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Impedance control of hydraulic piston actuators

IFAC Proceedings Volumes 2004年第13期37卷 961-966页

作者： Andreas Kugi Wolfgang Kemmetmüller Chair of System Theory and Automatic Control Saarland University PO Box 15 11 50 66041 Saarbrücken Germany

This paper is devoted to the impedance control problem of a double-acting hydraulic piston actuator. Thereby, it is the task of the impedance control system to produce a response to an external force which corresponds to the response of a predefined mechanical system, with a desired (nonlinear) stiffness and a desired (nonlinear) damping characteristics around a desired operating point of the piston position. The controller design is based on a port-Hamiltonian representation of the mathematical model utilizing the fundamental thermodynamic relations of an isentropic fluid.

关键词： Hydraulic Piston Actuator Port-Hamiltonian system Nonlinear control Impedance control

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Feedforward control design under input constraints for a tubular reactor model

Feedforward control design under input constraints for a tub...

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IEEE Conference on Decision and control

作者： Peter Wieland Thomas Meurer Knut Graichen Michael Zeitz Institute for Systems Theory and Automatic Control University of Stuttgart Germany Chair of System Theory and Automatic Control University of Saarland Saarbrucken Germany Institute for System Dynamics University of Stuttgart Germany

ISBN: (纸本)1424401704

This paper presents a new early-lumping approach of feedforward control design for setpoint change scenarios applied to a tubular reactor modeled by a nonlinear parabolic diffusion-convection-reaction equation. The approach is based on Galerkin's method to obtain a finite-dimensional model and on a recently developed approach to feedforward control design for nonlinear systems under input constraints. The considered finite-time transition between equilibrium points is treated as a two-point boundary value problem. Simulation results for different sets of model parameters illustrate the applicability of the approach

关键词： control design Inductors Moment methods Nonlinear equations Nonlinear dynamical systems Nonlinear systems Differential equations Partial differential equations Force control Trajectory

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Modeling and control of an Electrorheological Actuator

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IFAC Proceedings Volumes 2004年第14期37卷 265-270页

作者： Wolfgang Kemmetmüller Andreas Kugi Chair of System Theory and Automatic Control Saarland University PO Box 15 11 50 66041 Saarbrücken Germany

This paper deals with the modeling and nonlinear control of an ER (electrorheological) actuator consisting of a double-rod cylinder and four ER valves in a full-bridge configuration. Basically, we have to face two difficulties within the controller design: First of all, the ER effect is inherently nonlinear and secondly, the ER full-bridge provides more control inputs than necessary for solving the primary control task. We will show that these additional degrees-of-freedom can be exploited to circumvent undesirable operation and to optimize the overall closed-loop performance. Furthermore, the nonlinearities of the mathematical model will be systematically included in the controller design. Measurement results performed on an experimental test-stand will demonstrate the feasibility of the proposed strategy.

关键词： ER fluid ER valve Hydraulic actuator Nonlinear control

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Modeling and flatness-based control of a 3d of helicopter laboratory experiment

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IFAC Proceedings Volumes 2004年第13期37卷 207-212页

作者： Thomas Kiefer Andreas Kugi Wolfgang Kemmetmüller Chair of System Theory and Automatic Control Saarland University PO Box 15 11 50 66041 Saarbrücken Germany

This paper deals with the modeling and control of a three-degrees-of-freedom helicopter laboratory experiment. The helicopter belongs to the class of mechanical systems underactuated by one control. The mathematical model is derived using the Lagrange formalism in combination with the concept of twists and wrenches. It can be proven that the full system is not configuration flat. Nevertheless, by a slight modification of the generalized forces, which can also be interpreted in terms of a constructive change in the experimental set-up, we are able to design a flatness-based controller. Experimental results demonstrate the effectiveness of the proposed concept.

关键词： Underactuated Mechanical systems Helicopter Laboratory Experiment Nonlinear control Flatness-based control Configuration Flatness

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Modeling and Nonlinear control of an Electrohydraulic Closed-Center Power-Steering system

Modeling and Nonlinear Control of an Electrohydraulic Closed...

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IEEE Conference on Decision and control

作者： W. Kemmetmuller A. Kugi S. Muller Chair of System Theory and Automatic Control University of Saarland Saarbruecken Germany Vehicle Dynamics Control Systems BMW Group Munich Germany

This paper deals with the mathematical modeling and the nonlinear control of an electrohydraulic closed-center power-steering system. The system under consideration is characterized by its high energetic efficiency at a full electric power-steering functionality. Based on a nonlinear mathematical model of the system, a flatness-based controller for the servo actuator is designed. Afterwards, an interpretation of the overall steering control system as a mechanical impedance matching problem yields a controller with good performance and robust behavior. Finally, measurement results on a test stand and in a test car show the usefulness of the proposed control approach.

关键词： Power system modeling Nonlinear control systems Electrohydraulics Mathematical model control systems Testing control system synthesis Servomechanisms Actuators Impedance matching

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A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation

A passivity based Cartesian impedance controller for flexibl...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： C. Ott A. Albu-Schaffer A. Kugi S. Stamigioli G. Hirzinger Institute of Robotics and Mechatronics German AerosPace Center (DLR) Germany Chair of System Theory and Automatic Control Saarland University Germany

In this paper a novel approach to the Cartesian impedance control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivating the extension of classical position feedback by an additional feedback of the joint torques. The torque feedback action can be interpreted as a scaling of the apparent motor inertia. Furthermore the problem of gravity compensation is addressed. Finally, it is shown that the closed loop system can be seen as a feedback interconnection of passive systems. Based on this passivity property a proof of asymptotic stability is presented.

关键词： Impedance Torque control Feedback Gravity Robot kinematics Damping Robotics and automation control systems automatic control Robot control

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Flatness-based feedforward control design for flexible structures

Flatness-based feedforward control design for flexible struc...

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IEEE International Conference on Computer-Aided Design

作者： Jens Becker Thomas Meurer Lothar Gaul The Institute of Applied and Experimental Mechanics University of Stuttgart Stuttgart Germany The Chair of System Theory and Automatic Control University of Saarland Saarbrucken Germany

This contribution presents a solution to the feedforward tracking control problem for flexible beam structures. The design methodology is based on the modal analysis of the structural dynamics to determine an inverse system representation by parameterizing modal states and system input in terms of a parameterizing function and its time-derivatives. Convergence of the resulting parameterizations is thereby directly related to the problem of motion planning. In addition, the analytical feedforward control design approach is adapted to incorporate finite-element methods, which makes this approach especially suitable for the control of structures with complex geometry, boundary conditions or spatially varying material properties. Simulation results for a clamped-free Timoshenko beam with piezoelectric actuation are presented, where it is desired to drive the beam tip from zero deflection to a given desired stationary deflection within a finite-time interval

关键词： control design Flexible structures control systems Trajectory Modal analysis Boundary conditions Finite element methods Design methodology Geometry Material properties

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DESIGN, MATHEMATICAL MODELING AND control OF AN ASYMMETRICAL ELECTRORHEOLOGICAL DAMPER

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IFAC Proceedings Volumes 2006年第16期39卷 372-377页

作者： Klaus Holzmann Wolfgang Kemmetmüller Andreas Kugi Michael Stork Chair of System Theory and Automatic Control Saarland University PO Box 15 11 50 66041 Saarbrücken Germany Fludicon GmbH Landwehrstrasse 50 64293 Darmstadt Germany

This paper is concerned with the design, the mathematical modeling and the control of an electrorheological (ER) damper for automotive applications. A continuous variation and the desired asymmetrical behavior of the damping characteristics is achieved by an intelligent combination of an ER valve with a laminar damping orifice and check valves. The resulting construction is distinguished by a very compact design and its fail-safe characteristics in the case of a fault of the high-voltage amplifier. Furthermore, some design considerations for the ER damper are given. Based on a detailed mathematical model a nonlinear control strategy is developed. Finally, the feasibility and the usefulness of the proposed construction and the nonlinear control strategy is demonstrated by means of simulation studies.

关键词： semi-active suspension electrorheological fluid electrorheological damper nonlinear control

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Feedforward and Feedback Tracking control of a 3DOF Helicopter Experiment under Input and Output Constraints

Feedforward and Feedback Tracking Control of a 3DOF Helicopt...

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IEEE Conference on Decision and control

作者： Thomas Kiefer Andreas Kugi Knut Graichen Michael Zeitz Chair of System Theory and Automatic Control University of Saarland Saarbrucken Germany Institut für Systemdynamik Universität Stuttgart Stuttgart Germany

ISBN: (纸本)1424401704;9781424401703

This article describes the feedforward/feedback tracking control design for a 3DOF helicopter experiment with input and state constraints. By appropriate choice of the outputs, the state constraints are interpreted as output constraints, in order to apply a newly presented feedforward control design under input and output constraints for finite-time transition problems. The fast 360-degree turn of the helicopter within a finite-time interval serves as a challenging test maneuver. The feedforward design treats the setpoint transition as a two-point boundary value problem in the input-output normal form of the system. This approach also allows to systematically account for the constraints of the helicopter. In addition, an optimal feedback controller is used to stabilize the system along the desired trajectories. The performance of the feedforward/feedback tracking control scheme is demonstrated by experimental results

关键词： Output feedback Helicopters control systems control design Motion control State feedback Constraint theory Boundary value problems Laboratories Mechanical systems

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Geometric energy based analysis and controller design of hydraulic actuators applied in rolling mills

Geometric energy based analysis and controller design of hyd...

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European control Conference (ECC)

作者： G. Grabmair K. Schlacher A. Kugi Christian Doppler Laboratory for Automatic Control of Mechatronic Systems in Steel Industries J.K. University Linz Austria Department of Automatic Control J.K. University Austria Chair of System Theory and Automatic Control Saarland University Saarbrücken Germany

The two main goals of this contribution are to demonstrate the integration of hydraulic actuator systems with PCH systems and to discuss a modification of the well known input-output linearization in connection with PCH systems. We will show that this approach is closely related to the existence of so called Casimir functions in the PCH context. Finally, industrial measurements demonstrating the implemented control law will be presented.

关键词： Mathematical model Thermodynamics Hydraulic actuators Strips Pistons Force Load modeling

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