RCS Based Hardware-in-the-Loop Intelligent System Design and Performance Measurement

摘要

In this paper, we present an approach to the design of intelligent systems based on RCS architecture that allows seamless transition from modeling and non real-time simulation to real-time simulation and subsequent hardware-in- the-loop testing. This methodology provides a unified, structured, hierarchical environment, so that 'analytical design' of intelligence can be seamlessly transferred to machine/manufacturing process intelligence. As part of the research, we present two case studies wherein we demonstrate how RCS architecture and functionality can be incorporated using commercial software and hardware environment. The enhancements to commercial software in the areas of (i) knowledge hierarchy, (ii) open, modular, and structured programming using RCS architecture, (iii) minimal software programming, (iv) advanced control design methodologies, and (v) efficient numerical schemes for optimization provide a framework for comparing qualitative and quantitative measures of performance improvement over traditional industrial automation hardware that uses PID cards, programmable logic controllers (PLCs), and other microprocessor based controllers with limited functionality. In order to compete in the global market place, engineering organizations are under increasing pressure to design, develop, and deploy products in the market place as quickly as possible with first time quality. In order to achieve these objectives, it is necessary to streamline the design and development process, namely, 'transfer of analytical design of intelligence to mechatronics intelligence' in an efficient and expedient manner. Using Real-time Control System (RCS) architecture that organizes the elements of intelligence to create functional relationships and information flow across levels following principles of hierarchy and assigned responsibilities at each level, we have implemented control systems for two applications, namely, a cable robot, and electrohydraulic test system.