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Design and Application of Digital FIR Differentiators Using Modulating Functions

IFAC Proceedings Volumes 2000年第15期33卷 1037-1042页

作者： Armin Wolfram Olaf Moseler Darmstadt University of Technology Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt (Germany) Phone: (+49) 6151 167406 Fax: (+49) 6151 293604

Continuous process Models are widely used in system identification and fault detection. However, dynamic models require the derivatives of the process' input and output signals. Often they cannot be accessed by measurements. Thus they have to be provided by digital filters. Commonly state variable filters are used for this purpose. But this approach has a couple of drawbacks caused by the recursive structure of the filter. In this paper a consistent approach for the design of FIR differentiators by means of modulating functions is proposed. Finally the application of these filters for fault detection using a microcontroller is presented.

关键词： Finite Impulse Response Filter Differentiators Modulating Functions System Identification Fault Detection

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Combining First Principles with Black-Box Techniques for Reaction Systems

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IFAC Proceedings Volumes 2000年第15期33卷 427-432页

作者： Libei Chen Yves Hontoir Dexian Huang Jie Zhang A. Julian Morris Centre for Systems Engineering and Applied Mechanics Catholic University of Louvain Belgium SOLVAY Advanced Process Control Chemicals Corporate Research and Technology Brussels Belgium Department of Chemical and Process Engineering The University of Newcastle-upone-Tyne UK Department of Automation Tsinghua University Beijing China

A control oriented hybrid model structure combining first principles models with standard black-box techniques for modelling nonlinear dynamics of reaction systems is presented in this paper. The approach is formulated in a general framework for continuous stirred tank reactors and analyzed in details through a case study of a reactive distillation column. The approach is based on easily established mass balance equations, the stoichiometry of the system as well as model reduction techniques. The choice of combined inputs and the model structure is motivated by some general control objectives for this class of systems. A progressive identification of this model structure can be performed when a dominant part exists. The application to real process data is presented. This model structure has been successfully used in an IMC scheme for an industrial reactive distillation column.

关键词： Hybrid modelling neural networks process optimization reaction systems reactive distillation column

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Model Based Fault Detection of Vehicle Suspension and Hydraulic Brake Systems

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IFAC Proceedings Volumes 2000年第26期33卷 1073-1078页

作者： Marcus Börner Harald Straky Thomas Weispfenning Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Phone: +49 6151 16-7412 FAX: +49 6151 16-7421

In modern vehicles, mechatronic systems are increasingly used. To improve reliability, safety and economy, an early recognition of small or drifting faults is becoming increasingly important. After a short introduction to methods of model based fault detection and diagnosis, application examples for fault detection of automotive vehicle suspension and hydraulic brake systems are given.

关键词： fault detection parameter estimation parity equation vehicle suspension tire pressure solenoid ABS-valve hydraulic brake system

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A phenomenological nonlinear multivariable controller for a pellet cooling process

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IFAC Proceedings Volumes 2000年第22期33卷 167-172页

作者： Dominique Pomerleau Daniel Hodouin Eric Poulin GRAIIM (Groupe de recherche sur les applications de l’informatique à l’industrie minérale) Department of Mining and Metallurgical Engineering Université Laval Sainte-Foy Québec Canada G1К 7P4 Department of Automation and Process Control Breton Banville & Associates 375 Boul. Laurier Mont-St-Hilaire Québec Canada J3H 6C3

When process non-linearities are responsible for the deterioration of linear controller performances, usually the linear approximation of the model is updated as the operating conditions change. The alternative approach, which is used in this paper, is to directly incorporate the non-linear phenomenological simulator of the process into the controller. To assess the method, the control of a cooling zone of an iron oxide pellet-sintering furnace, a multivariable process containing strong gain variations, has been simulated. The structure of the predictive controller is based on the internal model control scheme. The observer part of the control loop uses the non-linear phenomenological dynamic model of the process, while the controller part uses either the steady-state or the dynamic non-linear model for output predictions.

关键词： Dynamic Modelling Predictive control Nonlinear control Model based control Nonlinearity

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Modeling, identification and simulation of mechatronic systems

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IFAC Proceedings Volumes 1999年第2期32卷 879-890页

作者： Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

The integration of mechanical and microelectronic components during the design and operation requires systematic methods and software tools for theoretical modeling, experimental identification and simulation. Therefore, the contribution summarizes the state-of-the-art in these areas based on the practical experience with several mechatronic systems and tries to show open problems. It is typical for mechatronic systems that they are composed of components from different physical domains, such as electrical mechanical, fluidic, thermal and thermodynamic processes. One of the key issues, therefore, is to find a unified way especially for theoretical modeling, but also for identification and simulation of these heterogeneous systems. A further task is to develop software tools for modeling, identification and simulation and to make them interconnectable. For theoretical modeling a unified procedure can be given for lumped parameter processes with energy and material flows. A multi port representation can be stated for processes with energy flows for electrical, mechanical and fluidic processes. However, problems with a unified representation arise for thermal and thermodynamic processes. The development from multi ports to block diagrams and bond graphs is shortly described. Present developments are characterized by object-oriented modeling with introduction of causalities at a late state. Identification methods for mechatronic systems are required frequently e.g. for theoretical model verification or on-line estimation of unknown and time varying parameters or identification of nonlinear static characteristics and dynamics. The properties of suitable methods are described, including parameter estimation and dynamical neural networks for nonlinear processes. Then, various kinds of simulation methods for mechanical systems are described, especially with regard to the time behaviour. For several applications real-time simulation is required. Examples are process simulati

关键词： Modeling identification simulation mechatronic systems heterogeneous systems object oriented modeling parameter estimation neural networks real-time simulation hardware-in-the-loop simulation automobiles combustion engines turbocharger

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Model-based fault diagnosis of an actuator system driven by the brushless DC motor

Model-based fault diagnosis of an actuator system driven by ...

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American control Conference (ACC)

作者： O. Moseler D. Juricic A. Rakar N. Muller Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

A fault detection and isolation scheme for a brushless DC motor driving a mechanical actuation system is presented. First, a detailed mathematical model of the drive is derived. The residual generator is based on parity relations while the fault isolation part is implemented by means of the transferable belief model. The problem of distinguishing between faults with the same fault signatures is addressed. It is shown that additional improvements in terms of resolution can be achieved by employing parameter estimation. The proposed FDI scheme is tested on the actual drive under various faults. The achieved performance features the highest resolution, diagnostic stability and accuracy.

关键词： Fault diagnosis Actuators Brushless DC motors DC motors Coils Rotors Stators Fault detection Pulse width modulation Mathematical model

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Model-based robust guaranteed stability control of stock refining with parameter uncertainties

Model-based robust guaranteed stability control of stock ref...

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IEEE International Conference on Systems, Man and Cybernetics

作者： A.K. Xue Q.L. Shang Y.X. Sun Institute of Industrial Process Control University of Zhejiang Hangzhou China Department of Automation Hangzhou Institute of Electronics Engineering Hangzhou China

An approach of uncertain model-based robust guaranteed stability control for stock refining is proposed. A synthetic performance index of optimal control for stock refining with large uncertainties is considered. A modified robust return difference equality is derived. Sufficient conditions to guarantee robust stability and guaranteed stability margins for uncertain systems are presented by solving a resulting robust algebraic matrix inequality including uncertainties. Furthermore, a synthetic design procedure of robust guaranteed stability control system for stock refining is developed. Simulation test results are given to demonstrate the efficiency of the proposed method.

关键词： Robust stability Robust control Refining Uncertainty Performance analysis Optimal control Robustness Sufficient conditions Uncertain systems Matrices

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Model-Based Fault Detection for an Actuator Driven by a Brushless DC Motor

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IFAC Proceedings Volumes 1999年第2期32卷 7873-7878页

作者： O. Moseler T. Heller R. Isermann Darmstadt University of Technology Institute of Automatic Contol Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt German Phone: +49-6151-167404 Fax: +49-6151-293604

A real time fault detection approach for a brushless DC motor driving a mechanical actuation system is presented. The brushless DC motor is controlled by a PWM inverter using rectangular current excitation. After an introduction into fault detection with parameter estimation and parity equations, a mathematical model for the actuator with special emphasis on the motor itself is derived. The application of the estimation algorithm to detect electrical and mechanical parameter changes in the motor is described. In addition parity equations are used to detect sensor offsets. The fault detection scheme is implemented on a digital signal processor controlling the actuator. Finally experimental results are given.

关键词： Brushless DC motor fault detection parameter estimation parity equations

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Fault Diagnosis System for the Outokumpu Flash Smelting process

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IFAC Proceedings Volumes 1999年第2期32卷 7028-7033页

作者： E. Vapaavuori S-L. Jämsä-Jounela J. Yianatos Laboratory of Process Control and Automation Helsinki University of Technology P.O.Box 6100 FIN-02015 HUT Finland Chemical Engineering Department Santa Maria University P.O.Box 110-V Valparaiso Chile

Fault diagnosis systems have attracted the growing interest of researchers in a number of engineering areas. The number of applications has increased and successful results are reported widely. This paper presents the results of principal component analysis carried out on the Outokumpu flash smelting process the waste heat boiler being analysed in more detail. The PCA results are evaluated and the configuration of a fault diagnosis system is proposed.

关键词： Fault detection fault diagnosis principle component analysis flash smelting

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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