Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation

2003 ◽  
Vol 125 (2) ◽  
pp. 205-214 ◽  
Author(s):  
Saghir Munir ◽  
Wayne J. Book
Keyword(s):  
Control Strategies ◽  
Bilateral Teleoperation ◽  
Control Loop ◽  
Real Time Control ◽  
Similar System ◽  
Windows Nt ◽  
Control Techniques ◽  
Wave Variables ◽  
Time Control ◽  
Two Degree Of Freedom

This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications, it is required that the control loop be closed through a time delayed network. This paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented on a windows NT based computer) of a similar system.

Development of Brushless D.C. Motor Drive System for Teaching Purposes Using Various PWM Control Techniques

2012 ◽  
Vol 49 (3) ◽  
pp. 210-231 ◽  
Author(s):  
Nadia Tadrist ◽  
Houcine Zeroug ◽  
Boussad Boukais
Keyword(s):  
Student Satisfaction ◽  
Test Bench ◽  
Control Strategies ◽  
Motor Drive ◽  
Real Time Control ◽  
Matlab Simulink ◽  
Control Techniques ◽  
Time Control ◽  
Drive Control ◽  
Motor Drive System

In this paper, a test bench was developed for teaching purposes to enhance power electronics and real time control of a brushless d.c. motor. Particular emphasis was placed on PWM techniques and theoretical signal generation using a MATLAB/Simulink environment and experimentally with a DSP programming kit. First, a model was developed in MATLAB/Simulink derived from electrical and mechanical equations for the 120° mode. The control strategies implemented involved two PWM techniques, namely soft and hard switching. The system was built in such a way that students are able to carry out modelling and confirm their results through the test bench using these techniques. The approach used has been effective in generating student satisfaction. Improvements in student learning are evident with regard to the drive control applications, either as a variable speed drive or in embedded systems.

Pollution based real time control strategies for combined sewer systems

1997 ◽  
Vol 36 (8-9) ◽  
pp. 331-336 ◽  
Author(s):  
Gabriela Weinreich ◽  
Wolfgang Schilling ◽  
Ane Birkely ◽  
Tallak Moland
Keyword(s):  
Real Time ◽  
Control Strategies ◽  
Ammonia Nitrogen ◽  
Simple Extension ◽  
Real Time Control ◽  
Time Control ◽  
Sewer Systems ◽  
Receiving Waters ◽  
Tunnel System

This paper presents results from an application of a newly developed simulation tool for pollution based real time control (PBRTC) of urban drainage systems. The Oslo interceptor tunnel is used as a case study. The paper focuses on the reduction of total phosphorus Ptot and ammonia-nitrogen NH4-N overflow loads into the receiving waters by means of optimized operation of the tunnel system. With PBRTC the total reduction of the Ptot load is 48% and of the NH4-N load 51%. Compared to the volume based RTC scenario the reductions are 11% and 15%, respectively. These further reductions could be achieved with a relatively simple extension of the operation strategy.

scholarly journals Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Nenad Muškinja ◽  
Matej Rižnar
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Design Approach ◽  
Control Loop ◽  
Real Time Control ◽  
Laboratory Setup ◽  
Time Control ◽  
Beam System ◽  
Ball Velocity ◽  
Ball And Beam System

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

scholarly journals Development of a Multi-Architecture and Multi-Application Hybrid Vehicle Design and Management Tool

Energies ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 3185 ◽  
Author(s):  
Shiyu Gan ◽  
Daniela Chrenko ◽  
Alan Kéromnès ◽  
Luis Le Moyne
Keyword(s):  
Combustion Engine ◽  
Control Strategies ◽  
Object Oriented Programming ◽  
Management Tool ◽  
Hybrid Architecture ◽  
Real Time Control ◽  
Sustainable Mobility ◽  
Hybrid Architectures ◽  
Time Control ◽  
Hybrid Solutions

Hybrid electric vehicles (HEVs) are very promising sustainable mobility solutions. Series, parallel and series-parallel (SP) seem to be three most promising architectures among the multitude of hybrid architectures, and it is possible to find them in a multi-applications such as the motorcycles, family-cars, hybrid city busses and sport cars. It is import to have a well configured model in order to develop the different control strategies (CsTs) for each application. Therefore, a multi-architecture/multi-application (MAMA) approach capable of identifying the most energy efficient hybrid architecture considering both the dimensions of key components: electric motor (EM), battery, internal combustion engine (ICE) and the optimal control is presented. Basis of the model is the energetic macroscopic representation (EMR), which has been combined with object oriented programming (OOP) in order to enhance its modularity and reuse capabilities. The obtained results show, that different hybrid architectures are most adapted for different applications. Moreover, the robustness of the results using real time control algorithms are studied, showing that CsT matters. The obtained results contribute to simplify and harmonize the design of hybrid solutions for multiple applications.

Dynamic modeling, system identification and comparative study of various control strategies for a spatial parallel manipulator

2021 ◽  
pp. 095965182110320
Author(s):  
Mervin Joe Thomas ◽  
Shoby George ◽  
Deepak Sreedharan ◽  
ML Joy ◽  
AP Sudheer
Keyword(s):  
Real Time ◽  
Parallel Manipulator ◽  
Control Strategies ◽  
Proportional Integral Derivative ◽  
Real Time Control ◽  
Model Predictive Controller ◽  
End Effector ◽  
Proportional Integral ◽  
Time Control ◽  
Predictive Controller

The significant challenges seen with the mathematical modeling and control of spatial parallel manipulators are its difficulty in the kinematic formulation and the inability to real-time control. The analytical approaches for the determination of the kinematic solutions are computationally expensive. This is due to the passive joints, solvability issues with non-linear equations, and inherent kinematic constraints within the manipulator architecture. Therefore, this article concentrates on an artificial neural network–based system identification approach to resolve the complexities of mathematical formulations. Moreover, the low computation time with neural networks adds up to its advantage of real-time control. Besides, this article compares the performance of a constant gain proportional–integral–derivative (PID), variable gain proportional–integral–derivative, model predictive controller, and a cascade controller with combined variable proportional–integral–derivative and model predictive controller for real-time tracking of the end-effector. The control strategies are simulated on the Simulink model of a 6-degree-of-freedom 3-PPSS (P—prismatic; S—spherical) parallel manipulator. The simulation and real-time experiments performed on the fabricated manipulator prototype indicate that the proposed cascade controller with position and velocity compensation is an appropriate method for accurate tracking along the desired path. Also, training the network using the experimentally generated data set incorporates the mechanical joint approximations and link deformities present in the fabricated model into the predicted results. In addition, this article showcases the application of Euler–Lagrangian formalism on the 3-PPSS parallel manipulator for its dynamic model incorporating the system constraints. The Lagrangian multipliers include the influence of the constraint forces acting on the manipulator platform. For completeness, the analytical model results have been verified using ADAMS for a pre-defined end-effector trajectory.

Intelligent Aquaculture Monitoring System Based on Fieldbus

2013 ◽  
Vol 853 ◽  
pp. 646-651
Author(s):  
Ling Zhou ◽  
Ying Xing
Keyword(s):  
Control Strategies ◽  
Test Results ◽  
Real Time Control ◽  
Management Platform ◽  
Time Control ◽  
Database Server ◽  
The Status ◽  
Environment Control ◽  
User Friendly ◽  
Practical Measure

This paper analyses the status of aquiculture in China and gives out some of its potential problems. In order to over these problems, Industrial fieldbus and Intranet technology are used in this paper to achieve the hardware and software design, as well as control strategies for factory aquaculture. It applies WEB server, database server and browser to establish the management platform for environment control and production process. The whole system was successfully verified at Zhenjiang production base. Through a real-time control of dissolved oxygen, temperature and PH in pond, this system stabilizes these parameters at each own optimum values, and dramatically improves the overall productivity. The test results show that this system is easy-operated and user friendly, it provides a direct and practical measure for aquiculture, and saves energy as well.

Performance evaluation of a full-scale advanced phase isolation ditch process by using real-time control strategies

2014 ◽  
Vol 31 (4) ◽  
pp. 611-618 ◽  
Author(s):  
Hyosoo Kim ◽  
Yejin Kim ◽  
Minsoo Kim ◽  
Wenhua Piao ◽  
Jeasung Gee ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Real Time ◽  
Control Strategies ◽  
Full Scale ◽  
Real Time Control ◽  
Time Control ◽  
Advanced Phase

Astlingen – a benchmark for real time control (RTC)

2018 ◽  
Vol 2017 (2) ◽  
pp. 552-560 ◽  
Author(s):  
Manfred Schütze ◽  
Maja Lange ◽  
Michael Pabst ◽  
Ulrich Haas
Keyword(s):  
Real Time ◽  
Preliminary Analysis ◽  
Control Strategies ◽  
Treatment Plant ◽  
Drainage System ◽  
Real Time Control ◽  
Sewer System ◽  
Time Control ◽  
System 2 ◽  
Water Association

Abstract This contribution serves two purposes. (1) It presents an updated version of the Astlingen example developed by the working group ‘Integral Real Time Control’ of the German Water Association (DWA), which serves as a benchmark example for the setup and evaluation of real time control strategies. As this benchmark is also intended for educational use, it demonstrates a simple RTC algorithm, illustrating the main concepts of RTC of drainage system. (2) The paper also encourages the preliminary analysis of the potential feasibility and benefit of a temporal increase of inflow to the wastewater treatment plant (WWTP) before analysing the WWTP behaviour in detail. For the present example, RTC within the sewer system alone led to almost the same reduction of overflow volume as permitting the inflow to the WWTP to be increased for 6 h within any 24 h, if at all permitted.

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