Research on Intellectualization of Hierarchical Multi-Control Loop in Production Systems

生产系统分层多控制回路智能化研究

• 批准号: 62550177
• 负责人: WATANABE Tohru
• 金额: $ 1.28万
• 依托单位: Ritsumeikan University (1988)Kyoto University (1987)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-62550177/
• 关键词: FA; Intelligent Control; Adaptive Control; Sliding Mode Control; PWM; Scheduling; managemeut; FMS; NC; Robotics; Hierarchy; 多重ループ; インテリジェントコントロール; スライディングモード; インテリジェント コントロール; オンライン スケジューリング; 加減速制御; スライディング モード; 階級制御

1. A hierarchical multi-loop factory control system which opitmizes performance indices at each loop by using adaptive and rule based control is proposed.2. Adaptive control to change control mode from productivity optimization to cost optimization at manufacturing level according to scheduling condition at management level is proposed and it is shown the proposed method is effective in improving the lateness to due dates.3. A adaptive control method to change a weight on running cost and scheduling one to change a weight on bottle neck operation in schedule are proposed and it is verified that both methods are effective.4. A method to determine operation speed and acceleration according to the duty rates of motor PWM controllers at lower level.5. A DSP controller to decide the duty rare of motor control based on a duty rate table in memory which are pre-calculated in advance shows that the method is very effective.6. A V.S.S. system of manipulator to change control mode according to motor axis angular velocity and acceleration is proposed and shows it is very effective to improve high tracking accuracy.

1.提出了一种分层多回路工厂控制系统，采用自适应控制和基于规则的控制优化各回路的性能指标.提出了根据管理层的调度情况将制造层的控制模式从生产率优化转变为成本优化的自适应控制方法，并表明该方法可以有效地改善交货期延误。3.提出了一种改变运行费用权重的自适应控制方法和一种改变调度瓶颈工序权重的调度方法，并验证了两种方法的有效性.根据电机PWM控制器的占空比确定电机运行速度和加速度的方法. DSP控制器根据预先计算好的占空比表来确定电机控制的占空比，结果表明该方法非常有效.一个VS提出了一种根据电机轴角速度和加速度改变控制方式的机械手系统，该系统对提高机械手的高跟踪精度是非常有效的。

项目成果

Tohru Watanabe: "Intelligent Duty Rate Control of PWM for Robot Manipulators" Proc. 1988 IEEE Int. Workshop on Intelligent Robots and Systems. 521-524 (1988)

Tohru Watanabe：“机器人机械手的 PWM 智能占空比控制”Proc。

Tohru Watanabe: "Sliding Mode Control for Robot Manipulators Using Acceleration Feedback" Proc. ASME WAM Symposium on Robotics. 125-138 (1988)

Tohru Watanabe：“使用加速度反馈的机器人机械手的滑模控制”Proc。

渡部透: インテリジェントFAシンポジウム講演論文集. 105-106 (1987)

渡边彻：智能 FA 研讨会演讲记录 105-106 (1987)。

Tohru Watanabe、: Proc.1988 IEEE Int.Workshop on Intelligent Robots and Systems. 521-524 (1988)

Tohru Watanabe：Proc.1988 IEEE 国际智能机器人和系统研讨会 521-524 (1988)。

Tohru Watanabe.: Proc.IFAC Int.Workshop on Decision Structures in Production. 1-9 (1989)

Tohru Watanabe.：Proc.IFAC 国际生产决策结构研讨会。