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A Smart Actuator with Model-Based FDI Implemented on a Microcontroller

IFAC Proceedings Volumes 2000年第26期33卷 995-1000页

作者： Olaf Moseler Markus Müller Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Phone: +49 - 6151- 167404 Fax: +49 - 6151 - 293604

The device under consideration drives a cabin pressure control valve of modern passenger aircrafts. It is already provided by a wide range of built-in tests. However, these tests do not allow a deep diagnosis of the actuator. Therefore in this paper a model-based approach for detecting and isolating faults is presented. Parameter estimation and parity equations are used for feature generation. The features are compared to that one of the fault-free case. Deviations are fed into a fuzzy rule base in order to isolate the faults. The whole approach is implemented on a 16 bit microcontroller. Experimental results are given.

关键词： Model-Based Fault Detection Fuzzy-Logic Brushless DC Motor Microcontroller

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Fault Detection of a Solenoid Valve for Hydraulic Systems in Vehicles

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IFAC Proceedings Volumes 2000年第11期33卷 119-124页

作者： Olaf Moseler Harald Straky Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Phone: +49 - 6151 - 167404 Fax: +49 - 6151 - 293604

In passenger and utility vehicles proportional solenoid valves are used in different hydraulic systems. The valves often have an important impact on the operation quality of succeeding components. However, the correct functioning of the devices is only insufficiently checked. Therefore a novel, model-based approach is going to be presented which is able to estimate the solenoid’s armature stroke based on measured voltage und current. No expensive position sensor is required, that could reduce the overall reliability. Evaluating the reconstructed stroke, faults such as blockade, increased friction, etc. can be detected. But also faults in the electrical part of the valve may be isolated. Instead of replacing whole components in case of a faulty behaviour, the self check of the solenoid valve itself can assist in judging whether the component or the solenoid is faulty. Hence, maintenance costs can be optimized. The paper includes experimental results. Aspects of the microcontroller implementation are addressed.

关键词： Fault Detection Solenoid Hydraulic Valve Microcontroller

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FIT - Filtering and Identification Tool

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IFAC Proceedings Volumes 2000年第15期33卷 863-868页

作者： Olaf Moseler Michael Vogt Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Phone: +49 - 6151 - 167404 Fax: +49 - 6151 - 293604

The program "Filtering and Identification Tool" designed for MATLAB provides an easy to handle tool for linear system identification of continuous time domain systems. But also discrete time models may be identified. The only property the process model must fulfill is that it has to be linear in the parameters. A graphical user interface guides the research engineer through all steps. As most of the time consuming algorithms are implemented as C-functions, the identification even with a huge amount of data takes only few seconds. To identify continuous time process models, derivatives of the input and output signals are required. However, these signals often cannot be measured. Therefore digital filters such as state variable filter (SVF) and differentiating finite impulse response (FIR) filters are integrated into FIT to provide the necessary derivatives. For the identification task various recursive parameter estimation methods like recursive least means squares (RLS), discrete square root filter in information form (DSFI), normalized least means squares (NLMS), etc. are included, too. Recursive algorithms with exponential fading memory (variable step size in case of NLMS) were chosen in order to identify time variant systems. But also for the offline design of real-time fault detection or adaptive control schemes using parameter estimation methods a variable forgetting factor is important to be able to track varying parameters. Thus, the main advantage of the Filtering and Identification Tool in comparison to existing software tools for system identification is the integration of both parameter estimation methods and differentiating filters.

关键词： system identification differentiating filters continuous time models

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Design and Application of Digital FIR Differentiators Using Modulating Functions

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IFAC Proceedings Volumes 2000年第15期33卷 1037-1042页

作者： Armin Wolfram Olaf Moseler Darmstadt University of Technology Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt (Germany) Phone: (+49) 6151 167406 Fax: (+49) 6151 293604

Continuous process Models are widely used in system identification and fault detection. However, dynamic models require the derivatives of the process' input and output signals. Often they cannot be accessed by measurements. Thus they have to be provided by digital filters. Commonly state variable filters are used for this purpose. But this approach has a couple of drawbacks caused by the recursive structure of the filter. In this paper a consistent approach for the design of FIR differentiators by means of modulating functions is proposed. Finally the application of these filters for fault detection using a microcontroller is presented.

关键词： Finite Impulse Response Filter Differentiators Modulating Functions System Identification Fault Detection

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Model Based Fault Detection of Vehicle Suspension and Hydraulic Brake Systems

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IFAC Proceedings Volumes 2000年第26期33卷 1073-1078页

作者： Marcus Börner Harald Straky Thomas Weispfenning Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Phone: +49 6151 16-7412 FAX: +49 6151 16-7421

In modern vehicles, mechatronic systems are increasingly used. To improve reliability, safety and economy, an early recognition of small or drifting faults is becoming increasingly important. After a short introduction to methods of model based fault detection and diagnosis, application examples for fault detection of automotive vehicle suspension and hydraulic brake systems are given.

关键词： fault detection parameter estimation parity equation vehicle suspension tire pressure solenoid ABS-valve hydraulic brake system

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H ∞ Parameter Identification for Inflight Detection of Aircraft Icing: The Time-Varying Case

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IFAC Proceedings Volumes 2000年第15期33卷 289-294页

作者： James W. Melody Thomas Hillbrand Tamer Başar William R. Perkins Coordinated Science Laboratory University of Ilinois 1308 West Main Street Urbana IL 61801-2307/ USA Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Systems and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany

Inflight parameter identification of aircraft flight dynamics is considered in this paper in the context of an ice management system. In particular, an H ∞ parameter identification algorithm is evaluated in terms of detecting an aircraft icing event when only a noisy state measurement is available. While previous studies have addressed identification during a pilot-induced maneuver, taking advantage of the excitation due to input, this paper addresses identification during cruise, where excitation is provided only by unknown disturbances due to turbulence. Simulation results show that for moderate turbulence levels, the H ∞ algorithm provides a timely and unambiguous icing indication.

关键词： Aircraft control H ∞ Identification Time-Varying Systems Robustness

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Target value computing in paper machine grade changes by fuzzy system

Target value computing in paper machine grade changes by fuz...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： P. Viljamaa H. Peltonen H.N. Koivo Automation and Control Institute Tampere University of Technology Tampere Finland Process Research Lappeeranta Finland Control Engineering Laboratory Helsinki University of Technology Finland

A fuzzy system is proposed to compute new target values for low level controllers during grade changes in a paper machine. The fuzzy system is designed and tuned in co-operation with human operators of the paper machine. The design method utilizes both heuristic knowledge and estimation techniques based on input-output data. The input fuzzy sets and the rule base are initially designed verbally and thereafter fine-tuned by a least squares algorithm. An industrial example illustrates the iterative design process. It shows that transparency and a priori knowledge included in the model are preserved also during optimization of the fuzzy model.

关键词： Paper making machines Fuzzy systems control systems Humans Design methodology Fuzzy sets Algorithm design and analysis Least squares methods Iterative algorithms process design

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LMIs and Polynomial Methods in control: Illustrative Examples

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IFAC Proceedings Volumes 2000年第31期33卷 219-224页

作者： Didier Henrion Michael Šebek Laboratoire d’Analyse et d’Architecture des Systèmes Centre National de la Recherche Scientifique 7 Avenue du Colonel Roche 31 077 Toulouse cedex 4 France. Institute of Information Theory and Automation Czech Academy of Sciences Pod vodárenskou věží 4 182 08 Prague 8 Czech Republic. Trnka Laboratory of Automatic Control Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Prague 6 Czech Republic.

Linear Matrix Inequalities (LMIs) are now widely used as a convenient tool for solving a significant number of control problems. Probably for historical reasons, LMIs have mainly been used conjointly with state-space methods. Several recent works however tend to prove that polynomial (or algebraic) methods, generally favored by teachers exposing the basics of control systems, can also rely on LMIs. With the help of simple illustrative examples, the purpose of this paper is to show how the simultaneous use of LMIs and polynomial methods can shed new insights into several important control problems. The readership can range from postgraduate students specializing in control systems to experts in LMIs or polynomial methods. The algorithms described in this paper will be part of the next version of the POLYNOMIAL TOOLBOX for MATLAB to be released soon, see *** .

关键词： Linear Systems Polynomial Methods Linear Matrix Inequalities

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An LMI Condition for Robust Stability of Polynomial Matrix Polytopes 1

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IFAC Proceedings Volumes 2000年第14期33卷 13-18页

作者： Didier Henrion Denis Arzelier Dimitry Peaucelle Michael Šebek Laboratoire d’Architecture et d’Analyse des Systèmes Centre National de la Recherche Scientifique 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 věži 4 182 08 Prague 8 Czech Republic Trnka Laboratory of Automatic Control Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Prague 6 Czech Republic

A sufficient LMI condition is proposed for checking robust stability of a polytope of polynomial matrices. It hinges upon two recent results: a new approach to polynomial matrix stability analysis and a new robust stability condition for convex polytopic uncertainty. Numerical experiments illustrate that the condition narrows significantly the unavoidable gap between conservative tractable quadratic stability results and exact NP-hard robust stability results.

关键词： Polynomial methods Uncertain polynomials Robust stability Quadratic stability Convex optimization

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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