AUTOMATIC CONTROL WORLD CONGRESS 1990

'In the service of mankind'

Proceedings of the 11th Triennial World Congress of the International Federation of Automatic Control

Tallinn, Estonia, USSR, 13-17 August 1990

(in six volumes)

Edited by

Ü. JAAKSOO Institute of Cybernetics of the Estonian

Academy of Sciences, Tallinn, Estonia, USSR

and

V. I. UTKIN Institute of Problems in Control, Moscow, USSR

VOLUME IV Application of Artificial Intelligence and Expert Systems of Automatic Control

Distributed Computer Control Systems • Artificial Intelligence in Real-time Control

Software Engineering for Real-time Control

Industrial Applications of Modern Control Methods • Control of Cars, Ships and Engines

Intelligent Components and Instruments for Automatic Control

Control of Electrical Drives and Power Electronics • Control System Elements

Published for the

INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL

by

PERGAMON PRESS

OXFORD • NEW YORK • BEIJING • FRANKFURT SAO PAULO • SEOUL • SYDNEY • TOKYO

CONTENTS

(Cumulative Contents of Volumes I-VI appear in Volume I)

APPLICATION OF ARTIFICIAL INTELLIGENCE AND EXPERT SYSTEMS OF AUTOMATIC CONTROL

AI and Expert Systems: Fundamental Techniques

Model Based Fault Diagnosis and Supervision of Machines and Drives R. ISERMANN, W. APPEL, B. FREYERMUTH, A. FUCHS, W. JANIK, D. NEUMANN, TH. REISS, P. WANKE

1

Intelligent Modelling of Complex Physical Systems: Application in Diagnostics of NPP's A. SOUMELIDIS, I. NAGY

13

Realisation of a Supervisor of an Extended Kaiman Filter with Application to Satellite Navigation S.E. SALLE, R. HORAK, D. BERTON, L. DUGARD

Qualitative Reasoning as an Aid for a Learning Process that Controls a Manufacturing Line С UHRIK, I. MEZGAR

Expert Control Applications

Expert Control System for Rougher Flotation of Phosphate S.-L. IÄMSÄ-JOUNELA, E.-K. KÄRKI

19

25

31

An Expert System for Frequency Response Analysis J.E. LARSSON

41

A Knowledge Based System in Modelling and Control for Biotechnological Processes R. MONTELLANO, M.P. BERNIER, A. CHERUY, M. FARZA

Fuzzy Control Systems

47

Multilayer Simulation and Expert Systems in Multi-level Process Control E.K. JUUSO

51

A Support System for Beam Adjustment of Cyclotron Based on Fuzzy Grading Model and Texture Display T. OKAMURA, T. MURAKAMI

Application of Artificial Intelligence to Operation Control of Blast Furnace N. TAMURA, K. MATSUDA, M. KONISHI, M. TAKAMI, K. KADOGUCHI

57

63

Matrix Representation for Fuzzy Program and its Application to Traffic Control M. NAKATSUYAMA, H. NAGAHASHI, N. NISHIZUKA, K. WATANABE

69

CASE STUDIES

Experimental Results with Different Methods of Fault Diagnosis for Machines and Drives

Chairman: R. ISERMANN

Model Based Fault Diagnosis of a Flexible Milling Center T. REISS, P. WANKE, R. ISERMANN

75

Signal Model Based Grinding Chatter Analysis W. JANIK, R. ISERMANN

A Knowledge Based Fault Diagnosis System for the Supervision of Periodically and Intermittent Working Machine Tools D. NEUMANN

83

DISTRIBUTED COMPUTER CONTROL SYSTEMS

DCCS Trends

Distributed Digital Industrial Control Systems: Accomplishments and Dreams T.J. WILLIAMS, E.J. KOMPASS

Incorporation of AI and Expert Systems in Distributed Computer Control Systems R.A. OYEN, M.P. LUKAS, M.G. OCALLAGHAN

95

111

Supervisory Tasks on Operating Distributed Computing Systems R. HACKEL, M. NAGY

117

Architecture Organization and Building of Distributed Software Configurations for the Microcomputer Control Network

A. PAKSTAS

Real Time in DCCS Fault Tolerance in Real-time Systems H. KOPETZ

123

129

OSI and Real-time Distributed Systems M.G. RODD, I. IZIKOWITZ, GUO FENG ZHAO

PROFIBUS - Open On-site Communication C. ZEBERMANN, L. KASTER, H. RAKE

Transputer Based Control of Mechatronic Systems A.P. BARKERS, J. VAN AMERONGEN

137

143

147

ARTIFICIAL INTELLIGENCE IN REAL-TIME CONTROL

Neural-Net Technology and Knowledge Based Computer Vision

Knowledge-based Computer Vision Systems for Industrial Control M.G. RODD, F. DERAVI, Q.M. WU, J. POWRIE

153

Dynamic Scene Description System - ODYS J. MALEC

159

AI Methodology in Real Time Control

Some-Results on Iterative Learning K.L. MOORE, S.P. BHATTACHARYYA, M. DAHLEH

Integration of an Expert System into a Real-time Software System TH. BECK, R.J. LAUBER

Verification, Testing, and Validation of Rule-based Expert Systems J. TEPANDI

A Knowledge-based Signal-symbol Processing Approach for Change Detection A. EDELMAYER, J. BOKOR, P. CASPAR, M. TANYI

An Environment for Knowledge Parallel Processing Used in Process Control SHI-QUAN SU, LIN-LIANG ZHAO

Fuzzy Control

Real Time Fuzzy Based Self-learning Predictors and Controllers C.J. HARRIS, C. MOORE

Knowledge Based Fuzzy Modelling of Systems F. VAN DER RHEE, H.R. VAN NAUTA LEMKE, J.G. DIJKMAN

Linguistic PID Controllers D P . KWOK, P. ТАМ, CK. LI, P. WANG

Qualitative Models for Automatic Control Process Supervision L. TRAVE-MASSUYES, A. MISSIER, N. PIERA

Qualitative Simulation for Expert Systems D.L. DVORAK, D.T. DALLE MOLLE, B.J. KUIPERS, T.F. EDGAR

Specific Knowledge-based Control Systems (Applications)

An Expert System for Switching Decisions in Substations Z.Z. ZHANG, G.S. HOPE, O.P. MALIK

The Management Through Cooperative Multi-agent Model in the Plant T. NAKAGAWA, S. INABAYASHI, Y. SAWARAGI

A Coordination Theory for Intelligent Machines FEI-YUE WANG, G.N. SARIDIS

Process Control Usmg a Real Time Expert System R. MOORE, H. ROSENOF, G. STANLEY

CASE STUDIES The Use of AI-Methods in Control Systems

Chairman: V.H. HAASE

The Use of AI-methods in the Implementation of Realtime Software Products V.H. HAASE

Practical Experience in Software Engineering with ADA: Building an Operation Guidance; Recovery and Maintenance Planning System W. FRITZ, V.H. HAASE, R. KALCHER

14

Medical Decision Support Based on Databases, Expert Systems and Neural Networks 263 G. ROM, R. GR1MS, CH. LINSTER, G. SCHWARZ, G. PFURTSCHELLER

SOFTWARE ENGINEERING FOR REAL-TIME CONTROL

Soßware Engineering I

New Trends in Software for Real-time control 267 P.P. ELZER

Personal-computer Based Software Development for Dedicated Real-time Systems 273 W.P. PAULA FILHO

TeamSo - A Software Development and Maintenance Support System 279 F. SIPOS, Т. SZTANO, CS. DEMJEN

Reuse of CASE-based Automation Project Results 283 R.J.LAUBER

Sofiware Engineering II

Fast Prototyping Control Software with ADA 289 A.-E.-K. SAHRAOUI, Y. ABDALLAH

Declarative Programming Tools for Fermentor Control System 293 A. BAKAY, L. M A D A R X S Z , A. HINSENKAMP, Z. PAPP, T.P. DOBROWIECKI

An Operational Specification Model for Process Control Software 299 A. KULL

Strategies for the Achievement and Assessment of Software Fault- tolerance 303 F. SAGLIETTI

INDUSTRIAL APPLICATIONS OF MODERN CONTROL METHODS

Nonlinear Control Applications

A Critique of Differential Geometric Control Strategics for Process Control 309 M.A. HENSON, D.E. SEBORG

Sliding Mode Control of an Inverted Pendulum: Comparison on Robustness Between a 317 Sliding Mode Control and an Optimal Regulator T. ISHIDA, T. OSHIRO, T. NAGADO

Non linear Standard Regulators 323 A. BALESTRINO, A. BRAMBILLA, С SCALI, A. LANDI

Optimal and Adaptive Control Applications

Industrial Applications of Self-tuning Control 329 K.J. BURNHAM, D.J.G. JAMES

Application of an Adaptive Control Method to the Guide Roll Force Control for Ring 335 Rolling Processes H D . CHOI, H.S. CHO, C O . LEE

On-line Measurement and Control of Colour, Pick-up, Humidity and pH for Continuous 341 Textile Dyeing Processes F.M.M. D'HULSTER

Adaptive Compensation of Deformations in Mechanical Structures Controlled by 349 Hydraulic Actuators P. KRUS, S. GUNNARSSON

Robust Control Applications and Fault Detection

Novel Methodology and Strategies for Complex Industrial Systems Control 355 YONG-ZAI LU, QI-ZHONG FAN, LI-WEI В АО

Diagnosis of Plant Failures Using Orthogonal Parity Equations 361 J. GERTLER, Q. LUO, K. ANDERSON, X. FANG

A Fault Detection Method for Uncertain Systems with Unmodellcd Dynamics, 367 Linearization Errors and Noisy Inputs OH-KYU KWON, G.C. GOODWIN

Robust Frequency Domain Fault Detection/Diagnosis 373 B. WAHLBERG

An Observer-based Robust Stabilization of 3-axes Controlled Type Magnetic Bearings 379 Using a Digital Signal Processor F. MATSUMURA, M. FUJITA, H. TAKAHASHI

Advanced Control Methods of Different Processes

Advanced "Low-Cost" Automation for Small Sized Industries 385 P. KOPACEK

Intelligent Industrial Control 389 I.L. NAVARRO, P. ALBERTOS, M. MATINEZ, F. MORANT

Control of Paper Basis Weight by Expert SQC/SPC Algorithm Using Distributed 395 Controls M.A. KEYES, A. KAYA

Computer Control of Over-head and Gantry Cranes 401

J. VIRKKUNEN, A. MARTTINEN, K. RINTANEN, R. SALMINEN, J. SEITSONEN

Discussion Session

Application of Gain Scheduling 407 Chairman: A. NIEMI

CONTROL OF CARS, SHIPS AND ENGINES

An Application of Variable Structure Systems with Sliding Mode Control to a Remotely 411 Operated Vehicle B.E. PLATIN, J.-M. CHANG, N. OLGAC

Optimal Active Suspension Applied to Repulsive Magnetically Levitated Vehicle Systems 419 M. NAGAI, A. MORAN, S. TANAKA

A High Precision Track Controller for Ships T. HOLZHÜTER

Modelling and Adaptive Control of a Dcepwater FSV С. SILVESTRE, J.M. LEMOS, M.M. SEQUEIRA, J.S. SENTIEIRO

Model Following Control of Hybrid 4WD Vehicles Y. AMANO, K. ASANO, S. OKADA, T. MORI, N. IWAMA

425

431

437

INTELLIGENT COMPONENTS AND INSTRUMENTS FOR AUTOMATIC CONTROL

Intelligent Controllers m

Knowledge Acquisition and Dynamic Behaviour by Using Intelligent Controllers A. OLLERO, J. ARACIL, F. MORANT

Anti-reset Windup for PID Controllers L. RUNDQWIST

Integrated Intelligent Control System - Conceptual Approach LB. YADIKIN, E.K. KORNOUSHENKO

Digital Regulators Redesign with Irregular Sampling P. ALBERTOS, J. SALT

Intelligent Sensors

Compass Deviation Analysis and Compensation for a Three-axis Strapdown Magnetic Heading System SHENG-WU LIU, JI-DON ZHUANG, J.C. HUNG, HUI-NAN WANG

A Calibration Procedure for Microprocessor-based Electrochemical Analysers with Ion-selective Electrodes P. SIUDA

A New Adaptive Vortex Flowmeter J. MENG, L. ZHU

Intelligent Micro-G Survey Instrument X.Y. KONG, Y.Z. FAN

CONTROL OF ELECTRICAL DRIVES AND POWER ELECTRONICS

Control of Electrical Drives I

Control Strategies for Electrical Drives A. DE CARLI

Robust Flux Observer Based Field Orientation (FOFO) Controller: Its Theoretical Development on the Complex Number System and Implementation Using DSP Y. HORI, T. UMENO

A Partial Non-interactive Multivariable Controller for a Voltage Feed Induction Motor J.E. NORMEY RICO, A.H. BRUCIAPAGLIA

443

453

459

465

471

475

483

487

491

499

505

Control of Electrical Drives II

Modern Evolutions of Electrical Actuators D. SCHRÖDER

Control Systems of Doubly Fed Induction Machine Based on Multiscalar Model Z. KRZEMINSKI

PWM Inverter Control by System Control Theory T. EGAMI, T. TSUCHIYA

Control System of Cycloconverter Drive H. ZYGMUNT, A. ZUR, Z. MIKOS

Quick Response and High Efficiency Control of the Induction Motor Based on Optimal Control Theory T. MURATA, T. TSUCHIYA, I. TAKEDA

CONTROL SYSTEM ELEMENTS

Electrohydmulic Actuators and Drives

Structure-variable Model-following Control for Hydraulic Drives H. LAUSCH, К. LIERSCHAFT, H. SCHWARZ

Comparing the Responses of Electric, Pneumatic, and Hydraulic Servodrives P. DRANSFIELD

Experimental Determination of the Static Characteristics of Hydraulic Motors and Pumps E.T. BROKHATTINGEN, F. CONRAD, P.H. S0RENSEN, E. TROSTMANN

Author Index

Keyword Index