Automatisk styringsteknik og reguleringsteknik

På få år er vores lille velfærdsstat blevet en forstad til Silicon Valley: Apple og Facebook bygger enorme datacentre i danske provinsbyer; Google har et tæt samarbejde med kommunerne; regeringen har nedsat et ”disruptionråd”, udpeget en ”tech-ambassadør” og lovet at gøre Danmarks til ”verdens mest digitaliserede land”. Samtidig forsøger en dansk modstandsbevægelse at tage magten tilbage fra tech-giganterne. De kan se, at digital overvågning, robotter og kunstig intelligens truer vores demokrati og frihed. Vi møder nørder, aktivister, hackere, dommedagsprofeter og cyborgs. Og vi finder ud af, hvad det er for nogle værdier, vi er i gang med at downloade fra USA.

Denne bog giver en introduktion til programmeringssproget Struktureret Tekst (ST) der benyttes i Programmerbare Logiske Controllere (PLC) Indhold: - Baggrund, fordele og udfordringer ved ST-programmering - Syntaks og grundlæggende ST-programmering - Stor guide til fornuftig navngivning af variabler - CTU, TOF, TON, CASE, STRUCT, ARRAY, STRING - Guide til opdeling i program moduler og funktioner - Mere end 90 PLC-kode eksempler i farver - FIFO, RND, 3D ARRAY, digitalt filter - Eksempler: Kom fra LADDER over til ST-programmering - Guide til løsning af programmeringsopgaver Bogen går systematisk frem med beskrivelse af de grundlæggende ST-begreber og programmering, herunder tips, og med inddragelse af forfatterens 25 års praktiske erfaring. Der er mange steder uddybende forklaringer til PLC-koden og der er fokus på at læseren lærer at skrive robust, læsbar, struktureret og overskuelig PLC-kode. Desuden fokuseres på at kunne skrive PLC-kode, som ikke kræver en bestemt PLC-type og PLC-kode der kan genbruges, samt PLC-løsninger, der kan benyttes internationalt. Grundlaget for bogen er et materiale, som er udarbejdet løbende med feedback fra undervisere og studerende på automationsteknolog-uddannelsen hos Erhvervs-akademi Dania. Materialet er således løbende opdateret, så det giver svar på de spørgsmål og udfordringer, de studerende typisk har gennem deres studie. ST-programmering til PLC-styringer er fra omkring år 2010 begyndt at blive mere udbredt i Danmark, og siden år 2015 er mange virksomheder i Danmark begyndt udelukkende at levere PLC-styringer, hvor der benyttes ST som det foretrukne programmeringssprog. Dette kræver at flere medarbejdere kan ST og det er et af argumenterne, for at udgive denne bog. Bogen er primært udarbejdet til brug på den videregående fuldtidsuddannelse Automationsteknolog og deltidsuddannelsen Automation og Drift.

This book gives an introduction to the programming language Structured Text (ST) which is used in Programmable Logic Controllers (PLC).The book can be used for all types of PLC brands including Siemens Structured Control Language (SCL) and Programmable Automation Controllers (PAC).This 3rd edition has been updated and expanded with many of the suggestions and questions that readers and students have come up with, including the desire for many more illustrations and program examples.CONTENTS:- Background, benefits and challenges of ST programming- Syntax, data types, best practice and basic ST programming- IF-THEN-ELSE, CASE, FOR, CTU, TON, STRUCT, ENUM, ARRAY, STRING- Guide for best practice naming, troubleshooting, test and program structure- Sequencer and code split-up into functions and function blocks- FIFO, RND, sorting, scaling, toggle, simulation signals and digital filter- Tank controls, conveyor belts, adaptive pump algorithm and robot control- PLC program structure for pumping stations, 3D car park and car wash - Examples: From Ladder Diagram to ST programmingThe book contains more than 150 PLC code examples with a focus on learning how to write robust, readable, and structured code.The book systematically describes basic programming, including advice and practical examples based on the author´s extensive industrial experience.The author is Bachelor of Science in Electrical Engineering (B.Sc.E.E.) and has 25 years´ experience in specification, development, programming and supplying complex control solutions and supervision systems. The author is Assistant Professor and teaches PLC programming at Dania Academy, a higher education institution in Randers, Denmark.

Bogens grundsyn er præget en optimistisk tro på, at fremtiden bliver bedre. Men kun hvis politikerne træffer de rigtige – og store! –beslutninger. Når meget arbejde – også det intellektuelle – bliver overtaget af maskiner, får mennesker mere tid til nærhed og omsorg.Bogen er også et opråb og et politisk manifest. De positive konsekvenser af den moderne teknologi opstår nemlig ikke uden de ansvarlige politikeres indgriben. De politiske handlinger skal op i et tempo, der modsvarer den teknologiske udviklings. Det handler om omfordeling, både af penge, indflydelse og ejerskab.Fremtidens løsninger kan vi blandt andet finde ved nytænke nogle af fortidens succeser, fra andels- og fagbevægelse til overskudsdeling og folkeoplysning.Ti bud med flere konkrete løsninger, blandt andet til hvordan man kan indføre basisindkomst, regulere finanssektoren og skaffe mere fri tid og grøn omstilling, afslutter bogen.

This book gives an introduction to Structured Text (ST), used in Programmable Logic Control (PLC). The book can be used for all types of PLC brands including Siemens Structured Control Language (SCL) and Programmable Automation Controllers (PAC). CONTENTS: - Background, advantage and challenge when ST programming - Syntax and fundamental ST programming - Widespread guide to reasonable naming of variables - CTU, TOF, TON, CASE, STRUCT, ENUM, ARRAY, STRING - Guide to split-up into program modules and functions - More than 90 PLC code examples - FIFO, RND, 3D ARRAY and digital filter - Examples: From LADDER to ST programming - Guide to solve programming exercises Many clarifying explanations to the PLC code and focus on the fact that the reader should learn how to write a stable, robust, readable, structured and clear code are also included in the book. Furthermore, the focus is that the reader will be able to write a PLC code, which does not require a specific PLC type and PLC code, which can be reused. The basis of the book is a material which is currently compiled with feedback from lecturers and students attending the AP Education in Automation Engineering at the local Dania Academy, "Erhvervsakademi Dania", Randers, Denmark. The material is thus currently updated so that it answers all the questions which the students typically ask through-out the period of studying. The author is Bachelor of Science in Electrical Engineering (B.Sc.E.E.) and has 25 years of experience within specification, development and supplying complex control solutions and supervision systems. Within these years, the author has 7 years of experience within Pascal programming and 12 years of experience with solutions and systems containing PLC. The author is Assistant Professor and teaching PLC control systems at higher educations at a Danish Academy of Business and Technology: Erhvervsakademi Dania, Randers, Denmark. LinkedIn: https://www.linkedin.com/in/tommejerantonsen/

Denne bog giver en introduktion til programmeringssproget Struktureret Tekst (ST) der benyttes i Programmerbare Logiske Controllere (PLC)Indhold:- Baggrund, fordele og udfordringer ved ST-programmering - Syntaks og grundlæggende ST-programmering - Stor guide til fornuftig navngivning af variabler- CTU, TOF, TON, CASE, STRUCT, ARRAY, STRING- Guide til opdeling i program moduler og funktioner- Mere end 90 PLC-kode eksempler i farver- FIFO, RND, 3D ARRAY, digitalt filter - Eksempler: Kom fra LADDER over til ST-programmering- Guide til løsning af programmeringsopgaverBogen går systematisk frem med beskrivelse af de grundlæggende ST-begreber og programmering, herunder tips, og med inddragelse af forfatterens 25 års praktiske erfaring. Der er mange steder uddybende forklaringer til PLC-koden og der er fokus på at læseren lærer at skrive robust, læsbar, struktureret og overskuelig PLC-kode. Desuden fokuseres på at kunne skrive PLC-kode, som ikke kræver en bestemt PLC-type og PLC-kode der kan genbruges, samt PLC-løsninger, der kan benyttes internationalt. Grundlaget for bogen er et materiale, som er udarbejdet løbende med feedback fra undervisere og studerende på automationsteknolog-uddannelsen hos Erhvervs-akademi Dania. Materialet er således løbende opdateret, så det giver svar på de spørgsmål og udfordringer, de studerende typisk har gennem deres studie.ST-programmering til PLC-styringer er fra omkring år 2010 begyndt at blive mere udbredt i Danmark, og siden år 2015 er mange virksomheder i Danmark begyndt udelukkende at levere PLC-styringer, hvor der benyttes ST som det foretrukne programmeringssprog. Dette kræver at flere medarbejdere kan ST og det er et af argumenterne, for at udgive denne bog.Bogen er primært udarbejdet til brug på den videregående fuldtidsuddannelse Automationsteknolog og deltidsuddannelsen Automation og Drift.

Denne bog giver en introduktion til Struktureret Tekst (ST)der benyttes i Programmerbare Logiske Controllere (PLC) Denne 3. udgave er opdateret og udvidet med mange af de forslag og spørgsmål som læserne og de studerende er kommet med, herunder ønsket om mange flere illustrationer og programeksempler.INDHOLD- Baggrund, fordele og udfordringer ved ST-programmering - Syntaks, datatyper, bedst praksis og grundlæggende ST-programmering - IF-THEN-ELSE, CASE, FOR, CTU, TON, STRUCT, ENUM, ARRAY, STRING- Guide og tips til navngivning, fejlfinding, opgaver, test og programstruktur- Sekvensprogrammering og opdeling i funktioner og funktionsblokke- FIFO, RND, sortering, skalering, simuleringssignaler og digitalt filter- Tankstyring, instrument puls tæller, puls-pause, adaptiv pumpe algoritme- PLC-kode til pumpestationer, 3D parkeringshus, vaskehal og robotstyring- Eksempler: Kom fra LADDER over til ST-programmering Bogen indeholder mere end 150 PLC kodeeksempler i farver og der er fokus på at læseren lærer at skrive robust, læsbar, og struktureret kode.Bogen går systematisk frem med beskrivelse af de grundlæggende ST-begreber og programmering, herunder tips, og med inddragelse af forfatterens 25 års praktiske erfaring.Der er mange steder uddybende forklaringer til PLC-koden og der er fokus på at læseren lærer at skrive robust, læsbar, struktureret og overskuelig PLC-kode. Desuden fokuseres på at kunne skrive PLC-kode, som ikke kræver en bestemt PLC-type og PLC-kode der kan genbruges, samt PLC-løsninger, der kan benyttes internationalt.Grundlaget for bogen er et materiale, som er udarbejdet løbende med feedback fra undervisere og studerende på automationsteknolog-uddannelsen hos Erhvervs-akademi Dania. Materialet er således løbende opdateret, så det giver svar på de spørgsmål og udfordringer, de studerende typisk har gennem deres studie.ST-programmering til PLC-styringer er fra omkring år 2010 begyndt at blive mere udbredt i Danmark, og siden år 2015 er mange virksomheder i Danmark begyndt udelukkende at levere PLC-styringer, hvor der benyttes ST som det foretrukne programmeringssprog. Dette kræver at flere medarbejdere kan ST og det er et af argumenterne, for at udgive denne bog.Bogen er primært udarbejdet til brug på den videregående fuldtidsuddannelse Automationsteknolog og deltidsuddannelsen Automation og Drift.

Denne bog giver en introduktion til Struktureret Tekst (ST)der benyttes i Programmerbare Logiske Controllere (PLC) Denne 3. udgave er opdateret og udvidet med mange af de forslag og spørgsmål som læserne og de studerende er kommet med, herunder ønsket om mange flere illustrationer og programeksempler.INDHOLD- Baggrund, fordele og udfordringer ved ST-programmering - Syntaks, datatyper, bedst praksis og grundlæggende ST-programmering - IF-THEN-ELSE, CASE, FOR, CTU, TON, STRUCT, ENUM, ARRAY, STRING- Guide og tips til navngivning, fejlfinding, opgaver, test og programstruktur- Sekvensprogrammering og opdeling i funktioner og funktionsblokke- FIFO, RND, sortering, skalering, simuleringssignaler og digitalt filter- Tankstyring, instrument puls tæller, puls-pause, adaptiv pumpe algoritme- PLC-kode til pumpestationer, 3D parkeringshus, vaskehal og robotstyring- Eksempler: Kom fra LADDER over til ST-programmering Bogen indeholder mere end 150 PLC kodeeksempler i farver og der er fokus på at læseren lærer at skrive robust, læsbar, og struktureret kode.Bogen går systematisk frem med beskrivelse af de grundlæggende ST-begreber og programmering, herunder tips, og med inddragelse af forfatterens 25 års praktiske erfaring.Der er mange steder uddybende forklaringer til PLC-koden og der er fokus på at læseren lærer at skrive robust, læsbar, struktureret og overskuelig PLC-kode. Desuden fokuseres på at kunne skrive PLC-kode, som ikke kræver en bestemt PLC-type og PLC-kode der kan genbruges, samt PLC-løsninger, der kan benyttes internationalt.Grundlaget for bogen er et materiale, som er udarbejdet løbende med feedback fra undervisere og studerende på automationsteknolog-uddannelsen hos Erhvervs-akademi Dania. Materialet er således løbende opdateret, så det giver svar på de spørgsmål og udfordringer, de studerende typisk har gennem deres studie.ST-programmering til PLC-styringer er fra omkring år 2010 begyndt at blive mere udbredt i Danmark, og siden år 2015 er mange virksomheder i Danmark begyndt udelukkende at levere PLC-styringer, hvor der benyttes ST som det foretrukne programmeringssprog. Dette kræver at flere medarbejdere kan ST og det er et af argumenterne, for at udgive denne bog.Bogen er primært udarbejdet til brug på den videregående fuldtidsuddannelse Automationsteknolog og deltidsuddannelsen Automation og Drift.

Este libro proporciona una untroducciåon al Texto Estructurado (ST), usado en el control lógico programable (PLC). El libro puede ser usado para todos los tipos de marcas de PLC, incluido el Lenguaje de Control Estructurado de Siemens (SCL) y los Controladores de Automatización Programable (PAC). CONTENIDO - Antecedentes, ventajas y desafíos en la programación ST. - Sintaxis y programación fundamental de ST. - Guía generalizada para nombrar lazonablemente las variables. - CTU, TOF, TON, CASE, STRUCT, ENUM, ARRAY, STRING - Guía para dividir en módulos de programa y funciones. - Más de 90 ejemplos de código PLC. - FIFO, RND, 3D ARRAY y filtro digital. - Ejemplos: de programación de LADDER a ST. - Guía para resolver ejercicios de programación. Muchas explicaciones aclaratorias del código PLC y un enfoque en el hecho de que el lector debe aprender a escribir un código estable, robusto, legible, estructurado y claro, están incluidos en el libro. Además, el enfoque es que el lector podrá escribir un código PLC, el cual no requiere un tipo de PLC específico y un código de PLC, y se puede reutilizar. La base del libro es un material que actualmente está compilado con comentarios de profesores y estudiantes que asisten a la Educación AP en Ingeniería de Automatización en la Academia Dania local 'Erhvervsakademi Dania', en Randers, Dinamarca. Por lo tanto, el material se actualiza, para que responda a todas las prguntas que los alumnos suelen formular durante el período de estudio. El autor es licenciado en Ciencias en Ingeniería Eléctrica (B.Sc.E.E.) y tiene 25 años de experiencia en especificación, desarrollo, programación y suministro de soluciones complejas de control y supervisión de sistemas. El autor es profesor adjunto e imparte sistemas de control PLC en educación superior.

The numerous numerical design and control examples(with practical specifications) throughout the 23 Chapters of the book allow the reader deep and fast access to a practical but thorough unitary (good for comparisons) methodology in designing and control of LEMs for various applications

Humanlike robots and digital humans are both fun and useful in many situations. But the more we interact with technology with human traits, the more we believe it to possess real human characteristics like consciousness and personality. As a new breed of artificial beings enters society on a large scale, many of us will start believing they deserve moral consideration and perhaps even rights.In this entertaining and humorously written book, Thomas Telving argues that even though the above scenario is close to inevitable, we should still do all we can to avoid it. Presenting us with thought-provoking future scenarios, state of the art scientific research, and engaging philosophical reflections, he shows us how to avoid some of the scariest pitfalls of human-like technology.“The rapid development in (embodied) artificial intelligence is all but certain to change our lives in the coming years. Using a philosophical framework, Thomas Telving convincingly presents a number of pitfalls following a large increase in human-robot interaction. He joins the important roboethic debate on what future we want to live in, and what it takes for humanity to keep the upper hand in shaping it.”— Tobias Larsen, PhD in Computational Neuroscience from the University of Bristol and senior data scientist at Oviva AG.“Artificial intelligence and advanced robots are increasingly used in science and society, and in many ways they outperform human capabilities. An important question is how our moral and legal stance towards robots will develop when their human likeness increases. In this entertaining new book Thomas Telving takes us through possible scenarios seen in a philosophical perspective. Enlightening, thought-provoking and highly recommended.”— Jacob J. K. Kirkensgaard, PhD, Associate Professor at the Niels Bohr Institute, University of Copenhagen.

This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods.The authors propose a sliding-mode control approach designed to achieve robust maneuvering for bounded uncertainty with a known upper bound. The control is modified by addition of an adaptation law to alleviate the overestimation problem of the switching gain as well as to circumvent the requirement for knowledge regarding the bounds of uncertainty. The book works toward non-conservativeness, achieving efficient tracking in the presence of slowly varying uncertainties with a specially designed framework for time-delayed control. It shows readers how to extract superior performance from their snake robots with an approach that allows robustness toward bounded time-delayed estimation errors. The book also demonstrates how the multi-layered control framework can be simplified by employing differential flatness for such a system. Finally, the mathematical model of a snake robot moving inside a uniform channel using only side-wall contact is discussed. The model has further been employed to demonstrate adaptive robust control design for such a motion.Using numerous illustrations and tables, Adaptive Robust Control for Planar Snake Robots will interest researchers, practicing engineers and postgraduate students working in the field of robotics and control systems.

This book presents generalized Caputo fractional Ostrowski and Grüss-type inequalities involving several Banach algebra valued functions. Furthermore, the author gives generalized Canavati fractional Ostrowski, Opial, Grüss, and Hilbert-Pachpatte-type inequalities for multiple Banach algebra valued functions. By applying the p-Schatten norms over the von Neumann¿Schatten classes, the author produces the analogous refined and interesting inequalities. The author provides many applications. This book¿s results are expected to find applications in many areas of pure and applied mathematics, especially in fractional inequalities and fractional differential equations. Other interesting applications are in applied sciences like geophysics, physics, chemistry, economics, and engineering. This book is appropriate for researchers, graduate students, practitioners, and seminars of the above disciplines, also to be in all science and engineering libraries.

This book presents part of the iM3F 2021 proceedings from the mechatronics track. It highlights key challenges and recent trends in mechatronics engineering and technology that are non-trivial in the age of Industry 4.0. It discusses traditional as well as modern solutions that are employed in the multitude spectra of mechatronics-based applications. The readers are expected to gain an insightful view on the current trends, issues, mitigating factors as well as solutions from this book.

This book gathers the proceedings of the 15th IFToMM World Congress, which was held in Krakow, Poland, from June 30 to July 4, 2019. Having been organized every four years since 1965, the Congress represents the world¿s largest scientific event on mechanism and machine science (MMS). The contributions cover an extremely diverse range of topics, including biomechanical engineering, computational kinematics, design methodologies, dynamics of machinery, multibody dynamics, gearing and transmissions, history of MMS, linkage and mechanical controls, robotics and mechatronics, micro-mechanisms, reliability of machines and mechanisms, rotor dynamics, standardization of terminology, sustainable energy systems, transportation machinery, tribology and vibration. Selected by means of a rigorous international peer-review process, they highlight numerous exciting advances and ideas that will spur novel research directions and foster new multidisciplinary collaborations.

This book describes the practical application of artificial intelligence (AI) methods using time series data in system control. This book consistently discusses the application of machine learning to the analysis and modelling of time series data of physical quantities to be controlled in the field of system control.Since dynamic systems are not stable steady states but changing transient states, the changing transient states depend on the state history before the change. In other words, it is essential to predict the change from the present to the future based on the time history of each variable in the target system, and to manipulate the system to achieve the desired change. In short, time series is the key to the application of AI machine learning to system control. This is the philosophy of this book: "e;time series data"e; + "e;AI machine learning"e; = "e;new practical control methods"e;.This book can give my helps to undergradate or graduate students, institute researchers and senior engineers whose scientific background are engineering, mathematics, physics and other natural sciences.

This book focuses on the performance optimization of fault diagnosis methods for power systems including both model-driven ones, such as the linear parameter varying algorithm, and data-driven ones, such as random matrix theory. Studies on fault diagnosis of power systems have long been the focus of electrical engineers and scientists. Pursuing a holistic approach to improve the accuracy and efficiency of existing methods, the underlying concepts toward several algorithms are introduced and then further applied in various situations for fault diagnosis of power systems in this book. The primary audience for the book would be the scholars and graduate students whose research topics including the control theory, applied mathematics, fault detection, and so on.

The book is motivated by the pivotal issue: what is the performance limit of active control and energy harvesting? It aims to develop systematic design methodologies with a "e;visualization technique"e; where the performance limit can be readily determined solely based on visual inspections.Modern technological systems have evolved toward high speed, heavy load, lightweight, flexible operation and extreme conditions, as demonstrated in aerospace, marine, transportation and manufacturing industries. The associated vibration and noise issues have become such problematic that they may significantly confine the performance of the systems, to say the discomfort at least.Through the geometric representation of the performance specifications, fundamental issues such as (1) the existence of feasible controllers; (2) the optimality of controllers; (3) the performance limit of controllers; (4) compromisability among the performance specifications; (5) the synthesis of controllers; and (6) the influence of constraints on optimal solutions can all be resolved within the proposed framework. The state of the art is thus refined with a new approach complementary to those optimization-based routines, where extra effort would have to be exercised to disclose the compromisability of performance specifications.The proposed book will result in a new design methodology-performance limit-oriented active control. It was initiated by the author with the project "e;Active Control for Performance Limit"e; (ACPL). A series of fundamental results are obtained and will be disseminated in this book. The results are verified through extensive numerical demonstrations and are expected to provide useful guidance for practical engineering in the vibration and noise industry and research.

This book focuses on the design of the in-car human-machine interface (HMI) and the design-relevant psychology. It combines a design perspective with an applied theoretical perspective. The design perspective informs the reader about how to set up a design process that puts users at the centre of the design process. The theoretical perspective provides the reader with an understanding of concepts from perception and cognitive psychology, supporting the decision-making in the design process. This is an ideal book for automotive engineers and practitioners in the automotive industry who face the challenge of designing information and entertainment systems, advanced driver assistance systems (ADAS) and automated driving systems (ADS), and the associated HMIs.