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作者： Westermayer, Christian Schirrer, Alexander Hemedi, Mark Kozek, Martin Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Vienna Austria

ISBN: (纸本)9783902661425

In a comprehensive control design approach for exible mechanic structures, such as lightweight vehicles or aircraft, a vital decision is the positioning and design of actuators and sensors for the control tasks. This paper proposes an optimal placement approach that exploits the special structure of exible mechanical systems and incorporates controllability/observability based measures as well as further knowledge on actuator and sensor properties. It combines the advantages of state of the art positioning criteria such that a balance between low and high frequency modes is assured and at the same time applicability to complex systems in arbitrary system coordinates is guaranteed. These essential properties are illustrated on a clamped beam. The controlled system is studied in terms of the generalized plant description, as it is common in robust control design. Thus it serves as natural extension to the controller design process later on and enables comprehensive control design optimization at an early stage.

关键词： Robust control

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An advanced criterion for optimal actuator and sensor placement on complex flexible structures

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IFAC Proceedings Volumes 2009年第2期42卷 114-119页

作者： Christian Westermayer Alexander Schirrer Mark Hemedi Martin Kozek Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Vienna Austria

In a comprehensive control design approach for flexible mechanic structures, such as lightweight vehicles or aircraft, a vital decision is the positioning and design of actuators and sensors for the control tasks. This paper proposes an optimal placement approach that exploits the special structure of flexible mechanical systems and incorporates controllability/observability based measures as well as further knowledge on actuator and sensor properties. It combines the advantages of state of the art positioning criteria such that a balance between low and high frequency modes is assured and at the same time applicability to complex systems in arbitrary system coordinates is guaranteed. These essential properties are illustrated on a clamped beam. The controlled system is studied in terms of the generalized plant description, as it is common in robust control design. Thus it serves as natural extension to the controller design process later on and enables comprehensive control design optimization at an early stage.

关键词： active control robust control optimal actuator placement optimal sensor placement modal system representation vibration damping

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Performance evaluation of an input/output selection criterion via normalized LQG closed-loop comparison

Performance evaluation of an input/output selection criterio...

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Mediterranean Conference on control and automation (MED)

作者： M. Hemedi A. Schirrer C. Westermayer M. Kozek Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna Austria

One essential task in control system design is the optimal selection of inputs and outputs (I/O). In this paper a new concept for solving the I/O selection problem is proposed. It is based on normalized comparison of LQG closed loops, which are designed for each potential actuator/sensor separately. The LQG controller is iteratively tuned to obtain a prescribed and fixed value of a suitable system norm quantity. The proposed placement criterion is applied to flexible structures and demonstrated for an academic example and for a large-scale blended-wing-body (BWB) passenger aircraft pre-design model. Comparison to a state-of-the-art open-loop I/O selection method from literature verifies the proposed approach, but also shows that the closed-loop approach provides additional system insight and highly flexible applicability.

关键词： control systems Optimal control Flexible structures Automatic control Actuators Open loop systems Design automation Aircraft controllability Observability

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Modeling and control of an Industrial Continuous Furnace

Modeling and Control of an Industrial Continuous Furnace

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International Conference on Computational Intelligence, Modelling and Simulation (CSSIM)

作者： Lukas Bitschnau Martin Kozek Institute for Mechanics and Mechatronics Division of Control and Process Automation University of Technology Vienna Vienna Austria

This paper describes a furnace model in state space formulation for a continuous heat treating process specifically suitable for controller design. The model comprises the heat transfer in the conveyed steel strip, the heat transmission from the heating or cooling elements to the steel strip, the inner dynamics of the heating elements and the related furnace portion, heat losses to the ambience, and time-varying parameters of both the strip material and the process (strip velocity, set temperature profile). Model inputs are the heating powers of the individual heaters, and the outputs are either strip or furnace temperatures at specific furnace positions. The model is also suitable for on-line simulation, and due to the flexible and versatile structure of the heater model a wide range of furnace types can be covered with high accuracy. Simulation results for classical PID zone temperature control and a proposed feed forward extension demonstrate the efficiency of the furnace model.

关键词： Industrial control Furnaces Heat transfer Strips Temperature control Steel State-space methods Space heating Cooling Propagation losses

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Co-simulation as effective method for flexible structure vibration control design validation and optimization

Co-simulation as effective method for flexible structure vib...

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Mediterranean Conference on control and automation (MED)

作者： A. Schirrer M. Kozek Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna Austria

In control problems of complex dynamical systems the controller design is usually carried out on order-reduced and otherwise simplified models. This is done to keep the controller complexity manageably low or to ease the application of computationally expensive design methods. If the model reduction was carried out carefully, the resulting controllers will perform equally well on the original, complex system, but this has to be verified by suitable tests and simulations. In this paper, the use of co-simulation for effective and efficient verification and validation of the control design and its performance is proposed. The term co-simulation refers to the parallel simulation of complementary computation tasks, which run synchronized and exchange process data. Here we consider the simulation-based verification and optimization of a vibration control system for metro rail vehicle car bodies, so the two computation tasks are the control algorithm and a multi-body dynamics simulation. The control system uses structure strain sensors and piezoelectric actuators to introduce force / moment pairs into the car body structure. The goal is to minimize the vertical accelerations at performance measurement positions, thereby maximizing passenger ride comfort. Using co-simulation as a system validation tool, the control design methodology including actuator placement and model reduction could be validated and the actuator positioning could be optimized. This yielded outstanding improvements in passenger ride comfort for the considered class of vehicles with a state-of-the-art control approach.

关键词： automation Conferences

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Vibration analysis of an actively controlled flexible structure using laser speckle interferometry

Vibration analysis of an actively controlled flexible struct...

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15th International Congress on Sound and Vibration 2008, ICSV 2008

作者： Schirrer, A. Kozek, M. Plank, A. Neumann, M. Badshah, S. Wassermann, J. Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna University of Technology Wiedner Hauptstrasse 8-10 E325 A-1040 Vienna Austria Division of Measurement and Actuator Technology Institute of Mechanics and Mechatronics Vienna University of Technology Wiedner Hauptstrasse 8-10 E325 A-1040 Vienna Austria

ISBN: (纸本)9781627481519

When using a small number of actuators for flexible structure vibration control and these actuators are small compared to the structure, the local effects of the actuators on the structure have to be considered. They are experimentally investigated in this paper by deformation measurements of a large-scale flexible steel beam structure with a piezo-stack actuator mounted via a console. Using laser speckle pattern interferometry, the in-plane and out-of-plane structure responses are measured and analysed. An experimental proof and a quantification of the localization of the actuator effect is given and interpreted for the general application of vibration control to complex flexible structures using piezo-stack actuators.

关键词： Flexible structures

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An actuator fault detection concept for active vibration control of a heavy metro vehicle

An actuator fault detection concept for active vibration con...

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14th International Congress on Sound and Vibration 2007, ICSV 2007

作者： Benatzky, Christian Kozek, Martin Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Vienna Austria

ISBN: (纸本)9781627480000

This paper proposes a hardware redundancy based actuator fault detection concept for the control of a heavy metro vehicle car body. Because of the specific properties of collocated actuator/sensor pairs it can be shown that the proposed method is simple, reliable and inexpensive. Additionally, it avoids the necessity to accurately model the flexible structure under investigation which would be necessary in analytical redundancy based methods. Furthermore, the concept is validated utilizing a 1/10 scaled laboratory model of a heavy metro vehicle car body.

关键词： Vibrations (mechanical)

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An identification procedure for a scaled metro vehicle - Flexible structure experiment 9

An identification procedure for a scaled metro vehicle - Fle...

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2007 9th European control Conference, ECC 2007

作者： Benatzky, Christian Kozek, Martin Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Vienna Austria

ISBN: (纸本)9783952417386

This paper deals with the experimental setup and the identification of a flexible structure laboratory experiment of a 1/10 scaled metro vehicle car body. The test bed setup as well as the measurement equipment are described to point out that the identification of a system description is difficult because not only control inputs and measurements are considered but additionally the excitation inputs and the performance variables have to be incorporated. Where standard state of the art identification techniques fail to obtain a model of the structure a simple yet efficient procedure is given to identify the flexible structure experiment at hand. Finally, closed loop experimental and simulation results are utilized to validate the suitability of the proposed identification procedure. © 2007 EUCA.

关键词： Flexible structures

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Experimental modal analysis of an actively controlled scaled metro vehicle car body

Experimental modal analysis of an actively controlled scaled...

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14th International Congress on Sound and Vibration 2007, ICSV 2007

作者： Popprath, S. Schirrer, A. Benatzky, C. Kozek, M. Wassermann, J. Institute of Mechanics and Mechatronics Division of Measurement and Actuator Technology Wiedner Hauptstraße 8-10/E325/A4 A-1040 Vienna Austria Institute of Mechanics and Mechatronics Division of Control and Process Automation Gußhausstraße 27-29/E325/A5 A-1040 Vienna Austria

ISBN: (纸本)9781627480000

This paper deals with the experimental modal analysis of an actively controlled scaled laboratory model of a flexible metro vehicle car body. To investigate such a control system a 1/10-scaled laboratory model of a metro vehicle car body has been built. control forces are applied to the structure by two piezoelectric stack actuators mounted in specially designed consoles, which are bonded to the side members of the structure. The car body itself is suspended in a test bed frame by four coil springs to obtain a free-free suspension configuration. An electro-dynamic shaker is used to generate broad band excitation forces, which in real operation enter the structure at the application points of the secondary suspension system. The state feedback controller and the observer are designed by an LQR-based modal weighting procedure implemented in Matlab/SIMULINK. To investigate the reduction of the amplitudes of the shaker induced vibrations a non-contact measurement utilizing a laser scanning vibrometer is applied. In order to verify the achieved performance, open and closed loop disturbance-displacement transfer functions and the mode shape corresponding to specific natural modes are identified by an experimental modal analysis. Since the ride quality is mainly influenced by the lowest global vibration modes, the investigation is focused on the first torsional mode and a low vertical bending mode of the car body.

关键词： State feedback

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Comparison of controller design methods for a scaled metro vehicle - flexible structure experiment

Comparison of controller design methods for a scaled metro v...

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American control Conference (ACC)

作者： Christian Benatzky Martin Kozek Hanns Peter Jorgl Institute of Mechanics and Mechatronics Division of Control and Process Automation University of Technology Vienna Vienna Austria

This paper addresses the design and implementation of different controllers on a 1/10 scaled flexible structure experiment of a metro vehicle car body. The particular controller design methods investigated are state vector feedback control combined with a Kalman-filter and the μ -synthesis procedure. Using experimental data it is shown, that with both design methods the structural response to disturbances can be reduced. Nevertheless, because of the fact that the μ -synthesis takes into account the uncertainty associated with the model of the structure as well as the fact that the performance variables to be controlled are not identical to the measurements a better performance is achieved in comparison to the state feedback controller. At the same time the control costs are considerably lower when the μ -synthesis controller is utilized.

关键词： Design methodology Vehicles Flexible structures Frequency Laboratories Damping mechatronics Robust control Cities and towns process control

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