Microprocessor-Based Control Systems - Springer978-94-009-4708-5/1.pdfCONTENTS Chapter 7 MICROPROCESSOR-BASED CONTROL OF DC MOTORS M. R. Stojic Introduction System description Selection

Microprocessor-Based Control Systems

International Series on MICROPROCESSOR-BASED SYSTEMS ENGINEERING

Editor

Professor S. G. TZAFEST AS, National Technical University, Athens, Greece

Editorial Advisory Board

Professor C. S. CHEN, University of Akron, Akron, Ohio, U.S.A.

Professor F. HARASHIMA, University of Tokyo, Tokyo, Japan

Professor G. MESSINA, University of Catania, Catania, Italy

Professor N. K. SINHA, McMaster University, Hamilton, Ontario, Canada

Professor D. TABAK, Ben Gurion University of the Negev, Beer Sheva, Israel

Microprocessor-Based Control Systems

edited by

NARESH K. SINHA Department of Electrical and Computer Engineering,

McMaster University, Ontario, Canada

D. REIDEL PUBLISHING COMPANY

A MEMBER OF THE KLUWER ACADEMIC PUBLISHERS GROUP

DORDRECHT / BOSTON / LANCASTER / TOKYO

library of Congress Cataloging in Publication Data

Microprocessor based control systems.

(International series on microprocessor-based systems engineering) Includes bibliographies and index. 1. Automatic control 2. Microprocessors. I. Sinha, N. K.

(Naresh Kumar), 1927- . II. Series. TJ223.M53M49 1986 629.8'95 86-11849

ISBN" l3: 978-94-010-8594-6 e-ISBN-l3: 978-94-009-4708-5 DOl: 1O.l 007/978-94-009-4708-5

Published by D. Reidel Publishing Company P.O. Box 17,3300 AA Dordrecht, Holland

Sold and distributed in the U.S.A. and Canada by Kluwer Academic Publishers, 101 Philip Drive, Assinippi Park, Norwell, MA 02061, U.S.A.

In all other countries, sold and distributed by Kluwer Academic Publishers Group, P.O. Box 322, 3300 AH Dordrecht, Holland

All Rights Reserved © 1986 by D. Reidel Publishing Company, Dordrecht, Holland

Softcover reprint of the hardcover 15t edition 1986

No part of the material protected by this copyright notice may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying, recording or by any information storage and retrieval system, without written permission from the copyright owner

CONTENTS

Preface Contributors

Chapter 1 MICROPROCESSORS IN CONTROL SYSTEMS - OUTLINE OF THE BOOK N. K. Sinha

Introduction Outline of the book References

Introduction

Chapter 2 SOME ASPECTS OF MICROPROCESSOR-BASED CONTROL AND IDENTIFICATION G. P. Rao, S. Sinha, D. S. Naidu and N. K. De

Implementation of simple classical control techniques Motion control system On-line parameter identification in continuous dynamical systems References

Introduction

Chapter 3 SELF-TUNING AND ADAPTIVE CONTROL D. W. Clarke

General plant and predictor models Predictive control Parameter estimation Self-tuning Implementation and use PID self-tuners Conclusions References

xi xiii

1 3 5

7 8

12 23 33

35 39 42 46 51 55 56 57 57

vi CONTENTS

Chapter 4 ADAPTIVE CONTROL OF SYNCHRONOUS MACHINE EXCITATION O. P. Malik

Introduction Adaptive control Adaptive controllers for power systems Microcomputer implementation of adaptive controller Experimental results Adaptive controller with variable forgetting factor and self-searching pole-shift Concluding remarks References

Introduction

Chapter 5 MICROPROCESSOR-BASED SYSTEM IDENTIFICATION BY SIGNAL COMPRESSION METHOD N. Aoshima

Principle of the signal compression method Example of the measuring procedure Applications References

Chapter 6 DIGITAL SYSTEM CONTROLLERS FOR EXACT MODEL SIGNAL TRACKING G. H. Hostetter

Introduction System models Step-invariant controller design Step-invariant design example Deadbeat controllers for step-varying systems Conclusion References

61 62 70 72 73 73 78 78

81 82 86 91

103

105 107 113 120 123 128 128

CONTENTS

Chapter 7 MICROPROCESSOR-BASED CONTROL OF DC MOTORS M. R. Stojic

Introduction System description Selection of the desired closed-loop pole positions Application Programming Conclusion References

Introduction

Chapter 8 MICROPROCESSOR-BASED AC MOTOR CONTROL M. H. Park

Adjustable speed AC motor drives Signal processing using a microprocessor and peripheral ICs AC motor drives with microprocessors Conclusion References

Introduction

Chapter 9 MICROPROCESSOR-BASED NONLINEAR CONTROLLER FOR THE ROLL MOTION OF A MODEL AIRCRAFT N. A. Krikelis

Roll motion equation Proposed nonlinear control scheme Microprocessor implementation of the controller Roll motion simulation results Conclusions Appendix A Appendix B References

vii

131 132 140 145 147 153 154

157 158 162 167 180 180

183 184 186 188 194 198 198 201 203

viii CONTENTS

Chapter 10 A MICROPROCESSOR-BASED CONTROL SYSTEM FOR A GLASS FURNACE H. N. Koivo and A. Setiilii

Introduction Process description Modelling Control of the melting furnace Computer control systems in the glass industry A microcomputer system for a glass furnace Conclusions References

Chapter 11 MULTI-PROCESSOR ROBOT CONTROL SYSTEM USING MICROPROGRAMMING M. Jelsina

205 206 209 212 216 217 220 222

Control of robotic system 223 Multilevel structure of robot control system 226 Architecture of multiprocessor robot control system 227 Microprogrammable architecture of executive level of robot control system 230 The algorithms of the microprogramme control of the robot control system executive level 244 Conclusion 246 References 247

Introduction

Chapter 12 COMPUTER CONTROL SYSTEM FOR THE TRAINING SIMULATOR K. Furuta and Y. Ohyama

Design of model following servo system Dynamics of simulator Experiment Conclusion References Appendix A

249 251 252 253 257 260 260

CONTENTS

Introduction

Chapter 13 MICROCONTROL-BASED DIRECT NUMERICAL CONTROL R. Kitai and T. P. Taylor

Principles of numerical control DNC system design and implementation Conclusions References

Introduction

Chapter 14 MICROPROCESSOR-BASED REPETITIVE CONTROL M. Nakano and S. Hara

Principle of repetitive control Configuration and properties of modified repetitive control system Design principle and implementation of repetitive control system Application Conclusion References

Introduction Pascal

Chapter 15 REAL-TIME PROGRAMMING LANGUAGES FOR PROCESS CONTROL

Concurrent Pascal Modula-2 Ada FORTH Conclusion References

Chapter 16 INDUSTRIAL LAN USING DISTRIBUTED MICROPROCESSORS O. L. Storoshchuk and B. Szabados

Introduction Microprocessor hardware Kernel executive Conclusions and recommendations References

ix

263 265 273 277 277

279 280 283 289 290 294 295

297 298 302 305 307 311 315 315

317 323 333 339 341

x

Introduction

Chapter 17 MICROCOMPUTER-EMBEDDED DISTRIBUTED CONTROL OF A SWITCHING AND COMMUNICATION SYSTEM D. Tabak and 1. Etkin

The evolution of switching and communication systems Distributed control of a switching and communication system Control and implementation of the distributed communication system The dynamic aspect of the system Software structure of the distributed communication system Conclusion and future directions References

Introduction

Chapter 18 MICROPROCESSOR-BASED DATA REDUCTION AND COMPRESSION SYSTEMS S. G. TzaJestas and G. Papakonstantinou

Data reduction via piecewise linear approximation algorithms Data compression via orthogonal transforms: The fast Walsh transform case Conclusions References

Index

CONTENTS

343 345 347 352 360 363 365 366

369 370 386 396 396

401

PREFACE

Recent advances in LSI technology and the consequent availability of inexpensive but powerful microprocessors have already affected the process control industry in a significant manner. Microprocessors are being increasingly utilized for improving the performance of control systems and making them more sophisticated as well as reliable. Many concepts of adaptive and learning control theory which were considered impractical only 20 years ago are now being implemented. With these developments there has been a steady growth in hardware and software tools to support the microprocessor in its complex tasks. With the current trend of using several microprocessors for performing the complex tasks in a modern control system, a great deal of emphasis is being given to the topic of the transfer and sharing of information between them. Thus the subject of local area networking in the industrial environment has become assumed great importance.

The object of this book is to present both hardware and software concepts that are important in the development of microprocessor-based control systems. An attempt has been made to obtain a balance between theory and practice, with emphasis on practical applications. It should be useful for both practicing engineers and students who are interested in learning the practical details of the implementation of microprocessor-based control systems. As some of the related material has been published in the earlier volumes of this series, duplication has been avoided as far as possible.

I would like to express my sincere thanks to the authors of the different chapters who have agreed to share some of their valuable experience for the book. Without their generous contribution this book could not have been possible.

I am aware of the fact that there are some variations in the organization and flavour of the various chapters but I hope that these will not affect the usefulness of the book.

Hamilton 1986 Naresh K. Sinha

CONTRIBUTORS

5.1. Ahson, Department of Electrical Engineering, Indian Institute of Technology, New Delhi

N. Aoshima, Institute of Applied Physics, University of Tsukuba, Ibaraki, Japan

D.W. Clarke, Department of Engineering Science, Oxford University, Oxford, England

N.K. De, Department of Electrical Engineering, Indian Institute of Technology, Kharagpur(W.B.), India

K. Furuta, Faculty of Control Engineering, Tokyo Institute of Technology, Tokyo, Japan

S. Hara, Faculty of Control Engineering, Tokyo Institute of Technology, Tokyo, Japan

G.H. Hostetter, Electrical Engineering Department, University of California, Irvine, California, U.S.A.

M. Jelsina, Department of Technical Cybernetics, Technical University, Kosice, Czechoslovakia

R. Kitai, Department of Electrical and Computer Engineering, McMaster University, Hamilton, Canada

H.N. Koivo, Tampere University of Technology, Tampere, Finland

N.A. Krikelis, Control Systems Division, National Technical University, Athens, Greece

O.P. Malik, Department of Electrical Engineering, The University of Calgary, Calgary, Canada

D.S. Naidu, Department of Electrical Engineering, Indian Institute of Technology, Kharagpur(W.B.), India

M. Nakano, Department of Control Engineering, Tokyo Inst. of Technology, Tokyo, Japan

xiii

xiv

Y. Ohyama, Faculty of Control Engineering, Tokyo Institute of Technology, Tokyo, Japan

G. Papakonstantinou, Division of Computer Science, Department of Electrical Engineering, National Univ. of Athens, Athens, Greece

M.H. Park, Department of Electrical Engineering, Seoul National University, Seoul, Korea

G.P.Rao, Department of Electrical Engineering, Indian Institute of Technology, Kharagpur(W.B.), India

A. Setala, Tampere University of Technology, Tampere, Finland

CONTRIBUTORS

N.K. Sinha, Department of Electrical and Computer Engineering, McMaster University, Hamilton, Canada

S. Sinha, Department of Electrical Engineering, Indian Institute of Technology, Kharagpur (W.B.), India

M.R. Stojic, Faculty of Electrical Engineering, University of Belgrade, Belgrade, Yugoslavia

O. Storoschchuk, General Motors of Canada Limited, Oshawa, Ontario, Canada

B. Szabados, Department of Electrical and Computer Engineering, McMaster University, Hamilton, Canada

D. Tabak, Department of Electrical and Computer Engineering, George Mason University, Fairfax, Virginia, U.S.A.

T.P. Taylor, Atlantis Flight Research Inc., Woodbridge, Ontario, Canada

S. G. Tzafestas, Division of Computer Science, Department of Electrical Engineering, National Univ. of Athens, Athens, Greece