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IEEE International Conference on Systems, Man and Cybernetics

作者： M. Ayoubi Laboratoty of Control Engineering and Process Automation Institute of Automatic Control Technical University of Darmstadt Darmstadt Germany

Based on the dynamic neuron model-the so called dynamic elementary processor-a dynamic multilayer perceptron neural net (DMLP) is applied to identify black box models of the process. The dynamic adaption algorithm is briefly introduced and compared to other adaption procedures. However, the identified models are used to build the first step of a fault diagnosis scheme (FDS) similar to observer based schemes. The residuals between the measured process output and the outputs estimated by the bank models are used as numerical symptoms for the fault detection and diagnosis. The FDS was successfully applied to monitor the turbine state of a turbosupercharger.< >

关键词： System identification Fault diagnosis Neurons Multilayer perceptrons Neural networks Multi-layer neural network Heuristic algorithms Observers Fault detection Monitoring

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Integration of Fault Detection and Diagnosis Methods

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IFAC Proceedings Volumes 1994年第5期27卷 575-590页

作者： R. Isermann Institute of Automatic Control Laboratory for Control Engineering and Process Automation Technical University Darmstadt Landgraf-Georg-Straße 4 D-64283 Darmstadt F.R. Germany

For the fault detection of technical processes different methods can be applied based on the information extracted from direct measured signals, from signal models and process models. Examples for signal model based fault detection methods are spectral analysis or parameter estimation of ARMA models, examples for process model based methods are parameter estimation, state estimation or parity equation approaches. A comparison of these methods shows that they have different properties with regard to the detection of faults in the process, the actuators and the sensors. After a brief review of model based fault detection methods the various advantages and disadvantages of the different methods are summarized. The importance of realistic fault modeling is outlined and the suitability of model-based fault detection methods in dependence on the type of faults is discussed. By a proper integration of different fault detection methods mainly their advantages can be used and their disadvantages avoided. It will be shown which integrations of fault detection methods are appropriate to generate analytical symptoms which are then treated by methods of change detection and classification. For fault diagnosis a knowledge based procedure is required, because in addition to analytical symptoms also qualitative information in form of heuristic symptoms have to be taken into account. It will be shown how based on heuristic process knowledge as fault-symptom causalities and a unified representation of all symptoms an integrated fault diagnosis can be performed. This comprises the treatment of the symptom as uncertain facts and approximate diagnostic reasoning via if-then rules either in a probabilistic or a fuzzy-logic (possibilistic) frame. As examples for integrated fault detection and diagnosis experimental results are shown which were obtained with machine tools. In summary, the contribution shows how through proper integration of different fault detection methods and integration

关键词： Fault detection supervision monitoring parameter estimation state estimation parity equations technical processes actuators sensors fault diagnosis diagnostic reasoning fuzzy reasoning machine tools drilling d.c.motor

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Detection of Additive and Multiplicative Faults - Parity Space vs. Parameter Estimation

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IFAC Proceedings Volumes 1994年第5期27卷 515-520页

作者： Thomas Höfling Thomas Pfeufer Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str. 4 D-64283 Darmstadt Phone: +49 6151 163114 Fax: +49 6151 293445

Faults which appear in technical processes can often be described as additive or multiplicative faults with respect to the process model. To detect and identify these kinds of faults two model based methods, the parity space approach with adaptive thresholds and the parameter estimation, are used. Starting with theoretical investigations on a simple example both schemes are applied to a ***. The results and the different properties are compared. Finally a combination of both methods is proposed to achieve optimal fault detection.

关键词： Fault detection parity space parameter estimation d.c.motors adaptive thresholds

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Improvement of Flexibility and Reliability of Automobile Actuators by Model-Based Algorithms

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IFAC Proceedings Volumes 1994年第3期27卷 355-360页

作者： Thomas Pfeufer Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str. 4 D-64283 Darmstadt Phone: +49 6151 167405 Fax: +49 6151 293604

Automobile actuators have to work very reliable. In extension to redundancy schemes the use of model-based fault detection methods is advantageous for the early detection of incipient faults in the process or in the signals. Two different approaches, the parity-space method and the parameter estimation approach, are selected for the investigations for the example of an automobile actuator driven by a d.c. motor. After a brief description of the theoretical basis the experimental application follows to several faults.

关键词： Electric actuators failure detection parameter estimation parity-space redundancy

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Supervision of Tool Wear and Surface Quality During End Milling Operations

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IFAC Proceedings Volumes 1994年第4期27卷 507-512页

作者： H. Konrad R. Isermann H.U. Oette Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Phone: +49 6151 163927 Fax: +496151 293445

Object of this paper is the automatic supervision of an end milling operation performed on a machining center for milling and drilling. The work concerns the reliable detection of tool wear and surface quality with measured signals, that are easy to get. With these signals symptoms are generated using correlation functions. It will be shown, that symptoms of the main drive as well as symptoms of the x-axis feed drive can be used to monitor tool wear. Symptoms of the z-axis feed drive are correlated with surface roughness.

关键词： Machine tools cutting failure detection tool wear surface quality correlation functions

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A Multivariable Simulation Model for the Dynamic Behaviour of a Machining Center During Milling Operations

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IFAC Proceedings Volumes 1994年第4期27卷 309-314页

作者： H. Konrad R. Isermann Technical University of Dannstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str.4 D-64283 Darmstadt Germany Phone: +49 6151 163927 Fax: +49 6151 293445

An entire model for a machining center during milling operations is presented. Existing and partly improved models of the milling process and the respective machine components are coupled together. Because of the modular structure single components can easily be exchanged and the entire model can be adapted to various types of machine tools. Simulation results show the usability to predict interactions in the drives caused by the intermittent cut These interactions are significantly influenced by faults in the milling process, e.g. tool breakage and cutter run-out.

关键词： Computer simulation cutting electric drives machine tools modelling multivariable systems

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Model Based Fault Detection of Valves in Flow control Loops

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IFAC Proceedings Volumes 1994年第5期27卷 417-422页

作者： Rüdiger Deibert Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Str.4 D-64283 Darmstadt Germany Phone: +49 6151 163314 Fax: +49 6151 293445

A strategy for fault detection in Fixed setpoint flow control loops is presented. First a general approach for model-based residual generation using observer based techniques is proposed. A generation of more detailed symptoms by signal processing of standard control loop signals follows. The strategy is proven with both simulation examples and measured data of a water flow control loop actuated by a pneumatic driven valve. Faults in either the valve drive and the fluidic subsystem are investigated.

关键词： Model-based fault detection pneumatic valve closed loop system flow control

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Mechatronic Components - Design and control Aspects

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IFAC Proceedings Volumes 1994年第3期27卷 13-24页

作者： Rolf Isermann Technical University of Darmstadt Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf Georg-Straße 4 64238 Darmstadt Germany Tel.: (FRG) 6151/162114 Fax: (FRG) 6151/293445

The integration of mechanical systems and microelectronics opens new possibilities for mechanical design and automatic functions. After a discussion of the mechanical and electronic design the organization of information processing in different levels is described. Within this frame “low-degree intelligent” mcchatronic systems can be developed which comprise adaptive control, supervision with fault diagnosis and decisions with regard to further actions. This requires the realization of knowledge based systems with learning abilities. Some aspects of the design of information processing including modeling and estimation, control and supervision methods are considered. Finally as examples the adaptive nonlinear control of a pneumatic actuator and an adaptive semiactive shock absorber for vehicle suspension systems is shown.

关键词： Mechatronics adaptive control intelligent control fault diagnosis pneumatic actuator adaptive suspension

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Determination of the Centre of Gravity Height of a Vehicle with Parameter Estimation

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IFAC Proceedings Volumes 1994年第8期27卷 563-568页

作者： S.T. Germann R. Isermann Technical University of Darmstadt Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Straße 4 D-64283 Darmstadt Germany Phone: 0049-6151-162114 Fax: 0049-6151-293604

The estimation of the height of the centre of gravity of vehicle is significantly important for various applications in modern car management. A theoretical model of a full - scale half car including suspension and a crank axle at the front and the rear axle is developed. A longitudinal model of the vehicle is described to compute the forces at the wheels curing braking and accelerating manoeuvres. Based on nonlinear spring curves and measured deflection at the front and the rear axle the centroidal height of the vehicle is estimated. Some experimental results with a space wagon are shown.

关键词： Vehicle dynamics centre of gravity centre of gravity height pitch dynamics breaking and acceleration force parameter estimation

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Monitoring of the friction coefficient between tyre and road surface

Monitoring of the friction coefficient between tyre and road...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Germann Wurtenberger Daiss Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Darmstadt Germany Technische Universitat Darmstadt Fachbereich Biologie Darmstadt Hessen DE Inst. of Automatic Control Tech. Univ. of Darmstadt Germany

The knowledge of the friction coefficient between tyre and road surface is the central part of vehicle longitudinal and lateral control. For this purpose a friction monitoring system is developed using nonlinear and linear mathematical models to describe the /spl mu/-slip characteristics and to compute the dynamic wheel loads and longitudinal tyre forces. A recursive least squares estimator calculates the parameters of the /spl mu/-slip characteristics online and on-board for use in control systems.< >

关键词： Monitoring Mechanical factors Mechanical variables measurement Road vehicle control Road vehicles Least squares methods Recursive estimation

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