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Fault Detection of a Solenoid Valve for Hydraulic Systems in Vehicles

IFAC Proceedings Volumes 2000年第11期33卷 119-124页

作者： Olaf Moseler Harald Straky Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Phone: +49 - 6151 - 167404 Fax: +49 - 6151 - 293604

In passenger and utility vehicles proportional solenoid valves are used in different hydraulic systems. The valves often have an important impact on the operation quality of succeeding components. However, the correct functioning of the devices is only insufficiently checked. Therefore a novel, model-based approach is going to be presented which is able to estimate the solenoid’s armature stroke based on measured voltage und current. No expensive position sensor is required, that could reduce the overall reliability. Evaluating the reconstructed stroke, faults such as blockade, increased friction, etc. can be detected. But also faults in the electrical part of the valve may be isolated. Instead of replacing whole components in case of a faulty behaviour, the self check of the solenoid valve itself can assist in judging whether the component or the solenoid is faulty. Hence, maintenance costs can be optimized. The paper includes experimental results. Aspects of the microcontroller implementation are addressed.

关键词： Fault Detection Solenoid Hydraulic Valve Microcontroller

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A Smart Actuator with Model-Based FDI Implemented on a Microcontroller

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IFAC Proceedings Volumes 2000年第26期33卷 995-1000页

作者： Olaf Moseler Markus Müller Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Phone: +49 - 6151- 167404 Fax: +49 - 6151 - 293604

The device under consideration drives a cabin pressure control valve of modern passenger aircrafts. It is already provided by a wide range of built-in tests. However, these tests do not allow a deep diagnosis of the actuator. Therefore in this paper a model-based approach for detecting and isolating faults is presented. Parameter estimation and parity equations are used for feature generation. The features are compared to that one of the fault-free case. Deviations are fed into a fuzzy rule base in order to isolate the faults. The whole approach is implemented on a 16 bit microcontroller. Experimental results are given.

关键词： Model-Based Fault Detection Fuzzy-Logic Brushless DC Motor Microcontroller

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FIT - Filtering and Identification Tool

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IFAC Proceedings Volumes 2000年第15期33卷 863-868页

作者： Olaf Moseler Michael Vogt Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Phone: +49 - 6151 - 167404 Fax: +49 - 6151 - 293604

The program "Filtering and Identification Tool" designed for MATLAB provides an easy to handle tool for linear system identification of continuous time domain systems. But also discrete time models may be identified. The only property the process model must fulfill is that it has to be linear in the parameters. A graphical user interface guides the research engineer through all steps. As most of the time consuming algorithms are implemented as C-functions, the identification even with a huge amount of data takes only few seconds. To identify continuous time process models, derivatives of the input and output signals are required. However, these signals often cannot be measured. Therefore digital filters such as state variable filter (SVF) and differentiating finite impulse response (FIR) filters are integrated into FIT to provide the necessary derivatives. For the identification task various recursive parameter estimation methods like recursive least means squares (RLS), discrete square root filter in information form (DSFI), normalized least means squares (NLMS), etc. are included, too. Recursive algorithms with exponential fading memory (variable step size in case of NLMS) were chosen in order to identify time variant systems. But also for the offline design of real-time fault detection or adaptive control schemes using parameter estimation methods a variable forgetting factor is important to be able to track varying parameters. Thus, the main advantage of the Filtering and Identification Tool in comparison to existing software tools for system identification is the integration of both parameter estimation methods and differentiating filters.

关键词： system identification differentiating filters continuous time models

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Design and Application of Digital FIR Differentiators Using Modulating Functions

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IFAC Proceedings Volumes 2000年第15期33卷 1037-1042页

作者： Armin Wolfram Olaf Moseler Darmstadt University of Technology Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt (Germany) Phone: (+49) 6151 167406 Fax: (+49) 6151 293604

Continuous process Models are widely used in system identification and fault detection. However, dynamic models require the derivatives of the process' input and output signals. Often they cannot be accessed by measurements. Thus they have to be provided by digital filters. Commonly state variable filters are used for this purpose. But this approach has a couple of drawbacks caused by the recursive structure of the filter. In this paper a consistent approach for the design of FIR differentiators by means of modulating functions is proposed. Finally the application of these filters for fault detection using a microcontroller is presented.

关键词： Finite Impulse Response Filter Differentiators Modulating Functions System Identification Fault Detection

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Model Based Fault Detection of Vehicle Suspension and Hydraulic Brake Systems

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IFAC Proceedings Volumes 2000年第26期33卷 1073-1078页

作者： Marcus Börner Harald Straky Thomas Weispfenning Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany Phone: +49 6151 16-7412 FAX: +49 6151 16-7421

In modern vehicles, mechatronic systems are increasingly used. To improve reliability, safety and economy, an early recognition of small or drifting faults is becoming increasingly important. After a short introduction to methods of model based fault detection and diagnosis, application examples for fault detection of automotive vehicle suspension and hydraulic brake systems are given.

关键词： fault detection parameter estimation parity equation vehicle suspension tire pressure solenoid ABS-valve hydraulic brake system

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Modeling, identification and simulation of mechatronic systems

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IFAC Proceedings Volumes 1999年第2期32卷 879-890页

作者： Rolf Isermann Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

The integration of mechanical and microelectronic components during the design and operation requires systematic methods and software tools for theoretical modeling, experimental identification and simulation. Therefore, the contribution summarizes the state-of-the-art in these areas based on the practical experience with several mechatronic systems and tries to show open problems. It is typical for mechatronic systems that they are composed of components from different physical domains, such as electrical mechanical, fluidic, thermal and thermodynamic processes. One of the key issues, therefore, is to find a unified way especially for theoretical modeling, but also for identification and simulation of these heterogeneous systems. A further task is to develop software tools for modeling, identification and simulation and to make them interconnectable. For theoretical modeling a unified procedure can be given for lumped parameter processes with energy and material flows. A multi port representation can be stated for processes with energy flows for electrical, mechanical and fluidic processes. However, problems with a unified representation arise for thermal and thermodynamic processes. The development from multi ports to block diagrams and bond graphs is shortly described. Present developments are characterized by object-oriented modeling with introduction of causalities at a late state. Identification methods for mechatronic systems are required frequently e.g. for theoretical model verification or on-line estimation of unknown and time varying parameters or identification of nonlinear static characteristics and dynamics. The properties of suitable methods are described, including parameter estimation and dynamical neural networks for nonlinear processes. Then, various kinds of simulation methods for mechanical systems are described, especially with regard to the time behaviour. For several applications real-time simulation is required. Examples are process simulati

关键词： Modeling identification simulation mechatronic systems heterogeneous systems object oriented modeling parameter estimation neural networks real-time simulation hardware-in-the-loop simulation automobiles combustion engines turbocharger

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Model-based fault diagnosis of an actuator system driven by the brushless DC motor

Model-based fault diagnosis of an actuator system driven by ...

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American control Conference (ACC)

作者： O. Moseler D. Juricic A. Rakar N. Muller Institute of Automatic Control Laboratory of Control Engineering and Process Automation Darmstadt University of Technology Darmstadt Germany Department of Computer Automation and Control Jozef Stefan Institute Ljubljana Slovenia

A fault detection and isolation scheme for a brushless DC motor driving a mechanical actuation system is presented. First, a detailed mathematical model of the drive is derived. The residual generator is based on parity relations while the fault isolation part is implemented by means of the transferable belief model. The problem of distinguishing between faults with the same fault signatures is addressed. It is shown that additional improvements in terms of resolution can be achieved by employing parameter estimation. The proposed FDI scheme is tested on the actual drive under various faults. The achieved performance features the highest resolution, diagnostic stability and accuracy.

关键词： Fault diagnosis Actuators Brushless DC motors DC motors Coils Rotors Stators Fault detection Pulse width modulation Mathematical model

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Model-Based Fault Detection for an Actuator Driven by a Brushless DC Motor

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IFAC Proceedings Volumes 1999年第2期32卷 7873-7878页

作者： O. Moseler T. Heller R. Isermann Darmstadt University of Technology Institute of Automatic Contol Laboratory of Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt German Phone: +49-6151-167404 Fax: +49-6151-293604

A real time fault detection approach for a brushless DC motor driving a mechanical actuation system is presented. The brushless DC motor is controlled by a PWM inverter using rectangular current excitation. After an introduction into fault detection with parameter estimation and parity equations, a mathematical model for the actuator with special emphasis on the motor itself is derived. The application of the estimation algorithm to detect electrical and mechanical parameter changes in the motor is described. In addition parity equations are used to detect sensor offsets. The fault detection scheme is implemented on a digital signal processor controlling the actuator. Finally experimental results are given.

关键词： Brushless DC motor fault detection parameter estimation parity equations

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Fault Diagnosis System for the Outokumpu Flash Smelting process

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IFAC Proceedings Volumes 1999年第2期32卷 7028-7033页

作者： E. Vapaavuori S-L. Jämsä-Jounela J. Yianatos Laboratory of Process Control and Automation Helsinki University of Technology P.O.Box 6100 FIN-02015 HUT Finland Chemical Engineering Department Santa Maria University P.O.Box 110-V Valparaiso Chile

Fault diagnosis systems have attracted the growing interest of researchers in a number of engineering areas. The number of applications has increased and successful results are reported widely. This paper presents the results of principal component analysis carried out on the Outokumpu flash smelting process the waste heat boiler being analysed in more detail. The PCA results are evaluated and the configuration of a fault diagnosis system is proposed.

关键词： Fault detection fault diagnosis principle component analysis flash smelting

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Hardware-in-the-Loop Simulation for the Design and Testing of Engine-control Systems

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IFAC Proceedings Volumes 1998年第4期31卷 1-10页

作者： R. Isermann J. Schaffnit S. Sinsel Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

For the design, implementation and testing of control systems increasingly hardware-in-the-loop (HIL) simulation is required, where parts of the control loop components are real hardware and parts are simulated. Usually, the process is simulated because it is not available (simultaneous engineering), or experiments with the real process are too costly or require too much time. The sensors and actuators may be simulated or real and the controller is real hardware and software. The real-time requirements for the simulation depends on the time scale of the process and the simulated components. The contribution gives first an overview of the various kinds of real-time and HIL simulation. Then, two cases are considered. First the HIL simulation for relatively slow processes, like in basic industries or heating systems. Here, the simulation-speed may be limited either by the complexity of the processes or by the real controller hardware. Then, the HIL simulation of combustion engines both with transputers and digital signal processors is shown in detail. The required models for 6- and 8-cylinder diesel engines are described, including fuel injection and burning, pressure development, torque generation at the crankshaft, exhaust turbocharger dynamics and the vehicle dynamics. The HIL-simulator test bench consísts of a real-time computer system, sensor-interface, actuator interface, real injection pumps and the real control unit. Comparisons of real-time simulation with measurements on real diesel engines and trucks are shown. The goal of the HIL system is to develop new control algorithms and to investigate the effect of faults in sensors and actuators and the engine itself.

关键词： real-time simulation hardware-in-the-loop simulation diesel engine turbocharger vehicle dynamics transputers digital signal processors simulator testbench

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