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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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Multi-Objective control of Balancing systems for Li-Ion Battery Packs: A Paradigm Shift?

Multi-Objective Control of Balancing Systems for Li-Ion Batt...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jorge V. Barreras Claudio Pinto Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo Department of Energy Technology Aalborg University Aalborg Denmark INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany

While a great number of battery balancing circuit topologies have been proposed, the unique control objective typically pursued is equalization of single cell charge. However, a balancing circuit could offer potentially more control features, especially with topologies able to provide bidirectional power flow control. This has not been explored yet in literature or at least not with enough thoroughness. Thus, in addition to charge balancing, up to three more objectives could be pursued simultaneously. Firstly, virtual resistance control, in order to provide dynamic compensation for variations in terminal cell voltage. Secondly, thermal management, to achieve a more uniform temperature distribution within a battery pack. Third, on-board diagnosis or fault detection tools, e.g. to perform characterization tests or to identify and even isolate problematic cells. In this paper, this issue is discussed and evaluated for a battery pack made up of 48 large format Li-Ion cells in series in a e-mobility application. Simulation results demonstrate the technical feasibility of this newly defined concept.

关键词： Batteries system-on-chip Integrated circuit modeling Mathematical model control systems Voltage control Fault detection

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A constrained inverse modeling approach for trajectory optimization

A constrained inverse modeling approach for trajectory optim...

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AIAA Guidance, Navigation, and control (GNC) Conference

作者： Mueller, Reiko Looye, Gertjan Robotics and Mechatronics Center Institute of System Dynamics and Control Department of Aircraft Systems Dynamics Deutsches Zentrum für Luft und Raumfahrt Münchner Str. 20 82234 Wessling Germany

ISBN: (纸本)9781624102240

In aircraft trajectory optimization, modeling almost always relies on the usage of standard (forward) three- or more degrees of freedom equations of motion for the aircraft. The usual practice for simulating the trajectories is either to continuously trim the aircraft along the desired flight path and speed profile, and/or to use reduced point mass models that are defined in the vertical plane only. Alternative approaches became prominent in recent years, whereas in this paper the inverse modeling technique and an important extension to it is considered. First, inverse models have several advantages for trajectory optimization, the most important ones being the faster computation time and easy generation of start solutions, compared to standard forward models. In this work it is combined with speed- and flightpath-control loops to cancel the position error introduced during model integration. Still, an important problem remains: saturation limits and dynamics of the control systems used in the actual forward model are normally not considered when inverting the model equations, therefore losing the information of the limitations of the aircraft. In the presented case, the inversion becomes invalid, when the aircraft thrust is outside of the limits due to the commands of the inverse model inputs. This problem is addressed in the model by a pseudo-control-hedging (PCH) approach for altitude and velocity commands. By this means the inverse model inputs are automatically altered depending on the error between commanded and available thrust and the generated trajectory is rendered yable.

关键词： Degrees of freedom (mechanics)

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Spatio-temporal prediction of collision candidates for static and dynamic objects in monocular image sequences

Spatio-temporal prediction of collision candidates for stati...

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IEEE Symposium on Intelligent Vehicle

作者： Alexander Schaub Darius Burschka Institute of System Dynamics and Control at the Robotics and Mechatronics Center German Aerospace Center Wessling Germany Department of Computer Science Technische Universität München Garching bei Munchen Germany

ISBN: (纸本)9781467327534

This paper presents a novel approach for reactive obstacle avoidance for static and dynamic objects using monocular image sequences. A sparse motion field is calculated by tracking point features using the Kanade-Lucas-Tomasi method. The rotational component of this sparse optical flow due to ego motion of the camera is compensated using motion parameters estimated directly from the images. A robust method for detection of static and dynamic objects in the scene is applied to identify collision candidates. The approach operates entirely in the image space of a monocular camera and does not require any extrinsic information about the configuration of the sensor or speed of the camera. The system prioritizes the detected collision candidates by their time to collision. Additionally, the spatial distribution of the candidates is calculated for non-degenerated conditions. We present the mathematical framework and the experimental validation of the suggested approach on simulated and real-world data.

关键词： Cameras Optical imaging Vectors Robot sensing systems Optical sensors Adaptive optics Collision avoidance

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A Comparative Study between Causal and Non-causal Algorithms for the Energy Management of Hybrid Storage systems

A Comparative Study between Causal and Non-causal Algorithms...

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European Conference on Power Electronics and Applications

作者： Claudio Pinto Ricardo de Castro Rui Esteves Araujo INESC TEC Faculty of Engineering University of Porto Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR)

ISBN: (纸本)9781479901159

This paper presents a comparative study between two non-causal algorithms for the energy management problem of electric vehicles, endowed with batteries and supercapacitors (SCs). Toward that goal, an optimization-based energy problem is formulated, which targets the minimization of the source's energy losses throughout a given driving cycle. This problem is solved, firstly, with the help of a fast (but locally optimal) non-linear programming solver;and, secondly, with a slow, but globally optimal, dynamic programming (DP) approach. Simulation results will demonstrate that, despite the different theoretical properties associated with these two solver approaches, both generate similar solutions. In the second part of the work, we will develop a filter-based energy management algorithm, i.e., employ batteries to provide the low-frequency content of the power demand, while SCs cover the high-frequency demand. Our approach builds on the idea of adapting the filter's time constant throughout the vehicle's journey, using, for that purpose, a fuzzy logic algorithm and the information of the state of the vehicle. In comparison with the traditional fixed time-constant approach, the simulation results show that under some conditions the adaptive time-constant algorithm has the potential to reduce the energy losses of the sources by up to 62%.

关键词： Optimisation Energy system management Electric vehicle Hybrid power integration Supercapacitor

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Torque allocation in electric vehicles with in-wheel motors: a performance-oriented approach

Torque allocation in electric vehicles with in-wheel motors:...

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IEEE Annual Conference on Decision and control

作者： Ricardo de Castro Mara Tanelli Rui Esteves Araujo Sergio M. Savaresi Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling D-82234 Germany Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Piazza Leonardo da Vinci 32 20133 Milano Italy Faculdade de Engenharia da Universidade do Porto Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal

ISBN: (纸本)9781467357159

The coordinated control of vehicle actuators is gaining more importance as new platforms are becoming available, with chassis endowed with many different actuators that may help controlling the vehicle motion. Further, in-wheel motors (IWMs) allow using a single system to apply both positive and negative torques at the wheels, which can be actuated independently one from the other. In electric vehicles (EVs), moreover, such a freedom in the actuation mechanisms opens the way to the combined optimization of performance and energy consumption issues. In this paper, the problem of torque allocation for maximizing the vehicle performance in EVs is addressed. The proposed strategy is compared against a benchmark, a-causal optimal solution showing that only a negligible loss of performance is experienced.

关键词： Electric vehicles Torque coordinated control Motor Engines Vehicle performance Chassis Device Component Wheels energy consumption actuators

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Aerodynamic model identification of Frauke UAV

Aerodynamic model identification of Frauke UAV

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AIAA Atmospheric Flight Mechanics Conference 2012

作者： Lombaerts, T.J.J. German Aerospace Center DLR Münchner Straße 20 82234 Weßling Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (数字)9781624101847

ISBN: (纸本)9781624101847

This paper describes the methods and results of an identification campaign, which has been set up for the mini UAV Frauke. The estimated parameter values will be used to elaborate an accurate non-linear simulation model of the UAV, which will subsequently be used to develop model based non-linear control techniques for the vehicle. The identifica- tion procedure has been performed with the so-called two step method. First, the aircraft states are estimated based upon the aircraft kinematics, after which the aerodynamic model parameters are identified. It has been found that, due to the dynamic behaviour of the UAV, a more extended aerodynamic model including nonlinear terms is needed. Residual analysis confirms the accuracy of the obtained results. © 2012 by Thomas Lombaerts, German Aerospace center DLR. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Unmanned aerial vehicles (UAV)

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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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Integrated simulation models for high-altitude solar-powered aircraft

Integrated simulation models for high-altitude solar-powered...

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AIAA Modeling and Simulation Technologies Conference 2012

作者： Klöckner, Andreas Schlabe, Daniel Looye, Gertjan Münchner Straße 20 D-82234 Oberpfaffenhofen Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Münchner Straße 20 D-82234 Oberpfaffenhofen-Weßling Germany

ISBN: (数字)9781624101830

ISBN: (纸本)9781624101830

In recent years, there has been much research towards fixed-wing high-altitude solarpowered aircraft. Accurate knowledge about the behavior of the aircraft and its energy system is needed in order to plan and execute these aircrafts' missions. To this end, an integrated simulation model has been derived. It contains six-degrees-of-freedom flight dynamics, an energy system with solar cells, batteries, motors, and the effect of the environment on the solar radiation. A continuous day-and-night flight has been simulated and results are presented. The model represents all relevant effects for solar-powered aircraft including dynamic interaction between flight dynamics and energy system. The same model is used for pilot training and control design of the aircraft. © 2012 by Deutsches Zentrum für Luft- und Raumfahrt.

关键词： Flight dynamics

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Design and flight testing of nonlinear autoflight control laws

AIAA Guidance, Navigation, and Control Conference 2012

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AIAA Guidance, Navigation, and control Conference 2012 2012年

作者： Lombaerts, T.J.J. Looye, G.H.N. Institute of Robotics and Mechatronics Department of System Dynamics and Control German Aerospace Center DLR Münchner Straße 20 82234 Weßling Germany AIAA United States

ISBN: (纸本)9781600869389

This paper describes the design of an autoflight controller, based upon nonlinear model- based control laws. These control laws include the previously developed concept of Pseudo control Hedging (PCH). This PCH algorithm adapts the reference model for the system output in case of unachievable commands due to control input saturation. This control algorithm has been applied on a high fidelity simulation model of the VFW-614 ATTAS (Advanced Technologies Testing Aircraft system) laboratory aircraft, where its beneficial influence has been illustrated. Test flights have been performed with ATTAS to evaluate the flight control technique in a relevant environment. © 2012 by Thomas Lombaerts and Gertjan Looye, German Aerospace center DLR. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： control theory

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