检索结果-内蒙古大学图书馆

Intelligent Actuators - Ways to Autonomous Actuating Systems

IFAC Proceedings Volumes 1992年第6期25卷 13-26页

作者： R. Isermann U. Raab Technical University of Darmstadt Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf Georg Str. 4. D-6100 Darmstadt Germany

The integration of microelectronics within the actuator allows to not only replace the analog position controller but to add several functions which give the actuator more intelligent functions. The actuator control is performed in different levels and includes adaptive nonlinear control, optimization of speed and precision, supervision and fault diagnosis. The actuator knowledge base comprises actuator models based on parameter estimation, controller design and a storage of the learned behavior. An inference mechanism makes decisions for control and fault diagnosis and a communication module operates internally and externally. As examples electromagnetic and pneumatic actuators are considered and it is shown how the control can be improved considerably by model based nonlinear control, taking into account time varying nonlinear characteristics and hysteresis effects. The supervision with fault detection indicates faults in the electrical and mechanical subsystems of the actuator. Several experimental results are shown including the implementation on a low-cost microcontroller.

关键词： Actuators intelligent control functions nonlinear adaptive control supervision fault diagnosis

来源：评论

学校读者我要写书评

暂无评论

Model-Based Fault Diagnosis of Industrial Robots: A Comparison of Different Methods

引用

IFAC Proceedings Volumes 1992年第28期25卷 251-255页

作者： Rüdiger Deibert Thomas Höfling Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University Darmstadt Landgraf-Georg-Str.4 D-6100 Darmstadt Phone: +49 6151 163314 Fax : +49 6151 293445

In modern manufacturing systems it is very important to increase the safety, reliability and availability of the involved components, e.g. industrial robots. Downtime of the entire production line as a result of a single component breakdown will cause high costs which have to be avoided. Hence automatic controlled systems of high complexity should be supervised by automatic means and supplemented by appropriate diagnosis methods. Continuous time model-based procedures have been proven to present powerful tools for this purpose. In the present contribution specific approaches of parameter estimation and state estimation are applied to the mechanical components of an industrial robot. Several changes which represent typical mechanical faults were established artificially to the robot. Finally the different approaches are compared.

关键词： Model-based fault diagnosis parameter estimation fault sensitive filter industrial robot

来源：评论

学校读者我要写书评

暂无评论

Model-Based Force Sensing for an Industrial Robot by Using Drive Signals

引用

IFAC Proceedings Volumes 1991年第9期24卷 129-134页

作者： J. Böhm Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University Darmstadt Landgraf-Georg-Strasse 4 D-6100 Darmstadt Germany

A model—based method for sensing external forces between a workpiece and the robot’s end-effector from drive current signals will be presented. To estimate these active forces only the natural process signals (armature current and actual joint position) of the robot are used. These signals are usually available in the control system of the robot. So no additional sensor is required. The force signal in the armature current will be interpreted as a disturbing torque which is estimated by a third order adaptive disturbance observer based on mathematical dynamic models for the robot. Finally first experimental results will be presented which were obtained with an industrial robot with six degrees of freedom.

关键词： Industrial robots Modelling Disturbance observers process monitoring Force sensing

来源：评论

学校读者我要写书评

暂无评论

Fault Diagnosis of Machines via Parameter Estimation and Knowledge processing

引用

IFAC Proceedings Volumes 1991年第6期24卷 43-55页

作者： R. Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University Darmstadt Landgraf Georg Straße 4 D-6100 Darmstadt Germany

For further improvement of the reliability and safety of machines the automatic early detection and localization of faults is of high interest. The conventional approach is to monitor some important variables like temperatures, pressures, vibrations and to generate alarms if certain limits are exeeded. However, developing internal faults are in this way only detected at a rather late stage. By applying static and dynamic process models and common process input and output measurements the inherent relationships and redundancies can be used to detect faults earlier and to localize them better. Changes in process and signal parameters are very well suited for fault detection. The paper describes a general methodology for machines and other processes by using few measurements, dynamic process and signal models and parameter estimation to generate symptoms. The detected symptoms are fed into a knowledge based fault diagnosis procedure. Analytical and heuristic knowledge is treated via fault-symptom trees, process history and plausibility measures. The considered machines consist of a motor, a drive chain and a working process or load. They may be electrical motor or combustion engine driven pumps, fans or machine tools with gear or belt drive chains. The described methodology was developed and tested experimentally for several machines. As one example, experimental results are shown for a d.c. motor powered feed drive of a machine tool.

关键词： Fault detection supervision monitoring safety parameter estimation knowledge base diagnostics fault-trees inference mechanism

来源：评论

学校读者我要写书评

暂无评论

Model based Fault Diagnosis and Supervision of the Drilling process

引用

IFAC Proceedings Volumes 1991年第6期24卷 211-216页

作者： T. Reiß Institute of Automatic Control Laboratory of Control Systems and Process Automation Technical University Darmstadt Landgraf-Georg-Str. 4 D-6100 Darmstadt Germany

The supervision of manufacturing processes is of primary interest in the course of progressive automation. This paper paper presents a new approach in fault diagnosis and supervision of the drilling process. The supervision of manufacturing processes with additional sensors is mostly expensive or not possible at all. Therefore mathematical process models were developed for the drilling process. By means of least squares estimation techniques the physical parameters are determined based on easily measurable signals of the drives. Changes of those process parameters during operation are used for fault diagnosis. Experimental results on two flexible machining centers show the detected parameter changes during operation in dependence on tool wear.

关键词： Fault detection process model drilling process parameter estimation machine tool process monitoring tool wear feed drive

来源：评论

学校读者我要写书评

暂无评论

Fault Diagnosis of Machine-Tools by Estimation of Signal Spectra

引用

IFAC Proceedings Volumes 1991年第6期24卷 147-152页

作者： D. Neumann Technical University of Darmstadt Institute of Automatic Control Laboratory of Control Systems and Process Automation Landgraf-Georg-Str. 4 D-6100 Darmstadt Germany

In this paper a method for the signal model based estimation of frequency spectra from sampled signals is presented. The algorithm uses discrete, parametric signal models in z-space, whose parameters are determined by a two step identification algorithm. From these parameters significant oscillations, described by their frequency and concatenated amplitude, are calculated to develop a method for the supervision and fault diagnosis of dynamic systems. The shown results and conclusions are taken from practical tests at machine-tools.

关键词： Failure detection Fast Fourier transforms Frequency domain Identification Machine tools Pattern recognition Signal processing Spectral anayzers z transforms

来源：评论

学校读者我要写书评

暂无评论

A Knowledge Based Fault Diagnosis System for the Supervision of Periodically and Intermittent Working Machine Tools

引用

IFAC Proceedings Volumes 1990年第8期23卷 89-94页

作者： D. Neumann Technical University of Darmstadt Inst. of Control Engineering Laboratory for Automatic Control and Process Automation Landgraf-Georg-Str. 4 D-6100 Darmstadt FRG

The paper describes a personal-computer-based fault diagnosis system, which is designed for the analysis of periodically working machine tools. The used algorithms are described from signal analysis to the diagnosis system including some tests with real machines. The system was synthesized modularly. so that it can easily be adapted to other processes. Only few standard signals are needed. which have to be measured for controlling purposes anyway. so normally no special sensors have to be added. The knowledge based diagnosis system uses furtheron heuristic knowledge from machine history and expert knowledge. which is not exactly quantifiable.

关键词： machine tools modeling failure detection signal processing identification frequency domain

来源：评论

学校读者我要写书评

暂无评论

Model Based Fault Diagnosis and Supervision of Machines and Drives

引用

IFAC Proceedings Volumes 1990年第8期23卷 1-12页

作者： R. Isermann W. Appel B. Freyermuth A. Fuchs W. Janik D. Neumann Th. Reiss P. Wanke Institute for Control Engineering Laboratory of Control Techniques and Process Automation Technical University Darmstadt Landgraf Georg Straβe 4 D-6100 Darmstadt FRG

The early detection and localization of faults in machines and drives is of primary interest to make further improvements of the reliability and safety. The conventional way is to monitor some important variables like temperatures, pressures, vibrations and to generate alarms if certain limits are exceeded. However, developing internal process faults are only detected at a rather late stage. In recent years research has shown that many process faults can be detected earlier and localized better by using static and dynamic models together with some definite robust sensors. For machines and drives many faults appear as process and signal parameter changes. The contribution describes a general methodology for the fault diagnosis of machines and drives by using few sensors, dynamic process and signal models and parameter estimation. Changes of process and signal parameters are then symptoms, which are fed into a knowledge based fault diagnosis component. Then analytical and heuristic knowledge is treated via fault trees and plausibility measures. The results were obtained in several research projects with machine tools and robots driven by d. c., a.c. and synchroneous motors. Examples show some experimental results.

关键词： Fault detection process monitoring reliability expert system knowledge base parameter estimation industrial robot machine tool feed drive

来源：评论

学校读者我要写书评

暂无评论

A DYNAMIC ANALYSIS OF A COGAS PROPULSION PLANT

引用

Naval Engineers Journal 1977年第6期89卷 19-34页

作者： ABBOTT, JACK W. McINTIRE, JOHN G. RUBIS, C. JOSEPH Mr. Jack W. Abbott:is Head of the Systems Engineering and Analysis Branch Ship Design Division Naval Ship Engineering Center. He received his BSME degree from Stanford University in 1960 and his ME A degree from The George Washington University in 1975. He is a Lieutenant Commander USNR (Ret.) having served during his active duty period as Engineering Officer aboard a U. S. destroyer for 3 years and also a registered Professional Engineer in the State of California. In addition to holding several U.S. Patents he annually instructs courses in the Design of Naval Surface Ships at the Massachusetts Institute of Technology including the concept of total energy systems. He is a member of SNAME and has been a member of ASNE and a frequent contributor to the Journal since 1966 most recently having been a co—recipient of the “Jimmie Hamilton” Award for the best paper published in 1976. Mr. John G. Mclntire:received his BS and MS degrees from the University of California at Berkeley where he did his graduate studies in the field of Automatic Control Systems Design. He was employed by the Naval Ship Engineering Center in 1971 as a Mechanical Engineer and is currently serving as Acting Head of the Machinery Control Systems Section Machinery Systems Division. He is a member of the NA VAIR/NA VSEA Association of Scientists and Engineers the American Society of Mechanical Engineers and the National Society of Professional Engineers. Mr. C. Joseph Rubls:isPresident of Propulsion Dynamics Inc. Annapolis Md. where he is engaged in simulation and analytical studies of ship propulsion and automation systems. Previous to his present position he was a Scientific Consultant and Head of the Control Systems Branch David W. Taylor Naval Ship Research & Development Center Annapolis Laboratory where he was employed over a 10–year period. His other employment experience includes the Martin—Marietta Company as Senior Systems Engineer for Guidance Radar and for Communications Systems the U.S. Naval Academy American Universi

The paper provides a dynamic analysis of a COGAS Propulsion Plant, including mathematical modeling and simulation, and concludes with the results of a COGAS simulation which indicates encouraging conclusions regarding...

关键词：

来源：评论

学校读者我要写书评

暂无评论

Analysis and control of Autonomous Mobility-on-Demand Systems

引用

control, Robotics, and Autonomous Systems 1000年第1期5卷 633-658页

作者： Gioele Zardini Nicolas Lanzetti Marco Pavone Emilio Frazzoli 1Institute for Dynamic Systems and Control Department of Mechanical and Process Engineering ETH Zürich Zürich Switzerland email: gzardini@ethz.chefrazzoli@ethz.ch 2Automatic Control Laboratory Department of Information Technology and Electrical Engineering ETH Zürich Zürich Switzerland email: lnicolas@ethz.ch 3Autonomous Systems Lab Department of Aeronautics and Astronautics Stanford University Stanford California USA email: pavone@stanford.edu

Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research.

关键词： autonomous vehicles autonomous mobility-on-demand fleet management ride-sharing future mobility systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：