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Health Monitoring for the Electrical Network of More Electric Aircraft

AIP Conference Proceedings 2010年第1期1247卷 86-99页

作者： Yang Ji Johann Bals aDepartment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany bDepartment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Muenchnerstr. 20 Wessling Germany

In this paper, a health monitoring problem for the electrical network of more electric aircraft is addressed. To undertake the health monitoring task, the multi‐model detection technique is applied. Multi‐model based approach associates to each health status a corresponding linear time invariant model which is derived by adjusting appropriately the non‐faulty system model to a particular fault situation. The original health monitoring problem can be therefore formulated as a model detection problem. Besides the introduction of the theoretical preliminary of multi‐model based approach, the computer‐aided design process, right‐sized modelling and realtime simulation based validation for residual generator with Dymola and Matlab are also discussed. Health monitoring for an input filter of an DC motor drive serves as an application case to illustrate the proposed scheme. The designed residual generators are validated on the original nonlinear system with time‐domain simulation.

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Application of an optimization-based design process for robust autoland control laws

Application of an optimization-based design process for robu...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2001

作者： Looye, Gertjan Joos, Hans-Dieter Willemsen, Dehlia German Aerospace Center DLR-Oberpfaffenhofen Institute for Robotics and Mechatronics D-82234 Wessling Germany DLR-Braunschweig Institute for flight system dynamics Germany

ISBN: (纸本)9781563479786

The design of a robust autoland controller using an optimization based design process is described. A modular controller architecture is developed first. Inner loops are based on Dynamic Inversion, speed and longitudinal path tracking loops are based on the Total Energy control system. Functions for lateral path tracking, ILS guidance, flare and runway alignment are based on classical PID structures. The free parameters in the controller functions are tuned using multi-objective optimization. Performance criteria are directly derived from the imposed design requirements and computed from linear or nonlinear analysis (e.g. eigen-values, simulations). Robustness is addressed via a multi-model approach, via optimization criteria (e.g. gain/phase margins), and, as a new contribution, via statistical criteria computed from on-line Monte-Carlo analysis. The design process and selected architecture have been applied to a wide-body as well as a small passenger aircraft to demonstrate controller robustness and efficiency of the process. In both cases, JAR-AWO specifications had to be met. The latter design was successfully flight tested. © 2001 by the German Aerospace center DLR.

关键词： Design

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Multi-objective optimization of an aircraft trajectory between cities using an inverse model approach

Multi-objective optimization of an aircraft trajectory betwe...

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AIAA Modeling and Simulation Technologies Conference 2012

作者： Mueller, Reiko Deutsches Zentrum für Luft- und Raumfahrt 82234 Wessling Germany Robotics and Mechatronics Center Institute of System Dynamics and Control Müunchner Str. 20 82234 Wessling Germany

ISBN: (数字)9781624101830

ISBN: (纸本)9781624101830

Increasing air traffic and the need for environmental-friendly flight operations require efficient Air Traffic Management (ATM) operations. The environmental objectives are the reduction of exhaustive emissions of the aircraft engines as well as the emitted noise. On the other hand there are economically and operationally driven objectives like reduction of flight time and fuel consumption. The general approach to simulate and optimize a trajectory from city to city is to use simplified two degrees of freedom aircraft models along with standard gradient-based optimizers. In order to more efficiently deal with the aforementioned objectives, the first contribution of this work is the design of a modular wrapper model suited for trajectory optimization. It incorporates a B-Spline based trajectory parameterization module, path controller and a more detailed inverse aircraft model with three degrees of freedom. With this combination of models, a low computation time could be achieved, whilst detailed information on the aircraft's behaviour is available. The second contribution is a multi-criterial optimization approach using a genetic-algorithm optimizer. It enables the user to efficiently compare and weigh different criteria like fuel consumption or NOx-emission against each other to design a trajectory that yields the best performance for the respective focus. In addition, the multiobjective optimization approach helps to identify possible gains and to determine the interconnections between different environmental related criteria. © 2012 by Deutsches Zentrum fuer Luft- und Raumfahrt e.V.

关键词： Trajectories

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Enabling autonomous locomotion into sand - A mobile and modular drilling robot 47

Enabling autonomous locomotion into sand - A mobile and modu...

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47th International Symposium on robotics, ISR 2016

作者： Becker, Felix Börner, Simon Lichtenheldt, Roy Zimmermann, Klaus Technische Universität Ilmenau Technical Mechanics Group IlmenauPF 100565 D-98684 Germany Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Strasse 20 Wessling82234 Germany

ISBN: (纸本)9783800742318

Established robots for locomotion into sandy soil are dominated by hammering systems. In this paper, we study an alternative design using a screw-driven mechanism. A testbed to find an efficient design is developed. Dependencies between velocity, drilling torque and depth are measured for different screw prototypes. The results show that the design of the screw is critical for the creation of fast and efficient mobile robots. Based on the experimental results, a prototype of an autonomous drilling robot is designed. With a torque of 0.66 Nm it is able to reach a depth of 20 cm within 2 min. © 2016 VDE VERLAG GMBH Berlin Offenbach.

关键词： Mobile robots

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A Novel Modelica Signal Analysis Tool towards Design of More Electric Aircraft

A Novel Modelica Signal Analysis Tool towards Design of More...

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2010 3rd IEEE International Conference on Computer Science and Information Technology—ICCSIT 2010

作者： J. Bals Deportment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool-Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Signal analysis More Electric Aircraft

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Optimization based steady-state analysis of switched power electronic systems

Optimization based steady-state analysis of switched power e...

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IEEE Workshop on Computers in Power Electronics

作者： Y. Ji A. Pfeiffer J. Bals Department of System Dynamics and Control German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany

This paper introduces an optimization based approach towards steady-state analysis of switched power electronic systems. The convergence performance of the optimization is improved by the estimation of the state variables in steady-state. Accurate state variable estimation can be achieved by previously simulating a set of multi-resolution approximations - averaged models of the original topological model using generalized averaging technique. An unified harmonic state space representation for a wide class of power electronic systems is presented to allow automatical generation of the averaged models with selective approximation accuracy. The proposed approach that has been implemented in Dymola is demonstrated by a pulse width modulated buck converter.

关键词： Optimization Steady-state Harmonic analysis Computational modeling Tuners Numerical models Switches

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A novel Modelica signal analysis tool towards design of more electric aircraft

A novel Modelica signal analysis tool towards design of more...

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International Conference on Computer Science and Information Technology (CSIT)

作者： Y. Ji J. Bals Department of System Dynamics and Control German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool - Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Mathematical model Computer languages Analytical models Lead MATLAB

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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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Multi-model based fault detection for the power system of more electric aircraft

Multi-model based fault detection for the power system of mo...

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Asian control Conference

作者： Y. Ji J. Bals Department of System Dynamics and Control Institute of Robotics and Mechatronics of Germany Aerospace Research Center Wessling Germany

This paper presents a suitable scheme for the fault detection and isolation of a high voltage DC electrical network in more electric aircraft. Concerning a more electric aircraft architecture comprising one variable frequency generator, one 18-pulse autotransformer, power electronic converters, high voltage DC transmission lines, electromagnetic actuators and numerous constant electrical loads e.g. lighting and PCs, the multi-model detection approach reveals more convenience and feasibility to undertake fault analysis at network level regarding the dynamic change of electrical loads. Right-sized system modelling, computer-aided trimming and linearization with Dymola are discussed. Nullspace based approach is used for synthesis of a residual generator. As demonstration, an application case where a short circuit fault occurs on the output of a buck converter in the more electric aircraft is considered. The designed residual generators are validated on the original nonlinear system with time-domain simulation.

关键词： Electrical fault detection Power system faults Aircraft Aerospace electronics Voltage Circuit faults Frequency conversion DC generators Power generation Power electronics

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Autonomous Parking using a Highly Maneuverable Robotic Vehicle

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IFAC Proceedings Volumes 2014年第3期47卷 2640-2645页

作者： Alexander Schaub Juan Carlos Ramirez de la Cruz Darius Burschka Institute of System Dynamics and Control Robotics Mechatronics Center - DLR 82234 Wessling Germany Institute of Robotics and Mechatronics Robotics Mechatronics Center - DLR 82234 Wessling Germany Department of Computer Science Technische Universität München 85748 Garching bei München Germany

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept.

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