SUMMARYThis paper describes a time-triggered object-oriented model for embedded control systems and a control software development method based on that model. Conventional object-oriented models had been based on event-triggered actions. In contrast, we propose a time-triggered object-oriented model for real-time control. This model, which consists of a set of objects for calculating data values required for control, activates these objects cyclically to implement time-triggered actions. This paper also shows that a distributed control system having location transparency can be implemented efficiently according to this model. In addition, we propose a control software development method based on the proposed time-triggered object-oriented model. This development method can extract objects according to simple operations from control block diagrams used to describe control specifications. This paper also introduces an embedded system-oriented implementation method that does not consume much resource and presents an application example in a distributed control system for automobiles.
The least-squares method which uses influence coefficients was applied to simultaneous balancing of a multibearing rotating shaft system, and an experiment was conducted to demonstrate its effectiveness. The rotor system used in the experiment was a 10-bearing, 5-span rotor system. Vibrations were detected simultaneously in horizontal and vertical directions. Using these data, correction weights were calculated with a computer program based on the above least-squares method. Balancing accuracy was considered with regard to two cases, horizontal and vertical vibrations. The balancing experiments were conducted for the cases where unbalance is distributed in one and in all rotors of the multispan rotor system. In both cases, good balance was achieved in one run.
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