Present Developments
in Control Applications
K. J. strm
Lund University
Sweden
Acknowledgements
Numerous friends and collegues in industry and academia
How Control Developed
Early use
The Field Emerges
The Second Phase
The Third Phase?
Control Emerges
Drivers: gun control, radar ...
Block diagrams, transfer functions
Design tools: graphical
Analog computing
Holistic view of theory & applications
The Second Phase
Drivers: space, computer control,
mathematics
Rapid growth of subspecialities
Optimal, stochastic, nonlinear, ...
Computational tools
Impressive development of theory
Holistic view was lost
The Third Phase?
Drivers: embedded system,
networks, biology, physics, ...
Autonomy, distribution
Exploding applications
Hardware and software platforms
Holistic view will be recovered?
1. Introduction
2. Control Everywhere
3. A Closer Look
4. The Systems View
5. Conclusions
Breakthrough Technologies
Everything will, in some sense, be
smart; that is, every product, every
service, and every bit of infrastructure
will be attuned to the needs of hte
humans it serves and will adapt its
behavior to those needs.
Sensing, actution, and control
NAE The Engineer of 2020
Control Everywhere
Manufacturing
Products
Ideas
Why?
Power Generation and Distribution
Keep graphics
below the te and
to the right
Process Control
Keep graphics
below the te and
to the right
Discrete Manufacturing
Keep graphics
below the te and
to the right
Vehicles
Consumer Electronics
Biomedical
Keep graphics
below the te and
to the right
DLR Robots and Hands
LWR III: 7 joints weight/load =1.5
150 W, 3 cables
Hand II: 13 joints 3 kg finger force
Gerd Hirzinger DLR
Science
Ideas: Feedback and systems
Instruments: mega to nano
Adaptive Optics
Atomic Force Microscope
Biology
Feedback is a central feature of life. The
process of feedback governs how we grow,
respond to stress and challenge, and
regulate factors such as body temperature,
blood pressure, and cholesterol level.
The mechanisms operate at every level,
from the interaction of proteins in cells to
the interaction of organisms in complex
ecologies.
M. B Hoagland and B Dodson The Way Life Works Times Books 1995
Key Drivers
Insight and understanding
Knowledge and education
Power of feedback and computing
Tools
Control a commodity?
The Power of Feedback
Good systems from bad
components
Attenuate disturbances
Stabilize unstable system
Shape behavior
Risk of instability
Control and Computing
Vannevar Bush 1927. Engineering can progress no
faster than the mathematical analysis on which it is
based. Formal mathematics is frequently inadequate
for numerous problems, a mechanical solution offers
the most promise.
Herman Goldstine 1962. When things change by
two orders of magnitude it is revolution not evolution.
Gordon Moore 1965: The number of transistors per
square inch on integrated circuits has doubled in
approximately 18 months.
Tools
Sensors, actuators, process interfaces
Computers ,signal processors, FPGA
Tools for modeling, analysis, simulation and design
Operating systems, automatic code generation
NASAs X43-A Scramjet Achieves RecordBreaking Mach 10 Speed Using MathWorks
Tools for Model-Based Design
The Challenge
To design and automatically generate flight control
software for a scramjet vehicle traveling at Mach
10 speed
The Solution
Use Simulink to model and validate control
systems, Real-Time Workshop to automatically
generate flight code, and MATLAB to process and
analyze post-flight data
The Results
Reduced development time by months
Accurately predicted separation clearance
Aided in achieving SEI CMM Level 5 process
rating
The X43-A on its record-setting flight.
Our autopilot worked on the first try, which is
amazing given that a vehicle like this had never
been flown before. MathWorks tools helped us
design and implement control systems that kept the
vehicle stable throughout the flight."
Dave Bose,
Analytical Mechanics Associates
Rapid Control
Prototyping
NI CompactRIO
Drivven: We prototyped a full-authority engine control system in just 3 manmonths. In past projects, it took us at least 2 man-years and over $500,000 to
develop similar ECU systems.
1. Introduction
2. Control Everywhere
3. A Closer Look
4. The Systems View
5. Conclusions
Cross Direction Control
sheet
travel (100+ km/h)
Several hundred sensors and
actuators, millisecond
operation, controlling paper
thickness to within microns!
Control Everywhere
Mill Wide Control
Dynamic
mass balance
Billerud Gruvn plant
Lockmannkolonn
inletPulp
outletNCG
inletSteam
7
6
Modelica modeling
inletWater
Production units
Buffer tanks
Streams
Measurements
Variables
Slide from Alf Isaksson
outletBL
Diffusren r
inbakad i kokaren
Flash 1-spliten r en
intern loop
outletCondensate
inletWL
25
38
250
250
2500
outletPulp
Global Enterprise Control
Strategic, Enterprise system, global, 1-10 years
Tactical, Manufacturing system, 10 km, year, shift,
Operational, Process Control, 1 km, shift, ms
Automotive
Engine control
Power trains
Cruise control
Adaptive cruise control
Traction control
Lane guidance assistance
Platooning
Automotive
Strongly enhanced performance
Strong technology driver
Large numbers (microcontroller)
Low costs
Safe design and operation of
networked embedded systems
Aerospace
Boeing 777 1995
Pilot crew 1280 networked processors
Unmanned Air Vehicles
UASV
Challenge: Replacing the Pilot with Software
Relative Level of Autonomy
UCAV
Predator
Tomahak
.5
Lightning Bug
- Target Drone
- C-130 Launched
- Operator Controlled
- Limited Autopilot
1960s
- Autopilot
- Tgt Recognition
- Multi Targeting
- Launch & Forget
1980s
- Autopilot
- Piloted T-O & Landing
- Racetrack
- Surveillance
- Route Replanning
2000
Time
Siva Banda U.S. Air Force Research Lab
- T.O & Landing
- Navigation
- ESM Search
- RADAR Pointing/
Cueing/Transmission
- SEAD
- Air-to-Ground
- In-flight Retargeting
- Collaborative AOA
Measurement
2010
Autonomous
- Evasive Maneuvers
- Extreme Performance
- T.O & Landing
- Navigation
- Multi-ship Trajectories
(TF/TA)
- Inter-Ship Collaboration
- Information Mining
- Sensor Control
- ATR
- Weapon Delivery
- A/G & A/A
- BDA
- Manned A/C Augmentation
- In-flight Retargeting
- N on N Engagement
2015-20
Cooperative Control is Hard
Coupling
Precedence constraints
Joint tasks
On-line computation
Uncertainty
Target locations
Threat environment
Enemy actions
Engagement outcomes
Communication Constraints
Asynchronous COMM
Limited throughput
Delays and outages
Siva Banda AFRL
Scientific Instruments
Scientists (physics, biology)
Revolutionary properties
Control is mission critical
Control is performance critical
Atomic Force Microscope
Laser
Photodiode
Feedback
Cantilever
Sample
Piezoscanner
Image of DNA String
Georg Schitter UCSB
Impact of Control
Enabling technology
Increased scan rate
Improved image quality
Integrated process and control design
Tuning tools for easy use
Biology
A long tradition
Schrdinger 1944
Wiener 1948
von Neumann 1958
Bellman Mathematical Biosciences
Understanding dynamics and control crucial
What is new?
Systems Biology
Leading biologists have recognized that new
systems-level knowledge is urgently required
in order to conceptualize an organize the
revolutionary developments taking place in
the biological sciences, and new academic
departments and educational programs are
being established at major universities,
particularly in Europe and in the United States
Eduardo Sontag 2006
Signaling Circuit in Mammalian Cell
Systems Biology
1. Introduction
2. Control Everywhere
3. A Closer Look
4. The Systems View
5. Conclusions
The Systems Perspective
In the past steady increases in knowledge has
spawned new microdisciplines within engineering.
However, contemporary challenges
from biomedical devices to complex manufacturing
designs to large systems of networked devices
increasingly require a systems perspective
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C3BMP
Computing
Physics
Mathematics
Control
Communication
Biology
Modeling and Simulation
There will be growth in areas of simulation
and modeling around the creation of new
engineering structures. Computer-based
design-build engineering ... will become the
norm for most product designs, accelerating
the creation of complex structures for which
multiple subsystems combine to form a final
product.
NAE The Engineer of 2020
The Modeling Barrier
Control
Blockdiagrams ODEs
Physics
Mass, energy, momentum
Block diagrams unsuitable for serious physical modeling
Modelica (www.modelica.org)
Block diagrams and ODEs not suited for physical
modeling the control/physics barrier
Behavior based (declarative) modeling is a good
alternative
European activity based on industry/university
collaboration
Groups with broad competence and experience
Modelica (www.modelica.org)
Mimics how an engineer builds a real system
Object oriented, component-based, multi-domain
Efficient engineering through reuse
Model libraries (free and commercial)
Simulator Dymola (Dynasim)
Extensive symbolic manipulation, automatic inversion, ...
Efficient real-time code
Syntax and semantics formally defined
Automotive Climate Control
Audi, BMW, DaimlerCrysler,
Volkswagen and their suppliers have
standardized on Modelica
Suppliers provide components and
validated Modelica models based on the
AirConditioning library from Modelon
Car manufacturers evaluate complete
system by simulation
IP protected by extensive encryption
Picture courtesy of Behr GmbH & Co.
The Implementation Barrier
Control
Feedback,Stability, ODE, PDE
Moderate complexity
Robustness
Computing
Logic, languages, DES,FSM
High complexity
Abstraction
Networked embedded systems
Safe Design
Much more than automatic code generation
Formal specification, design, verification
and validation
System architecture
Integration of subsystems
Modification, upgrade
An Example
DARPA Grand Challenge
Caltech Alice
Slide from R Murray Caltech
ty
Warran
Systems Biology
Replace
processors
Model changed
will system still
work?
Camera with
higher resolution
al
Replace
algrorithm
Replace
network
Augment with
Off-line optimization
1. Introduction
2. Control Everywhere
3. A Closer Look
4. The Systems View
5. Conclusions
Conclusions
Tremendous advances
Control everywhere
C
Massive computations
The systems challenge
C
C
Like 1956 but at a higher level
A role for IFAC?
