Stability of control systems with time delay

To find the approximate stability limit on the forward gain in control systems with small time delay, this note suggests approximating the exponential in the characteristic equation by the first few terms of its series and using the Routh–Hurwitz criterion. This approximation avoids all the time-consuming graphical work and gives a somewhat pessimistic maximum bound for the gain constant.

Sampling Period Selection of Control Application Connected to FlexRay Bus

Flexray is a high speed communication protocol designed for distributive control in automotive control applications. Control performance not only depends on the control algorithm but also on the scheduling constraints in communication. A balance between the control performance and communication constraints must required for the choice of the sampling rates of the control loops in a node. In this paper, an optimum sampling period of control loops to minimize the cost function, satisfying the scheduling constraints is obtained. An algorithm to obtain the delay in service of each task in a node of the control loop in the hyper period has been also developed. (C) 2015 The Authors. Published by Elsevier B.V.

Physical constraints, fundamental limits, and optimal locus of operating points for an inverted pendulum based actuated dynamic walker

The inverted pendulum is a popular model for describing bipedal dynamic walking. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v(0)) and step angle (phi(m)) chosen for a given walk. In this paper, using basic mechanics, a framework of physical constraints that limit the choice of operating points is proposed. The constraint lines thus obtained delimit the allowable region of operation of the walker in the v(0)-phi(m) plane. A given average forward velocity v(x,) (avg) can be achieved by several combinations of v(0) and phi(m). Only one of these combinations results in the minimum mechanical power consumption and can be considered the optimum operating point for the given v(x, avg). This paper proposes a method for obtaining this optimal operating point based on tangency of the power and velocity contours. Putting together all such operating points for various v(x, avg,) a family of optimum operating points, called the optimal locus, is obtained. For the energy loss and internal energy models chosen, the optimal locus obtained has a largely constant step angle with increasing speed but tapers off at non-dimensional speeds close to unity.

A comparative assessment of the methods of control of water hyacinth infestation with regards to fish production

Water hyacinth (Eichhornia crassipes) has been subject of three control methods since its arrival into the Nigerian freshwater lagoon system in 1984 - mechanical, chemical and biological. An assessment of these three methods seems to suggest that mechanical and chemical control methods, both of which being costly, must be applied either solely or integrated to combat the present level of considerable infestation in Nigeria. The biological control methods are advisable for slow, sustained control and can only cope with low levels of infestation. It is thus concluded that the preliminary control method should be mechanical or chemical to effectively abate the nuisance plant, followed by biological control once infestation levels have been sufficiently reduced

Data structures and software tools for the computer aided design of control systems: a survey.

CAD software can be structured as a set of modular 'software tools' only if there is some agreement on the data structures which are to be passed between tools. Beyond this basic requirement, it is desirable to give the agreed structures the status of 'data types' in the language used for interactive design. The ultimate refinement is to have a data management capability which 'understands' how to manipulate such data types. In this paper the requirements of CACSD are formulated from the point of view of Database Management Systems. Progress towards meeting these requirements in both the DBMS and the CACSD community is reviewed. The conclusion reached is that there has been considerable movement towards the realisation of software tools for CACSD, but that this owes more to modern ideas about programming languages, than to DBMS developments. The DBMS field has identified some useful concepts, but further significant progress is expected to come from the exploitation of concepts such as object-oriented programming, logic programming, or functional programming.

Effects of control of C/N ratio by low-cost carbohydrate addition on water quality and pond ecology in freshwater prawn Macrobrachium rosenbergii post-larvae nursing system

An experiment was conducted to evaluate the effects of control of carbon/nitrogen ratio (C/N ratio) by addition of low cost carbohydrate to the water column on water quality and pond ecology in freshwater prawn Macrobrachium rosenbergii post-larvae nursing system. In this experiment, two level of dietary protein 20% and 35% without carbohydrate addition (‘P20' and ‘P35') and with carbohydrate addition (‘P20+CH' and ‘P35+CH') were compared in small ponds of 40 m² area stocked with 20 post-larvae (0.021 ± 0.001g) per m² . Maize flour was used as low cost carbohydrate and applied to the water column followed by the first feeding during the day. The addition of carbohydrate significantly reduced (p< 0.05) ammonia-nitrogen (NH sub(3)-N) and nitrite-nitrogen (NO sub(2) - N) of water in P20 + CH and P35 + CH treatments. It significantly increased (p< 0.05) the total heterotrophic bacteria (THB) population both in water and sediment. Fifty nine genera of plankton were identified belonging to the Bacillariophyceae (11), Chlorophyceae (21), Cyanophyceae (7), Dinophyceae (1), Rotifera (7) and Crustacea (9) without any significant difference (p>0.05) of total phytoplankton and zooplankton among the treatments. Survival rate of prawn was significantly lowest (p<0.05) in P20 and no significant difference (p>0.05) was observed between P20+CH and P35 treatments. Control of C/N ratio by the addition of low-cost carbohydrate to the pond water column benefited the freshwater prawn nursing practices in three ways (1) increased heterotrophic bacterial growth supplying bacterial protein augment the prawn post-larvae growth performances, (2) reduced demand for supplemental feed protein and subsequent reduction in feed cost and (3) reduced toxic NH sub(3)-N and NO sub(2)-N levels in pond nursing system.

Optimization of control parameters for petroleum waste composting

Composting is being widely employed in the treatment of petroleum waste. The purpose of this study was to find the optimum control parameters for petroleum waste in-vessel composting. Various physical and chemical parameters were monitored to evaluate their influence on the microbial communities present in composting. The CO2 evolution and the number of microorganisms were measured as the activity of composting. The results demonstrated that the optimum temperature, pH and moisture content were 56.5 - 59.5 degreesC, 7.0 - 8.5 and 55 % - 60%, respectively. Under the optimum conditions, the removal efficiency of petroleum hydrocarbon reached 83.29% after 30 days composting.

feedback fuzzy-dvs scheduling of control tasks

To consider the energy-aware scheduling problem in computer-controlled systems is necessary to improve the control performance, to use the limited computing resource sufficiently, and to reduce the energy consumption to extend the lifetime of the whole system. In this paper, the scheduling problem of multiple control tasks is discussed based on an adjustable voltage processor. A feedback fuzzy-DVS (dynamic voltage scaling) scheduling architecture is presented by applying technologies of the feedback control and the fuzzy DVS. The simulation results show that, by using the actual utilization as the feedback information to adjust the supply voltage of processor dynamically, the high CPU utilization can be implemented under the precondition of guaranteeing the control performance, whilst the low energy consumption can be achieved as well. The proposed method can be applied to the design in computer-controlled systems based on an adjustable voltage processor.

基于P2P技术的CSRe冷却装置控制系统设计；Design of Control System for CSRe Cooling Equipment Based on P2P Technology

HIRFL-CSR工程对CSRe冷却装置电子冷却部分的控制系统在实时性和可靠性方面提出了非常高的要求。电子冷却工作环境复杂,各种干扰难以预测。从电子冷却的控制系统改进出发,以实现电子冷却的自动调束为目标,以高端FPGA和ARM嵌入式系统为基础,采用P2P通讯技术和神经元网络算法来实现对电子冷却的自动控制。该控制系统对电子冷却控制的完善提供了先进的硬件平台和软件实现方案。