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Observer design for a railway running gear with independently rotating wheels

IFAC-PapersOnLine 2019年第15期52卷 325-330页

作者： Alexander Keck Christoph Schwarz Thomas Meurer Institute of System Dynamics and Control German Aerospace Center Münchener Str. 20 82234 Oberpfaffenhofen-Wessling Germany Chair of Automatic Control Faculty of Engineering Kiel University Kaiserstraße 2 24143 Kiel Germany

The German Aerospace Center bundles its railway research in the long-term project “Next Generation Train” (NGT). The NGT is a high speed train concept in light-weight design and double-deck configuration. To reduce wheel and rail wear and to enhance the passenger capacity, a mechatronic running gear with independently rotating wheels (IRW) is designed. This configuration requires an advanced control of the lateral dynamics in order to fully exploit the potential in minimizing wear and noise. In terms of a model-based control design, the controller performance highly depends on the estimated lateral position of the running gear relative to the track. In a practical environment it is difficult to directly measure this displacement of the wheel-pair. Therefore this article deals with the question which sensor configuration enables an appropriate estimation of the lateral displacement and is suitable for observer design. Hence, an observability analysis and an observer synthesis to estimate the lateral position for the nonlinear system of the 1:5 scaled hardware running gear is carried out. For validation purposes three estimators are implemented at the real-time environment of the testbed and the estimation errors of the observer configurations are compared.

关键词： Nonlinearity Observability Observers Extended Kalman filters Railways

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Disturbance decoupling using a novel approach to integral sliding-mode 15

Disturbance decoupling using a novel approach to integral sl...

引用

15th International Workshop on Variable Structure systems, VSS 2018

作者： Posielek, Tobias Wulff, Kai Reger, Johann Institute of System Dynamics and Control WesslingD-82234 Germany Technische Universität Ilmenau Control Engineering Group IlmenauD-98684 Germany

ISBN: (纸本)9781538664391

We propose a novel approach to design an integral sliding mode control (ISMC) for a nonlinear system in regular form. The control method is capable to compensate a class of matched and, in particular, unmatched uncertainties with respect to some given output. Conditions for stability and decoupling are presented. For the case of linear nominal dynamics these conditions take a very simple form. A direct comparison to conventional design methods for ISMC is given and the concepts are illustrated using a simulation example. © 2018 IEEE.

关键词： Sliding mode control

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Flatness-Based Feed-Forward control Design for Solenoid Actuators Considering Eddy Currents

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IFAC-PapersOnLine 2019年第15期52卷 567-572页

作者： Tristan Braun Johannes Reuter Joachim Rudolph ZF Friedrichshafen AG Corporate Research & Development 88038 Friedrichshafen Germany Institute of System Dynamics Konstanz University of Applied Sciences 78462 Konstanz Germany Chair of Systems Theory and Control Engineering Saarland University Campus A5 1 66123 Saarbrücken Germany

Flatness-based feed-forward control of solenoid actuators is considered. For precise motion planning and accurate steering of conventional solenoids, eddy currents cannot be neglected. The system of ordinary differential equations including eddy currents, that describes the nonlinear dynamics of such actuators, is not differentially flat. Thus, a distributed parameter approach based on a diffusion equation is considered, that enables the parametrization of the eddy current by the armature position and its time derivatives. In order to design the feedforward control, the distributed parameter model of the eddy current subsystem is combined with a typical nonlinear lumped parameter model for the electrical and mechanical subsystems of the solenoid. The control design and its application are illustrated by numerical and practical results for an industrial solenoid actuator.

关键词： differential flatness feed-forward control motion planning distributed parameter systems diffusion equation eddy currents solenoid valves

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Sausage, kink, and fluting MHD wave modes identified in solar magnetic pores by Solar Orbiter/PHI

arXiv

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arXiv 2024年

作者： Jafarzadeh, S. Schiavo, L.A.C.A. Fedun, V. Solanki, S.K. Stangalini, M. Calchetti, D. Verth, G. Jess, D.B. Grant, S.D.T. Ballai, I. Gafeira, R. Keys, P.H. Fleck, B. Morton, R.J. Browning, P.K. Silva, S.S.A. Appourchaux, T. Gandorfer, A. Gizon, L. Hirzberger, J. Kahil, F. Suárez, D. Orozco Schou, J. Strecker, H. del Toro Iniesta, J.C. Valori, G. Volkmer, R. Woch, J. Max Planck Institute for Solar System Research Justus-von-Liebig-Weg 3 Göttingen37077 Germany School of Physics & Astronomy The University of Manchester Oxford Road ManchesterM13 9PL United Kingdom Department of Mathematics Physics and Electrical Engineering Northumbria University Newcastle upon TyneNE1 8ST United Kingdom Plasma Dynamics Group Department of Automatic Control and Systems Engineering The University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom ASI Italian Space Agency Via del Politecnico snc RomeI-00133 Italy Plasma Dynamics Group School of Mathematics and Statistics The University of Sheffield Hicks Building Hounsfield Road SheffieldS3 7RH United Kingdom Astrophysics Research Centre School of Mathematics and Physics Queen’s University Belfast BelfastBT7 1NN United Kingdom Department of Physics and Astronomy California State University Northridge NorthridgeCA91330 United States Instituto de Astrofísica e Ciências do Espaço Department of Physics University of Coimbra Coimbra3040-004 Portugal ESA Science and Operations Department c/o NASA Goddard Space Flight Center GreenbeltMD20771 United States Univ. Paris-Sud Institut d’Astrophysique Spatiale UMR 8617 CNRS Bâtiment 121 Orsay91405 Cedex France Apartado de Correos 3004 GranadaE-18080 Spain Leibniz-Institut für Sonnenphysik Schöneckstr. 6 FreiburgD-79104 Germany Institut für Astrophysik und Geophysik Georg-August-Universität Göttingen Friedrich-Hund-Platz 1 Göttingen37077 Germany

Solar pores are intense concentrations of magnetic flux that emerge through the Sun’s photosphere. When compared to sunspots, they are much smaller in diameter and hence can be impacted and buffeted by neighbouring granular activity to generate significant magnetohydrodynamic (MHD) wave energy flux within their confines. However, observations of solar pores from ground-based telescope facilities may struggle to capture subtle motions synonymous with higher-order MHD wave signatures due to seeing effects produced in the Earth’s atmosphere. Hence, we have exploited timely seeing-free and high-quality observations of four small magnetic pores from the High Resolution Telescope (HRT) of the Polarimetric and Helioseismic Imager (PHI) on board the Solar Orbiter spacecraft, during its first close perihelion passage in March 2022 (at a distance of 0.5 au from the Sun). Through acquisition of data under stable observing conditions, we have been able to measure the area fluctuations and horizontal displacements of the solar pores. Cross correlations between perturbations in intensity, area, line-of-sight velocity, and magnetic fields, coupled with the first-time application of novel Proper Orthogonal Decomposition (POD) techniques on the boundary oscillations, provide a comprehensive diagnosis of the embedded MHD waves as sausage and kink modes. Additionally, the previously elusive m = 2 fluting mode is identified in the most magnetically isolated of the four pores. An important consideration lies in how the identified wave modes contribute towards the transfer of energy into the upper solar atmosphere. We find that the four pores examined have approximately 56%, 72%, 52%, and 34% of their total wave energy associated with the identified sausage modes, and around 23%, 17%, 39%, and 49% to their kink modes, respectively, while the first pore also has around an 11% contribution linked to the fluting mode. This study marks the first-time identification of concurrent sausage, kin

关键词： Magnetohydrodynamics

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control of longitudinal aircraft motion with loadcase robustness using LPV-control with partly-measurable parameters

Control of longitudinal aircraft motion with loadcase robust...

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AIAA Guidance, Navigation, and control Conference, 2018

作者： Goßmann, Felix Svariceky, Ferdinand Gabrys, Agnes Department of Aviation and Space Engineering Institute of Control Engineering University of the German Federal Armed Forces Munich Neubiberg Munich85577 Germany Department of Mechanical Engineering Institute of Flight System Dynamics Technische Universität München Garching Munich85748 Germany

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

This paper addresses the design of a longitudinal baseline controller of an aircraft. Flight dynamics are usually described through linearized models of the nonlinear rigid body equations, which are only valid in the area of a trimpoint. Hence the dynamics are dependent on parameters such as altitude, airspeed or loadcase, which describes a certain combination of mass, center of gravity and inertia tensor. The current loadcase is often not available during operation. However the ight control system has to fulfill specifications for all possible loadcases. Therefore the loadcase is introduced as an additional parametric dependency besides static and dynamic pressure, which represent current altitude and airspeed. An linear parameter-variant (LPV) controller is designed which depends on static and dynamic pressure only. The design is realized with the use of an LPV technique with partly-measurable parameters. A showcase design for a small regional aircraft is accomplished to present the synthesis and show its capabilities for ight control problems. © 2018, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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Design, implementation and flight-test of incremental backstepping flight control laws

Design, implementation and flight-test of incremental backst...

引用

AIAA Guidance, Navigation, and control Conference, 2018

作者： Van Ekeren, Wim Looye, Gertjan Kuchar, Richard Chu, Qiping Van Kampen, Erik-Jan Delft University of Technology P.O. Box 5058 Delft2626HS Netherlands DLR German Aerospace Center Weßling82234 Germany Faculty of Aerospace Engineering Control and Simulation Division Delft University of Technology Netherlands Department of Aircraft Systems Dynamics Institute of System Dynamics and Control German Aerospace Center Germany

ISBN: (纸本)9781624105265

This paper presents the design and implementation of incremental backstepping (IBS) flight control laws for the attitude control and stabilization on a fixed-wing aircraft. The design consists of multiple functionalities such as command-filtered backstepping, angle of attack control and body attitude control, that are based around an incremental control inner loop that tracks the angular rates of the aircraft. The results include flight data of an integrated IBS design that validate simulation results of control laws shown previously in literature. The results show that it is possible to implement robust nonlinear flight control laws that are easy to tune and require only little knowledge about the system dynamics parameters. © 2018, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Fixed wings

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Design and flight testing of incremental nonlinear dynamic inversion based control laws for a passenger aircraft

Design and flight testing of incremental nonlinear dynamic i...

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AIAA Guidance, Navigation, and control Conference, 2018

作者： Grondman, Fabian Looye, Gertjan H. N. Kuchar, Richard O. Chu, Q. Ping van Kampen, Erik-Jan German Aerospace Center DLR Münchener Straße 20 Weßling82234 Germany Delft University of Technology P.O. Box 5058 Delft2626HS Netherlands Faculty of Aerospace Engineering Control and Simulation Division Delft University of Technology Netherlands Department of Aircraft Systems Dynamics Institute of System Dynamics and Control German Aerospace Institute Germany

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

This paper describes the design, implementation and flight testing of flight control laws based on Incremental Nonlinear Dynamic Inversion (INDI). The method compares com- manded and measured accelerations to compute increments on the current control de ec- tions. This results in highly robust control solutions with respect to model uncertainties as well as changes in aircraft dynamic characteristics of failure cases during flight. At the same time, the complexity of the algorithms is similar to classical ones. The key for practical implementation is in ensuring synchronization between angular acceleration and control de ection measurements or estimates. This paper describes the design and vali- dation of manual attitude control functions for a Cessna Citation II experimental aircraft, covering control structure design, application of INDI, design optimization, robustness analyses, software implementation, ground and flight testing. For comparison, also control laws based on classical Nonlinear Dynamic Inversion were implemented and flown. The flight tests were highly successful and marked the first successful demonstration of INDI on a CS-25 certified aircraft. The flight test results proved that INDI clearly outperforms NDI and provided valuable lessons-learnt for future applications. © 2018, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Attitude control

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Disturbance decoupling using a novel approach to integral sliding-mode

Disturbance decoupling using a novel approach to integral sl...

引用

International Workshop on Variable Structure systems, VSS

作者： Tobias Posielek Kai Wulff Johann Reger Institute of System Dynamics and Control German Aerospace Center (DLR) Wessling Germany Control Engineering Group Technische Universität Ilmenau Ilmenau Germany

关键词： Uncertainty Aerodynamics Sliding mode control Asymptotic stability Stability analysis Robustness Manifolds

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The insight HP3 penetrator (Mole) on mars: Soil properties derived from the penetration attempts and related activities

arXiv

引用

arXiv 2021年

作者： Spohn, Tilman Hudson, T.L. Marteau, E. Golombek, M. Grott, M. Wippermann, T. Ali, K.S. Schmelzbach, C. Kedar, S. Hurst, K. Trebi-Ollennu, A. Ansan, V. Garvin, J. Knollenberg, J. Müller, N. Piqueux, S. Lichtenheldt, R. Krause, C. Fantinati, C. Brinkman, N. Sollberger, D. Delage, P. Vrettos, C. Reershemius, S. Wisniewski, L. Grygorczuk, J. Robertsson, J. Edme, P. Andersson, F. Krömer, O. Lognonné, P. Giardini, D. Smrekar, S.E. Banerdt, W.B. International Space Science Institute Hallerstrasse 6 Bern3012 Switzerland DLR Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany DLR MUSC Space Operations and Astronaut Training Linder Höhe Köln51147 Germany DLR Institute of System Dynamics and Control Münchener Strasse 20 Wessling82234 Germany Jet Propulsion Laboratory California Institute of Technology Oak Grove Drive PasadenaCa91109 United States NASA Goddard Space Flight Center 8800 Greenbelt Road GreenbeltMD20771 United States Astronika Sp. z o.o ul. Bartycka 18 Warszawa00-716 Poland Institute of Geophysics Department of Earth Sciences ETH Zürich ZürichCH-8092 Switzerland Laboratoire de Planétologie et Géodynamique de Nantes Université de Nantes Nantes44322 France École nationale des ponts et chaussées Laboratoire Navier Paris France Department of Civil Engineering University of Kaiserslautern Kaiserslautern Germany Institut du Physique du Globe Paris Paris France Astrium Bremen Germany

The NASA InSight Lander on Mars includes the Heat Flow and Physical Properties Package HP3 to measure the surface heat flow of the planet. The package uses temperature sensors that would have been brought to the target depth of 3–5 m by a small penetrator, nicknamed the mole. The mole requiring friction on its hull to balance remaining recoil from its hammer mechanism did not penetrate to the targeted depth. Instead, by precessing about a point midway along its hull, it carved a 7 cm deep and 5-6 cm wide pit and reached a depth of initially 31 cm. The root cause of the failure - as was determined through an extensive, almost two years long campaign - was a lack of friction in an unexpectedly thick cohesive duricrust. During the campaign – described in detail in this paper – the mole penetrated further aided by friction applied using the scoop at the end of the robotic Instrument Deployment Arm and by direct support by the latter. The mole finally reached a depth of 40 cm, bringing the mole body 1–2 cm below the surface. It reversed its downward motion twice during attempts to provide friction through pressure on the regolith instead of directly with the scoop to the hull. The penetration record of the mole and its thermal sensors were used to measure thermal and mechanical soil parameters such as the penetration resistance of the duricrust of 0.5 - 1.2 MPa and a penetration resistance of a deeper layer (> 30 cm depth) of 5.3 MPa. Applying cone penetration theory, the resistance of the duricrust was used to estimate a cohesion of the latter of 4 - 25 kPa depending on the internal friction angle of the duricrust. Pushing the scoop with its blade into the surface and chopping off a piece of duricrust provided another estimate of the cohesion of 5.8 kPa. The hammerings of the mole were recorded by the seismometer SEIS and the signals could be used to derive a P-wave velocity of 114+40−19 m/s and a S-wave velocity of 60+10−7 m/s (Brinkman et al., 2021) representative of

关键词： Soils

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A numerical solution to the two-dimensional nonlinear degenerate heat conduction equation with a source

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AIP Conference Proceedings 2020年第1期2315卷

作者： A. L. Kazakov L. F. Spevak O. A. Nefedova 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620049 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 lermontov St. Irkutsk 664033 Russia

The paper develops an algorithm for solving the two-dimensional nonlinear degenerate parabolic heat conduction equation with a source depending on required function, with a specified law of heat wave front motion. The algorithm based on the boundary element method is implemented in the form of a program. To verify it, we use exact solutions the construction of which is reducible to solving a Cauchy problem for ordinary differential equations with a singularity before the highest derivative. The solutions to the Cauchy problem are constructed in the form of power series with recurrently computed coefficients (with a proof of the statement providing its convergence) and by the boundary element method.

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