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In this control system having two-layer architecture, an Omron Programmable Logic Controller (PLC) is used as the lower controller to control the process of pellet fabrication, cutting, acceleration, and relevant vacuum devices.
For the lower controller, cooperative control of regenerative braking and hydraulic braking is given to ensure brake safety during downshift process, and a resembling pulse width modulation method is proposed to regulated the hydraulic brake torque.
An IPC Industrial Personal Computer)is used as an upper computer with a LabView runtime environment that enables video capture and data archiving in conjunction with an operator interface (OPI) to monitor and control the status of the lower controller.
The results show that up to a point, higher controller gain during the identification experiment gives more accurate models than with lower controller gain, for both open and closed loop subspace identification methods.
We will see that our experimental setup has a much lower controller's throughput (49.2 /updates in 1 second).
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Lower controllers generate planned trajectories using Model Predictive Control (MPC) independently of the other subsystems.
The higher-layer controller uses MPC to determine set-points for controllers in a lower control layer.
In the paper the hybrid predictive controller for the lower control level is developed and its performance is investigated based on real data records.
To lower the controller involvement, the main controller can be programmed for a number of repetitions of the set of tasks.
A decentralisation of the lower layer controller into a number of independent local controllers allocated to selected sub-areas of a distribution system by using the interaction trajectories determined by the upper layer is discussed.
Industrial controllers are simple lower order controllers.
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