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

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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Hardware-in-the-Loop Simulation for the Design and Testing of Engine-control Systems

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IFAC Proceedings Volumes 1998年第4期31卷 1-10页

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

For the design, implementation and testing of control systems increasingly hardware-in-the-loop (HIL) simulation is required, where parts of the control loop components are real hardware and parts are simulated. Usually, the process is simulated because it is not available (simultaneous engineering), or experiments with the real process are too costly or require too much time. The sensors and actuators may be simulated or real and the controller is real hardware and software. The real-time requirements for the simulation depends on the time scale of the process and the simulated components. The contribution gives first an overview of the various kinds of real-time and HIL simulation. Then, two cases are considered. First the HIL simulation for relatively slow processes, like in basic industries or heating systems. Here, the simulation-speed may be limited either by the complexity of the processes or by the real controller hardware. Then, the HIL simulation of combustion engines both with transputers and digital signal processors is shown in detail. The required models for 6- and 8-cylinder diesel engines are described, including fuel injection and burning, pressure development, torque generation at the crankshaft, exhaust turbocharger dynamics and the vehicle dynamics. The HIL-simulator test bench consísts of a real-time computer system, sensor-interface, actuator interface, real injection pumps and the real control unit. Comparisons of real-time simulation with measurements on real diesel engines and trucks are shown. The goal of the HIL system is to develop new control algorithms and to investigate the effect of faults in sensors and actuators and the engine itself.

关键词： real-time simulation hardware-in-the-loop simulation diesel engine turbocharger vehicle dynamics transputers digital signal processors simulator testbench

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Neuro-Fuzzy Modeling of Automotive SI-Engine Characteristics

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IFAC Proceedings Volumes 1998年第1期31卷 149-154页

作者： H. Holzmann Ch. Halfmann R. Isermann Darmstadt University of Technology Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Telephone: +49-6151-167407 Telefax: +49-6151-293604

In automotive technology, the behaviour of SI-combustion engines is often characterised by the dependency of the engine torque on the engine speed and the throttle angle. Especially for control and simulation purposes it is important to provide an easy possibility to extract a formal description of an engine characteristic map from data measured on an engine test stand. This paper describes a way to replace the conventionally used look-up-tables by neural network or fuzzy logic representations and to adapt them on-line to measured signals. In addition to that, a neuro-fuzzy approach is discussed as well.

关键词： Si-combustion engine 3-D maps neural networks fuzzy logic neuro-fuzzy

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Long-Range Predictive control of the Parametric Hammerstein Model

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IFAC Proceedings Volumes 1998年第17期31卷 421-426页

作者： Robert Haber Ruth Bars Orsolya Lengyel Department of Process Engineering Laboratory of Process Control Cologne Institute of Technology D-50679 Koln Betzdorfer Str. 2 Germany fax: 49-221-8275-2836 phone:49-221-8275-2242 Department of Automation Technical University of Budapest H-1111 Budapest Goldmann Gy. tér 3 Hungary lax: 361-463-2871 phone:361-463-2885

Predictive control algorithms are promising also in the case of nonlinear systems. Long-range predictive control algorithms are derived here for the nonlinear Hammerstein model. A quadratic cost function is minimized, which considers the quadratic deviation of the reference signal and the output signal predicted in a future horizon and punishes also the squares of the control increments. The predictive incremental form of the Hammerstein model is used to predict the output signal. Suboptimal versions of the control algorithm are given with different assumptions for the control signal during the control horizon. Some properties of these algorithms are shown through simulation examples. Behaviour of long-range predictive control algorithms is compared with the performance of one-step-ahead predictive control algorithms.

关键词： Predictive control nonlinear control suboptimal control Hammerstein model

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Fault detection and diagnosis of components of the vehicle vertical dynamics

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MECCANICA 1997年第5期32卷 459-472页

作者： Weispfenning, T Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany

In this paper, model and signal-based methods for supervision of suspension elements of a car are presented. A model-based approach using parameter estimation is used to determine the current parameters of a vehicle suspension. Exploiting the analytical redundancy, different faults, like weak dampers or sensor faults, can be distinguished. For fault detection the use of parity equations is shown. In addition, a signal-based approach is presented which makes a detection of tire pressure loss possible. All presented results were drawn from a test rig or from a driving car.

关键词： vehicle dynamics diagnostics suspension signal analysis automotive applications

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Neuro-fuzzy systems for diagnosis

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FUZZY SETS AND SYSTEMS 1997年第3期89卷 289-307页

作者： Ayoubi, M Isermann, R Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg 4 64283 Darmstadt Germany

Knowledge-based fault detection and diagnosis is described from the analytic and heuristic symptom generation to diagnostic reasoning. The extension of the knowledge-based approach by adaptive neural networks allows us to tune the knowledge base in order to investigate undetermined parameters just as membership functions, relevance weights of antecedents and priority factors of rules. An overview of design methodologies of neuro-fuzzy systems is provided with a special focus on a hybrid neuro-fuzzy network with a neural logical operator. Finally, an application of the neuro-fuzzy system to the on-line monitoring of air pressure in vehicle wheels is described. (C) 1997 Elsevier Science B.V.

关键词： neuro-fuzzy systems fault detection and diagnosis automatic rule extraction

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Supervision of vehicles' tyre pressures by measurement of body accelerations

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control engineering PRACTICE 1997年第8期5卷 1151-1159页

作者： Halfmann, C Ayoubi, M Holzmann, H Institute of Automatic Control Darmstadt University of Technology Laboratory for Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany

Due to the rising consciousness of safety aspects, the supervision of vehicles' tyre pressures is a major aspect of improved active car safety. Therefore, in this paper a method for monitoring the tyre pressures is presented, using body acceleration signals. Analyzing the frequency spectrum of the virtual transfer function between the body acceleration at the front and rear wheel on one side of the vehicle, characteristic features are generated. Thereby, external interferences on the spectrum and their influences on the symptoms are discussed. To quantify the tyre pressure, a neuro-fuzzy classification of the characteristics is applied. Copyright (C) 1997 Elsevier Science Ltd.

关键词： supervision of tyre pressures virtual transfer functions signal processing spectrum analysis neuro-fuzzy classification

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Longitudinal and lateral control and supervision of autonomous intelligent vehicles

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control engineering PRACTICE 1997年第11期5卷 1599-1605页

作者： Holzmann, H Halfmann, C Germann, S Wurtenberger, M Isermann, R Darmstadt University of Technology Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Straβe 4 D-64283 Darmstadt Germany

As individual and commercial traffic flow on roads and highways grows enormously, the number of accidents increases as well. Therefore, modern vehicle research is focused on improving driving comfort as well as passengers' safety. Aiming at that, recent advances in control engineering and modern computer technology enable the engineer to design special control and supervision systems to support the driver. As an example, this contribution presents two possible solutions. An Adaptive Cruise control system assists the driver in highway traffic, whereas a vehicle-supervision method is applied to detect critical driving situations and sensor faults. Copyright (C) 1997 Elsevier Science Ltd.

关键词： vehicle modelling velocity control distance control vehicle dynamics motion supervision sensor fault detection

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STEADY-STATE OPERATION ANALYSIS OF AN IDEAL HEAT INTEGRATED DISTILLATION COLUMN

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Chinese Journal of Chemical engineering 1997年第4期5卷 43-54页

作者：黄克谨钱积新战德志中岩勝高松武一郎 Institute of Industrial Process Control Zhejiang University Department of Chemical Process Automation Qingdao Institute of Chemical Engineering Department of Chemical Systems National Institute of Materials and Chemical Research Institute of Industrial Technology Kansai University

A systematic approach for the steady-state operation analysis of chemical processes is *** method affords the possibility of taking operation resilience into consideration during thestage of process *** may serve the designer as an efficient means for the initial screening ofalternative design *** ideal heat integrated distillation column(HIDiC),without any reboileror condenser attached,is studied throughout this *** has been found that among the various va-riables concerned with the ideal HIDiC,feed thermal condition appears to be the only factor exertingsignificant influences on the interaction between the top and the bottom control *** is expected when the feed thermal condition approaches *** number of stages andheat transfer rate are essential to the system ability of disturbance ***,more stagesand higher heat transfer rate ought to be ***,too many stages and higher heat transfer ratemay increase the load of the

关键词： Distillation model identification steady-state design operation resilience process control

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Supervision, fault-detection and fault-diagnosis methods - An introduction

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control engineering PRACTICE 1997年第5期5卷 639-652页

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

The operation of technical processes requires increasingly advanced supervision and fault diagnosis to improve reliability, safety and economy. This paper gives an introduction to the field of fault detection and diagnosis. It begins with a consideration of a knowledge-based procedure that is based on analytical and heuristic information. Then different methods of fault detection are considered, which extract features from measured signals and use process and signal models. These methods are based on parameter estimation, state estimation and parity equations. By comparison with the normal behaviour, analytic symptoms are generated. Human operators are another source of information, and support the generation of heuristic symptoms. For fault diagnosis, all symptoms have to be processed in order to determine possible faults. This can be performed by classification methods or approximate reasoning, using probabilistic or possibilistic (fuzzy) approaches based on if-then-rules. Copyright (C) 1997 Elsevier Science Ltd.

关键词： fault detection supervision monitoring parameter estimation state estimation parity equations technical processes actuators sensors fault diagnosis diagnostic reasoning fuzzy reasoning

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