MRI: Acquisition of dSPACE Real-Time Development System and Electromechanical Apparatuses for Research in Smart Control Systems

在塔斯基吉大学电气工程系，PI和三名学生（两名研究生和一名本科生）正在进行智能控制系统领域的研究。目前正在进行的两个项目是：基于递归动态神经网络的鲁棒最优控制和基于神经网络的非线性系统全局反馈线性化补偿控制。然而，这些研究活动仅限于理论研究和应用程序的计算机模拟系统模型使用Matlab/Simulink软件从MathWorks公司。目前没有物理设备和相应的实时实施软件可用于测试智能控制算法并对其进行改进。需要采购的仪器包括dSPACE Inc.的ACE 1103 PX 4CLP原型系统，它包含了强大的硬件和全面的软件工具，用于开发实时控制系统。为了将dSPACE产品应用于实际工厂，我们还请求从ECP（一家领先的控制研究机构制造商）购买以下机电设备：直线质量/弹簧/阻尼器（ECP Model 210），工业工厂仿真器（ECP模型220），倒立摆（ECP 505型），磁悬浮器（ECP 730型），和控制力矩陀螺（ECP型号750）。所获得的仪器将有助于大大推进上述研究项目，通过提供实施当前Matlab/在dSPACE硬件上进行神经控制器的Simulink代码和模型，并将其应用于实际机电设备进行实时测试，以及检查神经控制器在存在噪声和干扰的情况下的鲁棒性。从各种神经算法的实际实现中获得的反馈将有助于显著评估，改进和改进智能控制器的设计。这项建议的智力价值在于，如果得到资助，塔斯基吉大学的智能控制研究将大大增强，这反过来将影响人工智能和控制领域的全球研究界，因为一些期刊和会议出版物已经导致迄今为止，这项研究，更多的将导致更高的质量，如果仪器是收购。更广泛的影响，所要求的仪器包括引进一个新的研究生课程，先进控制设计在塔斯基吉大学，这是一个HBCU致力于非洲裔美国学生的高质量教育。此外，收购的设备将提高研究水平和研究人员的动机和学习经验，并有助于吸引新的研究生到塔斯基吉大学感兴趣的智能控制系统领域。这一领域的发展，预计将发生由于所要求的instrumentation将有额外的影响，吸引来自行业和政府机构的研究资金。此外，学生将拥有dSPACE产品的经验将对他们未来的职业生涯非常有益，因为这些产品在全球主要行业中使用。最后，所获得的设备将鼓励塔斯基吉大学建筑、工程和物理科学学院的多学科趋势，使航空航天、化学、电气和机械工程系的教师和学生都能平等地使用这些设备，这些系都提供控制系统课程。

In the department of Electrical Engineering at Tuskegee University, the PI and three students(two graduates and one undergraduate) are conducting research in the area of Smart ControlSystems. The following two projects are underway: robust optimal control using a recurrentdynamic neural network, and compensation of global feedback linearization control of nonlinearsystems using neural networks. However, these research activities are confined to theoreticalinvestigations and applications to computer simulated system models using Matlab/Simulinksoftware from the MathWorks Inc. No physical plants and corresponding real-timeimplementation software are currently available to test the smart control algorithms and refinethem.The requested instrumentation to be acquired includes the ACE1103PX4CLP prototypingsystem from dSPACE Inc., which contains powerful hardware and comprehensive software toolsfor development of real-time control systems. In order to apply the dSPACE products to actualplants, we are in addition requesting the acquisition of the following electromechanicalapparatuses from ECP, a leading manufacturer of mechanisms for research in control: theRectilinear Mass/Spring/Damper (ECP Model 210), the Industrial Plant Emulator (ECP Model220), the Inverted Pendulum (ECP Model 505), the Magnetic Levitator (ECP Model 730), andthe Control Moment Gyroscope (ECP Model 750).The acquired instrumentation will contribute to greatly advancing the above-listed researchprojects by providing the possibility of implementing the current Matlab/Simulink codes andmodels of the neural controllers on dSPACE hardware, and testing them in real-time as appliedto actual electromechanical apparatuses, as well as checking the robustness of the neuralcontrollers in the presence of noise and disturbances. The feedback obtained from the actualimplementation of the various neural algorithms will contribute to significantly evaluating,refining, and improving the smart controllers design.The intellectual merit of this proposal resides in the fact that, if funded, the smart controlresearch at Tuskegee University would be greatly enhanced, which in turn would affect theglobal research community in the area of artificial intelligence and control, since several journaland conference publications have resulted thus far from this research, and more would resultwith higher quality if the instrumentation is acquired.Broader impacts of the requested instrumentation include introduction of a new graduatecourse in Advanced Control Design at Tuskegee University, which is an HBCU committed to thehigh quality education of African-American students. Moreover, the acquired equipment willboost the research level and researchers motivation and learning experience and contribute toattracting new graduate students to Tuskegee University that are interested in the area of smartcontrol systems. The development of this area that is expected to occur due to the requestedinstrumentation will have the additional impact of attracting research funding from industry andgovernment agencies. Furthermore, the experience that students will have with dSPACEproducts will be very beneficial for their future career, since these products are used in majorindustries worldwide. Finally the acquired equipment will encourage the multidisciplinary trendin the College of Architecture, Engineering, and Physical Sciences at Tuskegee University bybeing made equally available to the faculty and students of the Aerospace, Chemical, Electrical,and Mechanical Engineering departments, which all offer courses in control systems.