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IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： R. Finsterwalder G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

Computer-aided design of 'well-balanced' dynamic systems is an iterative search process which requires multi-models/multi-criteria experimenting by means of appropriate computational chains and loops. Visual programming is the way to set up or to modify such an experimentation environment from reusable computational modules, and to monitor its functioning. As realized in the control-engineering software environment ANDECS (Analysis and Design of Controlled systems), visual programming relies on data abstraction in form of control data objects, and on tool abstraction to compose a software system from separate function modules which do not communicate among each other directly but via a suited database system only. In particular, this kind of visual programming yields a direct view on those parts of a modular computational set-up which can be automatically parallelized by the PVM (parallel virtual machine) software.< >

关键词： Control systems Functional programming Design automation Computerized monitoring Communication system software Software tools Software systems Database systems Automatic programming Parallel programming

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Diagnosis of actuator faults using LPV-gain scheduling techniques

Diagnosis of actuator faults using LPV-gain scheduling techn...

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AIAA Guidance, Navigation and Control Conference 2011

作者： Varga, Andreas Hecker, Simon Ossmann, Daniel Department of System Dynamics and Control Institute of Robotics and Mechatronics DLR Oberpfaffenhofen D-82234 Wessling Germany Department of Electrical Engineering and Information Technology University of Applied Sciences Munich D- 80335 Munich Germany

ISBN: (纸本)9781600869525

We present a new approach for the synthesis of robust fault detection filters for the model based diagnosis of actuator faults. The underlying synthesis model is a linear pa- rameter varying (LPV) description obtained using a combination of analytic and numerical parameter fitting techniques. The actuator LPV model contains uncertain parameters which are partly measurable, thus can be used for gain scheduling, and partly not measur- able, for which robustness must be ensured. The detector synthesis approach is basically a parametric nullspace method combined with min-max parameter fitting. The synthesis technique is applied to the diagnosis of two classes of actuator faults for a civil aircraft: elevator runaway and elevator jamming at null position. © 2011 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Elevators

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Actuator rate limits in robust car steering control

Actuator rate limits in robust car steering control

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IEEE Conference on Decision and Control

作者： J. Ackermann T. Bunte German Aerospace Research Establishment Institute of Robotics and System Dynamics DLR Wessling Germany

Robust unilateral decoupling of car steering makes the yaw rate unobservable from the lateral acceleration at the front axle and thereby attenuates the effect of yaw disturbance torques on steering. The control system showed remarkable safety benefits in an experimental car. During the experiments, however, there occurred undesirable limit cycles caused by steering actuator rate limitations. In this paper limit cycles are analyzed by a describing function approach in combination with the representation of limit-cycle-free regions in a parameter plane of velocity and road-tire friction coefficient. The results are formulated in terms of required actuator bandwidth that achieves robustness in the entire operating range. It turns out that the use of a fading integrator reduces the required actuator bandwidth.

关键词： Actuators Robust control Robustness Limit-cycles Bandwidth Acceleration Axles Control systems Vehicle safety Friction

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Intensity and feature based stereo matching by disparity parameterization

Intensity and feature based stereo matching by disparity par...

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International Conference on Computer Vision (ICCV)

作者： Guo-Qing Wei G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Oberpfaffenhofen Germany

In this paper, we propose a new solution to the stereo correspondence problem by including features an intensity based matching. The features we use are intensity gradients in both the x and y directions of the left and the deformed right images. Although a uniform smoothness constraint is still used, it is nevertheless applied only to non-feature regions. To avoid local minima in function minimization, we propose to parameterize the disparity function by hierarchical Gaussians. A simple stochastic gradient method is used to estimate the Gaussian weights. Experiments with various real stereo images show robust performances.

关键词： Stochastic processes Gradient methods Robustness Stereo vision Interpolation Cameras Robots Aerodynamics Humans Machine vision

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The ANDECS Design Environment for Control Engineering

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IFAC Proceedings Volumes 1993年第2期26卷 789-796页

作者： G. Grübel H.-D. Joos M. Otter R. Finsterwalder DLR - German Aerospace Research Establishment Control Design Engineering Institute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

ANDECS belongs to the new generation of open CAE systems for computational experimenting in controlled dynamic systems simulation, analysis, and multi-objective optimization. Strict databased function modularization with neutral object-oriented data- and model interfaces allows a flexible configuration of application programs. This modularity also guarantees side-effect free functional extensions by an application programmer. Module operation can be switched any time from interactive line commands to an X-Window graphical user interface. Via macro scripts stored on database, module sequences can be operated in batch mode with automatic parameter incrementation. Function modules are available for basic mathematical methods, control methods, simulation, parameter- and trajectory optimization, and interactive visualization for result- and algorithm animation.

关键词： Computer-Aided Control Engineering Computational Experimenting Databased Simulation Engineering Database

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Robust Control 1

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丛书名： Communications and Control Engineering

1000年

作者： Jürgen Ackermann Dieter Kaesbauer Wolfgang Sienel Reinhold Steinhauser Andrew Bartlett

ISBN: (数字)9781447133650

Many plants have large variations in operating conditions. To ensure smooth running it is essential to find a simple fixed gain controller that guarantees rapidly decaying and well-damped transients for all admissible operating conditions.;presents design tools, developed by the authors, for the solution of this design problem. Examples of simple and complex cases such as a crane, a flight control problem and the automatic and active four-wheel steering of a car illustrate the use of these tools. This book is intended for anyone who has taken an undergraduate course in feedback control systems and who seeks an advanced treatment of robust control with applications. Drawing on the resources and authoritative research of a leading aerospace institute, it will mainly be of interest to mechanical and electrical engineers in universities, institutes and industrial research centres.

关键词： Control, robotics, Mechatronics

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Teleoperating space robots. Impact for the design of industrial robots

Teleoperating space robots. Impact for the design of industr...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： G. Hirzinger B. Brunner R. Koeppe K. Landzettel J. Vogel DLR German AeroSpace Research Establishment Oberpfaffenhofen Institute of Robotics and System Dynamics Wessling Germany

The paper discusses the features of advanced telerobotic systems. ROTEX-the first remotely controlled spacerobot-serves as kind of a baseline. Future telerobotic systems need powerful man-machine interfaces which allow skill-transfer from human operator to robot and thus may be the foundations for new ways in industrial robot programming. VRML and JAVA open up wide potentials for telerobotic control via the Internet, including teleservicing and telepresence in medicine.

关键词： Service robots Orbital robotics Telerobotics Electrical equipment industry User interfaces Humans Medical robotics Robot programming Java Medical control systems

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Learning accurate path control of industrial robots with joint elasticity

Learning accurate path control of industrial robots with joi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lange G. Hirzinger Institute of Robotics and System Dynamics Deutsches Zentrum fur Luft-und Raumfahrt (DLR) Wessling Germany

An adaptive architecture for feedforward control of industrial robots with standard positional controller is presented. This approach explicitly considers robots with elastic joints. It assumes that the real position of the tool centre point (TCP) can be recorded for offline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical system model. The performance of the method is demonstrated in experiments with a 6-axis industrial robot KUKA KR6/1 for which real path errors during full speed motion are reduced by 70%. Reductions of 50% can be expected for untrained paths or other robots of the same type.

关键词： Robot control Industrial control Service robots Elasticity Position measurement Electrical equipment industry Sampling methods Robot sensing systems Adaptive control Torque

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robotics Research 1

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1000年

作者： Georges Giralt Gerhard Hirzinger

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Design of gain scheduling controllers in parameter space

Design of gain scheduling controllers in parameter space

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European Control Conference (ECC)

作者： Wolfgang Sienel Tilman Bunte DLR - German Aerospace Research Center Institute of Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany

Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling controllers which simultaneously stabilize a finite number of representatives of an uncertain plant. The approach is applied to an automotive control example.

关键词： Robustness Vehicles Damping Aerospace electronics Polynomials Dynamic scheduling Vehicle dynamics

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