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2015 ECCOMAS Thematic Conference on Multibody dynamics, Multibody dynamics 2015

作者： Lichtenheldt, Roy Hellerer, Matthias Barthelmes, Stefan Buse, Fabian Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Straße 20 Weßling82234 Germany

ISBN: (纸本)9788494424403

Today's growing scientific interest in extraterrestrial bodies increases the necessity of extended mobility on these bodies. Thus, planetary exploration systems are facing new challenges in terms of mission planning, obstacle and soil traversability. In order to fit the tight schedules of space missions and to cover a large variety of environmental conditions, experimental test setups are complemented by numerical simulation models used as virtual prototypes. In this context we present an integrated simulation environment which allows for using different available contact models, ranging from simple but real-time capable approximations based on rigid-body modeling techniques up to very accurate solutions based on Discrete Element Method (DEM). For this work, a one-point Bekker based approach and the so-called Soil Contact Model (SCM), which is a multipoint extension of the Bekker-Wong method taking soil deformation into account, are used. These two contact models are applied for homogeneous models with only one type of contact model for all wheels as well as for a heterogeneous multi-tiered model with different contact models for the wheels. It will be shown that the multi-tiered approach enhances the simulation result accuracy compared to the results of a homogeneous model with a low level of detail while speeding up the simulation in comparison to a homogeneous higher tier model.

关键词： Finite difference method

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Force/Torque Sensor-Free Online Payload Estimation for a Pneumatically Driven Robot

Force/Torque Sensor-Free Online Payload Estimation for a Pne...

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2023 IEEE Conference on Control Technology and Applications, CCTA 2023

作者： Hoffmann, Kathrin Trapp, Christian Hildebrandt, Alexander Sawodny, Oliver University of Stuttgart Institute for System Dynamics StuttgartD-70563 Germany Festo Se & Co. Kg Robotics System Design EsslingenD-73734 Germany

ISBN: (纸本)9798350335446

Robots with pneumatic drives have advantageous physical properties and are lightweight and cost-effective. During operation, a pneumatic robot handles objects of different payloads, which are often not known in advance. Determining the mass of this load is crucial for user assistance functions, trajectory generation and model-based control to increase both productivity and ease of use. In this work, a model-based approach for estimating the mass of a payload gripped by a pneumatically driven robot is presented. This approach does not require additional force or torque sensors, but uses the joint angle and pressure sensors already installed for control purposes. From these signals, the non-measurable effective driving torque is calculated model-based, taking into account the particularities of the pneumatic drives. As a basis for the estimation, the robot equations of motion are formulated such that they are linear in the dynamic parameters of the robot. An optimization problem is set up and solved with a recursive least squares method to estimate the payload online. This is extended by a logic to activate the estimation when a payload is picked. The algorithm is validated experimentally on a pneumatic robot performing a typical pick-and-place task. © 2023 IEEE.

关键词： Equations of motion

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On computing generalized inverses of rational matrices with applications

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ZEITSCHRIFT FUR ANGEWANDTE MATHEMATIK UND MECHANIK 1996年第SUPPL. 1期76卷 571-572页

作者： Varga, A DLR - Oberpfaffenhofen Institute for Robotics and System Dynamics D-82234 Wessling Germany

A numerically reliable computational approach based on descriptor systems techniques is proposed for the computation of the week generalized inverses of rational matrices. The main applications of the proposed method are in solving model matching problems and in computing the inner-outer or J-inner-outer factorizations of rational matrices.

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Application of an optimization-based design process for robust autoland control laws

Application of an optimization-based design process for robu...

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AIAA Guidance, Navigation, and Control Conference and Exhibit 2001

作者： Looye, Gertjan Joos, Hans-Dieter Willemsen, Dehlia German Aerospace Center DLR-Oberpfaffenhofen Institute for Robotics and Mechatronics D-82234 Wessling Germany DLR-Braunschweig Institute for flight system dynamics Germany

ISBN: (纸本)9781563479786

The design of a robust autoland controller using an optimization based design process is described. A modular controller architecture is developed first. Inner loops are based on Dynamic Inversion, speed and longitudinal path tracking loops are based on the Total Energy Control system. Functions for lateral path tracking, ILS guidance, flare and runway alignment are based on classical PID structures. The free parameters in the controller functions are tuned using multi-objective optimization. Performance criteria are directly derived from the imposed design requirements and computed from linear or nonlinear analysis (e.g. eigen-values, simulations). Robustness is addressed via a multi-model approach, via optimization criteria (e.g. gain/phase margins), and, as a new contribution, via statistical criteria computed from on-line Monte-Carlo analysis. The design process and selected architecture have been applied to a wide-body as well as a small passenger aircraft to demonstrate controller robustness and efficiency of the process. In both cases, JAR-AWO specifications had to be met. The latter design was successfully flight tested. © 2001 by the German Aerospace Center DLR.

关键词： Design

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Physical modeling of switched reluctance motors using modelica

Physical modeling of switched reluctance motors using modeli...

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作者： Ji, Y. Bals, J. Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany

ISBN: (纸本)9789881925121

This paper presents a novel Modelica library for physical modeling of switched reluctance machines. In order to deal with the nonlinear characteristics of switched reluctance drives, an analytical approximation function is applied when building a motor model. Furthermore, the look-up table based approach derived by the finite element method for computing the nonlinear model is also considered. Compared with other modeling approaches, physical modeling using the object-oriented modeling language-Modelica often exhibits a significant progress regarding model reusability, flexibility and range of modeling. One application example with a 16 stator 12 rotor poles 4 phase witched reluctance machine is presented to illustrate the use of the developed Modelica switched reluctance machine library.

关键词： Reusability

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A feature map approach to pose estimation based on quaternions 7th

A feature map approach to pose estimation based on quaternio...

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7th International Conference on Artificial Neural Networks, ICANN 1997

作者： Winkler, S. Wunsch, P. Hirzinger, G. German Aerospace Research Establishment DLR Institute of Robotics and System Dynamics Wessling82230 Germany Signal Processing Lab of the Swiss Federal Institute of Technology in Lausanne Switzerland

ISBN: (纸本)3540636315

This paper proposes a novel solution to the problem of pose estimation of three-dimensional objects using feature maps. Our approach relies on quaternions as the mathematical representation of object orientation. We introduce the rigid map, which is derived from Koho-nen's self-organizing feature map. Its topology is fixed and chosen in accordance with the quaternion representation. The map is trained with computer-generated object views such that it responds to a preprocessed input image with one or more sets of object orientation parameters. Experimental results demonstrate that a pose estimate within the accuracy requirements can be found in more than 90% of all cases. Our current implementation operates at near frame rate on real input images. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Self organizing maps

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Indefinite sign Riccati theory for descriptor systems 4

Indefinite sign Riccati theory for descriptor systems

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4th European Control Conference, ECC 1997

作者： Ionescu, V. Oarə, C. Faculty of Automatic Control and Computers University Polytechnica Bucharest Bucharest Romania DLR-Oberpfaffenhofen Institute for Robotics and System Dynamics WesslingD-82239 Germany

ISBN: (纸本)9783952426906

We present a general Riccati theory for systems in descriptor form considered under the weakest possible assumptions imposed on the coefficent matrices. A Riccati-like equation of descriptor form is introduced and its stabilizing solution is characterized in terms of the associated extended Hamiltonian pencil (EHP) whilst the computation of such a solution is reduced to solving a generalized eigenvalue problem for a singular EHP. The results exposed in the paper are generalizations to the game-theoretic (sign indefinite) and singular cases of the (positivity) Riccati theory developed by several authors in the framework of descriptor systems. Possible applications range from various nonstandard and J-spectral factorizations to H2 and H∞ control of descriptor systems.

关键词： Riccati equations

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ANDECS Computational Experimenting with the IAVSD Car-Suspension Benchmark ILTIS

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IFAC Proceedings Volumes 1995年第23期28卷 95-99页

作者： W. Schwartz H.-D. Joos DLR-Oberpfaffenhofen Vehicle Systems Dynamics Institute for Robotics & System Dynamics D-82230 Wessling Germany DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

Nonlinear vehicle system dynamics plays an important role in the development and the assessment of active suspension control systems. The current way of designing active suspension control systems mostly uses simplified models, in order to to apply analytical synthesis methods or to achieve low complexity of the controller when using such methods. However, advanced vehicle design require methodologies, that can deal with more complex vehicle models, as a step towards integrated design. Multi-objective control design is such a methodology, that is open to cope with any controller structure and arbitrary kind of models. In this case study the usefulness of this methodology is investigated by designing an actively controlled vehicle suspension with and without preview for the IAVSD benchmark model ILTIS. The full nonlinear model is used for design. The ’nonlinear’ results are compared to the results of a ’linear’ design, based on linearized vehicle models.

关键词： Computer-Aided Multi-Objective Design Vehicle system dynamics Automotive Car-Suspensions

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A sliding mode control approach to automatic car steering

A sliding mode control approach to automatic car steering

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American Control Conference (ACC)

作者： J. Guldner V.I. Utkin J. Ackermann DLR Institute for Robotics and System Dynamics Wessling Germany

Highway automation is a promising approach to cope with increasing road traffic and congestions. An important control subtask of an intelligent vehicle/highway system is automatic steering for lateral vehicle control. Due to system uncertainties and the wide range of operating conditions, state-of-the-art robust control techniques are required. This paper introduces two automatic steering controllers for cars driving under highway conditions. The control design is based on sliding mode control and robust state observation. It is shown that good tracking of a reference path, delineated either continuously or discretely, can be achieved with a minimum effort in sensing and without preview of the road curvature.

关键词： Sliding mode control Automated highways Automatic control Control systems Robust control Automation Intelligent vehicles Road vehicles Uncertainty Control design

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Design and flight testing of manual flight control laws

Design and flight testing of manual flight control laws

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AIAA Guidance, Navigation and Control Conference 2011

作者： Lombaerts, T.J.J. Looye, G.H.N. German Aerospace Center DLR Münchner Straße 20 82234 Wessling Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (纸本)9781600869525

This paper describes the design of a manual flight controller, based upon nonlinear model-based control laws. These control laws include the previously developed concept of Pseudo Control Hedging (PCH). This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. This control algorithm has been applied in the body angular rate control loops of a high fidelity simulation model of the VFW-614 ATTAS (Advanced Technologies Testing Aircraft system) laboratory aircraft, where its beneficial influence has been illustrated. Test flights have been performed with ATTAS to evaluate the flight control technique in a relevant environment. © 2011 by Thomas Lombaerts and Gertjan Looye, German Aerospace Center DLR. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Control theory

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