1 - The Basics

Цель. Целью статьи является определение факторов пульсаций замкнутой системы автоматического регулирования (САР) мешающих гармоник, содержащей полупроводниковый преобразователь с двухсторонней широтноимпульсной модуляцией (ШИМ), а также подтверждение теоретических предпосылок о возможности самокомпенсации действия факторов пульсаций в системе с двухсторонней ШИМ. Методика. Для проведения работы использовались: классическая теория электрических цепей, методы гармонического анализа и теория обобщенных
\nфункций. Результаты. Получены выражения, математически связывающие факторы пульсаций, значения коэффициентов демпфирования и регулируемого параметра для разных частот мешающих гармоник в системе с двухсторонней ШИМ. Научная новизна. Экспериментально подтверждены теоретические предпосылки о самокомпенсации действия факторов пульсаций в системе с двухсторонней ШИМ; Практическое значение. Использование
\nрезультатов работы позволит создать замкнутую САР для эффективного подавления мешающих гармоник в контактной сети постоянного тока.

A digital closed-loop control system with all digital phase locked loop (ADPLL) is designed and optimized, in order to improve the bias stability and transient response of the gyroscope. The nonlinear mathematical models for the closed-loop amplitude and phase control system are established. The linearization method is applied to analyze the nonlinear models. The control parameters of the drive loop are optimized. The experimental results show that the phase deviation between the demodulation reference signal of the drive loop and the sense signal is less than 0.25° in the temperature range from-40°C to 60°C, within 0.15° of the variation. At room temperature, the overshoot amount of the gyroscope control system is 4.5% with setting time of 0.12s. The bias stability is 1.45°h. Compared to the analog control scheme, the digital control system has advantages of short setting time, small overshoot, short phase locked time, large locked range, high phase precision, etc.

In the new global economy, automation technologies play an important role in the industry, agriculture, transportation and daily life in the 4.0 era. Generally, studying the theory of automatic control involves the design of the dynamic control system. Students have to understand the system and be able to create mathematical models or models of control systems, both open-loop control system and closed-loop control systems, based on the knowledge of physics, mathematics, and differential equations. They have to use all knowledge to design a control system that provides the desired results by simulating the system with computer software, which is difficult to understand and practice their skills for real implementation. By using the teaching materials that emphasize hands-on practice along with theoretical studies, is very important in creating practical experience and skills. This research has developed learning materials in designing a basic automatic control system by systematically designing and building a controller with the appropriate actuators and sensors. The designing steps are clear and easy to understand include of application of control laws, programming the controller via microcontrollers, and using a Graphic User Interface (GUI) to display the response of the system. The learning materials can compare the results from the different control systems by adjusting the parameters of the dynamics system. Students can experiment with adjusting the parameters of the controller, which makes them understand the automatic control system through actual hands-on operations with the low cost and easy to produce teaching materials.

This article proposes a fault diagnosis method for closed-loop satellite attitude control systems based on a fuzzy model and parity equation. The fault in a closed-loop system is propagated with the feedback loop, increasing the difficulty of fault diagnosis and isolation. The study uses a Takagi-Sugeno (T-S) fuzzy model and parity equation to diagnose and isolate a fault in a closed-loop satellite attitude control system. A fully decoupled parity equation is designed for the closed-loop satellite attitude control system to generate a residual that is sensitive only to a specific actuator and sensor. A T-S fuzzy model is used to describe the nonlinear closed-loop satellite attitude control system. With the combination of the T-S fuzzy model and fully decoupled parity equation, the fuzzy parity equation (FPE) of the nonlinear system can be obtained. Then this article uses a parameter estimator based on a Kalman filter to identify deviations and scale factor changes from information contained in the residuals generated by the FPE. The actuator and sensor fault detection and isolation simulation of the three-axis stable satellite attitude control system is provided for illustration.

A system for automatic closed-loop control of drum boiler heat load for combined joint and separate combustion of blast-furnace, coke, and natural gases under the conditions of randomly changed flow rates of blast-furnace and coke gases is considered. For achieving more efficient operation of the automatic control system, it is proposed to introduce circuits for compensating random disturbances in the flow rates of these gases in addition to the standard automatic control system using the heat signal. The estimated parameters of the control channels transfer functions are presented for different ratios between the flow rates of fired gases and boiler loads. The results obtained from an investigation of the combined system are described, and its effectiveness with the boiler operating in different modes is demonstrated.

We succeeded in miniaturizing a needle-type glucose monitoring system with characteristics suitable for application in a wearable, closed-loop control system. A wearable artificial endocrine pancreas (12 X 15 X 6 cm, 400 g) consisting of a sensor, a microcomputer system that calculates insulin and glucagon infusion rates, and two roller pumps was developed. Continuous glucose monitoring by a glucose sensor inserted in the subcutaneous tissue of the forearm or abdomen of healthy and diabetic volunteers revealed that glucose concentrations in subcutaneous tissue were 10% lower than, but were highly correlated with, blood glucose concentrations in the range of 49-388 mg/dl. Glycemic control was established in diabetic patients by intravenously infusing insulin in response to measured glucose concentrations on a moment-to-moment basis for a period of several days. By comparing the glycemic control obtained in each patient treated with multiple insulin injections or open-loop subcutaneous insulin infusion, the superiority of feedback control with the system was clearly demonstrated. During continuous glycemic regulation, day-to-day variations of insulin requirements were recognized in both basal insulin infusion and postprandial insulin infusion rates in response to identical meals and exercise. These data suggest the feasibility of long-term glycemic control in diabetic subjects with a wearable artificial endocrine pancreas, and indicate that to overcome changes in individual metabolic characteristics on a moment-to-moment basis, a closed-loop glycemic control system may be essential for ambulatory diabetic patients.

According to large randomized trials, results suggest that maintaining normoglycemia postoperatively through tight glycemic control (TGC) and intensive insulin therapy (IIT) can improve surgical outcomes as well as reduce mortality and morbidity in critically ill patients. However, trials examining the effects of TGC have had conflicting results. Systematic reviews and meta-analyses have also led to differing conclusions. The main reason these clinical trials and meta-analyses show negative results for TGC is the high incidence of hypoglycemia induced by IIT. This could not be prevented because there is no reliable technique that can avoid this condition during IIT. The development of accurate, continuous blood glucose monitoring devices and closed-loop systems for computer-assisted blood glucose control in the intensive care unit (ICU) will probably help avoid hypoglycemia in these situations. The STG closed-loop glycemic control system was introduced to our department to be used and evaluated for strict serum glucose control with no hypoglycemic episodes during IIT in the surgical ICU, to reduce the workload of ICU nurses, and to decrease incidents related to the management of blood glucose levels according to manual conventional venous infusion insulin therapy. The goal of our team was to use the STG closed-loop glycemic control system for perioperative TGC in surgical patients to solve the complications of IIT and reduce risk of hypoglycemia. The challenge at our hospital demonstrated that the STG closed-loop glycemic control system can be expected to achieve TGC with no occurrence of hypoglycemia induced by IIT after surgery.

Laser-based metal additive manufacturing (MAM), particularly laser powder bed fusion (LPBF) and laser directed energy deposition (L-DED), is a transformative technology enabling the production of complex, high-performance metal components with precision and minimal waste. However, its wider adoption is hindered by challenges in ensuring repeatability and consistency due to the complex, dynamic nature of the process. Closed-loop systems with in-situ monitoring and control have gained attention for quality assurance, where machine learning (ML) models are crucial for correlating sensor data with process state diagnosis and facilitating control actions. This review adopts an ML perspective to elucidate the role of ML in closed-loop control systems. It first outlines sensor data types and preprocessing methods used as ML datasets, then discusses roles and applications of ML models for in-situ monitoring, highlighting limitations and potential solutions. An ML-based closed-loop control framework is also presented, with emphasis on the integration of ML in the control component. Finally, future development directions of advanced ML approaches are envisioned. This review provides new insights into enhancing the role of ML models in laser-based MAM closed-loop control systems, serving as a crucial aid in the development of intelligent control systems.

A study was conducted to determine if continuous subcutaneous glucose monitoring (from MiniMed CGMS) could be used in real-time to control blood sugar level (BSL) in patient with critical illness. A closed-loop control system was constructed to use CGMS in a real-time manner, coupled with a proportional integral (PI) control algorithm based on the sliding scale approach, for automatic intravenous infusion of insulin to patients. A total of five subjects with high BSL (>10 mmol/L) participated in formal studies of the closed-loop control system. Subjects were recruited from critically ill patients in the intensive care unit (ICU) after informed consent was obtained. Error grid analysis showed that 64.6% of the BSL readings as determined in real time using CGMS sensor, when compared to conventional BSL reading as determined in real time using CGMS sensor, when compared to conventional BSL measurements on blood drawn from an arterial line, was clinically accurate (i.e.,<20% deviation from glucometer value). In the five patients who underwent closed-loop control, the controller managed to control only one patient's glycaemia without any manual intervention. Manual intervention was required due to the real-time sensor reading deviating more than 20% from the glucometer value, and also as a safety mechanism. Test on equality of mean and variance for BSL attained prior to, during, and post trial showed that the controller's performance was comparable to manual was comparable to manual control. We conclude that the automatic sliding scale approach of closed-loop BSL control is feasible in patients in intensive care. More work is needed in the refinement of the algorithm and the improvement of real-time sensor accuracy.

This paper addresses the difficult problem of fault-tolerant control and closed-loop control allocation for spacecraft attitude control system with actuator failures, actuator saturation, and external disturbances. As a fundamental step, a modified fault diagnosis observer is proposed utilizing the iterative learning methodology to reconstruct the actuator failures in real time. On the basis of the previously reconstructed failure information, a fault-tolerant control scheme incorporating with a parameter adjusting law is presented to enforce the spacecraft attitude control system to reach the real sliding mode surface in finite time. Meanwhile, the singularity of control command will be avoided using the saturation function, and the chattering problem restrained by the adjusting law. Furthermore, with the concept of control allocation, a novel on-line closed-loop constrained optimal fault-tolerant control allocation scheme is employed to distribute the signals synthesized by the baseline controller over the redundant actuators with failures and constraints. The stability of the closed-loop fault-tolerant control allocation process is guaranteed by the theory of the closed-loop discrete-time feedback control system. The key achievement of the proposed systematic strategy is that the whole closed-loop attitude control system can theoretically be guaranteed to be stable. Numerical simulations are carried out to verify the effectiveness and superiority of the developed approach.

In this paper, a digital closed-loop measurement and control system of MEMS vibrating silicon gyro is proposed, which includes the sensitive structure model of gyro and the design of interface circuit. Because of the high sensitivity and precision of the MEMS gyroscope under the condition of modal matching, the measurement and control circuit is established under the condition of modal matching. The system uses automatic gain control (AGC) to control the amplitude of self-excited oscillation of the driving loop, which has the characteristics of simple and quick start. First, the working principle of gyro sensitive structure is introduced and an interface circuit with digital drive and detection mode is designed. Second, a high precision one-bit sigma-Delta ([Formula: see text] analog-to-digital converter (ADC) is designed, and the signal-to-noise ratio (SNR) of the modulator is 102.5 dB at 10 kHz bandwidth. Third, a nonlinear multiplier is used in the driving loop to realize fast self-excited start-up of gyro, and a proportional integral (PI) controller is used in the self-excited loop to realize stable oscillation. Finally, Simulink is used to simulate and verify the sensitive structure model and the measurement and control system. The nonlinearity of the gyroscope is tested by experiment, and the well measurement and control precision of the gyro interface circuit is verified.

This chapter introduces the principles of feedback control systems and illustrates their characteristics and advantages. Feedback is the process of measuring the controlled variable and using that information to influence the controlled variable. An open-loop control system utilizes a controller and actuator to obtain the desired response without monitoring the actual system response controlled variable. In contrast to an open-loop control system, a closed-loop control system utilizes an additional measure of the actual output to compare the actual output with the desired output response. The model of the cruise control system for a car can be established in a relatively simple fashion. The car's cruise control system considered so far has been open-loop. There is no use of a sensor and hence there is no feedback of sensor information to correct errors in the car speed. A closed-loop car's cruise control system engages a speed measuring sensor, the speedometer, to measure the actual car speed.

While linear covariance analysis is widely used for navigation system design and analysis, it is often overlooked as a tool for closed-loop guidance navigation and control (GN&amp;C) system design and analysis. This article presents an overview of the techniques and methods required to develop a linear covariance analysis tool for a close-loop GN&amp;C system. Then, using a simple nonlinear closed-loop GN&amp;C problem as a guide, the capabilities of linear covariance analysis for the design and analysis of closed-loop systems are demonstrated. It is shown that linear covariance can be accurately applied to a closed-loop system with time-to-go guidance, dead-reckoning navigation, and a Kalman filter for state estimation. The accuracy and efficiency of linear covariance analysis is shown by direct comparison to Monte Carlo analysis results, and the value of linear covariance analysis is highlighted by presenting several analysis capabilities that are often required in the design and analysis of closed-loop GN&amp;C systems. It is also shown how the efficiency of linear covariance enables new design methodologies, one of which is presented in this article, that would otherwise be prohibitive with Monte Carlo analysis.

The automatic control system of an aircraft is very complicated in nature with lot of logics and operational constraints. The study of the detailed automatic flight control and thrust control involves complicated logics for the control functions with closed loop control systems which can be realized in the software. The work is focussed on the redesign of automatic flight control system using robust control methods in MATLAB/Simulink environment. This paper aims at a complete study, analysis, design and performance monitoring of new generation autopilot system using Sliding Mode Control method and the results of simulation of the above analysis shows an optimal performance of the autopilot system.

Transcranial focused ultrasound and electrocorticography-based closed-loop epilepsy control system for an awake rat model