Real-time Distributed Control: Optimizing Mechanical Performance using Adaptive Computing and Communication Techniques

实时分布式控制：使用自适应计算和通信技术优化机械性能

• 批准号: 9977179
• 负责人: Dawn Tilbury
• 金额: $ 14.77万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-09-15 至 2004-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9977179&HistoricalAwards=false
• 关键词: Real; time; Distributed; Control; Optimizing

PIs: D. M. Tilbury and N. R. Soparkar, University of MichiganProposal Number: 9977179Real-Time Distributed Control: Optimizing Mechanical Performance using Adaptive Computing and Communication TechniquesThis research addresses the trend in application areas that range from robotic machining to autonomous vehicle control of moving away from monolithic, centralized control algorithms towards decentralized, distributed real-time control implementations. The overall performance of such control systems depends not only on the control algorithms which are used, but also on the computing hardware and software modules which realize them. The goal of this project is to develop a framework in which distributed control systems can be designed, analyzed, and optimized. Different control architectures (allocation of processing tasks to hardware modules) will be considered, and the delays inherent in each architecture will be characterized based on the underlying computing infrastructure (networks, processors, etc). The effect of each type of delay on the mechanical performance of the system will be analyzed. This information will be used to improve the mechanical performance using adaptive computing and communication, that is, assigning priority to the computational or communication tasks which have the largest impact on the mechanical performance of the control system. This integration of mechanical engineering and computer science in the industrially-relevant application area of real-time distributed control promises to result in fundamental and pragmatic results in both areas, and should find immediate applicability to real-world problems.

PI：D. M. Tilbury 和 N. R. Soparkar，密歇根大学提案编号：9977179实时分布式控制：使用自适应计算和通信技术优化机械性能这项研究解决了应用领域的趋势，从机器人加工到自动车辆控制，从单片、集中式控制算法转向分散式、分布式实时控制实现。 此类控制系统的整体性能不仅取决于所使用的控制算法，还取决于实现它们的计算硬件和软件模块。 该项目的目标是开发一个可以设计、分析和优化分布式控制系统的框架。 将考虑不同的控制架构（将处理任务分配给硬件模块），并且将根据底层计算基础设施（网络、处理器等）来表征每种架构中固有的延迟。 将分析每种类型的延迟对系统机械性能的影响。 该信息将用于通过自适应计算和通信来提高机械性能，即将优先级分配给对控制系统的机械性能影响最大的计算或通信任务。 机械工程和计算机科学在实时分布式控制的工业相关应用领域中的集成有望在这两个领域产生基础和实用的成果，并且应该立即适用于现实世界的问题。