THE MULTI - MOTOR DRIVE MODEL FOR TEACHING IN THE MOTION

AND PROCESS CONTROL ENGINEERING

Daniela PERDUKOVÁ – Pavol FEDOR – Jaroslav TIMKO

Faculty of Electrotechnics and Informatics, Technical University of Kosice, Letna 9, 042 00 Kosice, Slovak Republic,
++421 55 602 2256, [email protected], [email protected] , [email protected]

SUMMARY

Technological line control with drives coupled by each other through moving web material is qualitative different from
individual drive control because there is necessary to take into consideration their mutual couplings. Due to economical and
practical reasons it is difficult to teach students in real working conditions and computer systems do not grant sufficient
physical image of these systems. For these reasons the physical model for continuous material processing (web of paper,
celluloid, tin, ...) has been built. Control system equipped with transputer module, which enables both education in the field
of parallel process and education of programming equipment of this system, has been designed. The description of physical
model and control system, some results of experimental measurements and possibilities of its utilisation in education are
introduced in this paper.

Keywords: continuous line, physical line model, control system, transputer, parallel system

1. INTRODUCTION In order to obtain the most practical experience

in laboratory conditions it is suitable to make up the
Motion and process control engineering is placed physical models of technological processes, which
between areas of drives control and technical are very close to real processes with their properties.
cybernetics. Attention is focussed on the design, Typical representative of those processes is
implementation and practical realisation of controll continuous processing of technological material by
systems of industrial plants. continuous line (web of paper, celluloid, tin, ...) and
One of the typical examples of complex plants is control of this system by distributed (often parallel)
represented by a multi-motor drive of a continuous control systems.
technological line. The serious study of subjects Moreover the realisation of the model enables to
dealing with drives working in technological utilise them in practical teaching of other topics as
processes, their digital controll system and other identification, control without feedback, logical
equipment meets many principal difficulties which control, design and verification of complex
can be described shortly by next factors: algorithms for the control of drives.
 identification and research of properties and
parameters of those processes in real operation 2. CONCEPT OF THE CONTINUOUS LINE
require a great expense and technological PHYSICAL MODEL
process in industry cannot be often interrupted
or disturbed for purpose of teaching and Main requirements, which were given on
experimentation (question of economy, physical model of the continuous line are as follows:
productivity, safety,...)  to enable sensing all basic electrical and
 control system design for those technological physical variables
processes can be done only in the parts and their  to enable adjusting basic line parameters
realisation as a whole can bring problems due to (mainly elastic properties of material)
internal couplings between process subsystems  economical and safe real working
 in many cases the parallel processes are For this purpose the mechanical arrangement of
considered and from this point of view there are continuous line has been designed and realised
no suitable analytical means for simulation of according to fig.1. The physical model of continuous
their mutual co-operation, they can be tested line consists of three basic parts:
only in the way of practical realisation  input part – consists of an unwrapping machine
 only computer simulation of those processes  middle part – is created by various portions with
does not provide sufficient physical image about loop or direct mechanical coupling
internal mutual couplings between individual  output part – consists of a winding machine
processes for students The physical model consist of 5 motors, which
 only computer simulation of time dependencies are joined each other by the celluloid or paper web,
in parallel processes can lead to very which creates the mechanical coupling between
complicated and unrealisable models
them. Control voltages for width – pulse converter in
range of ± 10V are input variables of physical model Control system consists of following units :
 Input/output node –secures the connection
between the main part of the control system and
technological process by serial link or directly
through local bus of some transputer ; this node
usually contains A/D, D/A converters, logical
input and output, ...
 Computing node (transputers) - which are
Fig. 1 The structure of the physical model of interconnected with each other by serial link,
continuous line presents the main part of the system. There is a
possibility to extend this main part of the system
Speeds and tensions of individual drives from (theoretically) by arbitrary number of nodes
position sensors are output variables of the physical respecting its structure and so the sufficient
model. Tensions in single parts of the line are performance for application can be assured.
scanned by position of potentiometers on hanging  Evolution node – enables to create the particular
rollers. Elastic material properties are simulated by application by programming means
mechanical changing spring, which causes the
 Operator node - presents the interface between
elongation of the web of celluloid.
the system service and net of computing nodes
3. CONCEPT OF THE CONTINUOUS LINE The application for transputer node is not
CONTROL SYSTEM programmed. It is only compiled from programming
modules, prepared in advance, by defining their
Following requirements were imposed on the parameters and mutual couplings between modules.
control system of the technological process: In control system there are next basic types of
programming modules:
 sufficient performance, which enables
centralised and decentralised process control  computing module – is placed in the transputer;
its content is programmed in form of block
 the connection with attendance adapt to user
schemes through standard blocks
requirements (for student´s educational process)
 the system should be open, i.e. there is a  input – output module – serves for connecting
with the technological process
possibility to interconnect it with other
computers or control systems  visualisation module - serves for displaying data
in required form. It is always stored in one
System which fulfills these requirements is
operator node
shown in fig.2.
 control module – enables to control whole
control process (start, stop, break point,...). It is
always stored in one operator node.
Block diagram of physical model control system
is shown in fig.3.

Fig. 2 Structural scheme of the physical model

Fig. 3 Block diagram of the control system
 The control system designed by this way is very  Transputer net with transputer T800 – which is
flexible from interconnecting to other systems point placed in personal computer and serves for
of view. The concrete utilisation of this system is processing equations of control algorithms
much wider. It means that students would be able to
 PC computer – serves as graphical and
programme the transputer perfectly, to design the
displaying station. Simultaneously the personal
co-operation between parallel processes, to
computer serves as development node for
programme I/O nodes and so on. In addition the
software of both transputers to see fig.4.
creation of a new application takes a very long time
and in this case the most of teaching time is devoted
to marginal problems ( from design and control
algorithms verification point of view). For this
reason the block-oriented user environment has been
designed for this system structure, which enables
students to define the function of control system
without transputer programming or I/O nodes
configuring.
In this system the control algorithms is defined in
text form in two steps: Fig. 4 Control system structure with transputers
 simulation scheme – it is transcription of block
scheme to the block sequence written in Both nodes are connected through fast serial link
simulation language. In this scheme the INMOS and simultaneously the development node
distribution of computing operations for the enables the interconnection to next transputer nodes
transputer net is defined. Inputs and outputs for by using of further INMOS-links.
mutual connection of the modules (transputers) The whole control system of continuous line is
and outputs for the operator node. The shown in fig.5.
simulation scheme is built up from blocks
defined in the system in advance.
 configuration file – describes the connection of
single modules, their storing into transputer net
and the connection between PC and other
system modules; this file serves for creating
configuration table for the net of transputers.
This environment called GAUSS was described
in more details in [1]. All parameters of continuous Fig. 5 Continuous line control system
line model are listed in [3] Appendix C.
Control algorithm for continuous line has been
4. VERIFICATION OF PHYSICAL MODEL designed on basis of the II. Lyapunov method for
AND EXPERIMENTAL RESULTS systems with reference model introduced in [1].
The proposed controlled structure supposes the
The function of multi-motor drive model with state description of controlled system in the form:
transputer system has been verified for control of
line speed and tension in the web of material. The 

control system consisted of x  AS . x  BS . u  v1 (1)

 MESIT (MS 80) system – which is used for
realisation of system input/output and contains where AS, BS are non-linear, time-invariant system
next equipment: matrices, v1 is vector of additive disturbances and u
is input vector of the system.
 D/A cards The dynamic properties are described by the
 A/D cards linear reference model with state description:
 logic input/output card
 incremental sensors card 
xM  AM . xM  BM . w (2)
 card with transputer T400 – which
processes data from technological process where AM , BM are constant matrices and w is vector
in advance and secures convenient shape of of required values.
output signals for converters We will reach the aim of the control if controlled
structure is able to keep the state deviation equal to
zero or at least very close to zero between the
reference model (2) and the controlled system (1) :
 e  xM - x (3)  n
V  - e T . Q . e  2 .  ( z i . v i - b i . d i . z i2 ) (11)
i 1
Because it is not important what caused the
disturbance, but important is how to regulate it, we Conditions of the II. Lyapunov´s theorem will be
can sum up the influence of parametric and additive fulfilled only in the case when conditions (12), (13)
disturbances into one generalised disturbance vector are valid.
v:
vi . zi
v  ( A M - AS ) . x  BM . w  v1 (4) z i2  , i  1, 2, ..., n (12)
bi . di
When we mark the compensating vector as
b i  0 , d i  0 , i  1, 2, ..., n (13)
k   BS . u (5)
More details about this method are presented
then by combining (1) and (2) through (3) we obtain in [1]. The block scheme of presented controlled
the system, whose state variables are the elements of structure is shown in fig.6, where the possible
vector e. That system is described by state equation: modifications of controlled structure are represented
by the dashed line:
  It is possible to link vector k ( or at least its
e  AM . e - BS . u  v  AM . e  k  v (6) some components ) with opposite sign to the
reference model without any changes of
The controlled structure must adjust the vector k system (6) behaviour
in such a way that the length of vector e would be  We can also prescribe the reference model for
the smallest or very close to zero. open controll system and then this system can
One of the possible ways for the design of this be controlled by controller R, which can be
controlled structure is the second Lyapunov method. designed by standard methods for linear
It consists in the design of an appropriate positive systems very simply.
definite Lyapunov´s function for system (6) and in
the choice of vector k in such way that the derivative
 Because we cannot very often change the
parameters of the controlled system directly,
of this function would be negative definite. From
this system is controlled through input vector
conditions of Lyapunov´s theorem about stability
u, the influence of the vector k to single state
there follows the result lim e = 0
t 
variables can be transformationed to
Let us choose Lyapunov´s function in the form: appropriate components of the vector u as far
as the form of matrices BS allows it.
n
V  eT . P . e   1 . ( k i  bi . di . zi ) 2 (7)
i 1
bi

where

n
z i   p ki . e k (8)
k 1

and P is a symmetric positive definite matrix, which

corresponds to Lyapunov´s equation
Fig. 6: The block scheme for studying controlled
A TM . P  P . A M  - Q (9) structure

If we chose the vector k in the form The block scheme of the middle part of the
considered continuous line whose physical model
  consists from two DC motors coupled with each
k i  - bi . zi - bi . di . zi (10) other through the web of material is shown in fig. 7

then the derivative of Lyapunov´s function (7) will

be
 Fig. 7: Two motors coupled with elastic coupling

System state description is in the form (concrete

parameters are according [3])
Fig. 8 Continuous line control structure
 2
r Kv 
 0 0  (14)
 j2 K F J   0 1.05 0
Next figures present achieved results. Fig.9
 K K K r2 K FK P 
A S  - F P  2 T2  - 5.3 - 0.44 5.3 shows tension setting between two line machines
Kv Jj Kv  when line is standing. We can see, that tension in the
   0 - 1.05 0 
 0 r 2K
 - 2 v 0  web of material can be set autonomously with
 j K FJ  almost aperiodic response.

 K v rc 
 0 
 JjK i   0.3 0  (15)
K F K T rc K F K T rc 

BS    - 0.063 0.063
 JjK i JjK i 
  0 0.3 
 K v rc 
0
 JjK i 

We can see that this system with two inputs and

two outputs contains a “quick” tension subsystem
and a “slow” speed subsystem. In order to secure
autonomy of the control let us choose a reference
model created from two autonomous subsystems in Fig. 9 Autonomy of the tension subsystem
the form
The basic operation states of continuous line, i.e.
- 1 0 0  1 0 tension setting F12, continuous line run-up to
A M   0 - 2 0  B M  0 2
(16) working point v2 = 0.5 m/s, the influence of adaptive
disturbances to multi-motor line are shown on
 0 0 - 1 0 0
fig.10. It is obvious that control system was able to
control up the fast jumping changes of additive
and controller parameters as follows
disturbances.
25 0 0 5 0 0  10 0 0 (17)
P   0 1.25 0  B  0 50 0 D   0 100 0 
 0 0 25 0 0 5  0 0 10

The resulting control structure of the continuous line

according II.Lyapunov´s method is shown on fig. 8

Fig. 10 The basic operation states of continuous line

Additional information about continuous line

control by this method is presented for example in
[3].
5. CONCLUSION
Pavol Fedor: received the Ing. (MSc) degree in
The description of physical model of continuous Technical Cybernetics from Technical University of
line designed for educational process and control Košice in 1980 and CSc (PhD) degree in 1986 at the
algorithm research of complicated technological same University. He is currently an Associate
processes is was described in this paper. Control Professor of Power Electronics at the Technical
system working on parallel process base University of Košice at the department Of Electrical
(transputer), which fulfils the condition for effective Drives and Mechatronics. He has much practical
design of control algorithms, their verification and experience in installing of control systems in
recovering practical experiences for their utilisation industry. In theoretical area his current research
is introduced in this paper, as well. The whole activities are focused on the development of control
system enables for student to obtain practical structures by means of Lyapunov´s second method
knowledge about complicated systems in laboratory for electrical drives and multi-input multi-output
conditions. It would be more pretentious in systems.
industrial practice.
Jaroslav Timko was born in 1938 in Olšinky. He
REFERENCES graduated in electrotechnics in Faculty of
Electrotechnics of ČVUT Praha. He received his
[1] Bober, P. – Fedor, P. – Girman, M. – Harčarufka, CSc. (PhD) degree at University of Žilina and full
R.: Project GAUSS – Benutzerumgebung fur die Professor in 1988 at Technical University of Košice.
Entwicklung und Realisation der His research activities include the Modern Control
Steuerungssysteme mit Transputer fur Strategies for Industrial Automation.
technologische Produktzionssysteme. In: Procc.
of Int. Conference TAT´92, Aachen, 1992, pp.34
[2] Perduková D. - Fedor P.: Control of a
Continuous Line with Incomplete Access to State
Variables. Journal of Electrical Engineering 48,
1996, No. 1-2, p.3-9.
[3] Fedor, P. – Perduková, D.: Using of II.Lyapunov
method in controlled electrical drives.
Monography, FEI TU Košice, 1997, pp..89
(in Slovak)
[4] Perduková,D.-Fedor,P.-Ferková, Ž: Control of
continuous line middle part.. AT&P Journal 11,
november 2000, pp. 46-48
(in Slovak)
[5] Fedor,P.- Perduková, D. – Timko,J.: Study of
Controlled Structure Properties with reference
Model. Acta Technica, CSAV 46, 2001, pp.167-
179
[6] Brandštetter, P.: Střídavé regulační pohony.
Moderní způsoby řízení. Monografie, Ostrava,
1999, s. 180, ISBN 80-7078-668-X

BIOGRAPHY

Daniela Perdukova: received the Ing. (MSc) degree

in Technical Cybernetics from Technical University
of Košice in 1984 and CSc (PhD) degree in 1995.
Since 1984, she has been teaching at Technical
University of Košice, Department Of Electrical
Drives and Mechatronics, where she currently works
as Assistant Professor. Her reseach interest includes
new control structure development for continuous
line control, loading of logic programmable
automation in control system in industrial practice
and technological process visualisation.