The LBT real-time based control software to mitigate and compensate vibrations

2010 ◽  
Author(s):  
J. Borelli ◽  
J. Trowitzsch ◽  
M. Brix ◽  
M. Kürster ◽  
W. Gässler ◽  
...  
Keyword(s):  
Real Time ◽  
Control Software

A Model-Based Toolchain to Verify Spatial Behavior of Cyber-Physical Systems

2016 ◽  
Vol 13 (1) ◽  
pp. 40-52 ◽  
Author(s):  
Peter Herrmann ◽  
Jan Olaf Blech ◽  
Fenglin Han ◽  
Heinz Schmidt
Keyword(s):  
Real Time ◽  
Physical Environment ◽  
Spatial Model ◽  
Physical Space ◽  
Cyber Physical Systems ◽  
Spatial Behavior ◽  
Model Checker ◽  
Control Software ◽  
Physical Systems ◽  
Model Based

A method preserving cyber-physical systems to operate safely in a joint physical space is presented. It comprises the model-based development of the control software and simulators for the continuous physical environment as well as proving the models for spatial and real-time properties. The corresponding toolchain is based on the model-based engineering tool Reactive Blocks and the spatial model checker BeSpaceD. The real-time constraints to be kept by the controller are proven using the model checker UPPAAL.

Temporally Consistent Simulation of Robots and Their Controllers

2014 ◽  
Author(s):  
James R. Taylor ◽  
Evan M. Drumwright ◽  
Gabriel Parmer
Keyword(s):  
Real Time ◽  
Collision Detection ◽  
Robot Control ◽  
Status Quo ◽  
Robot Dynamics ◽  
Control Software ◽  
Physical Systems ◽  
Detection Algorithms ◽  
Simulation Based ◽  
The Status

Researchers simulate robot dynamics to optimize gains, trajectories, and controls and to validate proper robot operation. In this paper, we focus on this latter application, which allows roboticists to verify that robots do not damage themselves, the environments they are situated within, or humans. In current simulations, robot control code runs in lockstep with the dynamics integration. This design can result in code that appears viable in simulation but runs too slowly on physical systems. Addressing this problem requires overcoming significant challenges that arise due both to the speed of dynamic simulation running time (simulations may run 1/10 or 1/100 of real-time or slower) and to the variability of the running times (e.g., the speed of collision detection algorithms depends on pairwise object proximities). These difficulties imply that one must not only slow the control software but also scale controller running speeds dynamically. We describe the numerous architectural and OS-level technical challenges that we have overcome to yield temporally consistent simulation for modeling robots that use only real-time processes, and we show that our system is superior to the status quo using simulation-based experiments.

The Design of Real-Time Control System Based on Single-Inverted Pendulum

2013 ◽  
Vol 850-851 ◽  
pp. 553-556
Author(s):  
Qun Yong Ou
Keyword(s):  
Control System ◽  
Control Problem ◽  
Real Time ◽  
Linear Model ◽  
Inverted Pendulum ◽  
Control Algorithms ◽  
Control Board ◽  
Real Time Control ◽  
Control Software ◽  
Time Control

An inverted pendulum is a classic control problem and is widely used as a benchmark for testing various control algorithms. First, this paper analyse the dynamic and non-linear model of the inverted pendulum, then focus on the real-time control of the inverted pendulum, we developed real-time control software for the single-stage inverted pendulum by using Visual C++ 2010, its mainly operate API functions to control board and implement various control algorithms.

scholarly journals Adaptive Gearshift Strategy Based on Generalized Load Recognition for Automatic Transmission Vehicles

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Yulong Lei ◽  
Ke Liu ◽  
Yuanxia Zhang ◽  
Yao Fu ◽  
Hongbo Liu ◽  
...  
Keyword(s):  
Real Time ◽  
Automatic Transmission ◽  
External Environment ◽  
Load Condition ◽  
Linear Interpolation ◽  
Control Software ◽  
Memory Space ◽  
Time Performance ◽  
Vehicle Load ◽  
Driving Condition

Recognizing various driving conditions in real time and adjusting control strategy accordingly in automatic transmission vehicles are important to improve their adaptability to the external environment. This study defines a generalized load concept which can comprehensively reflect driving condition information. The principle of a gearshift strategy based on generalized load is deduced theoretically, adopting linear interpolation between the shift lines on flat and on the largest gradient road based on recognition results. For the convenience of application, normalization processing is used to transform generalized load results into a normalized form. Compared with the dynamic three-parameter shift schedule, the complex tridimensional curved surface is not needed any more, so it would reduce demands of memory space. And it has a more concise expression and better real-time performance. For the target vehicle, when driving uphill with gradient 11%, the vehicle load is about 280~320 Nm; when driving downhill, the value is around −340~−320 Nm. Road tests show that generalized vehicle load keeps near 0 in zero-load condition after calibration, and an 11% grade can be estimated with less than 1.8% error. This method is convenient and easy to implement in control software and can identify the driving condition information effectively.

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