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Gearbox Ripple Rejection of Robots Using Observer and Adaptive Control Theory

IFAC Proceedings Volumes 2011年第1期44卷 893-898页

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Muenchner Str. 20 Department of Electrical and Computer Engineering University of Utah 50 S Central Campus Dr. Salt Lake City UT 84112 USA

Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application.

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Application of nonlinear disturbance decoupling to active car steering

Application of nonlinear disturbance decoupling to active ca...

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European Control Conference (ECC)

作者： N. P. I. Aneke J. Ackermann T. Bünte H. Nijmeijer Eindhoven University of Technology Faculty of Mechanical Engineering P.O. Box 513 5600 MB Eindhoven The Netherlands DLR Oberpfaffenhofen Institute of Robotics and System Dynamics P.O. Box 1116 D-82230 Wessling Germany

A control design approach is presented for active steering of front wheel steered vehicles. The approach consists of the application of disturbance decoupling via state-derivative feedback. Simulations with the resulting controller show that the use of state-derivative information may considerably enhance vehicle safety, in particular under adverse operating conditions such as icy roads.

关键词： Vehicles Vehicle dynamics Wheels Roads Asymptotic stability Nonlinear dynamical systems

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Multi-Objective Control of Balancing systems for Li-Ion Battery Packs: A Paradigm Shift?

Multi-Objective Control of Balancing Systems for Li-Ion Batt...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jorge V. Barreras Claudio Pinto Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo Department of Energy Technology Aalborg University Aalborg Denmark INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany

While a great number of battery balancing circuit topologies have been proposed, the unique control objective typically pursued is equalization of single cell charge. However, a balancing circuit could offer potentially more control features, especially with topologies able to provide bidirectional power flow control. This has not been explored yet in literature or at least not with enough thoroughness. Thus, in addition to charge balancing, up to three more objectives could be pursued simultaneously. Firstly, virtual resistance control, in order to provide dynamic compensation for variations in terminal cell voltage. Secondly, thermal management, to achieve a more uniform temperature distribution within a battery pack. Third, on-board diagnosis or fault detection tools, e.g. to perform characterization tests or to identify and even isolate problematic cells. In this paper, this issue is discussed and evaluated for a battery pack made up of 48 large format Li-Ion cells in series in a e-mobility application. Simulation results demonstrate the technical feasibility of this newly defined concept.

关键词： Batteries system-on-chip Integrated circuit modeling Mathematical model Control systems Voltage control Fault detection

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Dvelopments in the Field of Control Libraries and their Impact on Control Eduction

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IFAC Proceedings Volumes 1994年第9期27卷 269-272页

作者： Ad Van Den Boom Aloys Geurts Georg Grübel Andras Varga Dept. of Electrical Engineering Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands Dept. of Mathematics and Computing Science Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics D-82230 Wessling Germany

The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLIC... 详细信息

关键词： Control libraries computer aided system design numerical control software education educational aids

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A Comparative Study between Causal and Non-causal Algorithms for the Energy Management of Hybrid Storage systems

A Comparative Study between Causal and Non-causal Algorithms...

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European Conference on Power Electronics and Applications

作者： Claudio Pinto Ricardo de Castro Rui Esteves Araujo INESC TEC Faculty of Engineering University of Porto Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR)

ISBN: (纸本)9781479901159

This paper presents a comparative study between two non-causal algorithms for the energy management problem of electric vehicles, endowed with batteries and supercapacitors (SCs). Toward that goal, an optimization-based energy problem is formulated, which targets the minimization of the source's energy losses throughout a given driving cycle. This problem is solved, firstly, with the help of a fast (but locally optimal) non-linear programming solver;and, secondly, with a slow, but globally optimal, dynamic programming (DP) approach. Simulation results will demonstrate that, despite the different theoretical properties associated with these two solver approaches, both generate similar solutions. In the second part of the work, we will develop a filter-based energy management algorithm, i.e., employ batteries to provide the low-frequency content of the power demand, while SCs cover the high-frequency demand. Our approach builds on the idea of adapting the filter's time constant throughout the vehicle's journey, using, for that purpose, a fuzzy logic algorithm and the information of the state of the vehicle. In comparison with the traditional fixed time-constant approach, the simulation results show that under some conditions the adaptive time-constant algorithm has the potential to reduce the energy losses of the sources by up to 62%.

关键词： Optimisation Energy system management Electric vehicle Hybrid power integration Supercapacitor

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Flights are ten a sail - Re-use and commonality in the design and system engineering of small spacecraft solar sail missions with modular hardware for responsive and adaptive exploration 70

Flights are ten a sail - Re-use and commonality in the desig...

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70th International Astronautical Congress, IAC 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Boden, Ralf Ceriotti, Matteo Chand, Suditi Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. Heiligers, Jeannette Hercík, David Hérique, Alain Ho, Tra-Mi Jahnke, Rico Kofman, Wlodek Lange, Caroline Lichtenheldt, Roy McInnes, Colin Meß, Jan-Gerd Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Moore, Iain Pelivan, Ivanka Peloni, Alessandro Plettemeier, Dirk Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Rogez, Yves Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter Spröwitz, Tom Sznajder, Maciej Tóth, Norbert Vergaaij, Merel Viavattene, Giulia Wejmo, Elisabet Wiedemann, Carsten Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany Consultants to DLR Institute of Space Systems University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany Université Grenoble Alpes CS 40700 Grenoble Cédex 938058 France DLR German Aerospace Center Robotics and Mechatronics Center Weßling82234 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Dresden University of Technology RF Engineering Dresden Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Institute of System Dynamics and Control Wessling82234 Germany Space Research Centre PAS Warsaw Poland TU Delft Delft Netherlands Institute of Space Systems Technische Universität Braunschweig Hermann-Blenk-Str. 23 Braunschweig38108 Germany

The exploration of small solar system bodies started with fast fly-bys of opportunity on the sidelines of missions to the planets. The tiny new worlds seen turned out to be so intriguing and different from all else (and each other) that dedicated sample-return and in-situ analysis missions were developed and launched. Through these, highly efficient low-thrust propulsion expanded from commercial use into mainstream and flagship science missions, there in combination with gravity assists propulsion. In parallel, the growth of small spacecraft solutions accelerated in numbers as well as individual spacecraft capabilities. The on-going missions OSIRIS-REX (NASA) or HAYABUSA2 (JAXA) with its landers MINERVA-II and MASCOT, and the upcoming NEASCOUT mission are examples of this synergy of trends. The continuation of these and other related devlopments towards a propellant-less and highly efficient class of spacecraft for solar system exploration emerges in the form of small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules. These address the needs of all asteroid user communities - planetary science, planetary defence, and in-situ resource utilization - as well as other fields of solar system science and applications such as space weather warning and solar observations. Already the dlr-ESTEC GOSSAMER Roadmap for Solar Sailing initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery, which demonstrate the capabilities of near-term solar sails to reach any kind of orbit in the inner solar system. This enables Multiple Near-Earth Asteroid (NEA) rendezvous missions (MNR), from Earth-coorbital to extremely inclined and even retrograde target orbits. For these mission types using separable payloads, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of dlr GOS

关键词： Solar sails

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Singularities in differential-algebraic systems with unilateral constraints

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ZAMM - Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik 2010年第S3期78卷

作者： M. Arnold DLR Institute of Robotics and System Dynamics P.O. Box 1116 D - 82230 Wessling Germany

Inequality (unilateral) constraints may introduce various types of singularities in differential-algebraic systems ([5]). In the present paper we consider contact conditions that are formulated as unilateral constraints for position and velocity coordinates in a mechanical multibody system. If the surfaces of the bodies being in contact are worn then the contact conditions result often in constraints that are only piecewise differentiable. We discuss a regularization that considers qualitatively the elastic deformation of the bodies.

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Torque allocation in electric vehicles with in-wheel motors: a performance-oriented approach

Torque allocation in electric vehicles with in-wheel motors:...

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IEEE Annual Conference on Decision and Control

作者： Ricardo de Castro Mara Tanelli Rui Esteves Araujo Sergio M. Savaresi Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling D-82234 Germany Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Piazza Leonardo da Vinci 32 20133 Milano Italy Faculdade de Engenharia da Universidade do Porto Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal

ISBN: (纸本)9781467357159

The coordinated control of vehicle actuators is gaining more importance as new platforms are becoming available, with chassis endowed with many different actuators that may help controlling the vehicle motion. Further, in-wheel motors (IWMs) allow using a single system to apply both positive and negative torques at the wheels, which can be actuated independently one from the other. In electric vehicles (EVs), moreover, such a freedom in the actuation mechanisms opens the way to the combined optimization of performance and energy consumption issues. In this paper, the problem of torque allocation for maximizing the vehicle performance in EVs is addressed. The proposed strategy is compared against a benchmark, a-causal optimal solution showing that only a negligible loss of performance is experienced.

关键词： Electric vehicles Torque coordinated control Motor Engines Vehicle performance Chassis Device Component Wheels energy consumption actuators

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Preface

Lecture Notes in Control and Information Sciences

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Lecture Notes in Control and Information Sciences 1993年 190卷 v-vi页

作者： Chatila, Raja Hirzinger, Gerd Centre National de la Recherche Scientifique Laboratoire d'Automatique d'Analyse des Systemes 7 Avenue du Colonel-Roche Toulouse Cedex31077 France DLR Institute for Robotics and System Dynamics Oberfaffenhofen WeßlingD-8031 Germany

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Robot Companions for Citizens

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Procedia Computer Science 2011年 7卷 47-51页

作者： Paolo Dario Paul F.M.J. Verschure Tony Prescott Gordon Cheng Giulio Sandini Roberto Cingolani Rüdiger Dillmann Dario Floreano Christophe Leroux Sheila MacNeil Pieter Roelfsema Xenophon Verykios Antonio Bicchi Chris Melhuish Alin Albu-Schäffer The BioRobotics Institute Scuola Superiore Sant’Anna viale Rinaldo Piaggio 34. 56025 Pontedera Italy Laboratory for Synthetic Perceptive Emotive and Cognitive Systems Catalan and Institute of Advanced Research (ICREA) Technology Department Universitat Pompeu Fabra Roc Boronat 138. 08018 Barcelona Spain Department of Psychology The University of Sheffield Western Bank Sheffield S10 2TN UK Institute for Cognitive Systems Technische Universität München Karlstrasse 45/II. 80333 München Germany Robotics Brain and Cognitive Sciences Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Istituto Italiano di Tecnologia Via Morego 30. 16163 Genova Italy Institute for Anthropomatics Karlsruhe Institute of Technology Adenauerring 2 (Building 50.20). 76131 Karlsruhe Germany Laboratory of Intelligent Systems École polytechnique fédérale de Lausanne Station 11. CH-1015 Lausanne Switzerland CEA LIST Interactive Robotics Laboratory 18 route du panorama BP6. 92265 Fontenay Aux Roses cedex France The Kroto Research Institute North Campus University of Sheffield Broad Lane Sheffield S3 7HQ UK Netherlands Institute for Neuroscience Koninklijke Nederlandse Akademie Van Wetenschappen Meibergdreef 47. 1105 BA Amsterdam The Netherlands Department of Chemical Engineering University of Patras Karatheodoris 1 University Campus GR 265 00 Patras Interdepartmental Research Center “E. Piaggio” Faculty of Engineering University of Pisa via Diotisalvi 2.56100 Pisa Italy Department of Computing Engineering and Mathematical Sciences University of Bristol and the West of England Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park Bristol BS16 1QD UK DLR Institute of Robotics and System Dynamics P.O.Box 1116. 82230 Wessling Germany

This paper describes the scientific vision and objectives of the FET Flagship candidate initiative Robot Companions for Citizens. Robot Companions will be a new generation of machines that will primarily help and assist elderly people in activities of daily living in their workplace, home and in society. They will be the ICT solution for a new sustainable welfare.

关键词： robotics nanotechnologies material science tissue engineering biomaerials neuroscience social neuroscience human and social sciences ethical and legal issues

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