Global ETD Search

1	Design and Control of a Compact 6-Degree-of-Freedom Precision Positioner with Linux- Based Real-Time Control Yu, Ho 14 January 2010 (has links) This dissertation presents the design, control, and implementation of a compact highprecision multidimensional positioner. This precision-positioning system consists of a novel concentrated-field magnet matrix and a triangular single-moving part that carries three 3-phase permanent-magnet planar-levitation-motor armatures. Since only a single levitated moving part, namely the platen, generates all required fine and coarse motions, this positioning system is reliable and potentially cost-effective. The three planar levitation motors based on the Lorentz-force law not only produce the vertical force to levitate the triangular platen but also control the platen's position and orientation in the horizontal plane. Three laser distance sensors are used to measure vertical, x-, and yrotation motions. Three 2-axis Hall-effect sensors are used to determine lateral motions and rotation motion about the z-axis by measuring the magnetic flux density generated by the magnet matrix. This positioning system has a total mass of 1.52 kg, which is the minimized mass to produce better dynamic performance. In order to reduce the mass of the moving platen, it is made of Delrin with a mass density of 1.54 g/cm3 by Computer Numerical Controlled (CNC) machining. The platen can be regarded a pure mass, and the spring and damping effects are neglected except for the vertical dynamic. Single-input single-output (SISO) digital lead-lag controllers and a multivariable Linear Quadratic Gaussian (LQG) controller were designed and implemented. Real-time control was performed with the Linux-Ubuntu operating system OS. Real Time Application Interface (RTAI) for Linux works with Comedi and Comedi libraries and enables closed-loop real-time control. One of the key advantages of this positioning stage with Hall-effect sensors is the extended travel range and rotation angle in the horizontal mode. The maximum travel ranges of 220 mm in x and 200 mm in y were achieved experimentally. Since the magnet matrix generates periodical sinusoidal flux densities in the x-y plane, the travel range can be extended by increasing the number of magnet pitches. The rotation angle of 12 degrees was achieved in rotation around z. The angular velocities of 0.2094 rad/s and 4.74 rad/s were produced by a 200-mm-diameter circular motion and a 30-mm-diameter spiral motion, respectively. The maximum velocity of 16.25 mm/s was acquired from over one pitch motion. The maximum velocity of 17.5 mm/s in a 8-mm scanning motion was achieved with the acceleration of 72.4 m/s2. Step responses demonstrated a 10-um resolution and 6-um rms position noise in the translational mode. For the vertical mode, step responses of 5 um in z, 0.001 degrees in roation around x, and 0.001 degrees in rotation around y were achieved. This compact single-moving-part positioner has potential applications for precisionpositioning systems in semiconductor- manufacturing. Levitatio Semiconductor engineering precision positioning Hall-effect sensor Linux RTAI
2	Next Generation Frequency Disturbance Recorder Design and Timing Analysis Wang, Lei 16 June 2010 (has links) In recent years, the subject of wide-area synchronized measurements has gained a significant amount of attention from the power system researchers. All of this started with the introduction of the Phasor Measurement Unit (PMU), which added a new perspective in the field of wide-area measurement systems (WAMS). With the ever evolving technologies over the years and the need for a more cost effective solution for synchronized frequency measurements, the Frequency Monitoring Network (FNET) was developed and introduced by the Power IT laboratory at Virginia Tech. The FNET is comprised of many Frequency Disturbance Recorders (FDR) geographically distributed throughout the United States. The FDR is a dedicated data acquisition device deployed at the distribution level, which allows for a lower cost and easily deployable WAMS solution. With Internet connectivity and GPS timing synchronization, the FDR provides high accuracy frequency, voltage magnitude and voltage angle data to the remote servers. Although the current FDR design is up to the standard in terms of the measurement accuracy and portability, it is of interest to further the research into alternative architectures and leverage the ever advancing technologies in high speed computing. One of the purposes of this dissertation is to present novel design options for a new generation of FDR hardware design. These design options will allow for more flexibility and to lower reliance on some vendor specific components. More importantly, the designs seek to allow for more computation processing capabilities so that more accurate frequency and angle measurements may be obtained. Besides the fact that the accuracy of frequency and angle measurement is highly dependent on the hardware and the algorithm, much can be said about the role of timing synchronization and its effects on accurate measurements. Most importantly, the accuracy of the frequency and angle estimation is highly dependent on the sampling time of local voltage angles. The challenges to accurate synchronized sampling are two folds. One challenge has to do with the inherent fallbacks of the GPS receiver, which is relatively high cost and limited in availability when the satellite signal is degraded. The other challenge is related to the timing inaccuracies of the sampling pulses, which is attributed to the remainder that results from the imperfect division of the processor counter. This dissertation addresses these issues by introducing the implementation of the high sensitivity (indoor) GPS and network timing synchronization, which aims to increase the availability of frequency measurements in locations that would not have been possible before. Furthermore, a high accuracy timing measurement system is introduced to characterize the accuracy and stability of the conventional crystal oscillator. To this end, a new method is introduced in close association with some prior work in generating accurate sampling time for FDR. Finally, a new method is introduced for modeling the FDR based on the sampling time measurements and some results are presented in order to motivate for more research in this area. / Ph. D. time synchronization RTAI synchronized sampling oscillator phasor measurements indoor GPS
3	Hard Realtime Rapid Prototyping Development Platform / Utvecklingsplattform för snabb framtagning av prototyper för hård realtidsexekvering Rosenquist, Christer January 2003 (has links) <p>Matlab Simulink is a commonly used tool in the design process of control systems. To further take advantage of the Matlab Simulink models it is desirable to translate them for realtime use together with the possibility to read/write physical signals. </p><p>Real-Time Workshop is an extension to Simulink that automatically generates code from a model to a variety of target platforms. RTAI and RTLinux are hard realtime operating systems, making use of Linux. </p><p>To make automatically generated code run on RTAI and RTLinux an adaptation of the generation of code is necessary. </p><p>To control, for example, an automotive engine a data acquisition card with an appropriate device driver is required. Comedi, an open source project, provides a number of device drivers for data acquisition cards. </p><p>The developed system makes use of Simulink, Real-Time Workshop, RTAI or RTLinux, and the standard data acquisition card NI 6035E using a Comedi device driver. The Simulink models may be executed at frequencies up to 50 kHz on ordinary PC hardware. </p><p>The evaluation of the system consisted of measuring the interrupt latency of the used motherboard's bus, measuring computation times running Simulink models with known complexity, running models developed at Vehicular Systems and a comparison of interfacing Simulink/Real-Time Workshop between RTAI and RTLinux. </p><p>The recommended realtime operating system is RTAI due to the open source community support of it as a target platform for Real-Time Workshop.</p> Datorteknik rapid prototyping hard realtime RTLinux RTAI Simulink Real-Time Workshop Datorteknik Computer engineering Datorteknik
4	Hard Realtime Rapid Prototyping Development Platform / Utvecklingsplattform för snabb framtagning av prototyper för hård realtidsexekvering Rosenquist, Christer January 2003 (has links) Matlab Simulink is a commonly used tool in the design process of control systems. To further take advantage of the Matlab Simulink models it is desirable to translate them for realtime use together with the possibility to read/write physical signals. Real-Time Workshop is an extension to Simulink that automatically generates code from a model to a variety of target platforms. RTAI and RTLinux are hard realtime operating systems, making use of Linux. To make automatically generated code run on RTAI and RTLinux an adaptation of the generation of code is necessary. To control, for example, an automotive engine a data acquisition card with an appropriate device driver is required. Comedi, an open source project, provides a number of device drivers for data acquisition cards. The developed system makes use of Simulink, Real-Time Workshop, RTAI or RTLinux, and the standard data acquisition card NI 6035E using a Comedi device driver. The Simulink models may be executed at frequencies up to 50 kHz on ordinary PC hardware. The evaluation of the system consisted of measuring the interrupt latency of the used motherboard's bus, measuring computation times running Simulink models with known complexity, running models developed at Vehicular Systems and a comparison of interfacing Simulink/Real-Time Workshop between RTAI and RTLinux. The recommended realtime operating system is RTAI due to the open source community support of it as a target platform for Real-Time Workshop. Datorteknik rapid prototyping hard realtime RTLinux RTAI Simulink Real-Time Workshop Datorteknik Computer Engineering Datorteknik
5	Development and simulation of hard real-time switched-ethernet avionics data network Chen, Tao 08 1900 (has links) The computer and microelectronics technologies are developing very quickly nowadays. In the mean time, the modern integrated avionics systems are burgeoning unceasingly. The modern integrated modular architecture more and more requires the low-latency and reliable communication databus with the high bandwidth. The traditional avionics databus technology, such as ARINC429, can not provide enough high speed and size for data communication, and it is a problem to achieve transmission mission successfully between the advanced avionic devices with the sufficient bandwidth. AFDX(Avionics Full Duplex Switched Ethernet) is a good solution for this problem, which is the high-speed full duplex switched avionic databus, on the basis of the Ethernet technology. AFDX can not only avoid Ethernet conflicts and collisions, but also increase transmission rate with a lower weigh of the databus. AFDX is now adopted by A380,B787 aircraft successfully. The avionics data must be delivered punctualy and reliablely, so it is very essential to validate the real-time performance of AFDX during the design process. The simulation is a good method to acquire the network performance, but it only happends in some given set of scenarios, and it is impossible to consider every case. So a sophisticatd network performance method for the worst-case scenario with the pessimistic upper bound requires to be deduced. The avionic design engineers have launched many researches in the AFDX simulation and methods study. That is the goal that this thesis is aimming for. The development of this project can been planned in the following two steps. In the first step, a communication platform plans to be implemented to simulate the AFDX network in two versions – the RTAI realtime framework and Linux user space framework. Ultimately, these frameworks need to be integrated into net-ASS, which is an integrated simulation and assessment platform in the cranfield’s lab.The second step deduces an effective method to evaluate network performance, including three bounds(delay,backlog and output flow), based on the NC. It is called Network Calculus. It is an internet theory keeping the network system in determistic way. It is also used in communication queue management. This mathematics method is planed to be verified with simulation results from the AFDX simuation communication platform, in order to assure its validity and applicability. All in all, the project aims to assess the performance of different network topologies in different avionic architectures, through the simulation and the mathematical assessment. The technologies used in this thesis benefit to find problems and faults in the beginning stage of the avionics architecture design in the industrial project, especially, in terms of guarantee the lossless service in avionics databus. AFDX VL end-to-end latency backlog arrival curve service curve RTAI RTnet NC out flow ES Lmax BAG RRS
6	Erweitern eines Gentoo-Linux mit RTAI, LabVIEW und Comedi als digitaler Regler Jäger, Markus 12 February 2018 (has links) Der Einsatz von Computern, zur unterstützenden Durchführung physikalischer Experimente, gewinnt immer mehr an Bedeutung. Computer, unter anderem auch Personal Computer (kurz PC), können durch ihre heutige Leistungsfähigkeit, immer mehr nützliche Funktionen während eines physikalischen Experimentes übernehmen. Diese Arbeit beschäftigt sich mit dem Vorbereiten eines solchen PC, welcher für die Umsetzung einer Regelschaltung für ein physikalisches Experiment genutzt werden kann. Dazu werden Gentoo-Linux, RTAI, Scilab/Scicos und Comedi verwendet. Besonderer Schwerpunkt der Arbeit ist dabei die Regelung in Echtzeit auszuführen. Im Verlauf der Arbeit werden Hardware- sowie Software-Ansprüche und deren Anpassungen besprochen, so dass alle Voraussetzungen des Experiment-PC, zur Umsetzung eines zuverlässigen Regelprozesses, erfüllt werden. Aus Gründen, welche in dieser Arbeit erläutert werden, wurde der Experiment-PC mit der Open-Source Linux-Distribution namens Gentoo ausgestattet. Zusätzlich verfügt der Experiment-PC über eine Mess- und Steuerkarte, welche es dem Experiment-PC erlaubt Signale aus dem Experiment aufzunehmen und eine entsprechende Regelung, durch die Ausgabe von Signalen, vorzunehmen. info:eu-repo/classification/ddc/000 ddc:000
7	Settling-Time Improvements in Positioning Machines Subject to Nonlinear Friction Using Adaptive Impulse Control Hakala, Tim 31 January 2006 (has links) (PDF) A new method of adaptive impulse control is developed to precisely and quickly control the position of machine components subject to friction. Friction dominates the forces affecting fine positioning dynamics. Friction can depend on payload, velocity, step size, path, initial position, temperature, and other variables. Control problems such as steady-state error and limit cycles often arise when applying conventional control techniques to the position control problem. Studies in the last few decades have shown that impulsive control can produce repeatable displacements as small as ten nanometers without limit cycles or steady-state error in machines subject to dry sliding friction. These displacements are achieved through the application of short duration, high intensity pulses. The relationship between pulse duration and displacement is seldom a simple function. The most dependable practical methods for control are self-tuning; they learn from online experience by adapting an internal control parameter until precise position control is achieved. To date, the best known adaptive pulse control methods adapt a single control parameter. While effective, the single parameter methods suffer from sub-optimal settling times and poor parameter convergence. To improve performance while maintaining the capacity for ultimate precision, a new control method referred to as Adaptive Impulse Control (AIC) has been developed. To better fit the nonlinear relationship between pulses and displacements, AIC adaptively tunes a set of parameters. Each parameter affects a different range of displacements. Online updates depend on the residual control error following each pulse, an estimate of pulse sensitivity, and a learning gain. After an update is calculated, it is distributed among the parameters that were used to calculate the most recent pulse. As the stored relationship converges to the actual relationship of the machine, pulses become more accurate and fewer pulses are needed to reach each desired destination. When fewer pulses are needed, settling time improves and efficiency increases. AIC is experimentally compared to conventional PID control and other adaptive pulse control methods on a rotary system with a position measurement resolution of 16000 encoder counts per revolution of the load wheel. The friction in the test system is nonlinear and irregular with a position dependent break-away torque that varies by a factor of more than 1.8 to 1. AIC is shown to improve settling times by as much as a factor of two when compared to other adaptive pulse control methods while maintaining precise control tolerances. control position adaptive impulsive settling-time nonlinear friction pulses displacements precise tolerances log-spaced update distributed learning Coulomb Stribeck Tomizuka Yang AIC PID MRAC STR RTAI Linux FreeBSD kernel modules microcontroller convergence practical self-tuning methods techniques limit-cycles steady-state error zero stable stability bound envelope partitioned scheme lookup-table multi-point adaptation repeatable mean servo motor exponential square-law rise-time real-time log-log interpolation pro-forma curve-fit sensitivity compliance variable static dynamic response torque acceleration velocity optical encoder parameters evolution fixed-law enhanced split weighting initialization trajectory layered processes Mechanical Engineering

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