Control Software for Mechanical Systems Object-Oriented Design in a Real-Time World

by Auslander, D.M.; Ridgely, J.R.; Ringgenberg, J.D.

• ISBN13: 9780137863020
• ISBN10: 0137863020
• Edition: 1st
• Format: Paperback
• Copyright: 2002-06-17
• Publisher: Pearson

Summary

This book is about the design and implementation of real times software for the control of mechanical systems. The most appealing aspect of this book is the inclusion of useable C & C++ code, Matlab applications, and BridgeVIEW.

Author Biography

D.M. AUSLANDER is Professor of Mechanical Engineering at the University of California, Berkeley. His research interests include automatic control system design, mini-microcomputer system bioengineering, modeling and simulation of dynamic systems, and process control. He is co-author of Mechatronics: Mechanical System Interfacing (Prentice Hall) and Real-Time Software for Implementation of Feedback Control.

 

J.R. RIDGELY is Assistant Professor of Mechanical Engineering, California Polytechnic State University, San Luis Obispo, where he teaches mechanical design and mechatronics. He is co-author of Real-Time Software for Implementation of Feedback Control.

 

J.D. RINGGENBERG holds a Master's Degree in Mechanical Engineering from the University of California, Berkeley.

Table of Contents

Preface	xiii
Mechatronics	1	(18)
A History of Increasing Complexity	2	(1)
Mechatronic System Organization	3	(1)
Amplifiers and Isolation	3	(1)
Scope: The Unit Machine	4	(1)
Control	5	(1)
Real-Time Software	5	(3)
Nasty Software Properties	8	(1)
Engineering Design and Computational Performance	9	(1)
Control System Organization	10	(1)
Software Portability	10	(1)
Operator Interface	11	(1)
Multicomputer Systems: Communication	12	(1)
The Design and Implementation Process	12	(7)
Performance Specification	12	(1)
Design Documentation	13	(1)
Simulation	14	(1)
Laboratory Prototype	15	(1)
Production Prototype	16	(1)
Production System	17	(1)
Maintenance	17	(2)
Tasks	19	(16)
Example: Task Selection in a Process System	20	(1)
Tasks and the Control Hierarchy	21	(1)
Intertask Communication	22	(1)
Task Structure Examples	22	(7)
Velocity Control of a DC Motor	23	(1)
Heater Control	24	(2)
Toaster Oven	26	(1)
Flexible Position Control of a DC Motor	27	(2)
Simulation	29	(2)
More Task Structure Examples	31	(4)
Coordinated, Two-Axis Motion	31	(1)
A Washing Machine	32	(3)
State Transition Logic	35	(10)
States and Transitions	36	(1)
Transition Logic Diagrams	36	(1)
Tabular Form for Transition Logic	37	(1)
Example: Pulse-Width Modulation (PWM)	38	(1)
Transition Logic for the Process Control Example	39	(2)
Nonblocking State Code	41	(1)
State-Related Code	41	(1)
State Scanning: The Execution Cycle	42	(1)
Task Concurrency: Universal Real-Time Solution	43	(2)
Direct Realization of System Control Software	45	(22)
Language	45	(2)
Time	47	(1)
Program Format	47	(1)
Simulation	48	(1)
Simulation in Matlab	48	(13)
Templates for Simulation Using Matlab	48	(5)
Simulation of PWM Generator	53	(4)
Simulation of Three-Tank Process System	57	(4)
Intertask Communication	61	(1)
Real-Time Realization	62	(1)
Real-Time Realization with Matlab	62	(5)
Heater Control Implementation in Matlab	63	(4)
Software Realization in C++	67	(32)
Simulation in C++	67	(1)
Templates for Simulation in C++ (group-priority)	68	(12)
PWM Simulation Using C++ (group-priority)	80	(2)
Simulation in C++ (with TranRun4)	82	(15)
Components	82	(2)
The Master Scheduler	84	(1)
Process Objects and Task Lists	85	(1)
Task Objects	86	(3)
Tasks with No State Object	89	(1)
Creating Task Classes	89	(2)
State Objects	91	(2)
Creating State Classes	93	(1)
The Main File and UserMain() Function	94	(3)
Real-Time Realization with C++	97	(2)
Intertask Communication	99	(22)
Communication within a Process	100	(5)
Data Integrity	100	(2)
Design Rules	102	(3)
Communication across Processes	105	(16)
Message Passing	105	(1)
Message Passing in the Group Priority Scheduler	106	(6)
Message Passing in the TranRun4 Scheduler	112	(3)
Distributed Database	115	(1)
Distributed Database in the Group Priority Scheduler	116	(2)
Distributed Database in the TranRun4 Scheduler	118	(3)
Timing Techniques on PC Compatibles	121	(6)
Calibrated Time	121	(1)
Free-Running Timer	122	(3)
Hardware Timers on the PC	123	(1)
Performance Timers in Unix and Windows	124	(1)
Interrupt-Based, Timing	125	(2)
Multitasking: Performance in the Real World	127	(18)
Priority-Based Scheduling-Resource Shifting	127	(4)
Continuous vs. Intermittent Tasks	128	(1)
Cooperative Multitasking Modes	129	(2)
Matlab Template for Minimum-Latency Dispatcher	131	(2)
Example: Simulation of PWM-Actuated Heater	131	(2)
Cooperative Multitasking Using C++	133	(5)
Inheriting Task Behavior-Two PWMs	137	(1)
Preemptive Multitasking Modes	138	(2)
Realization of Interrupt-Based Dispatching	140	(5)
How Many Priority Levels Are Necessary?	141	(1)
Which Interrupt Sources Will Be Used?	141	(1)
Interrupt-Based Dispatching Functions	142	(1)
Attaching Dispatching Functions to Interrupts	143	(2)
Character-Based Operator Interface	145	(10)
Operator Interface Requirements	145	(1)
Context Sensitive Interfaces	146	(1)
User Interface Programming Paradigms	147	(1)
Mechatronics System Operator Interface	147	(1)
Operator Interface Programming	148	(7)
The Operator Screen	148	(1)
Programming Conventions in C++	149	(2)
Heater Control Operator Interface	151	(4)
Graphical Operator Interfaces	155	(30)
Graphical Environments	156	(2)
Windowing Software: Events and Messages	156	(1)
Operator Interface vs. Standard Windowing Application	157	(1)
Simplified Programming for Windowing Systems	157	(1)
The Ease-of Use Challenge	158	(1)
Methods of Simplifying Window-Style Programming	158	(1)
The Times-2 Problem	158	(8)
Times-2: Character-Based Interface	158	(2)
Times-2: Visual Basic	160	(2)
Times-2: Bridgeview	162	(4)
Screen Change	166	(5)
Screen Change in Visual Basic	166	(2)
Screen Change: Bridgeview	168	(3)
Heat Exchanger Control in Bridgeview	171	(2)
Interprocess Communication: DDE	173	(8)
DDE: The C++ Side	173	(3)
Communicating with Excel	176	(1)
A DDE Server in C++	177	(1)
DDE Communication between C++ and Visual Basic	178	(2)
DDE Communication between C++ and Bridgeview	180	(1)
Putting It All Together	181	(4)
Distributed Control I: Net Basics	185	(18)
Multiprocessor Architectures	186	(4)
Symmetric Multiprocessing (SMP)	186	(1)
Buses	186	(1)
Networks	187	(2)
Point-to-Point Connections	189	(1)
TCP/IP Networking	190	(2)
The Physical Context	190	(1)
Interconnection Protocols	191	(1)
TCP and UDP	191	(1)
Client/Server Architecture	192	(1)
Implementation of UDP	192	(5)
Sockets	192	(1)
Setting Up for Network Data Exchange	193	(2)
Nonblocking Network Calls	195	(1)
Receiving Information	195	(1)
Client-Side Setup	196	(1)
The Application Layer	197	(6)
Data Coding	197	(1)
Building the Packet	198	(2)
Parsing a Packet	200	(3)
Distributed Control II: A Mechatronics Control Application Layer	203	(10)
Control System Application Protocol	203	(4)
Startup of Distributed Control Systems	207	(1)
Testing the Application Protocol	208	(1)
Using the Control Application Protocol	209	(3)
Compiling	212	(1)
Java for Control System Software	213	(8)
The Java Language and API	214	(1)
Networking	214	(1)
AWT/Swing	214	(1)
Multithreading	214	(1)
Preconditions for Real-Time Programming in Java	215	(1)
Deterministic Garbage Collection	215	(1)
Memory and Hardware Access	215	(1)
Timing	216	(1)
Advantages of Java for Control Software Design	216	(2)
Modularity	216	(1)
Distributed Control	217	(1)
Platform Independence and Prototyping	217	(1)
Operator Interface Design	217	(1)
Java and the Task/State Design Method	218	(1)
Inner Classes	218	(1)
Networking	218	(1)
Documentation	219	(1)
The Current State of Real-Time Java	219	(2)
Programmable Logic Controllers (PLCs)	221	(14)
Introduction	221	(1)
Goals	222	(1)
PLC Programming	223	(3)
When to Use a PLC	223	(1)
Ladder Logic	224	(2)
Grafcet/Sequential Flow Charts	226	(1)
The Task/State Model	226	(1)
State Transition Logic for a PLC	227	(3)
State Variables	227	(1)
Ladder Organization	227	(1)
Transitions	228	(1)
Outputs	229	(1)
Entry Activity	229	(1)
Action Outputs	229	(1)
Exit (Transition-Based) Outputs	229	(1)
Common Exit Activities	230	(1)
PLC Multitasking	230	(1)
Modular Design	231	(1)
Example: Model Railroad Control	231	(1)
Simulation - Portability	232	(3)
Illustrative Example: Assembly System	235	(38)
The Assembly System	235	(2)
System Simulation	237	(1)
Development Sequence	237	(1)
Belt Motion Simulation (Glue00)	238	(9)
Modeling Belt Dynamics	238	(1)
Definition of Task Classes	239	(2)
Instantiating Tasks: the Main File	241	(1)
The Simulation Task	242	(2)
The Data Logging Task	244	(1)
Timing Mode	245	(1)
Compiling	246	(1)
Results	246	(1)
Oven Temperature Simulation (Glue01)	247	(1)
PID Control of Belt Position and Oven Temperature (Glue02)	247	(3)
Keeping Classes Generic	248	(1)
The PIDControl Class	248	(2)
Results	250	(1)
Better Control of Motion (Glue03)	250	(10)
Trapezoidal Motion Profile	251	(1)
Motion Profile Class	252	(1)
Profiler State Structure	253	(4)
Round-Off Error	257	(1)
Discretization Errors in Simulation	257	(3)
A Command Structure for Profiled Motion (Glue04)	260	(3)
Message-Based Command Structure	260	(1)
State Transition Audit Trail	261	(2)
Motion Results	263	(1)
Clamps (Glue05)	263	(2)
Robots (Glue06)	265	(1)
Cure/Unload (Glue07)	266	(5)
Making Widgets (Glue08)	271	(2)
The Gluing Cell Exercise In Tranrun4	273	(42)
The Gluing System	273	(1)
Simulation and Prototyping	274	(1)
The Project Components	274	(1)
Glue00: Conveyor Simulation	275	(13)
The Dynamic Model	275	(2)
Creating the Conveyor Task	277	(3)
The Data Logging Task	280	(4)
Data Communication between Tasks	284	(2)
The Main File	286	(2)
Glue00 Results	288	(1)
Glue01: An Oven Simulation	288	(3)
Configuration and Status Printouts	289	(2)
Glue02: PID Control	291	(1)
Glue03: The Operator Interface	292	(7)
Results	297	(2)
Glue04: Motion Profiling	299	(7)
Glue05: Belt Sequencing	306	(1)
Glue06: The Glue Application Machine	307	(2)
Glue07: Transport Task Supervision	309	(2)
Glue08: The Completed Assembly System	311	(4)
The Gluing Cell Exercise in Tranrunj	315	(16)
Getting Started	315	(2)
Program Entry Point	315	(1)
The userMain Method	316	(1)
Writing Custom Tasks and States	317	(3)
Creating a Task Class	317	(2)
Creating a State Class	319	(1)
Implementing State Transition Logic	320	(1)
Global Data and Intertask Messaging	321	(2)
Global Data Items	321	(1)
Task Messages	322	(1)
Continuous vs. Intermittent Tasks	323	(1)
Scheduler Internals	324	(1)
Operating System Processes vs. CProcess	324	(1)
Foreground vs. Background Execution Lists	325	(1)
Scheduling Modes	325	(1)
Execution Profiling	325	(1)
Intertask Messaging across Different Processes	326	(2)
Tips and Tricks	328	(2)
Judicious Use of Execution-Time Profiling	328	(1)
Integer Labels for Global Data and Task Message Inboxes	328	(1)
The TaskMessageListener Interface	328	(1)
Scheduler Sleeping	329	(1)
Anonymous State Classes	329	(1)
Additional Information	330	(1)
Bibliography	331	(2)
Index	333