• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.912-920
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• 2012

In this paper, we propose a new and cost-effective RCP (Rapid Control Prototyping) system based on Matlab/Simulink and a DAQ (Data Acquisition) unit with the high speed USB communication interface. The proposed RCP system has a feature that a computer on which Simulink is running acts as a realtime controller and a DAQ unit performs data acquisition, transmission of the data to and from a computer, and the application of control data received from the computer. For its implementation, we develop 10 communication blocks each of which is constructed by using S-function. In order to increase the data communication speed and thus to reduce the sampling period of the overall control system, we propose to use a batch transfer strategy through the USB interface. The proposed RCP system has several advantages over existing methods such as good maintainability, portability due to the USB interface, low cost, and no necessity for C-code generation even though it can only be applied to control systems with moderate sampling rates. It is expected that the proposed RCP system can be useful in teaching control-related topics to undergraduate and graduate students.

• Transactions of The Korea Fluid Power Systems Society
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• v.8 no.1
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• pp.19-25
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• 2011

This study presents the design of digital amplifier.controller for a proportional control valve and the development of PID discrete control scheme by using RCP(Rapid Controller Prototyping) system. RCP system is the device to embed the control code developed in PC into the microcontroller on-site. Ramp input test using the digital amplifier.controller developed in this study was carried out for the proportional control valve of domestic production and Bosch Rexroth respectively. The instability problem occurred around maximum displacement of localized valve spool at ramp input test was solved by supplementing offset current to the duty ratio of PWM(Pulse Width Modulation) driving signal to the solenoid. The comparison of test results between localized proportional control valve and Bosch Rexroth's product shows that the characteristics obtained by ramp input test and static flow gains are alike each other. Two valves are about the same in dead bands and hysteresis characteristics.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.3
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• pp.28-34
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• 2006

An ACC driving simulator is a virtual reality device which designed to test or evaluate vehicle control algorithm. It is designed and built based on the rapid control prototyping(RCP) concept. Therefore this simulator adopt RCP tools to solve the equation of a vehicle dynamics model and control algorithm in real time, rendering engine to provide real-time visual representation of vehicle behavior and CAN communication to reduce networking load. It can provide also many different driving test environment and driving scenarios.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.117-122
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• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.535-538
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• 2005

Today, most fixed-wing aircrafts are equipped with the antiskid brake system. It can modulate braking moments in the wheels optimally, when an aircraft is landing. So it can reduce landing distance and increase safeties. The antiskid brake system for an aircraft are mainly composed of braking moment modulators (hydraulic control valves) and brake control unit. In this paper, a Mark IV type - fully digital - brake controller is studied. For the development of its control algorithms, a 5-DOF (Degree of Freedom) aircraft landing model is composed in the form of matlab/simulink model at first. Then, braking moment control algorithms using wheel decelerations and slips are made. The developed algorithms are tested in software simulations using state-flow toolboxes in matlab/simulink model. Also, a real-time simulation systems are made, which use hydraulic brake systems of a real aircraft, pressure control valves and its controller as hardware components of HIL(Hardware In-the-Loop) simulation. Algorithms tested in software simulations are coded into the controller and the real-time landing simulations are made in very severe road conditions. The real-time simulation results are presented.

• Journal of Power Electronics
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• v.16 no.5
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• pp.1743-1751
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• 2016

The increasing demand for high voltage DC grids resulting from the continuous installation of offshore wind farms in the North Sea has led to the concept of multi-terminal direct current (MTDC) grids, which face some challenges. Power (current) flow control is a challenge that must be addressed to realize a reliable operation of MTDC grids. This paper presents a reduced switch count topology of a current flow controller (CFC) for power flow and current limiting applications in MTDC grids. A simple control system based on hysteresis band current control is proposed for the CFC. The theory of operation and control of the CFC are demonstrated. The key features of the proposed controller, including cable current balancing, cable current limiting, and current nulling, are illustrated. An MTDC grid is simulated using MATLAB/SIMULINK software to evaluate the steady state and dynamic performance of the proposed CFC topology. Furthermore, a low power prototype is built for a CFC to experimentally validate its performance using rapid control prototyping. Simulation and experimental studies indicate the fast dynamic response and precise results of the proposed topology. Furthermore, the proposed controller offers a real solution for power flow challenges in MTDC grids.