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Longitudinal and lateral control and supervision of autonomous intelligent vehicles

control engineering PRACTICE 1997年第11期5卷 1599-1605页

作者： Holzmann, H Halfmann, C Germann, S Wurtenberger, M Isermann, R Darmstadt University of Technology Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Straβe 4 D-64283 Darmstadt Germany

As individual and commercial traffic flow on roads and highways grows enormously, the number of accidents increases as well. Therefore, modern vehicle research is focused on improving driving comfort as well as passengers' safety. Aiming at that, recent advances in control engineering and modern computer technology enable the engineer to design special control and supervision systems to support the driver. As an example, this contribution presents two possible solutions. An Adaptive Cruise control system assists the driver in highway traffic, whereas a vehicle-supervision method is applied to detect critical driving situations and sensor faults. Copyright (C) 1997 Elsevier Science Ltd.

关键词： vehicle modelling velocity control distance control vehicle dynamics motion supervision sensor fault detection

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Application of model-based fault detection and diagnosis to the quality assurance of an automotive actuator

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control engineering PRACTICE 1997年第5期5卷 703-708页

作者： Pfeufer, T Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Landgraf-Georg.Str. 4 D-64283 Darmstadt Germany

The increased degree of automation of technical processes requires an increased number of mechanical-electronic components. In order to maintain the dependability and availability despite of the increased complexity, new methods for the quality assurance of mechanical-electronic systems are necessary. This paper describes an automatic diagnostic system for an automotive actuator. Analytic models of the process under investigation are used in order to extract detailed information about the process, using only the usually measured signals and evaluating the signals e.g. by parameter estimation and state estimation. However, some relations, especially the cause - effect relations between the underlying faults and the observable symptoms, are quite difficult to represent by analytic models. A rule-based approach is more suitable to acquire, represent and process the diagnostic knowledge base. In order to cope with uncertainty, a fuzzy structure is applied to the classification of faults. Copyright (C) 1997 Elsevier Science Ltd.

关键词： approximate reasoning decision making fault detection fault diagnosis parameter estimation fuzzy supervision electromechanical actuators

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Supervision, fault-detection and fault-diagnosis methods - An introduction

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control engineering PRACTICE 1997年第5期5卷 639-652页

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

The operation of technical processes requires increasingly advanced supervision and fault diagnosis to improve reliability, safety and economy. This paper gives an introduction to the field of fault detection and diagnosis. It begins with a consideration of a knowledge-based procedure that is based on analytical and heuristic information. Then different methods of fault detection are considered, which extract features from measured signals and use process and signal models. These methods are based on parameter estimation, state estimation and parity equations. By comparison with the normal behaviour, analytic symptoms are generated. Human operators are another source of information, and support the generation of heuristic symptoms. For fault diagnosis, all symptoms have to be processed in order to determine possible faults. This can be performed by classification methods or approximate reasoning, using probabilistic or possibilistic (fuzzy) approaches based on if-then-rules. Copyright (C) 1997 Elsevier Science Ltd.

关键词： fault detection supervision monitoring parameter estimation state estimation parity equations technical processes actuators sensors fault diagnosis diagnostic reasoning fuzzy reasoning

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Trends in the application of model-based fault detection and diagnosis of technical processes

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control engineering PRACTICE 1997年第5期5卷 709-719页

作者： Isermann, R Balle, P Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Landgraf-Georg. Str. 4 D-64283 Darmstadt Germany

After a short overview of the historical development of model-based fault detection, some proposals for the terminology in the field of supervision, fault detection and diagnosis are stated, based on the work within the IFAC SAFEprocess Technical Committee. Some basic fault-detection and diagnosis methods are briefly considered. Then, an evaluation of publications during the last 5 years shows some trends in the application of model-based fault-detection and diagnosis methods. Copyright (C) 1997 Elsevier Science Ltd.

关键词： fault detection fault diagnosis supervision actuator faults sensor faults process faults state observer parity space parameter estimation classification diagnostic reasoning

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Stability analysis of a kind of large-scale systems composed of symmetrically coupled subsystems

Stability analysis of a kind of large-scale systems composed...

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1997 American control Conference

作者： Gao, LQ Leng, KP Zhang, SY Department of Automatic Control Northeastern University Shenyang Liaoning China Open Laboratory of Complex System Engineering Institute of Automation Academia Sinica Shenyang Liaoning China

This paper discusses stability for a class of symmetric composite systems. For the asymptotical stability of the overall system without control a necessary and sufficient condition is given, It is shown that Lyapunov ... 详细信息

ISBN: (纸本)0780338332

关键词： large-scale systems asymptotic stability linear systems Lyapunov methods matrix algebra control system analysis large-scale systems symmetrically coupled subsystems asymptotic stability necessary condition sufficient condition Lyapunov function linear systems matrix algebra

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Representation of 3-D mappings for automotive control applications using neural networks and fuzzy logic

Representation of 3-D mappings for automotive control applic...

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IEEE Conference on control Technology and Applications (CCTA)

作者： H. Holzmann C. Halfmann R. Isermann Institute of Automatic Control Laboratory for Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany

Providing a simple and effective way to describe the nonlinear input-output behaviour of a system, three-dimensional mappings (3-D maps) have gained a lot of importance in modern automotive technology. Applications cover a wide range from real-time control systems up to the area of vehicle simulation. Replacing the conventional look-up-tables by neural network or fuzzy logic representations offers an easy possibility to generate 3-D maps by measured data and to adapt them online using measured signals. This paper describes the modelling of engine characteristics for vehicle control and simulation purposes by multilayer perceptron and radial-basis function networks. In addition to that, a neuro-fuzzy approach is discussed as well.

关键词： Automotive engineering Neural networks Fuzzy control Fuzzy neural networks Engines Vehicles Interpolation automatic control control systems Fuzzy logic

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Mechatronic systems for machines and automobiles

Mechatronic systems for machines and automobiles

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： R. Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany

Summary form only given. The synergetic integration of mechanical processes, microelectronics and information processing opens new possibilities for process design as well as for automatic control. The solution of tasks within mechatronic systems is performed on the process side and the digital-electronic side. As the interrelations during the design play an important role, engineering must be simultaneous from the very beginning. Mechatronic systems are developed for mechanical elements, machines, vehicles and precision mechanic devices. The integration of mechatronic systems can be performed by the components (hardware-integration) and by information processing (software-integration). The information processing consists of low-level and high-level feedback control, supervision and diagnosis and general process management. Special signal processing, model based and adaptive methods are applied. With the aid of a knowledge base and inference mechanisms mechatronic systems with increasing intelligence will be developed. The main goals are to increase systems performance, reliability and economy, and production costs. Some examples for the development of mechatronic systems are shown, e.g. active damping of oscillations of mechanical drives, hydraulic pipes and vehicle suspensions, control of machine tools with force reconstruction, smart actuators and supervision and fault diagnosis for automobiles.

关键词： Mechatronics Automobiles Information processing Intelligent actuators Microelectronics process design automatic control Automotive engineering Design engineering Vehicles

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Nonlinear system identification and predictive control of a heat exchanger based on local linear fuzzy models

Nonlinear system identification and predictive control of a ...

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American control Conference (ACC)

作者： O. Hecker O. Nelles O. Moseler Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Darmstadt Germany

This paper deals with identification and control of a highly nonlinear real world application, The performance and applicability of the proposed methods are demonstrated for an industrial heat exchanger. The main difficulties for identification and control of this plant arise from the strongly nonlinear center and the widely varying dead times introduced by different water flows. The identification of this three input one output process is based on the local linear model trees (LOLIMOT) algorithm. It combines efficient local linear least-squares techniques for parameter estimation of the local linear models with a tree construction algorithm that determines the structure of their validity functions. Furthermore, a subset selection technique based on the orthogonal least-squares (OLS) algorithm is applied for an automatic determination of the model orders and dead times. This strategy allows to design a wide range high accuracy nonlinear dynamic model of the heat exchanger on which the predictive control approach is based on. The nonlinear predictive control takes the speed and limit constraints of the actuator into account and leads to a high performance control over all ranges of operation.

关键词： Nonlinear systems Predictive control Temperature control Water heating Circuits Nonlinear dynamical systems Heat engines Predictive models automatic control Valves

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Mechatronic systems-a challenge for control engineering

Mechatronic systems-a challenge for control engineering

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American control Conference (ACC)

作者： R. Isermann Institute of Automatic Control Laboratory for Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany

The synergetic integration of mechanical processes, micro-electronics and information processing opens new possibilities as well to the design of processes as for its automatic control. The solution of tasks within mechatronic systems is performed on the process side and the digital-electronic side. As the interrelations during the design play an import role simultaneous engineering from the very beginning has to take place. Mechatronic systems are developed for mechanical elements, machines, vehicles and precision mechanic devices. The integration of mechatronic systems can be performed by the components (hardware-integration) and by information processing (software-integration). The information processing consists of low-level and high-level feedback control, supervision and diagnosis and general process management. Special signal processing, model based and adaptive methods are applied. With the aid of a knowledge base and inference mechanisms, mechatronic systems with increasing intelligence will be developed. The main goals are to increase systems performance, reliability and economy, and production costs. Some examples for the development of mechatronic systems are given, such as smart actuators, adaptive suspensions, electrical brakes, adaptive cruising control of cars, and hardware-in-the-loop simulation of combustion engines. Experimental results are shown, and the improvements by the mechatronic approaches are pointed out.

关键词： Mechatronics control engineering Information processing Intelligent actuators Programmable control Adaptive control process design automatic control Automotive engineering Design engineering

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Integrated control, diagnosis and reconfiguration of a heat exchanger

Integrated control, diagnosis and reconfiguration of a heat ...

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American control Conference (ACC)

作者： P. Balle M. Fischer D. Fussel R. Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany

Heat exchangers play an important role in chemical and process industries. In order to improve reliability and control performance, intelligent concepts for control, supervision and reconfiguration are necessary. In this paper, an approach is presented which integrates model-based adaptive control and reconfiguration based on fault detection/diagnosis applied to a heat exchanger plant. The adaptive controller and the fault detection scheme are based on a fuzzy model of the process (Takagi-Sugeno type) and the fault diagnosis is performed using a self-organizing fuzzy structure.

关键词： Centralized control Chemical industry Adaptive control Fault detection Fault diagnosis Fuzzy control Chemical processes Intelligent control Programmable control Takagi-Sugeno model

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