This paper investigates the possibility of computing the actual position of a passenger car based on different independent internal signals available in a production car. A new front wheel based dead reckoning approac...
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This paper investigates the possibility of computing the actual position of a passenger car based on different independent internal signals available in a production car. A new front wheel based dead reckoning approach is compared to a model based approach as well as to an Extended Kalman Filter. Depending on the method the input signals are the wheel revolutions of the front wheels, the steering angle and the yaw rate. Experimental results show the quality of all three algorithms compared to position data obtained by a DGPS system and also to the well known rear wheel based dead reckoning approach.
A design method for determining control sequences for rest-to-rest maneuvers of flexible structures with multiple actuators and multiple resonant modes is described. The problem formulation. is based on a pole cancell...
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A design method for determining control sequences for rest-to-rest maneuvers of flexible structures with multiple actuators and multiple resonant modes is described. The problem formulation. is based on a pole cancellation approach with constraints on both the magnitude and the time rate of change of the control inputs. Time-optimality can be traded for an increased level of robustness with respect to modeling errors. Robustification is achieved by placing additional zeros of the controller on some or all of the resonant poles of the system.
For many practical applications, a combination of theoretical and experimental modelling appears feasible. Qualitative knowledge about the most significant effects are often known or easily accessible. This contributi...
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For many practical applications, a combination of theoretical and experimental modelling appears feasible. Qualitative knowledge about the most significant effects are often known or easily accessible. This contribution suggests a semi-physical modelling approach based on the special architecture of local models. Due to their inherent transparency, these models are very well suited for the incorporation of mainly qualitative process knowledge. The integration of prior knowledge is realised by an adaptation of the model structure to that one of the process. As a result, the final process-specific models are characterised by high generalisation performance also in situations with only few measurement data.
This paper presents the design of a model-based supervision and diagnosis system for hydraulic and future electro-hydraulic passenger car braking systems. A state space model of the braking system has been derived, wh...
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This paper presents the design of a model-based supervision and diagnosis system for hydraulic and future electro-hydraulic passenger car braking systems. A state space model of the braking system has been derived, which allows calculation of the individual wheel brake cylinder pressures as well as the amount of brake fluid consumed due to faults in the braking system. Based on this model, a real-time supervision system has been developed, which allows early detection and diagnosis of leakages and air entrapments in the hydraulic subsystem. This supervision system only requires data of sensors which are already available in modern passenger cars.
This paper describes an approach of how to estimate the vehicle velocity using additional sensors provided by the brake-by-wire actuators. The advantage of brake-by-wire actuators - such as the electro-hydraulic (EHB)...
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This paper describes an approach of how to estimate the vehicle velocity using additional sensors provided by the brake-by-wire actuators. The advantage of brake-by-wire actuators - such as the electro-hydraulic (EHB) and the electro-mechanical brake (EMB) - is that the caliper pressure or the clamping force, respectively, are known. Wheel speed, vehicle acceleration, and caliper pressure or clamping force, respectively, are used to estimate the vehicle velocity using a fuzzy approach. Besides, the mass of the vehicle and the slope of the road are derived from the sensors provided. Finally, it will be shown by measurement results that the velocity of a research vehicle equipped with brake-by-wire actuators and a new ABS approach can be estimated very precisely even at very high wheel slips and different road conditions.
The internal model control (IMC) scheme has been widely applied in the field of processcontrol. So far, IMC has been mainly applied to linear processes. This paper discusses the extension of the IMC scheme to nonline...
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The internal model control (IMC) scheme has been widely applied in the field of processcontrol. So far, IMC has been mainly applied to linear processes. This paper discusses the extension of the IMC scheme to nonlinear processes based on local linear models where the properties of linear design procedures can be exploited. The IMC scheme results in controllers that are comparable to gain-scheduled PI or PID controllers which are the standard controllers in process industry. In practice, the tuning of conventional PI or PID controllers can be very time-consuming whereas the IMC design procedure is very simple and reliable. In this paper, the design effort of the IMC and conventional controller design methods will be discussed and control results will be compared by application to nonlinear control of an industrial-scale heat exchanger.
An accurate estimation of the vehicle velocity is one of the greatest challenges in modern vehicle systems. The velocity is needed for the Antilock Braking System (ABS) and Traction control System (TCS) as well as for...
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Due to the increasing demands concerning reliability, safety and economy of technical processes, the on-line monitoring of induction motors is an important topic in the engineering field. In this paper, a model-based ...
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Due to the increasing demands concerning reliability, safety and economy of technical processes, the on-line monitoring of induction motors is an important topic in the engineering field. In this paper, a model-based ...
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Due to the increasing demands concerning reliability, safety and economy of technical processes, the on-line monitoring of induction motors is an important topic in the engineering field. In this paper, a model-based approach for fault detection and diagnosis of nonlinear processes is employed. The supervision of nonlinear systems is often very difficult in view of the lack of accurate models. However, neuro-fuzzy models may help to cope with this problem, as they can be trained from measured data. In this contribution the application of a multi-model approach for fault detection and diagnosis of induction motors is presented. For this purpose the process is decomposed in several subprocesses.
Fault detection is increasingly an essential part of vehicle development. Integrating such fault detection subsystems raises the reliability, maintainability, and safety of automobile components. Until now, the suspen...
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Fault detection is increasingly an essential part of vehicle development. Integrating such fault detection subsystems raises the reliability, maintainability, and safety of automobile components. Until now, the suspension system was not a safety-critical component, but with the introduction of global chassis controlsystems this system is getting more important. Therefore, the paper presents fault detection algorithms for the suspension system. Real measurements of a vehicle are made to compare the advantages of the different fault detection algorithms.
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