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Real-time control of physically distributed systems. Application: Motion control
KTH, Superseded Departments, Machine Design. (DAMEK research group)ORCID iD: 0000-0002-4300-885X
KTH, Superseded Departments, Machine Design. (DAMEK research group)ORCID iD: 0000-0002-7550-3134
1992 (English)In: Computers & electrical engineering, ISSN 0045-7906, E-ISSN 1879-0755, Vol. 18, no 1, 51-72 p.Article in journal (Refereed) Published
Abstract [en]

A distributed control system, controlling the motion of a mechanical system, consists of several intelligent modules, one for each degree of freedom. Each module contains one actuator, one or more sensors and a microelectronics subsystem. The modules together execute the control engineering solution of the actual control theory problem. Typical motion control applications which could benefit from distributed control include industrial robots, vehicles, and tunnel drilling machines. By way of introduction the characteristics of motion control applications are described. Reasons for and trends towards distributing intelligence to actuators and sensors are presented. Due to harsh environments the microelectronic subsystems must be compact and robust. Technical trends facilitating integration of mechanics and microelectronics are described. The following issues are identified as critical when designing distributed control systems:Specification and verification methods for real-time systems; the view of time; consistency constraints; communication system architectures; predictable behaviour and debugging. A state of the art survey is given. Finally the question of how to map the control engineering solution of the actual control theory problem to the intelligent actuators is treated, i.e. choice of suitable allocation strategies, scheduling algorithms and communication system architectures. Fundamental static allocation strategies include master slave application systems (ranging from distributed low level I/O handling to distributed servo functions) and fully distributed application systems (ranging from distributed servo and superior control functions to a fully replicated global servo function).

Place, publisher, year, edition, pages
Elsevier, 1992. Vol. 18, no 1, 51-72 p.
Keyword [en]
Actuators, Control Equipment, Electric, Microelectronics, Robots, Industrial, Servomechanisms
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-86924DOI: 10.1016/0045-7906(92)90031-8ISI: A1992HD87100005OAI: diva2:501175
QC 20120816Available from: 2012-02-14 Created: 2012-02-14 Last updated: 2012-08-16Bibliographically approved

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