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作者： Verl, Alexander Westkämper, Engelbert Abele, Eberhard Dietmair, Anton Jan, Schlechtendahl Friedrich, Jens Haag, Holger Schrems, Sebastian Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Institute of Industrial Manufacturing and Management University of Stuttgart Stuttgart Germany Department of Production Management Technology and Machine Tools Technical University of Darmstadt Darmstadt Germany

ISBN: (纸本)9783642196911

Guaranteeing energy efficient operation of production systems through a-priori optimization is an extremely complex task. We therefore propose an alternative approach where controls can decide locally if an energy reduction is possible and set components to energy-optimal states. In this paper we present results from the research group ECOMATION describing the information flow that generates energy control loops on different levels based on model information and an appropriate communication and control infrastructure. The communication mechanisms and control structures in production systems and machines are presented which allow using models automatically and coherently on all required levels of detail and abstraction.

关键词： Energy efficiency

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Multilevel control of energy consumption 21

Multilevel control of energy consumption

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21st International Conference on Production Research: Innovation in Product and Production, ICPR 2011

作者： Schlechtendahl, J. Haag, H. Eberspächer, P. Friedrich, J. Verl, A. Westkämper, E. Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstraße 36 Stuttgart70174 Germany Institute of Industrial Manufacturing and Management University of Stuttgart Nobelstraße 12 Stuttgart70569 Germany

ISBN: (纸本)9783839602935

Guaranteeing energy-efficient operation of production systems through a-priori optimization is an extremely complex task. We therefore propose an alternative approach where controls can decide locally if an energy reduction is possible and set components to energy-optimal states. In this paper we present results from the research group ECOMATION describing the information flow that generates energy control loops on different levels based on model information and an appropriate communication and control infrastructure. The communication mechanisms and control structures in production systems and machines are presented which allow using energy consumption values automatically and coherently on all required levels of detail and abstraction.

关键词： Energy efficiency

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Erratum to “machine tool feed drives” [CIRP Ann. Manuf. Technol. 60 (2011) 779–796]

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CIRP Annals 2012年第2期61卷 837-837页

作者： Y. Altintas A. Verl C. Brecher L. Uriarte G. Pritschow Manufacturing Automation Laboratory University of British Columbia Vancouver Canada Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) Stuttgart Germany Machine Tool Laboratory (WZL) University of Aachen Germany Mechatronics Dept. – Tekniker-IK4 Eibar Basque Country Spain

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Tracking control with hysteresis compensation for manipulator segments driven by pneumatic artificial muscles

Tracking control with hysteresis compensation for manipulato...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Schreiber, Frank Sklyarenko, Yevgen Schlüter, Kathrin Schmitt, Jan Rost, Sven Raatz, Annika Schumacher, Walter Institute of Control Engineering Technische Universität Braunschweig 38106 Braunschweig Germany Institute of Machine Tools and Production Technology Technische Universität Braunschweig 38106 Braunschweig Germany National Technical University Donetsk Department of Control Systems and Mechatronics 83000 Donetsk Ukraine

ISBN: (纸本)9781457721373

In this paper a feedforward control structure is introduced for a manipulator joint driven by a symmetrical arrangement of two antagonistic muscles. The setup allows the specification of the desired joint angle, as well as the single muscle forces. Based upon the manipulator kinematic and the inverse static relation in a single muscle, the pressure signal for the muscles' supplying valves is calculated. Applying this control structure allows to compensate the nonlinear characteristic mean relation in a single muscle actuator, while the muscles' hysteretic behavior introduces a hysteresis in the relation between the desired and the actual joint angles. It is shown, that if the muscles are subject to comparable forces the resulting hysteretic behavior can be described by a Preisach model. The inverse of this model can then be applied as a feedforward term to compensate the static hysteretic behavior. Experiments confirm the improvement in tracking control as compared to the system solely controlled by a feedback regulator. © 2011 IEEE.

关键词： Muscle

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Model fusion via a master fuzzy system with special application to engineering materials

Model fusion via a master fuzzy system with special applicat...

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作者： Zhang, Qian Mahfouf, Mahdi Yates, John R. Pinna, Christophe Panoutsos, George Boumaiza, Soufiene Greene, Richard J. De Leon, Luis Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom School of Mechanical Aerospace and Civil Engineering University of Manchester M60 1QD United Kingdom Department of Mechanical Engineering University of Sheffield Sheffield S1 3JD United Kingdom Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany

ISBN: (纸本)9783902661937

To improve the modelling performance, one should either propose new modelling methodologies or make the best of existing models. In this paper, the study is concentrated on the latter solution, where a structure-free modelling paradigm is proposed to combine various modelling techniques in 'symbiosis' using a 'master fuzzy system'. This approach is shown to be able to include the advantages of different modelling techniques altogether by minimising efforts relating optimisation of final structure. The proposed approach is then successfully applied to predict machining induced residual stresses for aerospace alloy components as well as mechanical properties of heat-treated alloy steels. © 2011 IFAC.

关键词： Fuzzy systems

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Model Fusion via a Master Fuzzy System with Special Application to engineering Materials

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IFAC Proceedings Volumes 2011年第1期44卷 11732-11737页

作者： Qian Zhang Mahdi Mahfouf John R. Yates Christophe Pinna George Panoutsos Soufiene Boumaiza Richard J. Greene Luis De Leon Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield S1 3JD UK School of Mechanical Aerospace and Civil Engineering The University of Manchester M60 1QD UK Department of Mechanical Engineering The University of Sheffield Sheffield S1 3JD UK Institute of Production Engineering and Machine Tools Leibniz University Hannover Germany

Abstract To improve the modelling performance, one should either propose new modelling methodologies or make the best of existing models. In this paper, the study is concentrated on the latter solution, where a structure-free modelling paradigm is proposed to combine various modelling techniques in ‘symbiosis’ using a ‘master fuzzy system'. This approach is shown to be able to include the advantages of different modelling techniques altogether by minimising efforts relating optimisation of final structure. The proposed approach is then successfully applied to predict machining induced residual stresses for aerospace alloy components as well as mechanical properties of heat-treated alloy steels.

关键词： Fuzzy modelling Prediction problems Material Mechanical properties Steel

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Flow Rate Estimation Using Unscented Kalman Filter in Automatic Pouring Robot

Flow Rate Estimation Using Unscented Kalman Filter in Automa...

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SICE Annual Conference

作者： Yoshiyuki Noda Markus Birkhold Kazuhiko Terashima Oliver Sawodny Alexander Verl Department of Mechanical Engineering Toyohashi University of Technology Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University Stuttgart Institute for System Dynamics (ISYS) University Stuttgart

ISBN: (纸本)9784907764388

We describe here a method for estimating the pouring flow rate for tilting-ladle-type automatic pouring robot used in casting industries. To precisely pour molten metal into the mold, controlling the flow rate of liquid flowing out of the ladle is mandatory. However, it is difficult to directly measure the pouring flow rate by using a conventional flow meter, because the flow meter is damaged by the high temperature molten metal. Therefore, in this study, we used a soft sensing technique as part of the pouring flow rate estimation system. The extended Kalman filter was applied to the flow rate estimation of the automatic pouring robot in previous study. The previous approach can be applied only the ladle with smooth shape, because of derivation of Jacobian matrix. However, some ladles with complicated shape which the Jacobian matrix cannot be derived have been used in an actual casting plant. In this paper, an unscented Kalman filter which does not need the Jacobian matrix is applied into the flow rate estimation. The effectiveness of the proposed flow rate estimation method is demonstrated through simulations and experiments.

关键词： Automatic pouring robot Unscented Kalman filter Flow rate estimation Foundry equipment

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Tracking control with Hysteresis Compensation for Manipulator Segments driven by Pneumatic Artificial Muscles

Tracking Control with Hysteresis Compensation for Manipulato...

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IEEE International Conference on Robotics and Biomimetics

作者： Frank Schreiber Yevgen Sklyarenko Kathrin Schluter Jan Schmitt Sven Rost Annika Raatz Walter Schumacher Institute of Control Engineering Technische Universitat Braunschweig Institute of Machine Tools and Production Technology Technische Universitat Braunschweig National Technical University Donetsk Department of Control Systems and Mechatronics

ISBN: (纸本)9781457721366

关键词： tracking control muscles control Architecture joint angle Hysteresis delay compensation Pressure Signal Device Component VALVE GATE Pneumatic Automobile driving

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Implementation of a new communication system for reconfigurable mechatronic modules

Implementation of a new communication system for reconfigura...

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International Asia Conference on Informatics in control, Automation and Robotics, CAR

作者： Dongsheng Yang Alexander Verl Stefan Schmitz Karl-Heinz Wurst School of Mechanical Engineering and Automation Beijing Aeronautics and Astronautics University Beijing China Institute of Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781424451920;9781424451937

This paper presents the analysis and implementation of a new communication system, which uses the DC link cable as a communication channel to reduce electrical interfaces and save cables. The channel characteristics are investigated to determine the carrier frequency and the bandwidth. To deal with the disturbance and signal fading, coded Orthogonal Frequency Division Multiplex (OFDM) is used as means of modulation/demodulation. A field test system is established. The test results show that it achieves a high performance with regard to the industrial standards.

关键词： Mechatronics Communication cables Communication channels Bandwidth Fading Frequency division multiplexing Modulation coding OFDM modulation Demodulation System testing

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Real-Time Computation of the System Behaviour of Lightweight machines

Real-Time Computation of the System Behaviour of Lightweight...

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International Conference on Advances in System Simulation, SIMUL

作者： Peter Sekler Alexander Verl Institute of Control Engineering of Machine Tools and Manufacturing Units Stuttgart Germany

Lightweight design of production machines results in a problematically high inclination of vibration. Existing control techniques can avoid those vibrations based on the knowledge of the instantaneous system behavior, which is highly non-linear and dependent on the machine's pose. One possibility is to calculate the machine behavior using a model of the machine on the control device. This requires a real-time capable algorithm of system behavior identification calculated within the control device cycle. In this paper we describe a new approach for model-based system behavior calculation in real- time on the control device.

关键词： Real time systems Web server Load management Resource management Service oriented architecture Quality of service Petri nets Internet Computer architecture Formal specifications

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