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COB107 MAXIMUM ACCELERATION TRAJECTORIES FOR SUPERSONIC FIGHTERS
Pedro José de Oliveira Neto
Instituto de Aeronáutica e Espaço/ASA -L - CTA - CEP 12228-904 São José dos Campos, SP, Brasil -
E-mail:pjdeoneto@ax.apc.org
Sandro da Silva Fernandes
Departamento de Matemática, Instituto Tecnológico de Aeronáutica - CTA - CEP 12228-900 São José dos Campos, SP, Brasil - E-mail: sandro@ief.ita.cta.br
This work presents the application of the finite difference indirect method (also called relaxation method) to solve the Two-Point Boundary-Value Problem (TPBVP) originated by the determination of supersonic fighters’ maximum acceleration trajectories, when stated by the Pontryagin Maximum Principle. In spite of the problem’s complexity, the method fitted well.
Keywords: Finite Difference, Flight Mechanics, Optimal Control, Performance Prediction, Trajectory Optimization/ Diferenças Finitas, Mecânica do Vôo, Controle Ótimo, Predição de Desempenho, Otimização de Trajetórias.
COB136 CONTROLADOR DE MÁQUINAS-FERRAMENTAS DE ULTRAPRECISÃO / CONTROLLER OF ULTRAPRECISION MACHINES TOOLS
Osvaldo Tadatomo Oshiro, Onofre Trindade Júnior e Arthur José Vieira Porto
Departamento de Engenharia Mecânica, Escola de Engenharia de São Carlos (EESC - USP)
Av. Dr. Carlos Botelho, 1465 - Caixa Postal 359 CEP 13560 -970 - São Carlos, SP e-mail: oshiroot@sc.usp.br
This paper describes the use of a new parallel computer architecture, aimed at complex real time control applications, such as ultraprecision machine tool controllers. Its implementation is based on the TMS320C40, a Digital Signal Processor from Texas Instruments, allowing for fast inter-processor communication and high performance computing. Standard commercial controllers present sample times around 10 ms. Using the new architecture, sample times lower than 25us and positioning precision of 10 nm or better are possible. The controller software is based on the classical theories for analog proportional, integral and derivative control. Current work is on the porting of the controller software to the new architecture. Preliminary results have demonstrated its feasibility.
Keywords: Controller, TMS320C40, Parallel Architecture, Ultraprecision, and Machine Tool
COB168 IDENTIFICAÇÃO E CONTROLE DE PROCESSOS ATRAVÉS DE ALGORITMOS GENÉTICOS E ESTRATÉGIAS EVOLUTIVAS / IDENTIFICATION AND CONTROL OF PROCESSES VIA GENETIC ALGORITHMS AND EVOLUTION STRATEGIES
Leandro dos Santos Coelho & Antonio Augusto Rodrigues Coelho
Departamento de Automação e Sistemas, UFSC, Caixa Postal 476
CEP 88040.900 Florianópolis, Brasil -E-mail: {lscoelho; aarc}@lcmi.ufsc.br
In this paper, several evolutionary computation paradigms in process identification and control are utilized. The following methodologies are addressed: i) genetic algorithms (with floating point representation), ii) hybrid algorithms composed by genetic algorithms with simulated annealing, and iii) evolution strategies (without and with self-adaptation mechanisms). Experiments in identification were conducted in mono-tank level and temperature processes. Experimental control tests were evaluated in a non-linear level process, composed of coupled twin-tanks, which was submitted to reference change and load disturbance. In this control implementation, the evolutionary computation paradigms are utilized for tuning of the design parameters of a monovariable PID controller.
Keywords: Genetic Algorithms, Evolution Strategies, Process Identification, Process Control, Practical Application / Algoritmos Genéticos, Estratégias Evolutivas, Identificação de Processos, Controle de Processos, Aplicação Prática.
COB221 MOTION CONTROL OF A BIAXIAL MACHINE TOOL USING A VERSATILE CROSS-COUPLING CONTROLLER / CONTROLE DE MOVIMENTOS DE UMA MÁQUINA-FERRAMENTA BIAXIAL USANDO UM ALGORITMO COM EIXOS ACOPLADOS
Helder Barbieri Lacerda(*) & Eduardo Morgado Belo(* *)
(*) Fabrication and Machine Design Department, Federal University of Santa Maria
CEP 97.119-900 - Santa Maria, RS, Brazil - E-mail: helderbl@sc.usp.br
(* *) Mechanical Engineering Department, EESC, University of São Paulo
CEP 13.560-250 - São Carlos, SP, Brazil - E-mail: belo@sc.usp.br
This work deals with a type of cross-coupling controller applied to control the machine tool biaxial table motions. A special algorithm was created to perform well any kind of trajectory, linear and non-linear with constant or varying curvature radius and corners. There is no need to make any previous adjustments. It utilizes information from the interpolator and axial positioning errors to calculate the instantaneous radius and curvature centre of the trajectory and also, the contour error. Moreover, it is able to change the proportional, integral and derivative gains of the control law, according to the kind of path. It can be put to work together with the machine axial controllers, helping them. The system is simulated using a non-linear machine model which includes friction, backlash, cutting forces and the ballscrew elasticity. The response results are compared with those of common PID's in order to analyse the effectiveness of this controller over the system.
Keywords: machine tools, cross-coupling motion controllers / máquinas-ferramenta, controladores de movimento com eixos acoplados
COB228 ALTA PRECISÃO DE MOVIMENTO E MEDIÇÃO ATRAVÉS DE RECURSOS MECATRÔNICOS / HIGH MOTION AND MEASUREMENT ACCURACY BY MECHATRONICS
Oswaldo Horikawa
Departamento de Engenharia Mecânica, Escola Politécnica da Universidade de São Paulo - EPUSP
CEP 05508-900 São Paulo, SP, Brasil - E-mail: ohorikaw@usp.br
The purpose of this work is to show by two examples, that mechatronic techniques, i.e., the combined use of conventional mechanical technology with control, sensoring, actuation technology and technology related to the electronics and application of computer, it is possible to obtain devices and measuring processes of higher accuracy, or with the same accuracy of conventional one but with a lower cost. One example deals about a controlled type air bearing that by using a piezoelectric actuator, a non-contacting sensor and a controller can activelly reduce rotation errors of the axis due to disturbance forces or profile error of bearing parts, achieving an infinite static stiffness and nanometer order motion accuracy. The second example is about a method to measure roundness of objects with a accuracy higher than that of the rotary mechanism used in the measurement.
Keywords: Mechatronics, air bearing, active bearing, motion accuracy, measurement accuracy / Mecatrônica, mancal a ar, mancal ativo, precisão de movimento, precisão de medição.
COB365 SIMULAÇÃO HÍBRIDA INTEGRADA COMO FERRAMENTA DE ANÁLISE DE PROCESSO E COMO ACEITAÇÃO DA PRODUÇÃO / HARDWARE-IN-THE-LOOP SIMULATION AS PROCESS ANALYSIS TOLL AND PRODUCTION ACCEPTANCE TEST
Waldemar de Castro Leite Filho
Divisão de Sistemas Espaciais - Instituto de Aeronáutica e Espaço - IAE/CTA
Departamento de Computação Eletrônica - Universidade Braz Cubas
CEP 12228-904 São José dos Campos, Brasil - E-mail : waldemar@ase2.iae.cta.br
It is described the application of a Hardware in the Loop Simulation as an analysis tool of a process with strong nonlinearities. Besides, the main result is the assembly of the test bench such that the components of the process can be tested and qualified based on its global performance. The process is the control system of a rotating missile which uses on-off actuators. It implies the existence of a limit-cycle besides coupling between maneuver planes. The dynamic of the process is very complex which impairs the use of linear techniques of analysis. Thus, the best option is a simulation loop where the real components are present: controller, actuator and sensor. Only the flight dynamic is simulated in an analog computer. After the preparation of the test environment, the bench can be used to verify the quality of the production of the control loop components.
Keywords: Simulation, Hardware in the Loop Simulation, Control System, Limit-Cycle.
COB421 Proposta de uma ferramenta automática de programação de CPs a partir de modelos MFG/ a proposal of an automatic tool for programming pcs from mfg models
Diolino J. Santos Filho & Paulo Eigi Miyagi
Departamento de Engenharia Mecânica/Mecatrônica, Escola Politécnica da USP
CEP:05508-900, São Paulo, SP, Brasil - E-mail: diolinos@usp.br pemiyagi@usp.br
The use of Programmable Controllers (PC) is one efficient way to realize the automation of industrial plants. In this context, is very important the existence of a tool to program the controllers in a rational, sistematic and efficient mode. In this context there are several works that confirm that Petri net is a efficient technique to model and analyse discrete event systems and, its derivation, the Mark Flow Graph (MFG) is a technique suitable to realize the control strategies. In the current paper, we introduce an approach based on analysis and validation of the MFG model of the control system (with a MFG simulator, for example) that is translated to an apropriate program language of comercial controllers such as STEP5 (that is a program language used in Siemens’ PC). The focus is on the translator tool concept. With this tool is possible to develop structured STEP5 programs to PC that ensure the inexistence of bumping and deadlock problems.
Keywords: Programmable controllers, Programming Language, Sequential control, Petri nets, Mark Flow Graph
COB422 AUTOMAÇÃO DE UM SISTEMA DE RAMPA para EMBARQUE E DESEMBARQUE DE VEÍCULOS EM NAVIOS/ Automation of a ramp system for ship loading and unloading of vehiches
Diolino J. Santos Filho & Paulo Eigi
Miyagi
Departamento de Engenharia Mecânica/Mecatrônica, Escola
Politécnica da USP - CEP:05508-900, São Paulo, SP, Brasil
E-mail: diolinos@usp.br pemiyagi@usp.br
When do not exist a special port infrastructure, the most common way to realize the access of vehicles in ships is trough a ramp system. One alternative to improve the efficiency of this system is trough techniques of task automation. This paper approach this problem through the application of a methodology for Event Driven Systems design based on Petri nets. At first, a conceptual model of the system is generated by using PFS technique (Production Flow Schema). Then, the dynamic behavior of the system is described by a flow of tokens in oriented graphs called MFG (Mark Flow Graph). Through a gradual refinement and interpretation procedure a detailed and consistent representation of the control strategies is obtained. Validation of the control strategies in the present case were carried out through simulation analysis. Finally, the resulting control strategy model is translated to an adequate language of programmable controllers. The overall tests were carried out in a prototype model of the ramp system.
Keywords: Discrete Event Dynamic Systems, Task automation, Petri nets, Production Flow Schema, Mark Flow Graph
COB652Análise e Experimentação de um Processo "Fan-and-Plate": Estudo de Caso de Controle Robusto versus Adaptativo/ AnalYsIs and experimentation of a fan-and-plate process: case study of robust versus adaptive control
Henrique Simas & Antonio Augusto Rodrigues Coelho
Departamento de Automação e Sistemas - Centro Tecnológico - UFSC
C. P. 476 - CEP 88040-900 Florianópolis, Brasil - E-mail: {simas,aarc}@lcmi.ufsc.br
The development of a small scale laboratory process can help disciplines to meet the practical requirements in studying control concepts. The fan-and-plate prototype, a nonlinear control system, was implemented in the Process Control Laboratory/UFSC and did not present a good closed-loop performance when classical controllers, such as PI and PID, were utilized in the experimentation. In order to assess the applicability of such process, in the context of a school laboratory, a complete study and analysis of advanced control techniques are needed. The implementation of predictive and robust control strategies was carried out and adequate results have served as a base for this evaluation.
Keywords: Laboratory education, self-tuning control, robust control, nonlinear analysis, systems engineering / Ensino em laboratório, controle auto-ajustável, controle robusto, análise não-linear, engenharia de sistemas.
COB678 O USO DE CONTROLE H¥ NA ATENUAÇÃO DAS VIBRAÇÕES LATERAIS EM ROTORES FLEXÍVEIS
José Francisco Ribeiro
Departamento de Engenharia Mecânica, Universidade Federal de Uberlândia – UFU
CEP 38400-902 – Uberlândia-MG, Brasil –Email: jribeiro@ufu.br
This work studies the problem of applying active control to lateral vibration suppression in flexible rotors. Due to the inherent uncertainties that appear when formulating the rotor model and the fact that the rotor dynamical characteristics vary with the angular velocity, the use of robust Hºº (Glover and McFarlane, 1989) controllers is proposed and implemented. Such controller is discussed, analyzed and evaluated using a case study, where numerical simulations are done in order to test robustness, stability and performance.
Keywords: Robust Control - Rotor dynamics - Vibrations control - H¥ controller – Magnetic Control
COB679 MODELING, EXPERIMENTAL IDENTIFICATION AND LQG/LTR CONTROL OF A MULTIBODY SYSTEM WITH FLEXIBLE APPENDAGES
Álvaro Manoel de Souza Soares, Luiz Carlos Sandoval Góes & Luiz Carlos Gadelha de Souza
Depto de Informática - Universidade de Taubaté - UNITAU
Av. Marechal Deodoro da Fonseca, 605 - 12100 - 000 - Taubaté - SP - E-mail : alvaroms@embratel.net.br
Divisão de Engenharia Mecânica-Aeronáutica - Instituto Tecnológico de Aeronáutica - ITA-CTA - IEMP
12228-900 - São José dos Campos, SP - E-mail : goes@mec.ita.cta.br
INPE - Instituto Nacional de Pesquisas Espaciais
Av. dos Astronautas,1758 - C.P. 515 - 12201-970 - S.J.Campos, SP, Brasil - E-mail : gadelha@dem.inpe.br
This work shows simulational results of control using the LQG/LTR technique. The system used was a multibody structure composed by a hub and two flexible appendages made of aluminum which are linked to a DC motor and represents a satellite like structure. The model used was obtained trough the Lagrangian approach and the model discretization was done by the assumed modes method. An experiment assembled in the dynamical laboratories of ITA (Instituto Tecnológico de Aeronáutica) was used to validate the analytical model. The experimental set up has four kinds of sensors available. One accelerometer in the tip of one of the aluminum beams, two strain-gages located in known points of the beams, one tachometer signal which is provided for the DC motor and a potentiometer which measures the hub angular position. A modal analysis of the system is shown and the experimental results are used to validate the analytical model. To control this system a LQG/LTR technique was employed. This kind of control technique is suitable for systems like this one that have some uncertainties due, for example, model discretization. The aim of the control is to drive the hub to an desired angular position. The results of behavior of the closed loop system with a reference trajectory are also shown.
Keywords: Flexible structures, Multibody system, Modal analysis, Modeling, Position Control
COB688 REGULAÇÃO AUTO-AJUSTÁVEL DE NÍVEL COM BASE EM ESTRATÉGIAS DE CONTROLE PREDITIVO: ESTUDO DE CASO / SELF-TUNING REGULATION OF A LEVEL SYSTEM BASED ON PREDICTIVE CONTROL STRATEGIES: CASE STUDY
Allan Celestino da Silva, José Eli Santos dos Santos & Antonio Augusto R. Coelho
Departamento de Automação e Sistemas - Centro Tecnológico - UFSC - Caixa Postal 476 - CEP 88040-900 - Florianópolis - SC, Brasil -
E-mail:{ allan;santos;aarc}@lcmi.ufsc.br
Predictive control algorithms with different controller design were compared when applied to a practical control problem. A case study of a laboratory scale level process has been used to evaluate the control algorithms. The design of each monovariable adaptive control law utilizes predictive control and are based on minimum variance strategy. Advanced control techniques and identification of process models are useful in industrial applications. A level control system was used to compare four types of controllers: D. W. Clarke & P. J. Gawthrop (1975), A. A. R. Coelho et al. (1988), K. Furuta et al. (1989) and C. M. Lim (1990). Experimental tests were carried out to evaluate servo and regulatory behaviour, features the flexibility of each controller and closed-loop stability.
Keywords: Process control, Identification algorithms, Level control, Predictive control, Control equipment, Minimum variance control / Controle de processos, Algoritmos de identificação, Controle de nível, Controle preditivo, Equipamento de controle, Controle de variância mínima.
COB724 THERMAL CONTROL SIMULATION OF A WIDE FIELD IMAGER FOR SPACE APPLICATIONS
Célio Costa Vaz And Luiz Carlos de Moura Miranda
Instituto Nacional de Pesquisas Espaciais - INPE - Departamento de Eletrônica Aeroespacial, Cx. Postal 515, 12201-970 São José dos Campos, SP, Brasil - E-mail: celio@dea.inpe.br
This paper presents the results of the simulation of the active thermal control system of a Wide Field Imager (WFI) camera to be used on board of a low orbit satellite for earth resources observation. The objective of the simulation study was to verify if the active thermal control system could maintain the temperature of the optical unit, where the CCD sensors are located, inside the specified operational temperature range. Simulated results show good agreement with measured temperature values during a thermal vacuum test. In orbit simulation results show that the active thermal control can maintain the CCD sensors' temperature inside the specified operational range.
Keywords: Energy; Simulation; Thermal Control; Temperature; Mathematical Modeling.
COB803 DESENVOLVIMENTO DE UM CONTROLADOR ADAPTATIVO PARA MANIPULADORES FLEXÍVEIS COM INCERTEZAS DE CARGAS / DEVELOPMENT OF AN ADAPTIVE CONTROL TO FLEXIBLE MANIPULATORS WITH UNCERTAINTS PAYLOADS
Eduardo Gildin, Lucas A. Moscato & Raul Gonzalez-Lima
Escola Politécnica da USP, Departamento de Engenharia Mecânica.
Av. Prof. Melo Moraes 2231, CEP.:05508-900, São Paulo, SP, E-mail : egildin@usp.br
This article deals with the modeling and control of light weight flexible manipulators. Several adaptive control strategies are compared with respect to the ability to handle abrupt payloads changes. The dynamic model of the a one-link flexible arm is obtained by Hamilton’s Principle, using a floating reference frame. With a floating reference frame the linearized equations of motion become uncoupled. These equations of motion have the advantage that optimal placement of actuators and sensors become straight-forward. The performance of these controllers have been investigated throught numerical simulations.
Keywords: Flexible Manipulators, Robots, Adaptive Control, Pole Placement, Flexible Links / Contole Adaptativo, Alocação de Pólos, Estruturas Flexíveis, Manipuladores Flexíveis..
COB834 Controle multimalhas de colunas de destilação/ MULTULOOP CONTROL OF DISTILLATION COLUMNS
Fernando Gonçalves & Wu Hong Kwong*
Departamento de Engenharia Química, Universidade Federal de São Carlos
Via Washington Luis, Km 235, CEP 13565-905 - São Carlos - SP - Brasil - E-mail: wu@power.ufscar.br
*Autor a quem devem ser remetidas as correspondências
This work presents an application of the Modified Biggest Log Modulus Tuning method (BLTM) to a distillation column. The original BLT method, developed for tuning multiloop PI controllers, is partially modified by proposing that initial adjustments of the SISO controllers can be made by the use of the ISE-IMC-PID approach instead of the classical Ziegler-Nichols method. The simulation results obtained using rigorous mathematical model representation of the distillation column show the convenience of this method by yielding reasonable settings with a small amount of engineering and computational efforts.
Keywords: Multiloop control, Controllers tuning, BLT method, Modified BLT method, Distillation column
COB1154 AN INTEGRATED CONTROL STRUCTURE FOR SURGICAL ASSIST ROBOTICS FOR LAPAROSCOPY
A.P. Slade,* J.R. Hewit,* A. Cuschieri, T. Frank
*Department of Applied Physics, Electronic and Mechanical Engineering, University of Dundee, Dundee,
Scotland, DD1 4HN. U.K. E-mail: A.P.Slade@dundee.ac.uk J.R.Hewit@dundee.ac.uk
Ninewells Hospital, Department of Surgery, Dundee, Scotland, DD1 9SY. U.K.
E-mail: A.Cushieri@dundee.ac.uk T.G.Frank@dundee.ac.uk
Minimal Access Surgery, commonly known as keyhole surgery is revolutionising surgery and has been established as a major complement to open surgery. Its growing popularity in recent years, with both patients and surgeons, is due to the numerous advantages it offers over conventional surgery. These include small access wounds (typically 5 or 10 mm in diameter), no forceable retraction of tissue or organs, shorter recovery times and smaller scars. However, these must be balanced by the increased complexity leading to longer operating times and the need for even skilled surgeons to undergo special training in minimal access techniques. The problems of Minimal Access Surgery can be reduced by using robotic systems and intelligent control and interface techniques. In this paper, the authors describe a fully integrated control structure, with three different command and control input systems, which is used to control a compact six degree of freedom surgical assist robot.
Keywords: Telemanipulator; Surgical Robotics; Endoscope; Voice control; Integration
COB1190 VARIABLE STRUCTURE CONTROL APPLIED TO LINEAR HYDRAULIC ACTUATORS
Luís Gustavo C.O. Lopes1 , Edson R. DePieri2 & Raul Guenther3
1 Lab. Controle e Microinformática, Departamento de Automação e Sistemas - CTC/UFSC
2 Departamento de Engenharia Mecânica - CTC/UFSC
3 Departamento de Engenharia Elétrica e Sistemas de Potência - CT/UFPE
The work presented in this paper is concerned about robust control design applied to robots with hydraulic actuators. A cascade structure is used to decouple the mechanical dynamics from hydraulics. Once a linearizing control for the hydraulic part is obtained, a sliding mode outer-loop control is applied to garantee closed-loop performance.
Keywords: Hydraulic actuators, cascade control, variable structure, sliding modes, robustness /Atuadores
hidr'aulicos, controle em cascata, estrutura vari'avel, modos deslizantes, robustez
COB 1332 INTERAÇÃO DO SISTEMA DE CONTROLE E A ESTRUTURA FLEXÍVEL DE UM SATÉLITE DURANTE TRANSFERÊNCIA ORBITAL / INTERACTION BETWEEN CONTROL SYSTEM AND FLEXIBLE STRUCTURE OF AN SATELLITE DURING ORBIT TRANSFER.
Adenilson Roberto da Silva, Luiz Carlos Gadelha de Souza
Departamento de Mecânica Orbital e Controle, Instituto Nacional de Pesquisas Espaciais – INPE
São José dos Campos – CEP 12227 – 010 São José dos Campo, Brasil - adenilson@dem.inpe.br - gadelha@dem.inpe.br
In this paper, the interaction between the attitude control system and the flexible structure of an artificial satellite during orbit transfer maneuvering has been investigated. The satellite was modeled by a rigid central body with one or more flexible appendages. The dynamics equations were obtained by a Lagrangean approach. The flexible appendages were treated as a clamped-free beam and its displacement was discretized by assumed-mode method. In the satellite transfer maneuver a typical Hohmann procedure and a burn-coast-burn strategy were used, the attitude was controlled by on-off controller. As a result, it was verified that if any jet fire cycling near the fundamental frequency of flexible appendages, a possibility of the interactions between control system and flexible structure can exist which could damage the performance of control system. Therefore, as security, in the control system design a bandwidth with one decade below of first natural frequency of the flexible structure should be used.
Keywords: Estruturas Flexíveis, Sistemas de Controle, Transferência de Órbita / Flexible structures; Control Systems; Orbit Transfer
COB1338 DYNAMICS AND DESIGN OF AUTONOMOUS ATTITUDE CONTROL OF A SATELLITE USING FUZZY LOGIC
Rodrigo Guerra, Sandra Sandri & Marcelo Lopes de Oliveira e Souza
National Institute for Space Research-INPE - CP 515, 12201-970, São José dos Campos - SP - Brazil
E-mail: guerra@dem.inpe.br; sandri@lac.inpe.br; marcelo@dem.inpe.br;
Fuzzy logic has rapidly become one of the most successful of today’s technologies for developing sophisticated control systems. With its aid, complex requirements may be implemented in very simple, easily maintained and low cost controllers, suitable for small satellites. The increase of satellite autonomy is a continuing goal for improving its performance and reducing its operations costs. One approach to this autonomy is to use fuzzy logic in the controller, specially under modeling uncertainties, which has several features that make it a useful tool for maneuver automation. This current analysis investigates the use of a fuzzy logic controller to the acquisition and control of rotation of a spin stabilized satellite. It is possible to control the satellite motion around its spin axis through the correct switching of two magnetic coils within specified ranges by fine tuning the fuzzy control set domains and by adapting them automatically to reduce error tolerance. Such controller is currently under development and its effects on the satellite dynamics and control will be discussed and compared with a classic controller in this work. Several advantages were found under this approach, including simplicity, flexibility and robustness.
Keywords: Fuzzy Logic Control; Satellite Attitude Control; Operational autonomy / Controle Nebuloso; Controle de Atitude de Satélites; Autonomia Operacional
COB1339 SIMULAÇÃO DIGITAL EM TEMPO REAL DE UM SISTEMA DE CONTROLE DE ATITUDE MAGNÉTICO AUTÔNOMO DE UM SATÉLITE ESTABILIZADO POR ROTAÇÃO/REAL TIME DIGITAL SIMULATION OF AN AUTONOMOUS GEOMAGNETIC ATTITUDE CONTROL SYSTEM OF A SPIN STABILIZED SATELLITE
Silvano Vargas Prudêncio & Marcelo Lopes de Oliveira e Souza
Instituto Nacional de Pesquisas Espaciais - INPE
Cx. Postal 515, CEP 12201-970 - São José dos Campos, SP, Brasil, E-mail: silvano@dem.inpe.br; marcelo@dem.inpe.br
This work discuss the project and the real time simulation of the Attitude Control Systems-ACS of satellites with geomagnetic attitude control. It has the first Brazilian Scientific Applications Satellite-SACI1 as application, that will have an autonomous attitude control and will be spin-stabilized with active spin rate and precession control through magnetic torque coil interactions with the geomagnetic field. The work: 1) shows how to use system integrated development tools such MATRIXX or MATLAB; 2) shows the mathematical model development with the system dynamics and the controller project and analysis; 3) shows the system closed loop real time simulation process through language C software codification, and 4) shows the simulations done so far.
Keywords: Simulation/Simulação, Tempo Real/Real Time, Controle de Atitude/Attitude Control.
COB1342 UTILIZANDO O MATLAB PARA O CONTROLE DE UM SIMULADOR DINÂMICO EM TRÊS EIXOS/ USING MATLAB TO CONTROL A THREE AXIS DYNAMIC SIMULATOR
Wilson Roberto Freire Rosa & Paulo Giácomo Milani
Divisão de Mecânica Espacial e Controle - DMC , Instituto Nacional de Pesquisas Espaciais - INPE
Caixa Postal 515, CEP 12.201-970 São José dos Campos, SP Brasil
e-mail:lab@dem.inpe.br e milani@dem.inpe.br
This work presents the description of an interface software between MATLAB and a three axis dynamic simulator Contraves 53M2-30H. The host computer is an IBM-PC which communicates with the simulator by means of a dedicated interface specially built for this purpose. A software writen in C enables to command the simulator exactly in the same way as if it the command keyboard of the simulator controller were used. An aditional set of routines that are not built in the simulator controller like multiple rate or position reads was also developed. Based on both sets of routines it was developed an interface software with MATLAB that enables the user to access all the control functions of the simulator directly from the analysis environment of that software.
Keywords: Real Time, Interactive Software, Attitude Control, Physical Simulation, Hardware in the Loop Tempo real, Software Interativo, Controle de Atitude, Simulação Física, Hardware em malha
COB1492 MODELAGEM, SIMULAÇÃO E RESULTADOS DE UM EXPERIMENTO DE CONTROLE DE UMA UNIDADE TÉRMICA/MODELING, SIMULATION AND RESULTS FOR A THERMAL UNITY CONTROL EXPERIMENT
Agenor de Toledo Fleury+· , Jefferson Eduardo Gizzi· à , Hilário Marcos Koyama· à , Marcelo Luís Alves Fernandez· à , Marcos Andrade da Silva· à & Marcos Ribeiro de Castro· à
+Agrupamento de Sistemas de Controle, Divisão de Mecânica e Eletricidade - IPT
Caixa Postal 0141 - CEP 01064-970 São Paulo, SP, Brasil - E-mail: agfleury@ipt.br
· Departamento de Engenharia Mecânica, Escola Politécnica - USP
Av. Prof. Mello Morais, 2253 - CEP 05508-901 São Paulo, SP, Brasil, à Bolsistas de Iniciação Científica, Programa PET/CAPES
This work shows the development of an experiment implemented at a Control Systems Laboratory focusing Mechanical Engineering students. The objetives to be achivied with this equipment are to reinforce the importance of good dynamic models and to point out the limitations of the control system design in the absence of a compatible dynamic model. The thermal unit is an aluminum box with removable internal chicanes to modify internal air flow, and covered by an acrilic window, where, trough the use of heaters and a small fan,internal prescribed temperatures must be maintained at given levels. As the thermal unit has a distributed parameter system behavior, lumped parameter models allow just mean temperature control very far from the control objective. The paper begins calling attention to the question of control education for Mechanical engineers, shows the design and simulated and experimental control results achieved with lumped parameter models to describe the thermal unity behavior and analyes modifications to be introduced in the experiment in order to get more realistic results.
Keywords: Control systems, Thermal control Systems, Laboratory experiments, Mechanical Engineering Education
.