基于VME实时系统的机器人控制器研究

本文以“863”航天领域重点项目“舱外自由称动机器人系统”为背景，对基于VME实时系统的机器人控制器进行了初步研究。针对通用的关节型机器人，设计了基于VME实时系统的机器人控制器的基本方案，根据运动控制芯片LM628的特点，成功地将模糊自调整PID控制算法应用于控制器中，利用该机器人控制器成功地进行了有关的伺服控制实验，实验表明，基于VME实时系统的机器成功地进行了有关的伺服控制实验，实验表明，基于VME实时系统的机器体系具有良好的控制性能，并具有实时性强，通用性好，便于开发等特点。     

TMS320C30在液压伺服控制中的应用：液压负载模拟器控制器设计

液压负载模拟器被广泛应用于许多工程实践场合，随着控制律和加载对象的日趋复杂，对其伺服控制器的迭代速率和精度也提出更高的要求。本文结合伺服控制器的结构特点和目前国内ＤＳＰ芯片开发现状，设计了具有一定通用性结构的支持双ＣＰＵ的高速数字式伺服控制器，通过管理软件、支持软件和相应的管理硬件结构，使控制器操作简便、配置灵活，形成了具有二次开发能力的伺服控制器软、硬件平台，能够满足一大类高速高精度伺服控制的要求，并分析了控制器性能及相关因素，给出了在飞行模拟器液压操纵负荷系统中的实际应用结果。     

Profibus-DP总线技术及其在伺服传动中的应用

介绍了Profibus—DP总线技术和特点，设计出了由伺服控制器、S7—300PLC和ProTool组成的基于Profibus—DP总线的伺服控制系统，它具有结构简单、控制方便、维护容易等特点，并介绍了该系统中的伺服控制器和PLC的通讯过程及软件设计。     

伺服控制系统的计算机实现

以工业控制计算机作为人机界面及数据处理的主要手段，构建了伺服控制系统的核心部分，采用了计算机技术对控制器进行数字化处理，提高了系统的控制精度，简化了参数的调整过程。改善人机环境，达到操作的方便。     

高性能天线伺服控制器的研究与设计

伺服控制器是天线伺服控制系统的核心环节,经典的PID控制算法在整定时整定出的积分环节参数较大,很容易出现积分饱和,造成控制精度的降低;另一方面伺服系统中伺服控制器与主控计算机通过低速的ISA总线进行通信,无法满足控制器进行复杂的位置控制运算所要求的实时大信息量的数据传输.为此提出了伺服控制系统中采用滑模控制算法,减少了外部干扰和内部可变参数对系统的影响,提高了系统的鲁棒性.同时采用PCI总线通信,运用FPGA实现设计,数据通信能力显著提高.实验结果表明,采用该算法可以有效地避免了积分饱和所造成的控制精度降低,加快了系统响应速度,提高了伺服控制器的控制性能.     

基于DSP的数字伺服控制器设计

结合伺服控制系统在工业领域的实际应用情况,搭建了以TI公司TMS320F2812DSP为主控制芯片的数字伺服控制系统平台,采用了电流、速度、位置闭环控制策略,在控制算法上应用经典的PID控制。给出了该数字伺服控制器的功能,硬件设计及软件设计流程。经工程实践结果表明,该控制器具有控制精度高,灵活性好,可靠性高,对环境因素不敏感等特点,完全满足了复杂环境下对伺服控制系统的要求。     

混合模糊PID控制器在伺服控制系统中的应用

在分析了直流无刷电机伺服控制系统的基础上,提出了一种混合模糊PID跟踪控制器模型.该模糊PID控制器由3个并行的次模糊控制器组成,应用模糊算法在线自动整定PID参数;并利用Matlab/simulink建立仿真模型对模糊推理控制算法进行验证.仿真结果表明,混合模糊PID控制器的动静态特性优于传统单一的PID控制,对设计性能优良的伺服控制系统具有借鉴意义.     

SIMOTION D435在铜箔生产线电控系统中的应用

主传动为交流伺服的铜箔生产线电控系统，由西门子SIMOTION D435，TP270触摸屏和SINAMICS S120交流伺服控制器、张力传感器、张力放大器等构成。本文重点分析了以SIMOTION D435作为中心控制器设计的速度辊的速度控制，张力辊的张力闭环自动控制、动态补偿的实施、断箔报警连锁控制及电气一体化连锁控制等。     

DSP控制器在天线伺服系统中的应用

介绍了TMS320F240数字信号处理器的结构和基本特性，并对其应用于天线伺服控制系统位置环路的数字PID校正作了详细说明，阐述了DSP控制器应用于天线伺服控制系统位置环路控制，硬件电路简单，控制参数调整方便。     

基于X9312的航空摄影伺服控制器设计

介绍了数字电位计X9312的结构、功能及工作原理,并就某航空摄影系统中的伺服控制器,分别给出了开关及比例控制的硬件电路及软件流程.应用结果表明:该数字电位计实现了航空摄影伺服控制器电路数字化、自动化,提高了系统的可靠性,可推广应用于航空测试、控制、参数调节信号处理等系统中.     

Nonlinear robust control of a small-scale helicopter on a test bench

A nonlinear robust controller design procedure is presented, which is designed to simultaneously satisfy multiple conflicting closed-loop performance specifications. Significantly, a robust performance specification for the experimental system, developed for studying the attitude control of a small-scale helicopter in our previous work, is discussed quantitatively. The robust performance specifications and nominal multiple closed-loop performance specifications are conflicting. Use of the Convex Integrated Design (CID) method can provide, where feasible, a single closed-loop controller which satisfies a set of multiple conflicting performance specifications. However, the resultant controller has a complex form. Here, the standard CID method is extended to a more general control system framework to solve the conflicting simultaneous performance design problem. When compared with the standard CID design, the extended CID design procedure generates a relatively simple closed-loop controller. Finally, the synthesised controller is tested in simulation and is validated with an experimental small-scale test helicopter, demonstrating the performance of the proposed controller.     

Overall performance measurement in a supply chain: towards a supplier-prime manufacturer based model

This study deals with the supply chain (SC) overall performance expression. The developed idea concerns more particularly the performance of the manufactured products. Indeed, two companies or more contribute to the manufacturing of products that are generally assembled by the prime manufacturer company. Moreover, in the industrial practice, performance scorecards are defined with regard to each process; and the overall performance is neither expressed for each company, nor for the whole SC. We propose here to identify the SC overall performance to the combination of the performances of the different involved companies in the SC. Thus, in order to obtain a definition of such performance, we choose to focus first on the performance of the prime manufacturer. In this sense, the approach is based on the SCOR model for the handling of the main processes around the considered product manufacturing. The prime manufacturer performance is then defined as the aggregation of its involved processes?? performances. While the prime manufacturer performance is strongly dependent on the suppliers?? performance, we suggest the integration of the impacting supplier performance into the prime manufacturer scorecards. From an operational point of view, the MACBETH methodology is used to coherently express both processes and overall performances. More precisely, the Choquet aggregation integral operator is applied in order to model mutual interactions between processes. Finally, the expression of a bearing??s manufacturer performance illustrates the proposition.     

Assessing a mini‐application as a performance proxy for a finite element method engineering application

The performance of a large‐scale, production‐quality science and engineering application (‘app’) is often dominated by a small subset of the code. Even within that subset, computational and data access patterns are often repeated, so that an even smaller portion can represent the performance‐impacting features. If application developers, parallel computing experts, and computer architects can together identify this representative subset and then develop a small mini‐application (‘miniapp’) that can capture these primary performance characteristics, then this miniapp can be used to both improve the performance of the app as well as provide a tool for co‐design for the high‐performance computing community. However, a critical question is whether a miniapp can effectively capture key performance behavior of an app. This study provides a comparison of an implicit finite element semiconductor device modeling app on unstructured meshes with an implicit finite element miniapp on unstructured meshes. The goal is to assess whether the miniapp is predictive of the performance of the app. Single compute node performance will be compared, as well as scaling up to 16,000 cores. Results indicate that the miniapp can be reasonably predictive of the performance characteristics of the app for a single iteration of the solver on a single compute node. Published 2015. This article is a U.S. Government work and is in the public domain in the USA.     

Selecting a hashing algorithm

Hashing is so commonly used in computing that one might expect hash functions to be well understood, and that choosing a suitable function should not be difficult. The results of investigations into the performance of some widely used hashing algorithms are presented and it is shown that some of these algorithms are far from optimal. Recommendations are made for choosing a hashing algorithm and measuring its performance.     

Processing element design for a parallel computer

A study has been made of how cost-effectiveness due to the improvement of VLSI technology can apply to a scientific computer system without performance loss. The result is a parallel computer, ADENA (Alternating Direction Edition Nexus Array), with a core consisting of four kinds of VLSI chips, two for processor elements (PES) and two for the interprocessor network (plus some memory chips). An overview of ADENA and an analysis of its performance are given. The design considerations for the PEs incorporated in ADENA are discussed. The factors that limit performance in a parallel processing environment are analyzed, and the measures employed to improve these factors at the LSI design level are described. The 42.6 sq cm CMOS PEs reach a peak performance of 20 MFLOPS and a 256-PE ADENA 1.5 GFLOPS has been achieved and 300 to 400 MFLOPS for PDE applications     

Modelling a chlorination tower: a multiple model approach

This paper describes the modelling of an industrial chlorination tower by a multiple model approach. Two local model structures, local ARX and local Laguerre models, are considered for predicting the brightness of the pulp at the output of the tower. Real data are used to assess the performance of these local model structures. The results show that both types of local models can provide a satisfactory level of performance over a wide range of operating conditions. However, local Laguerre models can model this process using fewer parameters than the ARX one.     

Design and Prototype of a Performance Tool Interface for OpenMP

This paper proposes a performance tools interface for OpenMP, similar in spirit to the MPI profiling interface in its intent to define a clear and portable API that makes OpenMP execution events visible to runtime performance tools. We present our design using a source-level instrumentation approach based on OpenMP directive rewriting. Rules to instrument each directive and their combination are applied to generate calls to the interface consistent with directive semantics and to pass context information (e.g., source code locations) in a portable and efficient way. Our proposed OpenMP performance API further allows user functions and arbitrary code regions to be marked and performance measurement to be controlled using new OpenMP directives. To prototype the proposed OpenMP performance interface, we have developed compatible performance libraries for the Expert automatic event trace analyzer [17, 18] and the TAU performance analysis framework [13]. The directive instrumentation transformations we define are implemented in a source-to-source translation tool called OPARI. Application examples are presented for both Expert and TAU to show the OpenMP performance interface and OPARI instrumentation tool in operation. When used together with the MPI profiling interface (as the examples also demonstrate), our proposed approach provides a portable and robust solution to performance analysis of OpenMP and mixed-mode (OpenMP+MPI) applications.     

Multimedia and firewalls: a performance perspective

Firewalls are a well-established security mechanism to restrict the traffic exchanged between networks to a certain subset of users and applications. In order to cope with new application types like multimedia, new firewall architectures are necessary. The performance of these new architectures is a critical factor because Quality of Service (QoS) demands of multimedia applications have to be taken into account. We show how the performance of firewall architectures for multimedia applications can be determined. We present a model to describe the performance of multimedia firewall architectures. This model can be used to dimension firewalls for usage with multimedia applications. In addition, we present the results of a lab experiment, used to evaluate the performance of a distributed firewall architecture and to validate the model.     

Improving a simulated soccer team's performance through a Memory-Based Collaborative Filtering approach

Collaborative filtering techniques have been used for some years, almost exclusively in Internet environments, helping users find items they are expected to like by using the user's past purchases to provide such recommendations. With this concept in mind, this research uses a collaborative filtering technique to automatically improve the performance of a simulated soccer team. Many studies have attempted to address this problem over the last years but none has shown meaningful improvements in the performance of the soccer team. Using a collaborative filtering technique based on nearest neighbors and the FC Portugal team as the test subject (in the context of the RoboCup 2D Simulation League), several simulations were run for matches against different teams with much better, better and worse performance than FC Portugal. The strategy used by FC Portugal was to combine 8 set-plays and 2 team formations. The simulation results revealed an improvement in performance between 32% and 384%. In the future, there are plans to expand this approach to other contexts, such as the 3D Simulation League.