM USING ADIGITAL SIGNAL PROCESSOR;124
23.1;1. INTRODUCTION;124
23.2;2. DYNAMICS AND CONTROL OF AN ELECTROMAGNETIC SUSPENSION SYSTEM;124
23.3;3. TMS 32020 DIGITAL SIGNAL PROCESSOR;125
23.4;4. DSP-BASED STATE FEEDBACK CONTROLLER;125
23.5;5. SELF-TUNING CONTROLLER;125
23.6;6. CONCLUSIONS;126
23.7;7. REFERENCES;126
24;CHAPTER 19. SINGLE CHIP IMPLEMENTATION OF A REAL-TIME VARIABLE STRUCTURE CONTROLLER;130
24.1;1. Introduction;130
24.2;2. Variable-Structure Control Algorithm;131
24.3;3. A Minimum RISC Architecture;131
24.4;4. Programming Model;132
24.5;5. Instruction Set and Format;132
24.6;ß. Hardware Aspects;132
24.7;7. Machine Algorithm and Data;133
24.8;8. Conlusion: Advantage of this Realisation;133
24.9;References;133
25;CHAPTER 20. IMPLEMENTATION ISSUES OF TRANS-RTXC ON THE TRANSPUTER;136
25.1;INTRODUCTION;136
25.2;TRANS-RTXC;137
25.3;BASIC KERNEL LAYOUT;137
25.4;DESIGN DECISIONS;139
25.5;THE ROUTING MECHANISM;139
25.6;DISTRIBUTED OPERATION;140
25.7;MONITORING AND DEBUGGING;141
25.8;COMPILER RELATED DIFFEREISCES;141
25.9;PERFORMANCE;141
25.10;CONCLUSION;141
25.11;REFERENCES;141
26;CHAPTER 21. REACTIVE SCHEDULING FOR HARD REAL TIME SYSTEMS;142
26.1;INTRODUCTION;142
26.2;A TEMPORAL PRIMITIVE;143
26.3;PROLONGED EVENTS;144
26.4;INTEGRATION OF THE SCHEDULER;146
26.5;CONCLUSIONS;147
26.6;REFERENCES;147
27;CHAPTER 22. PARALLEL COMPUTATION OF A PARAMETER ESTIMATOR;148
27.1;INTRODUCTION;148
27.2;SISTOLIC ARRAY APPROACH;148
27.3;INTRINSIC PARALLELISM;149
27.4;APPLICABLE PARALLELISM;150
27.5;RESTRICTED COMMUNICATION METHOD;150
27.6;APLICABLE PARALLELISM;150
27.7;RESTRICTED COMMUNICATION METHOD;150
27.8;EXPERIMENTAL WORK;152
27.9;CONCLUSIONS;153
27.10;ACKNOWLEDGEMENTS;153
27.11;REFERENCES;153
28;CHAPTER 23. A REVIEW OF FAILURE DETECTION, FAULT DIAGNOSIS AND RECONFIGURATION ALGORITHMS FOR REAL TIME AIRCRAFT FLIGHT CONTROL SYSTEMS;154
28.1;INTRODUCTION;154
28.2;SELF-REPAIRING FLIGHT CONTROL SYSTEMS;154
28.3;MONITORS;155
28.4;DETECTORS;156
28.5;DIAGNOSTICIANS;156
28.6;NUMERICAL SIMULATION RESULTS;157
28.7;THE REPAIR, RECONFIGRATION/REDESIGN SYSTEM;158
28.8;CONCLUSIONS;159
28.9;REFERENCES;159
29;CHAPTER 24. DEVELOPING RECONFIGURABLE DISTRIBUTED HARD REAL-TIME CONTROL SYSTEMS IN STER;160
29.1;INTRODUCTION;160
29.2;STER'S PROGRAMMING CONCEPTS;160
29.3;MODULE AND CONFIGURATION PROGRAMMING;163
29.4;CONCLUSION;165
29.5;REFERENCES;165
30;CHAPTER 25. FAST, SELF-ORGANIZING CONTROL FOR INDUSTRIAL PROCESSES;166
30.1;INTRODUCTION;166
30.2;SOFLC APPLICATION TO INDUSTRIAL PROCESSES;166
30.3;THE ALGORITHM IMPLEMENTATION;167
30.4;CONCLUSION;168
30.5;REFERENCES;169
31;CHAPTER 26. MODEL-BASED DIAGNOSIS OF DYNAMI C PROCESSES : A MIXED QUALITATIVE/QUANTITATIVE APPROACH;172
31.1;1. Introduction;172
31.2;2. Example;172
31.3;3. Qualitative simulation with QSMI;173
31.4;4. QDIAG's main architecture;174
31.5;5. Model Classification;174
31.6;6. Measurement Interpretation;175
31.7;7. Matching;176
31.8;8. QDIAG at work;177
31.9;9. Discussion and Conclusion;177
31.10;References;177
32;CHAPTER 27. MODELING OF FACTORY AUTOMATION SYSTEM BY OBJECT-ORIENTED APPROACH;178
32.1;INTRODUCTION;178
32.2;PHYSICAL MODELING;178
32.3;LOGICAL MODELING;179
32.4;CASE-STUDY;180
32.5;CONCLUSION;183
32.6;REFERENCE;183
33;CHAPTER 28. PARALLEL ALGORITHMS FOR THE ANALYSIS OF 2D AND RELATED SYSTEMS;184
33.1;INTRODUCTION;184
33.2;BACKGROUND;185
33.3;STABILITY THEORY;185
33.4;HYPERCUBSE;186
33.5;ALGORITHSMS;187
33.6;CONCLUSISON;188
33.7;REFERENCES;189
34;CHAPTER 29. REAL-TIME PERFORMANCE MONITORING BASED ON ARMA MODEL ESTIMATION;190
34.1;1. INTRODUCTION;190
34.2;2. THE INFORMATON PREPROCESSOR;190
34.3;3. THE KNOWLEDGE-BASE;193
34.4;4. RESULTS;194
34.5;5. CONCLUSIONS;194
34.6;REFERENCES;194
35;CHAPTER 30 MODELS AND ALGORITHMS OF SOFTWARE OPTIMIZATION;196
35.1;INTRODUCTION;196
35.2;SYMBOLS USED;196
35.3;GENERAL APPROACHES;196
35.4;OPTIML ARRAYA LOCATION;197
35.5;TEXT OPTIMIZATION FOR PROGRAMS WHICH REALIZE LINERA ALGORITHMS;197
35.6;TEXT OPTIMIZATION FOR PROGRAMS WHICH REALIZE FINITE ALGORITHMS;197
35.7;OPTIMIZATION OF PROGRAMS HICH REALIZE INFINITE ALGORITHMS;198
35.8;MIXED ALGORITHMS OPTIMIZATION;198
35.9;SUMMARY;198
35.10;REFERENCES;198
36;CHAPTER 31. MULTI-PROCESSOR ARCHITECTURE FOR IMPLEMENTATION OF AN AUTOMATIC VOLTAGE REGULATOR;200
36.1;INTODUCTION;200
36.2;MESURMENT SYSTEM;200
36.3;SELF-TUNING VOLTAGE REGULATOR;202
36.4;TEST RESULTS;203
36.5;CONCLUSION;204
36.6;REFERENCES;204
37;CHAPTER 32. FAULT TOLERANT PARALLEL PROCESSING ARCHITECTURES FOR GAS TURBINE ENGINE CONTROL;206
37.1;INTRODUCTION;206
37.2;DEVELOPMENT SYSTEM;206
37.3;FAULT TOLERANTCONSIDERATIONS;207
37.4;SYNCHRONOUS OR ASYNCHRONOUS?;207
37.5;PROCESSOR TOPOLOGIES INVESTIGATED;208
37.6;CONCLUSION;211
37.7;ACKNOWLEDGEMENTS;211
37.8;REFERENCES;211
38;CHAPTER 33. COMPUTER CONTROL FOR STEERING AND STABILISATION;212
38.1;INTRODUCTION;212
38.2;2. Digital Control Scheme;212
38.3;3. Multiple Sampling;213
38.4;4. Control System Arrangement;213
38.5;5. Closed Loop Model;213
38.6;6. Stability Theory;214
38.7;7. Minimum Boundry Image Functions;214
38.8;8. Relative Stability;215
38.9;9. Simulation Results;215
38.10;10. CONCLUSION;215
38.11;REFERENCES;215
39;CHAPTER 34. PROGRESS IN THE DEVELOPMENT OF PARALLEL ADAPTIVE/SELF TUNING CONTROLLERS;220
39.1;INTRODUCTION;220
39.2;BACKGROUND;220
39.3;SYSTOLIC ARRAY BASED APPROACH;221
39.4;TRANSPUTER BASED APROACH;222
39.5;CONCLUSIONS;224
39.6;REFERENCES;224
40;CHAPTER 35. ON THE CHOICE OF WEIGHTS IN PARALLEL SCHEMES FOR ADAPTIVE ESTIMATION;226
40.1;1. INTRODUCTION;226
40.2;2. THE MULTIPLE FORGETTING APPROACH;226
40.3;3. THE WEIGHT SELECTION RULES;227
40.4;4. SIMULATION EXAMPLES;228
40.5;5. CONCLUDING REMARKS;230
40.6;ACKNOWLEDGESMENT;231
40.7;REFERENCES;231
41;CHAPTER 36. ROBUST DESIGN ON AN LQ MULTIVARIABLE IMPLICIT SELF-TUNING CONTROLLER USING GENERALIZED SECTOR THEORY. PART I : ON THE IMPLEMENTATION OF THE ALGORITHM;232
41.1;INTRODUCTION;232
41.2;2. MOTIVATIONS;232
41.3;3. THE IMPLICTIT LQ ALGORITHM;233
41.4;4. PRIMARY CONSIDERATIONS FOR THE ROBUST DESIGN;235
41.5;5. SIMULATION RESULTS;236
41.6;6. CONCLUSIONS;237
41.7;ACKNOWLEDGMENT;237
41.8;REFERENCES;237
42;CHAPTER 37. A REAL-TIME LANGUAGE BASED ON EXPLICIT TIMEOUTS;238
42.1;INTRODUCTION;238
42.2;A HYBRID APPROACH TO REAL-TIME LANGUAGE DESIGN
;239
42.3;TIMEOUT BLOCKS;240
42.4;RECOVER Y BLOCKS;241
42.5;IMPLEMENTING STRUTH;241
42.6;CONCLUSIOSN;243
42.7;REFERENCES;243
43;CHAPTER 38. THE USE OF TEMPORAL PETRI NETS IN THE SPECIFICATION AND DESIGN OF SYSTEMS WITH SAFETY IMPLICATIONS;244
43.1;INTRODUCTION;244
43.2;FORMAL TECHNIQUE: BRIEF SURVEY;244
43.3;PETRI NESTS AND TEMPORAL PETRI NESTS;245
43.4;CONTROL APPLICATION;246
43.5;DESIGN;249
43.6;CONCLUSION;249
43.7;REFERENCES;249
44;CHAPTER 39. REAL-TIME CONTROL OF BATCH PROCESS PLANT THROUGH TIMED PETRI NET MODELLING AND DYNAMIC OPTIMISATION;250
44.1;INTRODUCTION;250
44.2;CONTROL STRATEGY BASED ON TINED PETRI NET;250
44.3;PETRI NET THEORY AND MODELLING;250
44.4;THE K-SHORTEST PARHS OPTIMISATION;252
44.5;INTERPRETER;252
44.6;MODELLING AND SIMULATION OF A SINGLE-PRODUCT BATCH PLANT;253
44.7;CONCLUSION;254
44.8;REFERENCES;254
45;CHAPTER 40. AN ARCHITECTURE OF DATAFLOW LSP FOR PROGRAMMABLE CONTROLLERS;256
45.1;INTRODUCTION;256
45.2;LOGIC PROGRAMMING OF PC;256
45.3;FORMALIZATION OF LADDER LANGUAGE;257
45.4;LOSIC SOLVING BASED ON DATAFLOW;257
45.5;PERFORMANECE EVALUTION;260
45.6;CONCLUSION;260
45.7;REFERENCES;260
46;CHAPTER 41. PERFORMANCE STUDIES OF PARALLELE REAL-TIME CONTROLLERS;262
46.1;INTRODUCTION;262
46.2;MULTIPROCESSING;262
46.3;PARALLEL CONTROL LAW MAPPING;263
46.4;PERFORMANCE EVALUATION TOOLS;264
46.5;CONCLUDING REMARKS;267
46.6;ACKNOWLEDGEMENTS;267
46.7;REFERENCES;267
47;CHAPTER 42. A MULTIPLE TRANSPUTER TARGET TRACKER FOR A RANDOM SCENARIO;268
47.1;1 Introduction;268
47.2;2 Target Motion Model and State Estimation;268
47.3;3 Random Scenario and Performance Parameters;269
47.4;4 Transputer Implementation;271
47.5;5 Simulation Results;272
47.6;6 Conclusions;272
47.7;References;273
48;AUTHOR INDEX;274
49;KEYWORD INDEX;276