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Modeling and Simulation of Advanced Rail Vehicles

IFAC Proceedings Volumes 1997年第8期30卷 473-478页

作者： A. Stribersky W. Rulka H. Netter A. Haigermoser Siemens SGP Verkehrstechnik GmbH Vienna and Graz Austria DLR Institute for Robotics and System Dynamics Wessling Germany

The growing importance of automatic control for the design of new bogies for rail vehicles is becoming increasingly visible. Since the development process of novel designs also needs new development tools, software to extend the multibody program SIMPACK has been written recently to serve for the simulation of advanced rail vehicles. In this paper the mathematical modeling for a railway vehicle with active car body tilting is described and simulation results, applying the developed software, are shown and compared with experimental results from a prototype vehicle.

关键词： railways vehicle dynamics active vehicle suspension simulation system analysis

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Design and Analysis of Robust Control systems in PARADISE

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IFAC Proceedings Volumes 1997年第16期30卷 67-72页

作者： Wolfgang Sienel Jürgen Ackermann Tilman Bünte DLR - Institute of Robotics and System Dynamics Oberpfaffenhofen 82234 Wessling Germany Fax: +49/8153 28-1847

Most of the methods which are commonly used in parametric oriented robust control design and analysis require extensive symbolic and numerical computations. The Matlab toolbox PARADISE (PArametric Robustness Analysis and Design Interactive Software Environment) offers various methods of parametric robust control for an efficient application in a computer framework. Amongst the currently implemented methods are the parameter space approach, design in an invariance plane, calculation of stability profiles, and computation of stability radii. The application of the toolbox PARADISE is demonstrated by computation of stability radii for a state feedback controlled loading bridge.

关键词： Robust Control Computer-aided control system design

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A global and resolution complete path planner for up to 6DOF robot manipulators

A global and resolution complete path planner for up to 6DOF...

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IEEE International Conference on robotics and Automation (ICRA)

作者： E. Ralli G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Germany

We present a resolution complete point to point path planner for up to 6 degrees of freedom (DOF) robot manipulators, based on a discretized configuration space (C-space) representation. The robot operates in an initially known workspace (W-space). Vision integration in an easy way makes the planner capable of dealing with initially unknown obstacles. Furthermore, a Kohonen map based reorganization of the C-space increases the resolution in collision free regions of the C-space and enables path finding even for difficult paths. Experiments with low on-line computation times (lying in the order of a fraction of a second to a few seconds) demonstrate the effectiveness of the planner.

关键词： Robots Orbital robotics Path planning Manipulator dynamics Aerodynamics Joining processes Energy resolution Computational efficiency Silicon Graphics

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Optimal output feedback control: a multi-model approach

Optimal output feedback control: a multi-model approach

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

作者： A. Varga Institute for Robotics and System Dynamics German Aerospace Research Establishment Wessling Germany

In this paper we describe a computational approach to the optimal output feedback control of multi-model systems by means of a unique constant output feedback matrix. Extension of the method to output feedback control of multi-model periodic systems is also presented. The power of the proposed approach is illustrated by the simultaneous stabilization and optimization of a helicopter multi-model.

关键词： Output feedback Optimal control Performance analysis Control systems Helicopters Tin Linear matrix inequalities Aerospace control Robots Aerodynamics

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Robust decoupling of car steering dynamics with arbitrary mass distribution

Robust decoupling of car steering dynamics with arbitrary ma...

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American Control Conference (ACC)

作者： J. Ackermann German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany

The lateral and yaw motions of a car with active steering shall be decoupled. For an ideal longitudinal mass distribution assumption decoupling by yaw rate feedback has been shown to be robust with respect to uncertain nonlinear tire side force characteristic, velocity and vehicle mass. The restrictive mass distribution assumption is now abandoned and a generalized decoupling control law for arbitrary mass distribution is derived. A second feedback control law yields a unity transfer function from the steering wheel input to the lateral acceleration at a specific point in the front part of the car.

关键词： Robustness Force feedback Vehicle dynamics Tires Vehicles Weight control Feedback control Transfer functions Wheels Acceleration

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A computational approach for optimal periodic output feedback control

A computational approach for optimal periodic output feedbac...

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

作者： A. Varga S. Pieters German Aerospace Research Establishment Institute for Robotics and System Dynamics Wessling Germany

We discuss the numerical solution of the output feedback optimal periodic control problem by using a gradient search based optimization approach. For the evaluation of the cost function and its gradient explicit expressions are derived which involve the numerical solution of a pair of discrete-time periodic Lyapunov equations. Efficient numerically reliable algorithms based on the periodic Schur decomposition are proposed for the solution of these equations. The proposed algorithms are extensions of the methods proposed for standard systems. An example is given to illustrate the effectiveness of the presented approach.

关键词： Output feedback Optimal control Control systems Equations Cost function Mathematical model Symmetric matrices Performance analysis Search methods Aerospace control

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SIMPACK - AN ANALYSIS AND DESIGN TOOL FOR MECHANICAL systemS

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VEHICLE system dynamics 1993年第SUP1期22卷 122-126页

作者： RULKA, W EICHBERGER, A DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics D-82230 Wessling Germany

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Robust Nonlinear Decoupling and Yaw Stabilization of Four-Wheel Steering Cars

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IFAC Proceedings Volumes 1993年第2期26卷 7-10页

作者： J. Ackermann German Aerospace Research Establishment (DLR) InStitute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

Four-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic yaw-rate feedback law for robust decoupling of lateral and yaw motion is derived. For robust yaw stabilization a velocity scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized yaw subsystem gets velocity independent eigenvalues.

关键词： Automobiles four-wheel steering robust control decoupling nonlinear systems

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DLR's multisensory articulated hand. I. Hard- and software architecture

DLR's multisensory articulated hand. I. Hard- and software a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Butterfass G. Hirzinger S. Knoch H. Liu Ciermian AeroSpace Center Institute of Robotics and System Dynamics DLR Wessling Germany

The main features of DLR's dextrous robot hand as a modular component of a complete robotics system are outlined in this paper. The application of robotics systems in unstructured servicing environments requires dextrous manipulation abilities and facilities to perform complex remote operations in a very flexible way. Therefore we have developed a multisensory articulated four finger hand, where all actuators are integrated in the hand's palm or the fingers directly. It is an integrated part of a complex light-weight manipulation system aiming at the development of robonauts for space. After a brief description of the hand and it's sensorial equipment the hard- and software architecture is outlined with particular emphasis on flexibility and performance issues. The hand is typically controlled through a data glove for telemanipulation and skill-transfer purposes. Autonomous grasping and manipulation capabilities are currently under development.

关键词： Software architecture Fingers Hydraulic actuators Robots Mechanical sensors Force sensors Optical control Data gloves Orbital robotics Aerodynamics

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Multi-objective optimization of an aircraft trajectory between cities using an inverse model approach

Multi-objective optimization of an aircraft trajectory betwe...

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AIAA Modeling and Simulation Technologies Conference 2012

作者： Mueller, Reiko Deutsches Zentrum für Luft- und Raumfahrt 82234 Wessling Germany Robotics and Mechatronics Center Institute of System Dynamics and Control Müunchner Str. 20 82234 Wessling Germany

ISBN: (数字)9781624101830

ISBN: (纸本)9781624101830

Increasing air traffic and the need for environmental-friendly flight operations require efficient Air Traffic Management (ATM) operations. The environmental objectives are the reduction of exhaustive emissions of the aircraft engines as well as the emitted noise. On the other hand there are economically and operationally driven objectives like reduction of flight time and fuel consumption. The general approach to simulate and optimize a trajectory from city to city is to use simplified two degrees of freedom aircraft models along with standard gradient-based optimizers. In order to more efficiently deal with the aforementioned objectives, the first contribution of this work is the design of a modular wrapper model suited for trajectory optimization. It incorporates a B-Spline based trajectory parameterization module, path controller and a more detailed inverse aircraft model with three degrees of freedom. With this combination of models, a low computation time could be achieved, whilst detailed information on the aircraft's behaviour is available. The second contribution is a multi-criterial optimization approach using a genetic-algorithm optimizer. It enables the user to efficiently compare and weigh different criteria like fuel consumption or NOx-emission against each other to design a trajectory that yields the best performance for the respective focus. In addition, the multiobjective optimization approach helps to identify possible gains and to determine the interconnections between different environmental related criteria. © 2012 by Deutsches Zentrum fuer Luft- und Raumfahrt e.V.

关键词： Trajectories

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