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IEEE Conference on control Technology and Applications

作者： Felix GoBmann Venkata S. Akkinapalli Guillermo P. Falconi Ferdinand Svaricek Institute of Control Engineering University of the German Federal Armed Forces Munich Neubiberg Germany Institute of Flight System Dynamics Technische Universität München Garching Germany

In this paper the design of a passive fault tolerant controller for a hexacopter is adressed, which is able to cope with actuator degradation. The design is achieved with the linear parameter-varying (LPV) system framework. Based on a nonlinear model a quasi-LPV model is generated through function substitution. This model is extended with a degradation modeling by including additional LPV parameters to describe the actuator degradation. Since the shown approach is passive, these additional parameters are not measurable and therefore, a controller design with a partly measurable parameter vector is accomplished. The obtained controller is evaluated and its performance and capabilities against actuator degradation in comparison to a conventional LPV control design are presented based on simulations with a high-fidelity nonlinear model.

关键词： paper design passive fault tolerant controller

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Solar Sails for Planetary Defense High-Energy Missions

Solar Sails for Planetary Defense High-Energy Missions

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2019 IEEE Aerospace Conference, AERO 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Borchers, Kai Dumont, Etienne Grimm, Christian D. Ho, Tra-Mi Jahnke, Rico Koch, Aaron D. Lange, Caroline Maiwald, Volker Mess, Jan-Gerd Mikulz, Eugen Quantius, Dominik Reershemius, Siebo Renger, Thomas Sasaki, Kaname Seefeldt, Patric Spietz, Peter Sprowitz, Tom Sznajder, MacIej Tóth, Norbert Ceriotti, Matteo McInnes, Colin Peloni, Alessandro Dachwald, Bernd Lichtenheldt, Roy Wolff, Friederike Boden, Ralf Riemann, Johannes Seboldt, Wolfgang Wejmo, Elisabet Ziach, Christian Cordero, Federico Biele, Jens Krause, Christian Herčik, David Koncz, Alexander Pelivan, Ivanka Schmitz, Nicole Mikschl, Tobias Montenegro, Sergio Ruffer, Michael Tardivel, Simon DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Strasse 7 Bremen28359 Germany University of Glasgow GlasgowG12 8QQ United Kingdom Faculty of Aerospace Engineering FH Aachen Univ. of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany DLR German Aerospace Center Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Str. 20 Oberpfaffenhofen Weßling82234 Germany DLR Institute of Space Systems Germany Telespazio-VEGA Darmstadt Germany DLR German Aerospace Center Space Operations and Astronaut Training - MUSC Cologne51147 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Braunschweig Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany CNES Future Missions Flight Dynamics 18 avenue E. Belin Toulouse Cedex 931401 France

ISBN: (纸本)9781538668542

20 years after the successful ground deployment test of a (20 m)2 solar sail at DLR Cologne, and in the light of the upcoming U.S. NEAscout mission, we provide an overview of the progress made since in our mission and hardware design studies as well as the hardware built in the course of our solar sail technology development. We outline the most likely and most efficient routes to develop solar sails for useful missions in science and applications, based on our developed 'now-term' and near-term hardware as well as the many practical and managerial lessons learned from the DLR-ESTEC Gossamer Roadmap. Mission types directly applicable to planetary defense include single and Multiple NEA Rendezvous ((M)NR) for precursor, monitoring and follow-up scenarios as well as sail-propelled head-on retrograde kinetic impactors (RKI) for mitigation. Other mission types such as the Displaced L1 (DL1) space weather advance warning and monitoring or Solar Polar Orbiter (SPO) types demonstrate the capability of near-term solar sails to achieve asteroid rendezvous in any kind of orbit, from Earth-coorbital to extremely inclined and even retrograde orbits. Some of these mission types such as SPO, (M)NR and RKI include separable payloads. For one-way access to the asteroid surface, nanolanders like MASCOT are an ideal match for solar sails in micro-spacecraft format, i.e. in launch configurations compatible with ESPA and ASAP secondary payload platforms. Larger landers similar to the JAXA-DLR study of a Jupiter Trojan asteroid lander for the OKEANOS mission can shuttle from the sail to the asteroids visited and enable multiple NEA sample-return missions. The high impact velocities and re-try capability achieved by the RKI mission type on a final orbit identical to the target asteroid's but retrograde to its motion enables small spacecraft size impactors to carry sufficient kinetic energy for deflection. © 2019 IEEE.

关键词： Solar sails

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Broadband solid cloak for underwater acoustics

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Physical Review B 2017年第18期95卷 180104(R)-180104(R)页

作者： Yi Chen Mingye Zheng Xiaoning Liu Yafeng Bi Zhaoyong Sun Ping Xiang Jun Yang Gengkai Hu Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education School of Aerospace Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Noise and Vibration Research Institute of Acoustics Chinese Academy of Sciences Beijing 100190 China System Engineering Research Institute Beijing 100094 China

The application of transformation theory to underwater acoustics has been a challenging task because highly anisotropic density is unachievable in water. A possible strategy is to exploit the anisotropic modulus rather than density, although it has not been experimentally demonstrated. We present an annular underwater acoustic cloak designed from particular graded solid microstructures. The geometry tailored microstructures mimic metafluid with highly anisotropic modulus through substantially suppressed shear waves. Transient wave experiments are conducted with the cloak in a designed two-dimensional underwater waveguide system and proved excellent cloaking performance for an enclosed target over broadband frequencies 9–15 kHz. This finding paves the way for controlling underwater acoustics using the structured anisotropic modulus metafluid.

关键词： Acoustic metamaterials Acoustics Mechanical & acoustical properties Underwater acoustics

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Damper Fault-Tolerant Linear Parameter-Varying Semi-Active Suspension control

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IFAC-PapersOnLine 2017年第1期50卷 8592-8599页

作者： Fleps-Dezasse M. Svaricek F. Brembeck J. Institute of System Dynamics and Control Robotic and Mechatronic Center German Aerospace Center (DLR) Weßling D-82234 Germany Department of Aerospace Engineering Institute of Control Engineering University of the Federal Armed Forced Munich Neubiberg D-85577 Germany

This paper addresses the design of a fault-tolerant semi-active suspension controller. The fault-tolerant properties of the controller are realized by an LPV anti-windup approach using saturation indicator scheduling parameters. The saturation indicators model the force limitations of the semi-active dampers in the LPV framework and thus allow for the synthesis of semi-active suspension controllers with guaranteed closed-loop stability and performance. Additionally, the saturation indicators readily describe damper failures like e.g. oil leakage which extends the controller validity from normal operation to faulty operation modes. This property of the saturation indicator concept is exploited by augmenting the LPV controller by a damper force reconfiguration which explores the weak input redundancy provided by four semi-active dampers. The damper force reconfiguration aims at a maximization of ride comfort performance in the presence of damper failures. The achievable ride comfort improvement is illustrated by a simulation study with a full-vehicle model excited by sine sweeps. © 2017

关键词： actuator saturation fault-tolerant control Linear parameter-varying control semi-active damper

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Flights are ten a sail - Re-use and commonality in the design and system engineering of small spacecraft solar sail missions with modular hardware for responsive and adaptive exploration 70

Flights are ten a sail - Re-use and commonality in the desig...

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70th International Astronautical Congress, IAC 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Boden, Ralf Ceriotti, Matteo Chand, Suditi Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. Heiligers, Jeannette Hercík, David Hérique, Alain Ho, Tra-Mi Jahnke, Rico Kofman, Wlodek Lange, Caroline Lichtenheldt, Roy McInnes, Colin Meß, Jan-Gerd Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Moore, Iain Pelivan, Ivanka Peloni, Alessandro Plettemeier, Dirk Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Rogez, Yves Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter Spröwitz, Tom Sznajder, Maciej Tóth, Norbert Vergaaij, Merel Viavattene, Giulia Wejmo, Elisabet Wiedemann, Carsten Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany Consultants to DLR Institute of Space Systems University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany Université Grenoble Alpes CS 40700 Grenoble Cédex 938058 France DLR German Aerospace Center Robotics and Mechatronics Center Weßling82234 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Dresden University of Technology RF Engineering Dresden Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Institute of System Dynamics and Control Wessling82234 Germany Space Research Centre PAS Warsaw Poland TU Delft Delft Netherlands Institute of Space Systems Technische Universität Braunschweig Hermann-Blenk-Str. 23 Braunschweig38108 Germany

The exploration of small solar system bodies started with fast fly-bys of opportunity on the sidelines of missions to the planets. The tiny new worlds seen turned out to be so intriguing and different from all else (and each other) that dedicated sample-return and in-situ analysis missions were developed and launched. Through these, highly efficient low-thrust propulsion expanded from commercial use into mainstream and flagship science missions, there in combination with gravity assists propulsion. In parallel, the growth of small spacecraft solutions accelerated in numbers as well as individual spacecraft capabilities. The on-going missions OSIRIS-REX (NASA) or HAYABUSA2 (JAXA) with its landers MINERVA-II and MASCOT, and the upcoming NEASCOUT mission are examples of this synergy of trends. The continuation of these and other related devlopments towards a propellant-less and highly efficient class of spacecraft for solar system exploration emerges in the form of small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules. These address the needs of all asteroid user communities - planetary science, planetary defence, and in-situ resource utilization - as well as other fields of solar system science and applications such as space weather warning and solar observations. Already the DLR-ESTEC GOSSAMER Roadmap for Solar Sailing initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery, which demonstrate the capabilities of near-term solar sails to reach any kind of orbit in the inner solar system. This enables Multiple Near-Earth Asteroid (NEA) rendezvous missions (MNR), from Earth-coorbital to extremely inclined and even retrograde target orbits. For these mission types using separable payloads, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of DLR GOS

关键词： Solar sails

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PI(D) tuning for Flight control systems via Incremental Nonlinear Dynamic Inversion

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IFAC-PapersOnLine 2017年第1期50卷 8175-8180页

作者： Paul A.B. van Ekeren W. Chu Q.P. DLR German Aerospace Center Institute of System Dynamics and Control Oberpfaffenhofen D-82234 Germany Delft University of Technology Faculty of Aerospace Engineering Delft 2629HS Netherlands

Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) — more familiar in the aerospace community — are in fact equivalent to TDC. This leads to a meaningful and systematic method for PI(D)-control tuning of robust nonlinear flight control systems via INDI. We considered a reformulation of the plant dynamics inversion which removes effector blending models from the resulting control law, resulting in robust model-free control laws like PI(D)-control. © 2017

关键词： aerospace application of nonlinear analysis design tracking

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A Novel Observer Approach for Self Sensing of Single-Coil Digital Valves

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IFAC-PapersOnLine 2017年第1期50卷 782-787页

作者： Braun T. Reuter J. Rudolph J. Institute of System Dynamics Konstanz University of Applied Sciences Konstanz 78462 Germany Chair of Systems Theory and Control Engineering Saarland University Campus A5 1 Saarbrücken 66123 Germany

Observer-based self sensing for digital (on–off) single-coil solenoid valves is investigated. Self sensing refers to the case where merely the driving signals used to energize the actuator (voltage and coil current) are available to obtain estimates of both the position and velocity. A novel observer approach for estimating the position and velocity from the driving signals is presented, where the dynamics of the mechanical subsystem can be neglected in the model. Both the effect of eddy currents and saturation effects are taken into account in the observer model. Practical experimental results are shown and the new method is compared with a full-order sliding mode observer. © 2017

关键词： Observer design Self sensing actuators Singular perturbation analysis

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Numerical study of travelling wave type solutions for the nonlinear heat equation

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AIP Conference Proceedings 2019年第1期2176卷

作者： A. L. Kazakov L. F. Spevak 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620034 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontov St. Irkutsk 664033 Russia

The problem of constructing solutions to the nonlinear heat equation with power nonlinearity is considered. The solutions have the form of a traveling wave and simulate the propagation of disturbances over a cold background with a finite velocity. It is shown that the construction can be reduced to the Cauchy problem for an ordinary second- order differential equation with a singularity multiplying the highest derivative. Its solutions are constructed using the boundary element method based on the dual reciprocity method. A computational experiment is carried out. The results are compared with the solutions of the same problems by the power series method. The calculations have shown the correctness of the developed boundary element algorithm and its advantage compared to the power series segments and the step-by-step method previously proposed by the authors.

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Fault tolerant control approach for passive handling of actuator degradation of a hexacopter using an LPV state-feedback controller with partly-measured parameters

Fault tolerant control approach for passive handling of actu...

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Mediterranean Conference on control and Automation (MED)

作者： Felix Goßmann Guillermo P. Falconí Ferdinand Svaricek Institute of Control Engineering University of the German Federal Armed Forces Munich 85577 Neubiberg Germany Institute of Flight System Dynamics Technische Universität Garching Germany Institute of Control Engineering University of the German Federal Armed Forces Munich Germany

This paper addresses the design of a fault tolerant controller to handle actuator degradation passively in context of attitude control on a hexacopter system. The design is accomplished with the use of the framework for linear parameter-varying (LPV) systems. Based on a nonlinear model of a hexacopter a quasi-LPV model is obtained. The parameter vector of the LPV system is supplemented by an additional parameter to consider the actuator degradation. An LPV state feedback controller design is accomplished with a partly measurable parameter vector since the actuator degradation is assumed to be unknown during operation. The capabilities of the designed controller in handling actuator degradations is shown in nonlinear simulations of the hexacopter system.

关键词： Actuators Degradation Rotors Mathematical model Aerodynamics control design State feedback

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Combining sensor monitoring and fault tolerant control to maintain flight control system functionalities

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IFAC-PapersOnLine 2016年第17期49卷 46-51页

作者： Ossmann, D. Joos, H.-D. Department of Aerospace Engineering & Mechanics University of Minnesota MinneapolisMN55455 United States Institute of System Dynamics and Control DLR Oberpfaffenhofen Wessling82234 Germany

To maintain nominal flight control system functionalities during fault scenarios, enhancements of the state-of-practise angle of attack and airspeed sensor fault accommodation strategies are presented. The strategy combines a fault detection and diagnosis (FDD) system with a robust fault tolerant control law. The FDD system allows to maintain the nominal flight control law as long as at least one angle of attack and airspeed sensor are available. The FDD system is designed using advanced nullspace computation, optimization, and signal processing techniques. For the scenario of a total airspeed measurement loss, an airspeed independent longitudinal backup control law is designed using global optimization techniques. Using this law avoids the state-of-practise switch to a direct law in which the pilot must control the elevator positions directly. The results from an extensive industrial validation and verification campaign are reported. © 2016

关键词： Fault detection Angle of attack control theory Fault tolerance Fault tolerant computer systems Flight control systems Global optimization Signal processing Verification Airspeed measurements Fault detection and diagnosis systems Fault tolerant control Flight control Global optimization techniques Industrial validation Signal processing technique validation

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