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Van
derb
ilt
Un
ivers
ity
Department of Mechanical Engineering
The Vibro-Acoustics Laboratory
Observation and Control with Embedded Systems
Prof. Ken FramptonJie ZhouTao Tao
Joel WillhiteRyan GlotzbeckerIsaac Amundson
Keith Minor
Van
derb
ilt
Un
ivers
ity
Department of Mechanical Engineering
Decentralized Observation and Control with Embedded Systems
Objective is to leverage embedded systems technology for observing and controlling the dynamics of mechanical systems
Important challenges include– Behavior under embedded system constraints– Development of observation and control system design
tools for decentralized platforms– Generation of fault tolerant cooperative systems
Unique capability is the development of such technologies for applications in distributed parameter systems (vibrations, acoustics, fluids)
Van
derb
ilt
Un
ivers
ity
Department of Mechanical Engineering
Technical Approach:Embedded System Platform
3.8 in
•Based on PC-104 single board computers•Each equipped with processor, A/D, D/A and ethernet•Running either RTLinux or QNX•Implementation of custom decentralized control algorithms
Van
derb
ilt
Un
ivers
ity
Department of Mechanical Engineering
Technical Approach:Hierarchical Decentralized Control
Scalability of the system is critical suggesting a hierarchical approach
Current results indicate that appropriate design of hierarchical controllers can achieve results comparable to centralized designs
A31
A21 A22 A23
A11 A12 A13 A14 A15 A16 A17 A18 A19
Plant
Hierarchy
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10-1 100 101 102 103 10410-3
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10-1
100
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globalreach=1reach=2reach 5reach=10No control
Sin
gula
r V
alue
s
Van
derb
ilt
Un
ivers
ity
Department of Mechanical Engineering
Technical Approach:Fault Tolerant Control
Embedded control systems must maintain performance in the presence of failures
Incorporation of decentralized dynamic observers for fault detection will enable system adaptation to failures
Resulting systems will maintain adequate performance in despite numerous potential failures
System
Fault Signal
System Input
Observer
Fault Signal
Residual Generator
Pseudo Three Tank System
dSPACE PrototyperResiduals
Van
derb
ilt
Un
ivers
ity
Department of Mechanical Engineering
Application: Launch Vehicle Payload Fairing
Extreme noise levels inside launch vehicle payload fairings require costly customized payload hardware development
Even small reductions in vibro-acoustic response can reduce payload development costs significantly
Traditional centralized control approaches result in systems that are too heavy and costly
Embedded systems approach promises improved and more robust performance for less weight
