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Efficient oscillation detection for verification of mechatronic closed-loop systems using search-based testing

MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2022年 163卷

作者： Gurtner, Markus Zips, Patrik Heinz, Thomas Atak, Muhammed Ophey, Julian Seiler-Thull, Daniel Kugi, Andreas AIT Austrian Inst Technol GmbH Ctr Vis Automat & Control Vienna Austria Robert Bosch GmbH Corp Sect Res & Adv Engn Renningen Germany Robert Bosch GmbH Corp Technol Stuttgart Germany TU Wien Automat & Control Inst Vienna Austria

In mechatronic system design, the systematic early-stage verification in simulation environments is a crucial aspect. In particular, the development of highly sophisticated and well performing controllers requires complementary testing by extensive simulations. The assessment and evaluation of the control strategy and its tuning is ideally carried out by specialists and is usually very time consuming. Due to time constraints, often only the nominal configuration and a limited number of other configurations are considered in the simulation-based analysis of the closed-loop system. To cover a more comprehensive set of test cases and speed up the analysis, assistive and automated tools are essential. This paper proposes a method to systematically search for oscillations in closed-loop mechatronic systems, which, in most cases, indicate a poor control performance or even an unstable system behavior. Although oscillation detection methods are very well established in the process industry, these methods do not directly apply to mechatronic systems where frequent changes of the operating points and tracking of fast trajectories have to be taken into account. A recently proposed method which can cope with these challenges uses the Empirical Mode Decomposition (EMD) combined with an assessment of the decomposed modes. This is the basis for the construction of a normalized and continuous oscillation index, which provides a suitable measure for the oscillation strength. The performance of the selected EMD approach compared to other state-of-the-art concepts is illustrated by measurement data of a hydraulic valve. The introduced oscillation index serves as an objective function for a Searchbased Testing (SbT) approach to systematically select those parameter combinations which yield a worst-case scenario for the closed-loop system. The high potential of the combination of SbT with an oscillation-based objective function for the automated verification of closed-loop mechatronic

关键词： control loop verification Search-based testing Bayesian optimization Oscillation detection Empirical mode decomposition

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Improved EMD-based Oscillation Detection for Mechatronic Closed-loop Systems 8

Improved EMD-based Oscillation Detection for Mechatronic Clo...

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8th International-Federation-of-Automatic-control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-control (IFAC) Symposium on Nonlinear control Systems (NOLCOS)

作者： Gurtner, Markus Zips, Patrik Atak, Muhammed Ophey, Julian Kugi, Andreas AIT Austrian Inst Technol GmbH Ctr Vis Automat & Control Vienna Austria Robert Bosch GmbH Stuttgart Germany TU Wien Automat & Control Inst Vienna Austria

A key aspect of control development for mechatronic systems is the simulative verification. Extensive simulation studies allow early-stage adaptations and quality and safety assessments prior to validation on the real system. The verification of modern systems generates a huge amount of data that requires automated verification methods. A crucial part of the verification is the detection of oscillations, which can deteriorate the closed-loop performance and in the worst case even lead to destabilisation. In this paper, we present an oscillation detection method that derives from the continuous process plant monitoring and is suitable for many control problems in the domain of mechatronic systems. A core element is the Empirical Mode Decomposition (EMD) combined with the assessment of the decomposed modes. For high robustness and computational efficiency, the method is extended by a tailored signal pre-processing. A normalised oscillation index provides a measure for the oscillation strength and enables the systematic analysis of crucial control signals to reveal possible optimisation potentials. A multi-component control loop for a complex nonlinear mechatronic system in the development stage is examined to demonstrate the applicability of the proposed method. The results show the reliable detection and analysis of crucial oscillations. The method is used for quality improvement and assurance already in the development phase of a product or system. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Empirical Mode Decomposition oscillation detection control loop verification

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Improved EMD-based Oscillation Detection for Mechatronic Closed-loop Systems

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IFAC-PapersOnLine 2019年第15期52卷 370-375页

作者： Markus Gurtner Patrik Zips Muhammed Atak Julian Ophey Andreas Kugi AIT Austrian Institute of Technology GmbH Center for Vision Automation & Control Vienna Austria Robert Bosch GmbH Stuttgart Germany Automation and Control Institute TU Wien Vienna Austria

关键词： Empirical Mode Decomposition oscillation detection control loop verification

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