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Fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system *

IFAC Proceedings Volumes 2011年第1期44卷 9425-9433页

作者： Beck Mark Schwung Andreas Muenchhof Marco Isermann Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

Abstract This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used at the testbed is based on fuzzy-logic. In order to tolerate a faulty hydraulic proportional valve, a duplex-valve-system built up with standard proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axes and decides on the reconfiguration of the control-loop. An Internal Model control (IMC)-tracking control structure for bumpless transfer between controllers is presented. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Electro-hydraulic Servo Axes Duplex-valve-system Active Fault-Tolerant control Reconfiguration Bumpless-Transfer

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A Tracking controller for Linear Systems subject to Input Amplitude and Rate Constraints

A Tracking Controller for Linear Systems subject to Input Am...

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2011 American control Conference (ACC)

作者： Klaus Kefferputz Jurgen Adamy Institute of Automatic Control Control Theory and Robotics Lab Technische Universität Darmstadt Darmstadt Germany

We propose a new set point tracking controller for plants subject to simultaneous input amplitude and rate constraints. Short settling times are achieved by allowing the controller to saturate. The tracking controller can be deduced from a controller stabilizing the origin with an associated domain of attraction. Additionally, no assumptions concerning the rate of the reference signal are necessary.

关键词： State feedback Steady-state Linear systems Actuators Level set Optimization

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A performance-oriented, non-iterative, local design method for mismatch-based anti-windup compensators

A performance-oriented, non-iterative, local design method f...

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Andreas Ortseifen Jürgen Adamy Institute of Automatic Control Control Theory and Robotics Laboratory Technische Universität Darmstadt Darmstadt Germany

This paper proposes a local and - in contrast to existing synthesis approaches - non-iterative and performance-oriented design method for linear, full-order, mismatch-based anti-windup compensators which is applicable to control systems with unstable plants. Non-iterative means that the anti-windup compensator is found by solving a convex optimization problem. Hence, initial guesses or trial-and-error loops can be avoided leading to a significant simplification of the design process. Performance-oriented means that the L 2 gain of a system characterizing the degradation from the unconstrained linear performance is minimized. Two examples are considered to demonstrate the new design method.

关键词： Design methodology Stability analysis Optimization Symmetric matrices Convex functions Bismuth Upper bound

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A new Design Method for Mismatch-based Anti-Windup Compensators: Achieving Local Performance and Global Stability in the SISO Case

A new Design Method for Mismatch-based Anti-Windup Compensat...

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2011 American control Conference (ACC)

作者： Andreas Ortseifen Jurgen Adamy Institute of Automatic Control Control Theory and Robotics Lab Technische Universität Darmstadt Darmstadt Germany

This paper proposes a new design method for full-order mismatch-based anti-windup compensators applicable to SISO systems. It is based on multiplier theory and path following. In contrast to available approaches the new method allows synthesizing globally stabilizing mismatch-based compensators with enhanced local performance based on small-signal L_(2) gains. A hydraulic actuator serves as an example to demonstrate the effectiveness of the proposed technique.

关键词： Linear matrix inequalities Optimization Stability criteria Asymptotic stability Transfer functions Design methodology

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Analysis of Time Zero Reset method for Virtual Slope Walking

Analysis of Time Zero Reset method for Virtual Slope Walking

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IEEE International Conference on robotics and Biomimetics

作者： Youbin Qiu Mingguo Zhao State Key Laboratory of Robotics and System (HIT) Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781457721366

In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, termed self-excited mode and parametric excited mode, respectively. In self-excited mode, stance leg extension is controlled according to its angle, but the measure of leg's angle is difficult in practical implementation; while in parametric excited mode stance leg extension is controlled according to time. In this paper, we investigate a method for VSW using parametric excited mode named Time Zero Reset method, which controlling stance leg extension with relative time, time zero is reset at each heelstrike. The method generates stable period-1 and multi-period walking cycles which not seen in VSW before. The results of stability analysis show the method has strong tolerance to disturbances. Compared to previous parametric excited mode with open-loop control, it has wider speed range and is more robust to disturbances with low cost as only touchdown sensors are needed.

关键词： Legged locomotion Angular velocity Limit-cycles Eigenvalues and eigenfunctions Mathematical model Stability analysis

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Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

Active fault tolerant control of an electro-hydraulic servo ...

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5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010

作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661760

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach. © 2010 IFAC.

关键词： Fault detection

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Designing nonpolynomial controllers for polynomial systems with input constraints using convex optimization and passivity

Designing nonpolynomial controllers for polynomial systems w...

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IEEE International Symposium on Computer-Aided control System Design

作者： Gußner, Thomas Adamy, Jürgen Institute of Automatic Control Control Theory and Robotics Lab. Technische Universität Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

ISBN: (纸本)9781424453542

In this paper, a computational approach for controller design for polynomial systems with input constraints is proposed. The design is formulated as a convex optimization problem and capable of dealing with asymmetric input constraints. The idea of the method is to combine the recently introduced notion of virtual inputs and the notion of feedback passivity to obtain an optimization problem with polynomial constraints. The optimization problem is relaxed using the method of sum of squares which finally results in an LMI problem. The resulting state feedback controllers are nonpolynomial. The approach contains some conservatism arising when formulating the design as a convex optimization problem. The introduction of slack variables and a postprocessing step reduces this conservatism. The applicability of the method is demonstrated by a controller design for a jet engine compressor. © 2010 IEEE.

关键词： Convex optimization

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Adaptive velocity tuning for visual motion estimation

Adaptive velocity tuning for visual motion estimation

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18th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2010

作者： Willert, Volker Eggert, Julian Darmstadt University of Technology Institute of Automatic Control Control Theory and Robotics Lab Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Honda Research Institute Europe GmbH Carl-Legien-Str. 30 D-63073 Offenbach Germany

ISBN: (纸本)2930307102

In the brain, both neural processing dynamics as well as the perceptual interpretation of a stimulus can depend on sensory history. The underlying principle is a sensory adaptation to the statistics of the input collected over a certain amount of time, allowing the system to tune its detectors, e.g. by improving the sampling of the input space. Here we show how a generative formulation for the problem of visual motion estimation leads to an online adaptation of velocity tuning that is compatible with physiological sensory adaptation and observed perceptual effects.

关键词： Sampling

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A probabilistic method for hierarchical 2D-3D tracking

A probabilistic method for hierarchical 2D-3D tracking

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2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010

作者： Zhang, Chen Eggert, Julian Institute of Automatic Control Control Theory and Robotics Lab. Darmstadt University of Technology Landgraf-Georg-Str. 4 64283 Darmstadt Germany Honda Research Institute Europe GmbH Carl-Legien-Straße 30 63073 Offenbach/Main Germany

ISBN: (纸本)9781424469178

In this paper, we present a generic way to use a hierarchical representation of prediction models for adaptive tracking purposes. Each node of the hierarchy consists of an interacting multiple models (IMM) particle filter that combines local predictions with top-down predictions arriving from nodes situated higher up in the hierarchy. Such a hierarchical prediction structure provides mechanisms to automatically control the influences between the nodes of the hierarchy. We demonstrate the gain of a hierarchical 2D-3D tracking system by first using it to track 3D elliptically rotating object in an artificial scene, where in approaching and departing phases the target is inherently hard to track in pure 2D space due to large accelerations. To the contrary, the proposed hierarchical 2D- 3D tracking system successfully tracks the target, because it benefits from the ability of dynamically adapting its prediction models. In order to test the robustness of this framework and its feasibility for real-world applications, we then show in a traffic scene that we can successfully track a motorcylist from a driving car by means of this hierarchical tracking framework. © 2010 IEEE.

关键词： Forecasting

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Exploiting hierarchical prediction structures for mixed 2D-3D tracking

Exploiting hierarchical prediction structures for mixed 2D-3...

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18th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2010

作者： Zhang, Chen Eggert, Julian Darmstadt University of Technology Institute of Automatic Control Control Theory and Robotics Lab Landgraf-Georg-Str. 4 Darmstadt D-64283 Germany Honda Research Institute Europe GmbH Carl-Legien-Straße 30 Offenbach/Main D-63073 Germany

ISBN: (纸本)2930307102

In this paper, we present a generic way to use a hierarchical representation of prediction models for adaptive tracking. Starting with a basic appearance-based tracker working in 2D retinal space, we show how to combine individual trackers for the left and right eye to a true 3D tracker that is built on top of the 2D trackers. We show how the trackers benefit from the hierarchical structure by dynamical model switching depending on the reliability of the tracking results.

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