This paper discusses the development of a real-time digital control system with hardware in the loop (HIL) for modeling and controls education. This environment requires software tools by MathWorks, Inc. and a C++ compiler. The hardware tools include an off-the-shelf data acquisition card and the desired hardware to be controlled. The use of a single environment for dynamic system analysis, control law development, simulation evaluation, and final implementation on an HIL system has many educational advantages as compared to multienvironment settings. This host-target real-time environment is implemented and demonstrated by controlling a nonlinear, open-loop unstable, and time varying custom-built magnetic levitation device. The values of any parameter (control law, reference trajectory) in the Simulink model can be changed dynamically on the host computer without recompiling the control code, and their effects are observed in real-time on the HIL system. This environment allows for extensive experimentation, development of linear and nonlinear controllers, and performance comparison with HIL as shown in the presented examples. The educational features of this environment are presented throughout the paper and were verified in a class setting.

Development of a real-time digital control system with a hardware-in-the-loop magnetic levitation device for reinforcement of controls education

This paper discusses the use of a real-time digital control environment with a hardware-in-the-loop (HIL) magnetic levitation (Maglev) device for modeling and controls education, with emphasis on neural network (NN) feedforward control. Many educational advantages are realized for the students if a single environment is used for simulation, hardware implementation, and verification as compared with multienvironment settings. This real-time environment requires two personal computers (host and target) employed to control an HIL system. It requires software tools by MathWorks, Inc., a C++ compiler, an off-the-shelf data acquisition card, and the HIL (a nonlinear, open-loop, unstable, and time-varying, custom-built Maglev device) to be controlled. This environment provides for experimentation, such as data collection for system identification using NNs and their implementation as static nonlinear feedforward controllers. In addition, this environment was used to implement and demonstrate NNs with real-time dynamic weight tuning and controller performance comparison under various inputs or changes in the HIL device dynamics, as shown in the presented examples. The educational features of this environment were verified in a classroom setting in a graduate-level NN class. The presented environment is applicable to senior or graduate level (introductory intelligent and digital control) or a general introductory course on NNs with applications.

Magnetic levitation hardware-in-the-loop and MATLAB-based experiments for reinforcement of neural network control concepts

We compare three different methods of control system design for controlling dynamical systems: Q-parameterization theory, H/sub /spl infin// synthesis and servo control system design. The three controllers are designed such that the robustness and performance goals are satisfied and the system response has the same settling time in all three designs. A two degree-of-freedom magnetic micro-levitation positioner is used for the discussion. We show theoretically and experimentally that with modern robust control, Q-parameterization and H/sub /spl infin// synthesis, one can achieve robust stability and robust performance, while with the servo control, it is difficult to achieve these goals. We also show that, with the Q-parameterization theory we can obtain a controller of lower order than the H/sub /spl infin// controller and achieve the robust stability and performance goals. Several experiments were performed on the system with the three different controllers.

An experimental comparison between Q-parameterization, H/sub /spl infin// synthesis and servo control systems designs

This paper presents a robust H/sub /spl infin// controller for a two degree-of-freedom magnetic micro-levitation positioner and its real time experimental implementation. The experimental device described is designed for use in semiconductor manufacturing and consists of two U-shaped electromagnets and an actuator. First, we describe the system dynamics in state space form. Second, the system which is unstable in nature is stabilized using the H/sub /spl infin// synthesis. The H/sub /spl infin// control design problem is described and formulated in the standard form with emphasis on the selection of weighting transfer functions that reflect robustness and performance goals. The interactive computing environment MATLAB is used to calculate the controller. Third, the controller is implemented digitally using a digital signal processor with 16 bit A/D and 12 bit D/A converters. Finally, some simulation and experimental results are presented. The results obtained show that robust stability against model uncertainties is achieved and the performance goals are satisfied.

Real time implementation of a robust H/sub /spl infin// controller for a 2-DOF magnetic micro-levitation positioner

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Real time implementation of a robust H/sub /spl infin// controller for a 2-DOF magnetic micro-levitation positioner

An experimental comparison between Q-parameterization, H/sub /spl infin// synthesis and servo control systems designs