Design of a hands-on course in networked control systems

This report presents a hands-on course in networked control systems (NCS) to be integrated in the education of embedded control systems engineers. The course activities have a strong practical component and most of them are ap- plied exercises to be implemented in a NCS setup. The report containts four parts: a) a report that describes the experimental setup, proposing several activities that can be shaped into a course program according to the needs and diverse background of the targeted audience, b) a tentative program ex- ample for master students, c) a user manual to help setting up the hardware and software from a Live CD, and d) a quick guide to start working with the programming environment.Preprin

Ship dynamics mode1isation

En este trabajo se han estudiado cinco modelos matemáticos de la dinámica del buque, bajo ciertas condiciones consideradas, se han presentado las expresiones de la fuerza y momento que ejercen las perturbaciones ambientales en el casco del buque, así como el esquema bloque de la máquina del timón. En el primer modelo en ecuaciones de estado expuesto, intervienen las expresiones de la fuerza y momento exteriores establecidas bajo las condiciones de un mar regular y un viento y una corriente homogéneos y constantes. El resto de los modelos estudiados contienen un reducido número de parámetros, que pueden ser definidos experimentalmente por medio de técnicas de identificación paramétrica. Los estudios de simulación realizados constituyen un primer paso en el estudio de la validación y comparación de los modelos de buques planteado y será necesario recoger y analizar un mayor número de pruebas experimentales de diferentes buques para sacar conclusiones definitivas sobre la validación del modelo matemático de un buque, así como del conjunto identificador-modelo para los casos en que se requiere una adaptación continua del modelo a las condiciones de navegación existentes.The most common used models corresponding to ship's dynamic behaviour under the most important perturbations are presented in this work. A digital simulation has been made using these models for several sets of environment conditions assuming that their parameters' values are well known. Finally, a comparison between the models presented is made

Ship dynamics mode1isation

En este trabajo se han estudiado cinco modelos matemáticos de la dinámica del buque, bajo ciertas condiciones consideradas, se han presentado las expresiones de la fuerza y momento que ejercen las perturbaciones ambientales en el casco del buque, así como el esquema bloque de la máquina del timón. En el primer modelo en ecuaciones de estado expuesto, intervienen las expresiones de la fuerza y momento exteriores establecidas bajo las condiciones de un mar regular y un viento y una corriente homogéneos y constantes. El resto de los modelos estudiados contienen un reducido número de parámetros, que pueden ser definidos experimentalmente por medio de técnicas de identificación paramétrica. Los estudios de simulación realizados constituyen un primer paso en el estudio de la validación y comparación de los modelos de buques planteado y será necesario recoger y analizar un mayor número de pruebas experimentales de diferentes buques para sacar conclusiones definitivas sobre la validación del modelo matemático de un buque, así como del conjunto identificador-modelo para los casos en que se requiere una adaptación continua del modelo a las condiciones de navegación existentes.The most common used models corresponding to ship's dynamic behaviour under the most important perturbations are presented in this work. A digital simulation has been made using these models for several sets of environment conditions assuming that their parameters' values are well known. Finally, a comparison between the models presented is made

Network-based control

Postprint (published version

Hands-on course in networked control systems

In many industrial robotic applications there is a need to track periodic reference signals and/or reject periodic disturbances. This paper presents a novel repetitive control design for systems with constant time-delays in both forward and feedback control channels. An additional delay is introduced together with plant delays to construct an internal model for periodic signals, and a simple proportional control is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis under modeling uncertainties are studied. Experimental results are included to evaluate the validity and effectiveness of the proposed method

Hands-on course in networked control systems

In many industrial robotic applications there is a need to track periodic reference signals and/or reject periodic disturbances. This paper presents a novel repetitive control design for systems with constant time-delays in both forward and feedback control channels. An additional delay is introduced together with plant delays to construct an internal model for periodic signals, and a simple proportional control is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis under modeling uncertainties are studied. Experimental results are included to evaluate the validity and effectiveness of the proposed method

Design of a hands-on course in networked control systems

This report presents a hands-on course in networked control systems (NCS) to be integrated in the education of embedded control systems engineers. The course activities have a strong practical component and most of them are ap- plied exercises to be implemented in a NCS setup. The report containts four parts: a) a report that describes the experimental setup, proposing several activities that can be shaped into a course program according to the needs and diverse background of the targeted audience, b) a tentative program ex- ample for master students, c) a user manual to help setting up the hardware and software from a Live CD, and d) a quick guide to start working with the programming environment