Microprocessor-Based Control Systems

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 xi xiii Chapter 1 MICROPROCESSORS IN CONTROL SYSTEMS - OUTLINE OF THE BOOK N. K. Sinha Outline of the book 1 3 5 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 7 8 12 23 33 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 35 39 42 46 51 55 56 57 57

vi CONTENTS Chapter 4 ADAPTIVE CONTROL OF SYNCHRONOUS MACHINE EXCITATION O. P. Malik 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 61 62 70 72 73 73 78 78 Chapter 5 MICROPROCESSOR-BASED SYSTEM IDENTIFICATION BY SIGNAL COMPRESSION METHOD N. Aoshima Principle of the signal compression method Example of the measuring procedure Applications 81 82 86 91 103 Chapter 6 DIGITAL SYSTEM CONTROLLERS FOR EXACT MODEL SIGNAL TRACKING G. H. Hostetter System models Step-invariant controller design Step-invariant design example Deadbeat controllers for step-varying systems Conclusion 105 107 113 120 123 128 128

CONTENTS vii Chapter 7 MICROPROCESSOR-BASED CONTROL OF DC MOTORS M. R. Stojic System description Selection of the desired closed-loop pole positions Application Programming Conclusion 131 132 140 145 147 153 154 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 157 158 162 167 180 180 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 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 Process description Modelling Control of the melting furnace Computer control systems in the glass industry A microcomputer system for a glass furnace Conclusions 205 206 209 212 216 217 220 222 Chapter 11 MULTI-PROCESSOR ROBOT CONTROL SYSTEM USING MICROPROGRAMMING M. Jelsina 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 246 247 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 Appendix A 249 251 252 253 257 260 260

CONTENTS ix Chapter 13 MICROCONTROL-BASED DIRECT NUMERICAL CONTROL R. Kitai and T. P. Taylor Principles of numerical control DNC system design and implementation Conclusions 263 265 273 277 277 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 279 280 283 289 290 294 295 Chapter 15 REAL-TIME PROGRAMMING LANGUAGES FOR PROCESS CONTROL Pascal Concurrent Pascal Modula-2 Ada FORTH Conclusion 297 298 302 305 307 311 315 315 Chapter 16 INDUSTRIAL LAN USING DISTRIBUTED MICROPROCESSORS O. L. Storoshchuk and B. Szabados Microprocessor hardware Kernel executive Conclusions and recommendations 317 323 333 339 341

x CONTENTS 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 343 345 347 352 360 363 365 366 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 369 370 386 396 396 Index 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 CONTRIBUTORS 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 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