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Computer Aided Control Engineering, CACE
CACSD (Computer Aided Control System Design) and CACE (Computer Aided Control Engineering)
are active fields in international research. The new developments in computer hardware and software enables the development of new and enhanced tools and methodologies.
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Through analysis of the design process of control systems, the institute does research in new data techniques with high support of the user in 'integrated design'
and in iteration in constructing processes. This area is denoted Computer Aided Control Engineering (CACE). |
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Subjects treated in the departmental research
User friendly interface construction in CACSD systems. The work is centered on the analysis of control
system design process. Special attention is given to the iterative nature of the design process. Several
models of the design process has been investigated and new developed. Based on this work guidelines
for needed improvements in future CACSD systems are pointed out. This has lead to the identification
of several areas where currently available tools lack capabilities. Prototype implementations have been made for MSL and IRCST, see below.
Implementation of device and system independent controller software. The work in this area is
focused on building of general common framework for simulation in MATLAB and implementation in
ANSI-C for different controllers. An adaptive system has been implemented. The system 'Integrated
Real-time Control and Simulation Tool' (IRCST) is developed for single board computers running OS-9
and for transputer based systems. IRCST is used in both education and research at the department.
An investigation of the efficient development of simulation models including 'hardware in the loop' (HIL) simulation.
Symbolic manipulation and representation in controller design. Design of control systems has until now
mainly been based on numerical methods supported by for instance MATLAB/Simulink. An alternative is to solve the problem symbolically and wait as long as possible to evaluate the expressions
numerically. Examples are controller design using the diophantine equation seen in adaptive systems, and modeling mechanical systems such as robots and autonomous vehicles.
Development of standard methodologies and procedures for modeling of electromechanical systems.
This work was started in the context of the COPERNICUS project 'Modeling and Control of Robotic Manipulators — Mechatronics Approach', where a tool and component library was developed
supporting structured modeling in Simulink called Mechatronics Simulink Library (MSL). MSL is available in a prototype implementation.
Development of a standard adaptive controllers package. A package called The Adaptive Blockset
(TAB) is available for both simulation and real-time execution using Real Time Workshop.
The department has two dual Pentium II 400 MHz PC's running Linux and two HP 9000 UNIX servers as
well as PC/Windows platforms available for the research in this area. The software includes MATLAB/Simulink with several toolboxes, Maple and Mathematica.
 Mechatronic Simulink Library (MSL)
The Adaptive Blockset (TAB)
COPERNICUS project
Computers and other equipment at IAU
Contact Ole Ravn (homepage) <or@oersted.dtu.dk>
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