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1999 European control Conference, ECC 1999

作者： Fink, A. Nelles, O. Fischer, M. Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Systems and Process Automation Landgraf-Georg-Str. 4 DarmstadtD-64283 Germany

ISBN: (纸本)9783952417355

This paper deals with the comparison of two design methodologies for nonlinear fuzzy model based controllers. A straightforward approach to design nonlinear controllers is to linearize the nonlinear model at the current operating point and to design a linear controller. If the design of the linear controller, however, requires the optimization of parameters, this design procedure can become infeasible for real-time application because of the high computational effort. Local linear models, however, provide the possibility to design such controllers off-line for each submodel separately. During the control process, it is interpolated between the linear controllers according to the current operating point. These two design strategies are discussed and the control performance is compared by a simulation example. Finally, both strategies are utilized to design a predictive controller for temperature control of a heat exchanger. © 1999 EUCA.

关键词： Design

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Modeling, identification and simulation of mechatronic systems

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IFAC Proceedings Volumes 1999年第2期32卷 879-890页

作者： Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

The integration of mechanical and microelectronic components during the design and operation requires systematic methods and software tools for theoretical modeling, experimental identification and simulation. Therefore, the contribution summarizes the state-of-the-art in these areas based on the practical experience with several mechatronic systems and tries to show open problems. It is typical for mechatronic systems that they are composed of components from different physical domains, such as electrical mechanical, fluidic, thermal and thermodynamic processes. One of the key issues, therefore, is to find a unified way especially for theoretical modeling, but also for identification and simulation of these heterogeneous systems. A further task is to develop software tools for modeling, identification and simulation and to make them interconnectable. For theoretical modeling a unified procedure can be given for lumped parameter processes with energy and material flows. A multi port representation can be stated for processes with energy flows for electrical, mechanical and fluidic processes. However, problems with a unified representation arise for thermal and thermodynamic processes. The development from multi ports to block diagrams and bond graphs is shortly described. Present developments are characterized by object-oriented modeling with introduction of causalities at a late state. Identification methods for mechatronic systems are required frequently e.g. for theoretical model verification or on-line estimation of unknown and time varying parameters or identification of nonlinear static characteristics and dynamics. The properties of suitable methods are described, including parameter estimation and dynamical neural networks for nonlinear processes. Then, various kinds of simulation methods for mechanical systems are described, especially with regard to the time behaviour. For several applications real-time simulation is required. Examples are process simulati

关键词： Modeling identification simulation mechatronic systems heterogeneous systems object oriented modeling parameter estimation neural networks real-time simulation hardware-in-the-loop simulation automobiles combustion engines turbocharger

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Model-based fault diagnosis of an actuator system driven by the brushless DC motor

Model-based fault diagnosis of an actuator system driven by ...

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American control Conference (ACC)

作者： O. Moseler D. Juricic A. Rakar N. Muller Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

A fault detection and isolation scheme for a brushless DC motor driving a mechanical actuation system is presented. First, a detailed mathematical model of the drive is derived. The residual generator is based on parity relations while the fault isolation part is implemented by means of the transferable belief model. The problem of distinguishing between faults with the same fault signatures is addressed. It is shown that additional improvements in terms of resolution can be achieved by employing parameter estimation. The proposed FDI scheme is tested on the actual drive under various faults. The achieved performance features the highest resolution, diagnostic stability and accuracy.

关键词： Fault diagnosis Actuators Brushless DC motors DC motors Coils Rotors Stators Fault detection Pulse width modulation Mathematical model

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Fast Neural Networks for Diesel Engine control Design

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IFAC Proceedings Volumes 1999年第2期32卷 8154-8159页

作者： M. Hafner M. Schüler R. Isermann Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Systems and Process Automation Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Tel: +49/6151-162514 Fax: +49/6151-293445

Advanced engine control systems require accurate process models. This paper presents neural net models for combustion engines. After briefly introducing a special local linear RBF network (LOLIMOT) two applications are described. Different methods for developing exhaust gas models are compared and a dynamic model for the charging pressure dynamics of a turbocharger is presented. Finally, an exhaust vs. consumption optimization is presented for optimizing the injection angle dependent on given weighting factors for specific emissions, the fuel consumtion and the current driving situation.

关键词： Engine control modeling exhaust optimization neural networks

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Supervision of nonlinear adaptive controllers based on fuzzy models

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IFAC Proceedings Volumes 1999年第2期32卷 8602-8607页

作者： Alexander Fink Martin Fischer Oliver Nelles Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Systems and Process Automation Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Tel: +49/6151-164524 Fax: +49/6151-293445

A novel approach for the supervision of fuzzy model on-line adaptation is proposed. A nonlinear predictive controller is designed based on a Takagi-Sugeno fuzzy model. By adapting the fuzzy model on-line, high control performance can be achieved even with time-variant process behavior and changing unmodeled disturbances. A local weighted recursive least-squares algorithm exploits the local linearity of Takagi-Sugeno fuzzy models. In order to cope with problems resulting from insufficient excitation a supervisory level is introduced. It comprises a variable forgetting factor and an additional adaptation model which makes the on-line adaptation robust and reliable. The effectiveness and real-world applicability of the proposed approach are demonstrated by application to temperature control of an industrial-scale heat exchanger.

关键词： Adaptive control fuzzy model heat exchanger rls supervision

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Model-Based Fault Detection for an Actuator Driven by a Brushless DC Motor

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IFAC Proceedings Volumes 1999年第2期32卷 7873-7878页

作者： O. Moseler T. Heller R. Isermann Darmstadt University of Technology Institute of Automatic Contol Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt German Phone: +49-6151-167404 Fax: +49-6151-293604

A real time fault detection approach for a brushless DC motor driving a mechanical actuation system is presented. The brushless DC motor is controlled by a PWM inverter using rectangular current excitation. After an introduction into fault detection with parameter estimation and parity equations, a mathematical model for the actuator with special emphasis on the motor itself is derived. The application of the estimation algorithm to detect electrical and mechanical parameter changes in the motor is described. In addition parity equations are used to detect sensor offsets. The fault detection scheme is implemented on a digital signal processor controlling the actuator. Finally experimental results are given.

关键词： Brushless DC motor fault detection parameter estimation parity equations

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On some problems of linear control theory involving state feedback

On some problems of linear control theory involving state fe...

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1999 European control Conference, ECC 1999

作者： Mondie, S. Zagalak, P. Kucera, V. Depto. de Ingeniería Eléctrica Sección de Control Automatico CINVESTAV-IPN AP 14-740 Mexico D.F.07300 Mexico Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 Praha182 08 Czech Republic Trnka Laboratory for Automatic Control Faculty of Electrical Engineering Czech Technical University Technická Prague166 27 Czech Republic

ISBN: (纸本)9783952417355

The role of structural invariants in the solutions of classical linear control problems when regular state feedback is used is enhanced. The structural modification that arise when these problems are extended to the case of non-regular static state feedback are presented. An interpretation of nonregular feedback in terms of matrix pencils completion is also discussed. © 1999 EUCA.

关键词： State feedback

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A bridge between state-space and transfer-function methods

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Annual Reviews in control 1999年 23卷 177-184页

作者： V. Kučera Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 CZ-182 08 Praha 8 Czech Republic Trnka Laboratory for Automatic Control Faculty of Electrical Engineering Czech Technical University Technická 2 CZ-166 27 Praha 6 Czech Republic

A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Students, teachers, and researchers can all benefit from a deeper understanding of the relationships between these two approaches.

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Efficient algorithms for discrete-time symmetric polynomial equations with complex coefficients

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IFAC Proceedings Volumes 1999年第2期32卷 1732-1737页

作者： Didier Henrion Jan Ježek Michael Šebek LAAS-CNRS 7 Avenue du Colonel Roche 31 077 Toulouse Cedex 4 France Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou vĕži 4 182 08 Prague 8 Czech Republic Trnka Laboratory of Automatic Control Faculty of Electrical Engineering Czech University of Technology Technická 2 166 27 Praaue 6 Czech Republic

Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The ... 详细信息

关键词： Matrix Polynomial Equations Polynomial Methods Numerical Methods Computer-aided control System Design Complex Variables Discrete-time Systems

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Proper solutions of polynomial equations

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IFAC Proceedings Volumes 1999年第2期32卷 1927-1932页

作者： V. Kučera P. Zagalak Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic Trnka Laboratory for Automatic Control Faculty of Electrical Engineering Czech Technical University Technická 2 166 27 Praha 6 Czech Republic Phone: (+420) 2 6605 2018. Fax: (+420) 2 688 4903. Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic Phone: (+420) 2 6605 2367. Fax: (+420) 2 688 4554.

The linear equation AX + BY = C is studied, where A , B , and C are given polynomial matrices such that A −1 B is a strictly proper rational matrix. All polynomial matrix solution pairs X , Y such that YX −1 is a proper rational matrix are parametrized. The study is motivated by the polo placement techniques in the design of linear control systems.

关键词： Linear control systems pole assignment polynomial methods rational matrices transfer functions

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