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Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

IFAC Proceedings Volumes 2010年第18期43卷 660-668页

作者： Beck Mark Schwung Andreas Muenchhof Marco Isermann Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162314) TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany (Tel: +49-6151-166283) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-163114) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162114)

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Fault Accomodation Electro-hydraulic Servo Axis Duplex-valve-system Active Fault Tolerant control Reconfiguration Bumpless-Transfer

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Stationary Global-Local Emission Models of a CR-Diesel Engine with Adaptive Regressor Selection for Measurements of Airpath and Combustion

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IFAC Proceedings Volumes 2010年第7期43卷 246-251页

作者： Heiko Sequenz Matthias Mrosek Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University Darmstadt Germany

A model structure for stationary emission models is presented. The emissions NO x , soot and opacity are separately modeled. Model inputs are the air mass flow rate, charge air pressure, intake temperature, the location of mass fraction burned 50% and the engine operation point. Local polynomials are trained for each operation point, defined by engine speed and injection quantity. To increase accuracy a selection algorithm of the significant regressors is presented. The local models are composed by means of weighting functions, depending on the engine operation points, to global emission models. For a rasterized operation range, the weighting can be interpreted as a linear interpolation of local models. This enables an easy implementation to common electronic control units (ECUs). Measurements from a CR-Diesel engine show the quality of the models.

关键词： Automotive Emissions Local Regression Subset Selection Parametric Identification Algorithm Stationary Emission Models

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Optimal control over unreliable networks with uncertain loss rates

Optimal control over unreliable networks with uncertain loss...

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作者： Kögel, Markus J. Blind, Rainer Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke University Magdeburg Magdeburg Germany Design and Optimization in Chemical and Biochemical Process Engineering International Max Planck Research School for Analysis Magdeburg Germany

ISBN: (纸本)9781424474264

In this work, we consider an optimal control problem for Networked control systems (NCS), where the loop is closed via an unreliable network. In order to inform the controller about the fates of the control packets, the actuator sends acknowledgements to the controller. In this work, different types of acknowledgements are considered. Since all packets are send over a network, we consequently assume, that all packets can get lost, i.e. the measurement packets, the control packets as well as the acknowledgement packets. The loss of these packets is modeled by independent and identically distributed (iid) Bernoulli processes. Finally, we assume that the parameters of these loss processes are not known exactly. Using this setup, we derive bounds for the uncertainty in the loss rates. Moreover, we present an algorithm to design a sub-optimal controller which can tolerate a given amount of network uncertainties. © 2010 AACC.

关键词： Networked control systems

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Identifiability of a Hodgkin-Huxley type ion channel under voltage step measurement conditions

Identifiability of a Hodgkin-Huxley type ion channel under v...

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9th International Symposium on Dynamics and control of process systems, DYCOPS 2010

作者： Csercsik, D. Szederkényi, Gábor Hangos, Katalin M. Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

ISBN: (纸本)9783902661692

In this paper, we analyze the identifiability properties of a Hodgkin-Huxley (HH) type voltage dependent ion channel model under voltage clamp circumstances. The elimination of the differential variables is performed, and the identifiability of various parameters is analyzed using the differential algebra approach and the algorithm based on the Taylor series expansion of the output. It is shown that the model is structurally non-identifiable using certain commonly applied parametrizations, and hidden dependences between physical parameters are unravelled. Using the results of the identifiability analysis, physically meaningful examples are shown when the model parameters are different but the system outputs are identical. © 2009 IFAC.

关键词： control applications in biological processes Modeling and identification

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Optimal control over Unreliable Networks with Uncertain Loss Rates

Optimal Control over Unreliable Networks with Uncertain Loss...

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American control Conference

作者： Markus J. Kogel Rainer Blind Frank Allgower Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke University Magdeburg Magdeburg Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781424474264

关键词： Communication Networks Optimal control Networked control systems TCP/UDP Unreliable Parameters Optimal control Packet Networked control systems networks(communications) controllers

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Identifiability of a Hodgkin-Huxley type ion channel under voltage step measurement conditions

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IFAC Proceedings Volumes 2010年第5期43卷 332-337页

作者： D. Csercsik Gábor Szederkényi Katalin M. Hangos Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

关键词： Modeling and Identification control Applications in Biological processes

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Computing reaction kinetic realizations of positive nonlinear systems using mixed integer programming

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IFAC Proceedings Volumes 2010年第14期43卷 981-986页

作者： Gábor Szederkényi Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute (MTA-SZTAKI) Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

The reaction kinetic realizations of nonnegative polynomial systems are studied in this paper. It is briefly reviewed that a wide class of positive systems can be written in or simply transformed to kinetic form. Based on the structure of kinetic realizations, valuable information can be obtained about the dynamical properties of the investigated systems using the results of chemical reaction network theory (CRNT). Since the realizations of a given system can have many different structures, mixed integer linear programming is used to generate the ones with required properties (i.e. the minimal/maximal number of reactions or complexes).

关键词： nonlinear systems positive systems chemical reaction networks mixed integer optimization

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Absolute stability of Lur'e singularly perturbed systems with multiple nonlinearities

Absolute stability of Lur'e singularly perturbed systems wit...

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作者： Yang, Chunyu Zhang, Qingling Chou, Jyh-Horng Zhang, Yingwei Key Laboratory of Integrated Automation of Process Industry Ministry of Education Northeastern University Shenyang 110004 China Institute of Systems Science Northeastern University Shenyang 110004 China Institute of System Information and Control Engineering National Kaohsiung First University of Science and Technology I University Road Yuanchau Kaohsiung 824 Taiwan

ISBN: (纸本)9781424474264

This paper investigates the absolute stability problem for Lur'e singularly perturbed systems with multiple nonlinearities. The objective is to determine if the system is absolutely stable for any Ε ∈ (0, Ε0], where Ε denotes the perturbation parameter and Ε0 is a pre-defined positive scalar. Firstly, an Ε-dependent Lyapunov function of Lur'e-postnikov form is constructed. Then, a stability criterion expressed in terms of Ε-independent linear matrix inequalities (LMIs) is derived. Finally, an example is given to show the feasibility and effectiveness of the obtained method. © 2010 AACC.

关键词： Stability criteria

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An Optimal control Scheme for a Class of Discrete-time Nonlinear systems with Time Delays Using Adaptive Dynamic Programming

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Acta automatica Sinica 2010年第1期36卷 121-129页

作者： Qing-Lai WEI Hua-Guang ZHANG De-Rong LIU Yan ZHAO Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100190 P. R. China School of Information Science and Engineering Northeastern University Shenyang 110004 P. R. China Department of Automatic Control Engineering Shenyang Institute of Engineering Shenyang 110136 P. R. China

Abstract In this paper, an optimal control scheme for a class of nonlinear systems with time delays in both state and control variables with respect to a quadratic performance index function is proposed using a new iterative adaptive dynamic programming (ADP) algorithm. By introducing a delay matrix function, the explicit expression of the optimal control is obtained using the dynamic programming theory and the optimal control can iteratively be obtained using the adaptive critic technique. Convergence analysis is presented to prove that the performance index function can reach the optimum by the proposed method. Neural networks are used to approximate the performance index function, compute the optimal control policy, solve delay matrix function, and model the nonlinear system, respectively, for facilitating the implementation of the iterative ADP algorithm. Two examples are given to demonstrate the validity of the proposed optimal control scheme.

关键词： Adaptive dynamic programming (ADP) approximate dynamic programming time delay optimal control nonlinear system neural networks

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Fault tolerant actuators and drives - Structures, fault detection principles and applications

Fault tolerant actuators and drives - Structures, fault dete...

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7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical systems, SAFEprocess'09

作者： Muenchhof, Marco Beck, Mark Isermann, Rolf Technische Universität Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation Darmstadt Germany

ISBN: (纸本)9783902661463

As fault detection and fault diagnosis are more and more finding their way into modern industrial mechatronic products, it is now time to take the next step. Based on the research efforts for fault detection and diagnosis, a platform has been prepared for research on fault management, i.e. automatic reactions of the system to continue operation after the detection of faults. These reactions may employ hardware redundancy (i.e. switching from a faulty actuator to another, intact one) or analytical redundancy (i.e. switching from a faulty sensor to a "model sensor" or "soft sensor"). A total fault tolerance concept must encompass all components of a system, i.e. the actuators and drives, the sensors as well as the controller and communication. In many cases, a degradation of functions has to be accepted after a fault has appeared. This contribution will center on actuators and drives showing real-world examples of prototypical realizations and examples from industrial products. Concentrating on the most widespread actuation principles, the paper will focus on electric drives and hydraulic actuators. First, a review is given on fault tolerance principles and general structural considerations e.g. hot-standby and cold-standby, focusing on the scheme of an overall fault-tolerant control system. Then, fault statistics for real actuators and drives will be presented. These fault statistics give hints on the parts of the actuators that are most susceptible to faults. Different designs of fault tolerant actuators and drives, which have been realized, shall be presented and evaluated with respect to their capabilities of sustaining faults. Finally, an outlook for fault-tolerant mechatronic systems will be given. © 2009 IFAC.

关键词： Aerospace applications

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