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Improvement of Flexibility and Reliability of Automobile Actuators by Model-Based Algorithms

IFAC Proceedings Volumes 1994年第3期27卷 355-360页

作者： Thomas Pfeufer Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str. 4 D-64283 Darmstadt Phone: +49 6151 167405 Fax: +49 6151 293604

Automobile actuators have to work very reliable. In extension to redundancy schemes the use of model-based fault detection methods is advantageous for the early detection of incipient faults in the process or in the signals. Two different approaches, the parity-space method and the parameter estimation approach, are selected for the investigations for the example of an automobile actuator driven by a d.c. motor. After a brief description of the theoretical basis the experimental application follows to several faults.

关键词： Electric actuators failure detection parameter estimation parity-space redundancy

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Supervision of Tool Wear and Surface Quality During End Milling Operations

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IFAC Proceedings Volumes 1994年第4期27卷 507-512页

作者： H. Konrad R. Isermann H.U. Oette Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Phone: +49 6151 163927 Fax: +496151 293445

Object of this paper is the automatic supervision of an end milling operation performed on a machining center for milling and drilling. The work concerns the reliable detection of tool wear and surface quality with measured signals, that are easy to get. With these signals symptoms are generated using correlation functions. It will be shown, that symptoms of the main drive as well as symptoms of the x-axis feed drive can be used to monitor tool wear. Symptoms of the z-axis feed drive are correlated with surface roughness.

关键词： Machine tools cutting failure detection tool wear surface quality correlation functions

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A Multivariable Simulation Model for the Dynamic Behaviour of a Machining Center During Milling Operations

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IFAC Proceedings Volumes 1994年第4期27卷 309-314页

作者： H. Konrad R. Isermann Technical University of Dannstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str.4 D-64283 Darmstadt Germany Phone: +49 6151 163927 Fax: +49 6151 293445

An entire model for a machining center during milling operations is presented. Existing and partly improved models of the milling process and the respective machine components are coupled together. Because of the modular structure single components can easily be exchanged and the entire model can be adapted to various types of machine tools. Simulation results show the usability to predict interactions in the drives caused by the intermittent cut These interactions are significantly influenced by faults in the milling process, e.g. tool breakage and cutter run-out.

关键词： Computer simulation cutting electric drives machine tools modelling multivariable systems

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Mechatronic Components - Design and control Aspects

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IFAC Proceedings Volumes 1994年第3期27卷 13-24页

作者： Rolf Isermann Technical University of Darmstadt Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf Georg-Straße 4 64238 Darmstadt Germany Tel.: (FRG) 6151/162114 Fax: (FRG) 6151/293445

The integration of mechanical systems and microelectronics opens new possibilities for mechanical design and automatic functions. After a discussion of the mechanical and electronic design the organization of information processing in different levels is described. Within this frame “low-degree intelligent” mcchatronic systems can be developed which comprise adaptive control, supervision with fault diagnosis and decisions with regard to further actions. This requires the realization of knowledge based systems with learning abilities. Some aspects of the design of information processing including modeling and estimation, control and supervision methods are considered. Finally as examples the adaptive nonlinear control of a pneumatic actuator and an adaptive semiactive shock absorber for vehicle suspension systems is shown.

关键词： Mechatronics adaptive control intelligent control fault diagnosis pneumatic actuator adaptive suspension

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Model Based Fault Detection of Valves in Flow control Loops

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IFAC Proceedings Volumes 1994年第5期27卷 417-422页

作者： Rüdiger Deibert Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str.4 D-64283 Darmstadt Germany Phone: +49 6151 163314 Fax: +49 6151 293445

A strategy for fault detection in Fixed setpoint flow control loops is presented. First a general approach for model-based residual generation using observer based techniques is proposed. A generation of more detailed symptoms by signal processing of standard control loop signals follows. The strategy is proven with both simulation examples and measured data of a water flow control loop actuated by a pneumatic driven valve. Faults in either the valve drive and the fluidic subsystem are investigated.

关键词： Model-based fault detection pneumatic valve closed loop system flow control

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Determination of the Centre of Gravity Height of a Vehicle with Parameter Estimation

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IFAC Proceedings Volumes 1994年第8期27卷 563-568页

作者： S.T. Germann R. Isermann Technical University of Darmstadt Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Straße 4 D-64283 Darmstadt Germany Phone: 0049-6151-162114 Fax: 0049-6151-293604

The estimation of the height of the centre of gravity of vehicle is significantly important for various applications in modern car management. A theoretical model of a full - scale half car including suspension and a crank axle at the front and the rear axle is developed. A longitudinal model of the vehicle is described to compute the forces at the wheels curing braking and accelerating manoeuvres. Based on nonlinear spring curves and measured deflection at the front and the rear axle the centroidal height of the vehicle is estimated. Some experimental results with a space wagon are shown.

关键词： Vehicle dynamics centre of gravity centre of gravity height pitch dynamics breaking and acceleration force parameter estimation

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Permissive control of Boolean condition/event systems: Synthesis and limits

Permissive control of Boolean condition/event systems: Synth...

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IEEE International Symposium on Intelligent control (ISIC)

作者： S. Kowalewski H.-M. Hanisch Process Control Group (AST) Chemical Engineering Department University of Dortmund Dortmund Germany Automation Institute (INFAUT) Electrical Engineering Department Technical University Magdeburg Magdeburg Germany

This paper presents a synthesis method for logic controllers based on a discrete state model of the plant and a formal specification of the desired behavior in form of forbidden state sequences. We use Boolean condition/event systems as the basic modeling paradigm. The synthesis algorithm is specified with the help of Boolean differential calculus operators and realized using the Boolean analysis software XBOOLE. The resulting controller is permissive in the sense that it does not force state transitions in the plant. The approach is applied to a simple hatch process example which exhibits limits of a purely permissive control concept.< >

关键词： control system synthesis Force control control systems Programmable control Automatic control Logic Calculus automation process control Chemical engineering

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Monitoring of the friction coefficient between tyre and road surface

Monitoring of the friction coefficient between tyre and road...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Germann Wurtenberger Daiss Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Darmstadt Germany Technische Universitat Darmstadt Fachbereich Biologie Darmstadt Hessen DE Inst. of Automatic Control Tech. Univ. of Darmstadt Germany

The knowledge of the friction coefficient between tyre and road surface is the central part of vehicle longitudinal and lateral control. For this purpose a friction monitoring system is developed using nonlinear and linear mathematical models to describe the /spl mu/-slip characteristics and to compute the dynamic wheel loads and longitudinal tyre forces. A recursive least squares estimator calculates the parameters of the /spl mu/-slip characteristics online and on-board for use in control systems.< >

关键词： Monitoring Mechanical factors Mechanical variables measurement Road vehicle control Road vehicles Least squares methods Recursive estimation

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DESIGN OF A FUZZY-LOGIC BASED DIAGNOSTIC MODEL FOR TECHNICAL processES

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FUZZY SETS AND SYSTEMS 1993年第3期58卷 249-271页

作者： ULIERU, M ISERMANN, R Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt Germany

The design and implementation of the heuristic knowledge base for a fuzzy logic-based technical diagnostic problem solving strategy integrated as a heuristic level within a computer assisted fault diagnosis system is considered. Based on knowledge acquisition via expert knowledge (linguistically expressed as fuzzy conditional statements);simulation-based observations of the diagnosed process (as a feature extraction technique for technical diagnostic relevant information);process history and fault statistics, a fuzzy diagnostic model is developed as a fuzzy symptoms-faults mapping and implemented within the heuristic knowledge base. Diagnostic reasoning by MATCHING the proposed fuzzy diagnostic model with the current values of the symptoms (either analytically generated or subjectively observed by the operator) is presented as well as the validation of the design method. first by illustrating it on a very simple simulated process (a low-pass filter) and then by applying it to a simulated DC motor.

关键词： FAULT DETECTION AND DIAGNOSIS POSSIBILITY THEORY LINGUISTIC MODELING KNOWLEDGE ACQUISITION FUZZY NUMBERS APPROXIMATE REASONING EXPERT SYSTEMS

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FAULT-DIAGNOSIS OF MACHINES VIA PARAMETER-ESTIMATION AND KNOWLEDGE processING - TUTORIAL PAPER

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AUTOMATICA 1993年第4期29卷 815-835页

作者： ISERMANN, R [a]Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf Georg Str. 4 D-6100 Darmstadt Germany

For further improvement of the reliability and safety of machines the automatic early detection and localization of faults is of high interest. The conventional approach is to monitor some important variables like temperature, pressure, vibration and to generate alarms if certain limits are exceeded. However, developing internal faults are in this way only detected at a rather late stage. By applying static and dynamic process models and common process input and output measurements the inherent relationships and redundancies can be used to detect faults earlier and to localize them better. Changes in process and signal parameters are very well suited for fault detection. The paper describes a general methodology for machines and other processes by using few measurements, dynamic process and signal models and parameter estimation to generate analytical symptoms. Heuristic symptoms observed by the operator or based on, e.g. the process history are another source for fault diagnosis. Both kinds of symptoms are weighted by confidence measures and are fed into a knowledge based fault diagnosis procedure. The diagnosis is performed by forward and backward chaining according to causal fault-symptom trees. The considered machines consist of a motor, a drive chain and a working process or load. They may be electrical motor or combustion engine driven pumps, fans or machine tools with gear or belt drive chains. As one example, experimental results are shown for a DC motor powered feed drive of a machine tool. A summary of practical results with other machines is also given.

关键词： FAULT DETECTION SUPERVISION MONITORING SAFETY PARAMETER ESTIMATION KNOWLEDGE BASE DIAGNOSTICS FAULT TREES INFERENCE MECHANISM, FORWARD AND BACKWARD CHAINING, FEED DRIVE MACHINES

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