Systematic Design of Active Constraint Switching Using Classical Advanced Control Structures

This paper presents some of the issues related to the implementation of advanced control structures (PI controller with additional feedback, Model Predictive Controller) for drives with elastic coupling on a programmable logic controller (PLC). The predominant solutions to electric drive control include the use of rapid prototyping cards, signal processors or programmable matrices. Originally, PLC controllers were used to automate sequential processes, but for several years now, a trend related to their implementation for advanced control objects can be observed. This is mainly due to their compact design, immunity to disturbances and standard programming languages. The following chapters of the paper present the mathematical model of the drive and describe the implementation of the proposed control structures. A PI controller with additional feedback loops and a predictive controller are taken into consideration. Their impact on the CPU load was analysed, and the work was summarised by a comprehensive experimental study. The presented results confirm that it is possible to implement advanced control structures on a PLC controller for drives with elastic coupling while maintaining a sufficiently low load on its CPU.

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Systematic design of active constraint switching using selectors

Computers & Chemical Engineering ◽

10.1016/j.compchemeng.2020.107106 ◽

2020 ◽

Vol 143 ◽

pp. 107106

Author(s):

Dinesh Krishnamoorthy ◽

Sigurd Skogestad

Keyword(s):

Systematic Design ◽

Active Constraint

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Online Process Optimization with Active Constraint Set Changes using Simple Control Structures

Industrial & Engineering Chemistry Research ◽

10.1021/acs.iecr.9b00308 ◽

2019 ◽

Vol 58 (30) ◽

pp. 13555-13567 ◽

Cited By ~ 5

Author(s):

Dinesh Krishnamoorthy ◽

Sigurd Skogestad

Keyword(s):

Process Optimization ◽

Active Constraint ◽

Control Structures ◽

Constraint Set ◽

Online Process

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An Adaptive Model Following Control for Robotic Manipulators

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3140646 ◽

1983 ◽

Vol 105 (3) ◽

pp. 143-151 ◽

Cited By ~ 140

Author(s):

A. Balestrino ◽

G. De Maria ◽

L. Sciavicco

Keyword(s):

Reference Model ◽

Design Procedure ◽

Pulse Amplitude ◽

Robotic Manipulators ◽

Adaptive Model ◽

Control Structures ◽

Model Following Control ◽

Model Following ◽

Advanced Control ◽

Hyperstability Theory

The increased demand on robotic manipulator performances leads to the use of advanced control structures. An adaptive model following control system for robotic manipulators is developed via hyperstability theory. A new control algorithm is proposed that produces a discontinuous control signal, similar to a pulse amplitude signal, so that particular trajectories, referred as sliding modes, occur. The design procedure is simple and effective and always assures the asymptotic stability in the large. The decoupling properties can be achieved by a suitable choice of the reference model. A case study is developed by numerical simulation.

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