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AIAA Guidance, Navigation and Control Conference 2011

作者： Varga, Andreas Hecker, Simon Ossmann, Daniel Department of System Dynamics and Control Institute of Robotics and Mechatronics DLR Oberpfaffenhofen D-82234 Wessling Germany Department of Electrical Engineering and Information Technology University of Applied Sciences Munich D- 80335 Munich Germany

ISBN: (纸本)9781600869525

We present a new approach for the synthesis of robust fault detection filters for the model based diagnosis of actuator faults. The underlying synthesis model is a linear pa- rameter varying (LPV) description obtained using a combination of analytic and numerical parameter fitting techniques. The actuator LPV model contains uncertain parameters which are partly measurable, thus can be used for gain scheduling, and partly not measur- able, for which robustness must be ensured. The detector synthesis approach is basically a parametric nullspace method combined with min-max parameter fitting. The synthesis technique is applied to the diagnosis of two classes of actuator faults for a civil aircraft: elevator runaway and elevator jamming at null position. © 2011 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Elevators

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Periodic disturbance rejection of a PMSM with adaptive control algorithms

Periodic disturbance rejection of a PMSM with adaptive contr...

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical model of the PMSM is necessary. A model with nonlinear dynamics and a Fourier approach for the ripples is used as a mathematical description. Through comparisons between measured data and simulated data it is shown that the model assumptions are valid. The adaptive algorithm is implemented as an add-on controller to the already existing control system which consists of a feedforward part and a basis controller. The challenge is that the closed loop system has a resonant frequency and the algorithm should have the same performance for all frequencies. Experimental results show the performance and convergence of the adaptive algorithm at constant and non constant velocity.

关键词： Torque Mathematical model Transfer functions Control systems Feedforward neural networks Equations Adaptation models

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Gearbox Ripple Rejection of Robots Using Observer and Adaptive Control Theory

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IFAC Proceedings Volumes 2011年第1期44卷 893-898页

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Muenchner Str. 20 Department of Electrical and Computer Engineering University of Utah 50 S Central Campus Dr. Salt Lake City UT 84112 USA

Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application.

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Multi-level power quality assessment towards virtual testing of more electric aircraft

Multi-level power quality assessment towards virtual testing...

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2010 9th International Power and Energy Conference, IPEC 2010

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

ISBN: (纸本)9781424473991

This paper introduces a multi-level power quality assessment approach towards virtual testing of more electric aircraft. Three levels with increasing accuracies are rough, approximated and exact power quality assessment. The requirement to the accuracy of power quality assessment strongly depends on different analysis jobs. With the multi-level power quality assessment approach, both sufficient accuracy and minimal cost can be ensured. Advanced steady-state analysis approaches for the switched power electronic systems with regard to the exact power quality assessment are introduced. The convergence performance of the applied steady-state analysis approaches is significantly improved by estimation of the state variables at steady-state using a generalized averaging technique. The proposed approach that has been implemented in Dymola is demonstrated by a pulse width modulated buck converter. ©2010 IEEE.

关键词： DC-DC converters

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Optimization based steady-state analysis of switched power electronic systems

Optimization based steady-state analysis of switched power e...

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2010 IEEE 12th Workshop on Control and Modeling for Power Electronics, COMPEL 2010

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

ISBN: (纸本)9781424474639

This paper introduces an optimization based approach towards steady-state analysis of switched power electronic systems. The convergence performance of the optimization is improved by the estimation of the state variables in steady-state. Accurate state variable estimation can be achieved by previously simulating a set of multi-resolution approximations - averaged models of the original topological model using generalized averaging technique. An unified harmonic state space representation for a wide class of power electronic systems is presented to allow automatical generation of the averaged models with selective approximation accuracy. The proposed approach that has been implemented in Dymola is demonstrated by a pulse width modulated buck converter.

关键词： State space methods

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Health Monitoring for the Electrical Network of More Electric Aircraft

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AIP Conference Proceedings 2010年第1期1247卷 86-99页

作者： Yang Ji Johann Bals aDepartment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany bDepartment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany

In this paper, a health monitoring problem for the electrical network of more electric aircraft is addressed. To undertake the health monitoring task, the multi‐model detection technique is applied. Multi‐model based approach associates to each health status a corresponding linear time invariant model which is derived by adjusting appropriately the non‐faulty system model to a particular fault situation. The original health monitoring problem can be therefore formulated as a model detection problem. Besides the introduction of the theoretical preliminary of multi‐model based approach, the computer‐aided design process, right‐sized modelling and realtime simulation based validation for residual generator with Dymola and Matlab are also discussed. Health monitoring for an input filter of an DC motor drive serves as an application case to illustrate the proposed scheme. The designed residual generators are validated on the original nonlinear system with time‐domain simulation.

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On periodic waves governed by the extended Korteweg-de Vries equation

On periodic waves governed by the extended Korteweg-de Vries...

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作者： Braun, Manfred Randrüüt, Merle Department of Mechanics and Robotics Institute of Mechatronics and System Dynamics University of Duisburg-Essen Lotharstraße 1 47057 Duisburg Germany Centre for Nonlinear Studies Institute of Cybernetics Tallinn University of Technology Akadeemia tee 21 12618 Tallinn Estonia

The evolution equation describing the propagation of one-dimensional waves in a microstructured material has the form of an extended Korteweg-de Vries equation, where the additional term reflects the influence of micrononlinearity. As shown by lanno and Engelbrecht (J. Phys. A: Math. Gen., 2005, 38, 5159-5172), solitary waves in a microstructured material become asymmetric if nonlinearities are taken into account in both macro- and microscale. The present paper generalizes previous results to periodic waves which, in the KdV case, have the form of cnoidal waves. It is shown that, due to the nonlinearity in microscale, these waves become inclined in the same manner as solitary waves, while the relations between the period, amplitude, and velocity are not affected.

关键词： Cnoidal waves Kdv equation Materials with microstructure Solitary waves

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A Novel Modelica Signal Analysis Tool towards Design of More Electric Aircraft

A Novel Modelica Signal Analysis Tool towards Design of More...

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2010 3rd IEEE International Conference on Computer Science and Information Technology—ICCSIT 2010

作者： J. Bals Deportment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool-Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Signal analysis More Electric Aircraft

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A novel Modelica signal analysis tool towards design of more electric aircraft

A novel Modelica signal analysis tool towards design of more...

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International Conference on Computer Science and Information Technology (CSIT)

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

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool - Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Mathematical model Computer languages Analytical models Lead MATLAB

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Optimization based steady-state analysis of switched power electronic systems

Optimization based steady-state analysis of switched power e...

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IEEE Workshop on Computers in Power Electronics

作者： Y. Ji A. Pfeiffer J. Bals Department of System Dynamics and Control German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany

关键词： Optimization Steady-state Harmonic analysis Computational modeling Tuners Numerical models Switches

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