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

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

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ISBN: 9780137863020 | 0137863020
Cover: Paperback
Copyright: 6/17/2002

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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.

Preface

xiii

Mechatronics

(18)

A History of Increasing Complexity

(1)

Mechatronic System Organization

(1)

Amplifiers and Isolation

(1)

Scope: The Unit Machine

(1)

Control

(1)

Real-Time Software

(3)

Nasty Software Properties

(1)

Engineering Design and Computational Performance

(1)

Control System Organization

(1)

Software Portability

(1)

Operator Interface

(1)

Multicomputer Systems: Communication

(1)

The Design and Implementation Process

(7)

Performance Specification

(1)

Design Documentation

(1)

Simulation

(1)

Laboratory Prototype

(1)

Production Prototype

(1)

Production System

(1)

Maintenance

(2)

Tasks

(16)

Example: Task Selection in a Process System

(1)

Tasks and the Control Hierarchy

(1)

Intertask Communication

(1)

Task Structure Examples

(7)

Velocity Control of a DC Motor

(1)

Heater Control

(2)

Toaster Oven

(1)

Flexible Position Control of a DC Motor

(2)

Simulation

(2)

More Task Structure Examples

(4)

Coordinated, Two-Axis Motion

(1)

A Washing Machine

(3)

State Transition Logic

(10)

States and Transitions

(1)

Transition Logic Diagrams

(1)

Tabular Form for Transition Logic

(1)

Example: Pulse-Width Modulation (PWM)

(1)

Transition Logic for the Process Control Example

(2)

Nonblocking State Code

(1)

State-Related Code

(1)

State Scanning: The Execution Cycle

(1)

Task Concurrency: Universal Real-Time Solution

(2)

Direct Realization of System Control Software

(22)

Language

(2)

Time

(1)

Program Format

(1)

Simulation

(1)

Simulation in Matlab

(13)

Templates for Simulation Using Matlab

(5)

Simulation of PWM Generator

(4)

Simulation of Three-Tank Process System

(4)

Intertask Communication

(1)

Real-Time Realization

(1)

Real-Time Realization with Matlab

(5)

Heater Control Implementation in Matlab

(4)

Software Realization in C++

(32)

Simulation in C++

(1)

Templates for Simulation in C++ (group-priority)

(12)

PWM Simulation Using C++ (group-priority)

(2)

Simulation in C++ (with TranRun4)

(15)

Components

(2)

The Master Scheduler

(1)

Process Objects and Task Lists

(1)

Task Objects

(3)

Tasks with No State Object

(1)

Creating Task Classes

(2)

State Objects

(2)

Creating State Classes

(1)

The Main File and UserMain() Function

(3)

Real-Time Realization with C++

(2)

Intertask Communication

(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

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

Summary

Author Biography

Table of Contents

Supplemental Materials