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NASA/ESA Conference on Adaptive Hardware and systems (AHS)

作者： Daniel Ossmann Franciscus L. J. van der Linden Institute of System Dynamics and Control German Aerospace Center (DLR) Oberpfaffenhofen Germany

Moving towards the more electric aircraft to be able to replace mechanic, hydraulic and pneumatic components of an aircraft, the aircraft industry calls for new technologies able to support this trend. One of these technologies is the development of advanced electro-mechanical actuators for aircraft control surfaces. Step by step hydraulic actuators are replaced by their electro-mechanical alternatives featuring weight and cost savings. As hydraulic actuators are used for decades by the aircraft industry, they are augmented with advanced signal and model based fault detection and diagnosis systems able to monitor the actuator and initiate adaptations in case of failures. For electro-mechanical actuators such advanced monitoring systems are still in the initial stages. In this paper, fault detection and isolation filters are designed by applying advanced residual filter synthesis algorithms to be able to monitor the sensor of electro-mechanical actuators. This paves the way for possible adaptations in electro-mechanical actuator systems in case of failures.

关键词： Actuators Aircraft Load modeling Mathematical model Fault detection Monitoring Gears

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Optimization based tuning of fault detection and diagnosis systems for safety critical systems 19

Optimization based tuning of fault detection and diagnosis s...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Ossmann, Daniel Institute of System Dynamics and Control DLR Oberpfaffenhofen WesslingD-82234 Germany

ISBN: (纸本)9783902823625

The reliable detection of faults located in the control loop of safety critical systems is an important aspect in reducing potential hazards induced by possible faults. Any fault detection and diagnosis system for a safety critical system has to fulfill strong safety specifications which can be expressed in terms of different performance criteria as detection time performance, missed detection rate, or false alarm rate. To satisfy all design requirements in the presence of unknown external signals and parametric uncertainties a tuning of the free parameters in the fault detection and diagnosis system often becomes necessary after the design of residual filters. In this paper an advanced approach to tune these free parameters based on a multi objective parameter optimization setup is presented. © IFAC.

关键词： Fault detection

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A fault diagnosis based reconfigurable longitudinal control system for managing loss of air data sensors for a civil aircraft 19

A fault diagnosis based reconfigurable longitudinal control ...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Varga, A. Ossmann, D. Joos, H.-D. Institute of System Dynamics and Control DLR Oberpfaffenhofen WesslingD-82234 Germany

ISBN: (纸本)9783902823625

An integrated fault diagnosis based fault tolerant longitudinal control system architecture is proposed for civil aircraft which can accommodate partial or total losses of angle of attack and/or calibrated airspeed sensors. A triplex sensor redundancy is assumed for the normal operation of the aircraft using a gain scheduled longitudinal normal control law. The fault isolation functionality is provided by a bank of 6 fault detection filters, which individually monitor each of the 6 sensors using robust low order LPV residual generators. In the case of losses of up to 5 sensors, a fault estimation technique based on LPV estimators can be employed to reconstruct the missing sensor information necessary for gain scheduling. In the worst case of a total failure of all 6 sensors, a robust constant longitudinal control law is employed which ensures a basic longitudinal control performance. The proposed control architecture fulfils the basic requirements formulated in the Benchmark Problem in the RECONFIGURE project. © IFAC.

关键词： Fault detection

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Inverse model based torque vectoring control for a rear wheel driven battery electric vehicle 19

Inverse model based torque vectoring control for a rear whee...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Bünte, T. Kaspar, S. Hohmann, S. Brembeck, J. Institute of System Dynamics and Control DLR Oberpfaffenhofen Germany BMW Group Munich Germany Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9783902823625

This paper presents the torque vectoring control concept for a vehicle with two powerful wheel individual electric drives at the rear axle. The direct yaw moment control which is enabled by the torque difference offers the potential for shaping the vehicle's yaw dynamics in a considerable range. The control concept introduced here is primarily oriented at the practical target of demonstrating the potential of the prototype vehicle's innovative rear axle. Nevertheless, together with the tools presented here it is conveniently adaptable to any vehicle data. The focus is on yaw dynamics control. A reference yaw rate is determined by combining conveniently tunable linear dynamics with a nonlinear steady state gain, the latter in order to establish a desired self-steering behavior. In order to reshape the yaw response after steering inputs an inverse single track model is used as a significant part of the applied feedforward control. Moreover, the same inverse model is employed by the optional yaw rate feedback control which is based on the inverse disturbance observer scheme. Both the effectiveness of the control concept and the practical ease of control parameter tuning were validated in driving experiments. © IFAC.

关键词： Vector control (Electric machinery)

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Central Vehicle dynamics Control of the Robotic Research Platform RoboMobil

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ATZelektronik worldwide 2014年第3期9卷 58-64页

作者： Tilman Bünte Lok Man Ho Clemens Satzger Jonathan Brembeck DLR Oberpfaffenhofen Germany Department of Vehicle System Dynamics Institute of System Dynamics and Control Munich Germany

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Robust torque vectoring control 19

Robust torque vectoring control

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Kaspar, S. Ludwig, J. Bünte, T. Hohmann, S. BMW Group Forschung und Technik Munich Germany Institute of System Dynamics and Control DLR Oberpfaffenhofen Germany Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9783902823625

An investigation on the robustness of a torque vectoring control based on an inverse disturbance observer architecture for a rear wheel driven vehicle with electric single wheel drives is presented within this contribution. To ensure robust control parameters, specifications for eigenvalues (γ-stability) and bounds on weighted sensitivity and complementary sensitivity functions in frequency domain (β-stability) are formulated and transfered into parameter space. Simulation results show the effectiveness of the chosen controller design and parameter setup. © IFAC.

关键词： Vector control (Electric machinery)

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A fault diagnosis based reconfigurable longitudinal control system for managing loss of air data sensors for a civil aircraft

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IFAC Proceedings Volumes 2014年第3期47卷 3489-3496页

作者： A. Varga D. Ossmann H.-D. Joos Institute of System Dynamics and Control DLR Oberpfaffenhofen D-82234 Wessling Germany

关键词： Flight control system fault detection and isolation sensor faults fault estimation fault tolerant control

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Optimization based tuning of fault detection and diagnosis systems for safety critical systems

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IFAC Proceedings Volumes 2014年第3期47卷 8570-8575页

作者： Daniel Ossmann Institute of System Dynamics and Control DLR Oberpfaffenhofen D-82234 Wessling Germany

关键词： Fault detection optimization safety critical systems

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Worst case braking trajectories for robotic motion simulators

Worst case braking trajectories for robotic motion simulator...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Andreas Labusch Tobias Bellmann Karan Sharma Johann Bals German Aerospace Center (DLR) Institute of System Dynamics and Control Oberpfaffenhofen Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Oberpfaffenhofen Germany

Motion simulators based on industrial robots can produce high dynamic accelerations and velocities compared to classical hydraulic hexapod systems. In case of emergency stops, large and possibly harmful accelerations can occur. This paper aims to provide an optimization procedure to generate worst case trajectories in order to test for these harmful accelerations, by maximizing the kinetic energy prior the emergency stop. The dynamical and mechanical limits of the robot are considered as constraints of the optimization criterion. An exemplary worst case trajectory is simulated using a braking model and the resulting Head Injury Criterion (HIC) is calculated and compared with older tests, using non-optimized trajectories. A significant higher, yet with the current robot dynamics not harmful HIC value can be generated.

关键词： Trajectory Acceleration Joints Kinetic energy Service robots Optimization

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On solving periodic ℋ2-optimal fault detection and isolation problems

On solving periodic ℋ2-optimal fault detection and isolatio...

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European Control Conference (ECC)

作者： A. Varga DLR - Oberpfaffenhofen Institute of System Dynamics and Control Wessling Germany

A lifting-free computational method is proposed to solve approximate fault detection and isolation problems for periodic systems using an ℋ 2 -optimal model matching approach. The synthesis procedure relies on two key computational procedures: a numerically reliable algorithm to determine least order annihilators of periodic systems to reduce the periodic ℋ 2 -optimal model matching problem to a simpler standard form and a recently developed algorithm to compute inner-outer factorizations of periodic systems which allows a further reduction to a ℋ 2 minimal distance problem. If the resulting fault detection filter is not stable and/or not causal, then a final stabilization step is performed using periodic coprime factorization techniques. The overall computational algorithm has strongly coupled computational steps, where all available structural information at the end of each computational step are fully exploited in the subsequent computations.

关键词： Computational modeling Fault detection Numerical models Vectors Noise Detectors Reliability

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