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检索条件"机构=Institute of Robotics and System Dynamics DLR Oberpfaffenhofen"

共 204 条记录，以下是1-10 订阅

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Incremental Nonlinear Dynamic Inversion Flight Control for the dlr Reusability Flight Experiment ReFEx

Incremental Nonlinear Dynamic Inversion Flight Control for t...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Gäßler, Björn Robens, Johannes German Aerospace Center Institute for System Dynamics and Control Space Systems Department DLR German Aerospace Center Institute of System Dynamics and Control OberpfaffenhofenD-82234 Germany

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The Reusability Flight Experiment (ReFEx) is a technology demonstrator developed by the German Aerospace Center (dlr) for a launch vehicle with vertical takeoff and horizontal landing capabilities. Its objective is to verify key technologies critical to the reusability of a launch vehicle’s first stage and boosters. During atmospheric flight, the vehicle’s trajectory spans a wide range of Mach numbers and angles of attack. The vehicle encounters substantial shifts in dynamic pressure and highly nonlinear aerodynamic effects. These include sign changes in the control derivatives and singularities, where the lateral motion may become uncontrollable. The aerodynamic control surfaces, which are applied to control the vehicle’s attitude, exhibit strong cross-coupling and varying effectiveness. Given the uncertainties in the vehicle’s mechanical properties and aerodynamic data, a reliable control design capable of handling the uncertainties and disturbances is essential. The flight controller presented in this paper addresses these challenges by combining a cascaded control architecture based on nonlinear dynamic inversion (NDI) with an incremental NDI approach for control allocation. For fast guidance reference signal tracking the presented controller employs feed-forward control while uncertainties, disturbances and model mismatches are compensated by linear feedback controllers. A control allocation based on a damped-least squares optimization approach determines aerodynamic control surface deflections and prevents excessive control actions in the vicinity of singularities. Simulation results and Monte Carlo campaigns validate the selected control approach and demonstrate that the proposed flight controller is capable of tracking the trajectory in the presence of disturbances and uncertainties. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Angle of attack

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MoRC—A Modular Robot Controller

MoRC—A Modular Robot Controller

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IEEE International Conference on robotics and Automation (ICRA)

作者： Carsten Oldemeyer Matthias Hellerer Matthias Reiner Bernhard Thiele Patrick Weber Tobias Bellmann Institute of System Dynamics and Control German Aerospace Center (DLR) Oberpfaffenhofen Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

MoRC is a high-performance modular robot controller based on the Functional Mock-up Interface (FMI) standard. The goal is to control any (industrial) robot with electrical drives using a customizable vendor-agnostic control cabinet and an innovative, self-developed software architecture based on exchangeable multi-rate real-time control components with standardized interfaces. On the hardware side, the use of EtherCAT (Ethernet for Control Automation Technology) allows connecting a freely selectable number of COTS (commercial off-the-shelf) electrical drives and sensors. On the software side, this is matched with exchangeable control software modules based on the FMI standard. Those can be interconnected for forming user-defined multi-rate control structures which can be executed as synchronized real-time threads on a central Linux-based multi-core computing unit. That unlocks additional computational potential for advanced high-frequency control algorithms. Control structures can be switched at runtime to handle highly diverse control tasks. This paper presents the architectural concepts as well as first experiments on an industrial robot testbed.

关键词： Service robots Software architecture Switches Industrial robots Control systems Software Real-time systems

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Characterization of the MMX Rover Locomotion Flight Model for Check-Out and Parameterization

Characterization of the MMX Rover Locomotion Flight Model fo...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Fabian Buse Maxime Chalon Bastian Deutschmann Franz Hacker Roman Holderried Alexander Kolb Viktor Langofer André Fonseca Prince Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control German Aerospace Center (DLR) Institute of Robotics and Mechatronics

IDEFIX is a four-wheeled 25kg rover that is jointly developed and built by the French Centre National d’Études Spatiales (CNES) and the German Aerospace Center (dlr). It will be brought to the Martian Moon Phobos by the Japan Aerospace Exploration Agency (JAXA) as part of the Martian Moons eXploration (MMX) mission in 2027. IDEFIX’s objectives are to scout the surface, demonstrate driving in milligravity and perform scientific measurements. To upright after landing on the surface, drive and align the rover to the sun, each wheel is mounted on a leg, which can be rotated full 360° in its respective shoulder joint. In previous publications, the development, flight design and qualification of the locomotion subsystem were *** the cruise phase there will be several health checks and – once landed on Phobos – the locomotion will be checked-out. To be able to analyze the health state quantitatively and parameterize the system properly, a good characterization of the system is important. The foundation of this characterization are tests and health-checks on the flight model (FM), as well as performance test results on the qualification model (QM). A selection of the post-processing and analysis of this measured data, that was done for the characterization of the Loco FM, is presented in this paper.

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The dlr Moon-Mars Test Site for Robotic Planetary Exploration

The DLR Moon-Mars Test Site for Robotic Planetary Exploratio...

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Space robotics (iSpaRo), International Conference on

作者： Martin Görner Jennifer Cebulsky Andreas Dömel Maximilian Durner Riccardo Giubilato Moritz Kuhne Marcus G. Müller Kristin Lakatos Peter Lehner Roy Lichtenheldt Bernhard Rebele Mattias Roser Ryo Sakagami Yunis Scheeler Martin J. Schuster Manuel Schütt Wolfgang Stürzl Mallikarjuna Vayugundla Armin Wedler Institute of Robotics and Mechatronics German Aerospace Center (DLR) BL9 Landscape Architects Munich Germany Institute of System Dynamics and Control German Aerospace Center (DLR)

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Building robots for planetary exploration missions requires intensive testing throughout all phases of the design process. Especially, during hard- and software development as well as mission training the process benefits of easy-to-access test sites that offer realistic conditions. For this purpose we have built the 1500 m 2 dlr Moon-Mars test site in oberpfaffenhofen, Germany. The facility provides a large variety of geological formations and ground substrates on a compact terrain as well as a rich set of power and network connections. As a unique feature of the outdoor test site, we prepared a dedicated link to the German Space Operations Center that enables telerobotic experiments from ISS. Furthermore, we provide an optical tracking system for ground truth measurement and control. We describe the design and construction process of the test site and present an overview of its features. Three experiments with our robots LRU1, LRU2 and the Scout rover regarding autonomous navigation and mapping, autonomous manipulation and sampling as well as advanced mobility tests demonstrate the usage of the test site.

关键词： Training Industries Service robots Space missions Optical variables measurement Optical fiber communication Robots Substrates Telerobotics Software development management

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Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos

Qualification of the MMX Rover Locomotion Subsystem for the ...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Günther Geyer Franz Hacker Cynthia Hofmann Roman Holderried Alexander Kolb Erich Krämer Viktor Langofer Roy Lichtenheldt Sascha Moser André Fonseca Prince Kaname Sasaki Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control Weßling German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling German Aerospace Center (DLR) Institute of Space Systems Bremen

Planetary rovers have proven their function and value for the Earth moon as well as Mars in the past decades. While these celestial bodies have a gravity of the same order of magnitude as the Earth, wheeled locomotion has never been performed on a body with much lower gravity. Within the Japanese Martian Moon eXploration (MMX) mission, a wheeled rover will land on the Martian Moon Phobos with a gravity of about 1/2000 of the Earth gravity. The Robotic and Mechatronics Center of the German Aerospace Center (dlr-RMC) has designed and built the locomotion subsystem (LSS) for this rover. As the first ever driving gear for milli-gravity, the LSS needed to undergo a comprehensive qualification campaign. Due to the very challenging timeline of this project, the extent of the campaign needed to be carefully tailored to the needs of the mission. This work describes the concept of the verification including some crucial tailoring choices that have been made. The individual domains of verification are then described in detail with their scope, setup, procedure and results. The goal of this publication is to give a good overview and a detailed insight into the verification of the LSS for milli-gravity. Besides follow-up missions to Phobos, this work is also a good foundation for the qualification of future driving gears for low gravity environments or small rovers in general.

关键词： Earth Space vehicles Mars Mechatronics Gears Moon Mobile robots

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Multi-Agent Reinforcement Learning for Cooperative Vehicle Motion Control

Multi-Agent Reinforcement Learning for Cooperative Vehicle M...

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International Conference on Intelligent Transportation

作者： Kenan Ahmic Johannes Ultsch Jonathan Brembeck Darius Burschka Institute of System Dynamics and Control at the German Aerospace Center (DLR) Wessling Germany Chair of Robotics Artificial Intelligence and Embedded Systems Technical University of Munich (TUM) Munich Germany

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

The longitudinal and lateral low-level motion control of multiple vehicles within a platoon is a challenging task, since several different control objectives need to be solved: (i) Each vehicle in the platoon needs to follow the reference path, (ii) the leading vehicle needs to drive with a desired reference velocity, and (iii) the following vehicles need to maintain a safe spacing distance to their respective preceding vehicle. Typically, several distinct controllers are developed for each task individually, which increases both the engineering effort as well as the susceptibility to errors. We address this issue and present a cooperative low-level vehicle motion controller based on Multi-Agent Reinforcement Learning (MARL) that is able to solve all of the above-mentioned control objectives for both the leading vehicle and the following vehicles. Therefore, we apply parameter sharing within MARL to update a single control policy in a centralized fashion using the experiences of all vehicles in the environment. Additionally, we utilize the concept of agent indication during the training process and enable the policy to specialize on the control objectives of the vehicle it is currently controlling. This leads to a unifying control approach and makes the development of further controllers redundant. The simulative assessment demonstrates the effectiveness of learned policy and shows that it is able to successfully solve all of the above-mentioned control objectives for both vehicles roles, even on unseen paths.

关键词： Training Process control Reinforcement learning Drives Vectors Robustness Collision avoidance Intelligent transportation systems

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MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem - Development and Testing tow...

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IEEE Conference on Aerospace

作者： Stefan Barthelmes Thomas Bahls Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Franz Hacker Roman Holderried Viktor Langofer Roy Lichtenheldt Sascha Moser Kaname Sasaki Hans-Jü rgen Sedlmayr Juliane Skibbe Leon Stubbig Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control WeBling German Aerospace Center (DLR) Institute of Robotics and Mechatronics WeBling German Aerospace Center (DLR) Institute of Space Systems Bremen

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover.

关键词： Space vehicles Mars Frequency modulation Mechatronics Moon Writing Thermal sensors

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IEEE VTS Motor Vehicles Challenge 2023: A Multi-physical Benchmark Problem for Next Generation Energy Management Algorithms

IEEE VTS Motor Vehicles Challenge 2023: A Multi-physical Ben...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jonathan Brembeck Ricardo De Castro Jakub Tobolář Iman Ebrahimi German Aerospace Center (DLR) Institute of System Dynamics and Control (SR) Oberpfaffenhofen Germany Dept. of Mechanical Engineering University of California Merced

ISBN: (纸本)9781665475884

This article presents a benchmark problem that researchers can use to evaluate the performance of energy management algorithms for multi-energy source and multimotor electric vehicles. The model makes use of Modelica, an open source, a-causal, object-oriented language for modeling cyber-physical systems in multi-domains (e.g. electrical, mechanical, thermal) of the vehicle components. The model also includes the aspect of three-dimensional mechanics, which enables completely new degrees of freedom in the controller design in comparison to one-dimensional approaches. To support interoperability among multiple design tools, the Modelica vehicle model is provided as a Functional Mockup Unit, an industry standard for exchange of simulation models. A set of standardized input-output interfaces and key performance metrics is also provided in the benchmarking problem, enabling the systematic ranking of multiple energy management strategies.

关键词： Solid modeling systematics Object oriented modeling Heuristic algorithms Benchmark testing Propulsion Energy management

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Experimental Validation of Online Motion Planning for Semi-Autonomous Vehicles

Experimental Validation of Online Motion Planning for Semi-A...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Christoph Winter Ricardo De Castro Tilman Bünte Institute of System Dynamics and Control German Aerospace Center (DLR) Oberpfaffenhofen Germany Department of Mechanical Engineering University of California Merced Merced United States of America

ISBN: (纸本)9781665475884

This work describes the optimization of paths and velocity profiles for the usage in semi-autonomous vehicles. The focus of the optimization lies on an energy efficient motion while considering the driver’s longitudinal demands. The trade-off between travel time and energy consumption of the vehicle can be directly chosen by the driver. With help of a nonlinear model predictive control framework the global optimum of the velocity optimization with nonlinear constraints based on the vehicle’s physical limits is found. The online path planner together with the online velocity planner provide the input to the underlying vehicle’s control modules, as a basis for automated driving. The effectiveness of the proposed approach is shown via hardware-in-the-loop tests and real-world driving tests.

关键词： Energy consumption Propulsion Programming Energy efficiency Planning Optimization Vehicles

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Collision handling with elastic response calculation and zero-crossing functions 19

Collision handling with elastic response calculation and zer...

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Proceedings of the 9th International Workshop on Equation-based Object-oriented Modeling Languages and Tools

作者： Andrea Neumayr Martin Otter DLR Institute of System Dynamics and Control Oberpfaffenhofen Germany

ISBN: (纸本)9781450377133

The prototype Modia3D is used to test and evaluate ideas for modeling and simulating larger and more complex 3-dimensional systems than it is possible with a pure equation-based modeling system such as current Modelica. Collision handling in Modia3D is performed on convex geometries with elastic response calculation using an improved formulation of the contact forces and torques. The computed penetration depths and Euclidean distances are utilized in a novel way as zero-crossing functions. The resulting differential algebraic equations are solved with a variable-step solver.

关键词： modia Modia3D minkowski portal refinement algorithm Modelica hysteresis Julia zero-crossing function elastic force law collision handling response calculation

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