Command-control for Real-time Systems

Chapter 1. Introduction 1 Chapter 2. Modeling Tools 7 Sébastien CABARET and Mohammed CHADLI 2.1. Introduction 7 2.2. Models 9 2.2.1. Knowledge models 9 2.2.2. Behavioral models 11 2.3. The classic parametric identification methods 14 2.3.1. Graphic methods 14 2.3.2. Algorithmic methods 15 2.3.3. Validation and estimation of the model identified 19 2.4. Multi-model approach 23 2.4.1. Introduction 23 2.4.2. Techniques for obtaining multi-models 23 2.5. Bibliography 40 Chapter 3. Control Tools 43 Mohammed CHADLI and Hervé COPPIER 3.1. Linear controls 43 3.1.1. The PID corrector 43 3.1.2. The Smith predictor 44 3.1.3. Predictive functional control 49 3.1.4. Generalized predictive control 55 3.1.5. The RST controller 60 3.1.6. Implementation of the advance algorithms on a programmable logic controller: results 63 3.2. Multi-model control 82 3.2.1. Introduction 82 3.2.2. Stability analysis 83 3.2.3. State feedback control 86 3.2.4. Reconstructed state feedback control 90 3.2.5. Static output feedback control 93 3.2.6. Conclusion 97 3.3. Bibliography 98 Chapter 4. Application to Cryogenic Systems 103 Marco PEZZETTI, Hervé COPPIER and Mohammed CHADLI 4.1. Introduction 103 4.1.1. Cryogenics and its applications at CERN 103 4.1.2. Some basics about cryogenics 109 4.2. Modeling and control of a cryogenic exchanger for the NA48 calorimeter at CERN 112 4.2.1. Description of the cryogenic installations in the NA48 calorimeter 115 4.2.2. Thermal model 118 4.2.3. The TDC (Time Delay Control) corrector: application to a liquid-krypton cryogenic exchanger 120 4.3. Modeling and control of the cryogenics of the ATLAS experiment at CERN 128 4.3.1. Context and objectives of the study 128 4.3.2. Process of identification of cryogenic systems 130 4.3.3. Experimental protocol of parametric identification 136 4.3.4. Mono-variable system 142 4.3.5. Compensation for the delay with a Smith controller based on the PI corrector UNICOS 149 4.3.6. Multi-variable system 151 4.4. Conclusion 158 4.4.1. Motivations 159 4.4.2. Main contributions 160 4.5. Appendices 160 4.5.1. Appendix A 160 4.6. Bibliography 164 Chapter 5. Applications to a Thermal System and to Gas Systems 165 Sébastien CABARET and Hervé COPPIER 5.1. Advanced control of the steam temperature on exiting a superheater at a coal-burning power plant 165 5.1.1. The issue 165 5.1.2. The internal model corrector (IMC) 166 5.1.3. Multi-order regulator: 4th-order IMC 169 5.1.4. Results 171 5.2. Application to gas systems 174 5.2.1. The gas systems 174 5.2.2. The major regulations 180 5.2.3. The control system and acquisition of measurements 183 5.2.4. Modeling, identification and experimental results 184 5.3. Conclusion 202 5.4. Bibliography 202 Chapter 6. Application to Vehicles 203 Elie KAFROUNI and Mohammed CHADLI 6.1. Introduction 203 6.2. Hydraulic excavator-loader 204 6.2.1. Conventional manual piloting 205 6.3. Principle of movement of a part of the arm 206 6.3.1. Role of the drivers 206 6.3.2. Objectives 207 6.3.3. Functional specification of the interface 211 6.3.4. Limit of articular position and velocities 238 6.3.5. Articular limits 248 6.3.6. Limits of the articular velocities 259 6.3.7. 3D simulation 267 6.3.8. Onboard computer architecture 271 6.3.9. Conclusion 275 6.4. Automobiles 275 6.4.1. Models of automobiles 275 6.4.2. Validation of vehicle models 286 6.4.3. Robust control of the vehicle's dynamics 298 6.4.4. Conclusion 318 6.5. Bibliography 319 Chapter 7. Real-time Implementation 323 Marco PEZZETTI and Hervé COPPIER 7.1. Implementation of algorithms on real-time targets around distributed architectures 323 7.1.1. Introduction 323 7.1.2. Object-oriented programming in the case of a framework 324 7.1.3. MultiController 333 7.2. A distributed architecture for control (rapidity/reliability): excavator-loader testing array 347 7.2.1. Objectives of the testing array 347 7.2.2. Presentation of the onboard computer platform 348 7.2.3. Examination of the rapidity of the onboard computer structure 350 7.2.4. Results 358 7.3. Conclusion 361 7.4. Bibliography 362 General Conclusion 363 List of Authors 367 Index 369