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Chinese Automation Congress (CAC)

作者： Jiongqi Wang Zhangming He Dayi Wang Haiyin Zhou Department of Mathematics and Systern Science National University of Defense Technology Changsha Hunan PRC Beijing Institute of Control Engineering China Academy of Space Technology Beijing PRC Department of Mathematics and System Science National University of Defense Technology Changsha Hunan PRC State Key Laboratory of Astronautics Dynamics Xi'an Shanxi PRC

The improvement of unanticipated fault detection and diagnosis (UFDD) capability is a difficult point, and is also a tendency for research and application. In this paper, a general process model (GPM) for unanticipated fault diagnosis is established. And combined with the characteristics of monitoring data, the corresponding diagnosis methods are researched. The model and the methods are used for online unanticipated fault detection, isolation and recognition. The GPM for the unanticipated fault diagnosis is designed, by adopting a three-layer progressive structure, which is comprised of an inherent detection layer (IDL), an unanticipated isolation layer (UIL) and an unanticipated recognition layer (URL). Several key problems in the GPM are analyzed, including the establishment and evaluation of detection statistics, the extraction of fault feature direction, and the design of fault isolation criterion and the calculation of contribution factor. The proposed model and methods are driven by pure data and they can detect and diagnose the unanticipated fault. The proposed approach is evaluated by using an example of a satellite's attitude control system, and excellent results have been obtained.

关键词： Fault detection Monitoring Mathematical model Fault diagnosis Data models Testing Attitude control

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Robust decentralized dynamic control for synchronization of a complex dynamical network with randomly occurring uncertainties

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Nonlinear dynamics 2012年第1期70卷 559-570页

作者： Lee, Tae H. Park, Ju H. Wu, Zheng-Guang Lee, Sang-Choel Lee, Dong Ha Nonlinear Dynamics Group Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus Hangzhou Zhejiang P.R. China Division of IT Convergence/Division of Robotics System DGIST Daegu Republic of Korea

This paper considers synchronization problem of an uncertain complex dynamical network. The norm-bounded uncertainties enter into the complex dynamical network in randomly ways, and such randomly occurring uncertainties (ROUs) obey certain mutually uncorrelated Bernoulli distributed white noise sequences. Under the circumstances, a robust $\mathcal{H}_{\infty}$ decentralized dynamic feedback controller is designed to achieve asymptotic synchronization of the network. Based on Lyapunov stability theory and linear matrix inequality (LMI) framework, the existence condition for feasible controllers is derived in terms of LMIs. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our result.

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Diagnosis of actuator faults using LPV-gain scheduling techniques

Diagnosis of actuator faults using LPV-gain scheduling techn...

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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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Model predictive control for vehicle emergency motion planning based-on flatness

Model predictive control for vehicle emergency motion planni...

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作者： Cong, Yanfeng Chen, Hong Sawodny, Oliver Yu, Zaitao Guo, Shuai State Key Laboratory of Automobile Dynamic Simulation Changchun 130025 China Institute for System Dynamics Stuttgart 70511 Germany Department of Control Science and Engineering Jilin University Changchun 130025 China

ISBN: (纸本)9789881725592

In this paper, we consider the vehicle online motion planning for the avoidance of emergency situations under structured environment as the object of our researching. In the framework of MPC, a motion planning method based on flatness is proposed. Based upon the descriptions and definitions of structured environment, trajectory planning algorithms and strategy are presented. In order to satisfy feasibility and safety, vehicle dynamics constraints are taken into account. The simulation results illustrate that the effect is satisfying. © 2011 Chinese Assoc of Automati.

关键词： Motion planning

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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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Flow Rate Estimation Using Unscented Kalman Filter in Automatic Pouring Robot

Flow Rate Estimation Using Unscented Kalman Filter in Automa...

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SICE Annual Conference

作者： Yoshiyuki Noda Markus Birkhold Kazuhiko Terashima Oliver Sawodny Alexander Verl Department of Mechanical Engineering Toyohashi University of Technology Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University Stuttgart Institute for System Dynamics (ISYS) University Stuttgart

ISBN: (纸本)9784907764388

We describe here a method for estimating the pouring flow rate for tilting-ladle-type automatic pouring robot used in casting industries. To precisely pour molten metal into the mold, controlling the flow rate of liquid flowing out of the ladle is mandatory. However, it is difficult to directly measure the pouring flow rate by using a conventional flow meter, because the flow meter is damaged by the high temperature molten metal. Therefore, in this study, we used a soft sensing technique as part of the pouring flow rate estimation system. The extended Kalman filter was applied to the flow rate estimation of the automatic pouring robot in previous study. The previous approach can be applied only the ladle with smooth shape, because of derivation of Jacobian matrix. However, some ladles with complicated shape which the Jacobian matrix cannot be derived have been used in an actual casting plant. In this paper, an unscented Kalman filter which does not need the Jacobian matrix is applied into the flow rate estimation. The effectiveness of the proposed flow rate estimation method is demonstrated through simulations and experiments.

关键词： Automatic pouring robot Unscented Kalman filter Flow rate estimation Foundry equipment

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Pseudo control hedging and its application for safe flight envelope protection

Pseudo control hedging and its application for safe flight e...

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AIAA Guidance, Navigation, and control Conference

作者： Lombaerts, T.J.J. Looye, G.H.N. Chu, Q.P. Mulder, J.A. Delft University of Technology P.O. Box 5058 2600 GB Delft Netherlands German Aerospace Center DLR Münchner Straße 20 82234 Wessling Germany Control and Simulation Division Faculty of Aerospace Engineering Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (纸本)9781600869624

This paper describes how the previously developed concept of Pseudo control Hedging (PCH) can be integrated in a Fault Tolerant Flight controller (FTFC) as a safe flight envelope protection system of the first degree. This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. As an example, this algorithm has been applied in the pitch rate and velocity control loops of a high fidelity Boeing 747 simulation model where its beneficial influence has been illustrated. The nonlinear adaptive control law used for this example is a triple layered nonlinear dynamic inversion algorithm, based upon the concept of time scale separation. Copyright © 2010 by the authors.

关键词： Flight envelopes

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A distributed minimum restrictive connectivity maintenance algorithm 9th

A distributed minimum restrictive connectivity maintenance a...

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9th IFAC Symposium on Robot control, SYROCO 2009

作者： Wagenpfeil, Jay Trachte, Adrian Hatanaka, Takeshi Fujita, Masayuki Sawodny, Oliver Institute for System Dynamics University Stuttgart Stuttgart70569 Germany Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo152-8552 Japan

ISBN: (纸本)9781617825583

The dynamic character of autonomous mobile multi-agent networks makes the control of the individual agent's movement a challenging task when certain properties or conditions concerning the global network state must be fulfilled. Many distributed algorithms require that the communication topology of the regarded multi-agent network is connected at all times to execute properly. Since particularly motion control algorithms directly influence the connectivity itself, the fundamental question how connectivity of the network can be maintained is raised. As an additional difficulty, individual agents often have only access to local information, whereas connectivity is a property of the global network. In this work, a distributed hybrid connectivity maintenance algorithm is proposed, which guarantees global connectivity of the network based on local information. The algorithm is divided in two components: First, a discrete topology control algorithm determines periodically the structure of a minimum cost spanning tree on the network communication graph. Second, a continuous connectivity motion control algorithm constrains the location of each individual agent such that the determined spanning tree is preserved. This combined algorithm effectively maintains connectivity under the presence of any finite-valued primary motion control law.

关键词： Motion planning

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A distributed minimum restrictive connectivity maintenance algorithm

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IFAC Proceedings Volumes 2009年第16期42卷 365-370页

作者： Jay Wagenpfeil Adrian Trachte Takeshi Hatanaka Masayuki Fujita Oliver Sawodny Institute for System Dynamics University Stuttgart 70569 Stuttgart Germany Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan

Abstract The dynamic character of autonomous mobile multi-agent networks makes the control of the individual agent's movement a challenging task when certain properties or conditions concerning the global network state must be fulfilled. Many distributed algorithms require that the communication topology of the regarded multi-agent network is connected at all times to execute properly. Since particularly motion control algorithms directly influence the connectivity itself, the fundamental question how connectivity of the network can be maintained is raised. As an additional difficulty, individual agents often have only access to local information, whereas connectivity is a property of the global network. In this work, a distributed hybrid connectivity maintenance algorithm is proposed, which guarantees global connectivity of the network based on local information. The algorithm is divided in two components: First, a discrete topology control algorithm determines periodically the structure of a minimum cost spanning tree on the network communication graph. Second, a continuous connectivity motion control algorithm constrains the location of each individual agent such that the determined spanning tree is preserved. This combined algorithm effectively maintains connectivity under the presence of any finite-valued primary motion control law.

关键词： connectivity maintenance distributed algorithm local information dynamic shortest path search multi-agent networks motion coordination

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