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作者： Kopf, Stefan Feldt, Matthias Eichhorn, Mike Konigorski, Ulrich Technische Universität Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Mechatronics Germany 38518 Gifhorn Germany

ISBN: (纸本)9783902661722

Electronic throttles are used to adjust the air mass flow in gasoline engines. Due to friction, return spring non-linearities and parameter variations on the one hand and requirements for precise positioning of the throttle plate on the other hand, the controller design is a non-trivial task. Usually controllers are parameterised by trial-and-error which is very time consuming and error-prone. We present a method for the automated model-based design of a controller. The non-linearities are compensated by means of a disturbance observer. It is shown that the controller is robust with respect to model uncertainties. Thus no adaptation of the controller is necessary. The controller features a simple structure and allows for an automated design using the method of pole placement. © 2010 IFAC.

关键词： controllers

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Applying optimal control using SLP on a hydraulic system

Applying optimal control using SLP on a hydraulic system

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作者： Verlohren, Christoph Muenchhof, Marco Singh, Tarunraj Laboratory for Control Engineering and Mechatronics Institute of Automatic Control 64283 Darmstadt Germany Department of Mechanical and Aerospace Engineering University at Buffalo Buffalo NY-14260 United States

ISBN: (纸本)9781424474264

This paper applies an optimal control approach to an hydraulic system. An approach is proposed to use an open-loop control on the model of a real hydraulic system. The approach uses a feedback control, to create a closed-loop control. The results of this approach are tested against different linear controls applied to the hydraulic system. The paper shows that the proposed approach can be used on oscillatory and also on systems, where the system dynamics are not exactly known. © 2010 AACC.

关键词： Linear control systems

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Research and design of embedded radar information processor oriented to pervasive computing

Research and design of embedded radar information processor ...

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International Conference on Pervasive Computing Signal Processing and Applications (PCSPA)

作者： Zhang, Chunxia Dong, Wenjie Tian, Xiyan Zhang, Jun Zhou, Chunmei Lin, Jinyong National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China School of Mechatronics Engineering Henan Institute of science and Technology Xinxiang China

ISBN: (纸本)9780769541808

Pervasive computing has been used widely in civilian areas. In the field of aerospace, researchers also have paid more attention to pervasive computing and made scientific researches on it. According to the idea of pervasive computing, an overall program of aerocraft design is introduced in this paper. Subsequently a functional schematic of radar information processor embedded in aerocraft is presented. The hardware and software design and algorithms of radar information processor are introduced exhaustively. The preliminary exploration research of pervasive computing is accomplished in the aerospace electronic systems by means of this research and design. © 2010 IEEE.

关键词： Software design

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Applying Optimal control Using SLP on a Hydraulic System

Applying Optimal Control Using SLP on a Hydraulic System

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American control Conference

作者： Christoph Verlohren Marco Muenchhof Tarunraj Singh Institute of Automatic Control Laboratory for Control Engineering and Mechatronics 64283 Darmstadt Germany Institute of Automatic Control Laboratory for Control Engineering and Mechatronics 64283 Darmstadt Germany Department of Mechanical & Aerospace Engineering University at Buffalo Buffalo NY-14260

ISBN: (纸本)9781424474264

关键词： Optimal control Hydraulic systems Open loop systems automatic control control systems Laboratories System testing Valves control design control engineering

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Flatness-Based control and Online Trajectory Generation for Electrical Actuators in Combustion Engines

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IFAC Proceedings Volumes 2010年第7期43卷 146-151页

作者： Matthias Feldt Stefan Kopf Mike Eichhorn Ulrich Konigorski IAV (Ingenieurgesellschaft Auto und Verkehr) 38518 Gifhorn Germany Technische Universität Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Mechatronics Germany

Several different electrical actuators are utilized to influence mass flows in the gas exchange system of modern combustion engines. control loops for exhaust gas recirculation rate or boost-pressure strongly rely on underlying actuator position control with a high predefined performance level. Position controller design in the industrial practice often builds upon grown, inexplicit controller structures and trial-and-error parametrization methods. The approach presented in this paper uses flatness-based feedforward control as a strategy for systematic integration of a priori system knowledge into an open-loop controller. A major difficulty in this context is the inevitable online generation of appropriate trajectories without unrealistic consumption of computing time and memory. We present two approaches for the trajectory generation, both of which state a realistic compromise between mathematical accuracy, design freedom and computing resources consumption. It will be shown, that a high tracking performance can be realized due to the suggested feedforward controller with only moderate bandwidth of the additional feedback controller.

关键词： Actuators Internal combustion engines Flatness-based control design Tracking control Trajectories

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Automated model-based controller design for an electronic throttle

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IFAC Proceedings Volumes 2010年第7期43卷 216-221页

作者： Stefan Kopf Matthias Feldt Mike Eichhorn Ulrich Konigorski Technische Universität Darmstadt Institute of Automatic Control Laboratory of Control Engineering and Mechatronics Germany IAV (Ingenieurgesellschaft Auto und Verkehr) 38518 Gifhorn Germany

关键词： electronic throttle pole placement robust control model uncertainties disturbance observer

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On fast computation of Effective Independence through QR downdating for sensor placement

On fast computation of Effective Independence through QR dow...

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27th Conference and Exposition on Structural Dynamics 2009, IMAC XXVII

作者： Li, Dong-Sheng Li, Hong-Nan Fritzen, Claus-Peter State Key Laboratory of Coastal and Offshore Engineering Dalian Univ. of Technology Linggong RD.2 Dalian 116023 China Institute of Mechanics and Automatic Control - Mechatronics University of Siegen Paul-Bonatz Str. 9-11 D-57076 Siegen Germany

ISBN: (纸本)9781605609614

A simple and fast computational algorithm of the Effective Independence for sensor placement is presented in the paper. It is based on the relationship between the Effective Independence and Modal Kinetic Energy method, and on a downdating algorithm of the QR decomposition for a reduced modal matrix. Traditional computations of the Effective Independence, which tries to render the target modes as linearly independent at possible and is significant and influential in the field of sensor placement, require the eigenvalue decomposition or inversion of the Fisher Information matrix, and both are costly. By virtue of the connection between the Modal Kinetic Energy and Effective Independence derived by the authors, the norms of the orthonormal rows after the QR decomposition of the modal matrix can be employed to compute the Effective Independence. Moreover, new downdating steps of the QR decomposition based on the combination of the modified Gram-Schmidt and Householder transformations are implemented, which further improved its efficiency by eliminating unnecessary expensive QR decompositions in the iterations. The computational burden for traditional methods and the proposed ones are investigated in terms of the floating point operations required. Finally, numerical tests on the I-40 Bridge shows that the new algorithms run much more quickly with fewer computation steps, has the advantages of simplicity and clarity in physical significance, and is stable. © 2009 Society for Experimental Mechanics Inc.

关键词： Fisher information matrix

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Processing of tactile/force measurements for a fully embedded sensor

Processing of tactile/force measurements for a fully embedde...

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2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI

作者： Cannata, Giorgio Maggiali, Marco Mechatronics and Automatic Control Laboratory Department of Communication Computer and System Science University of Genova Via Opera Pia 13 16145 Genova Italy Mechatronics and Automatic Control Laboratory Italian Institute of Technologies University of Genova Via Opera Pia 13 16145 Genova Italy

ISBN: (纸本)1424405661

A new fully embedded tactile/force sensor system to be installed on the phalanges of a robot hand is presented in this paper. Each sensor consists of a distributed array of analog tactile elements and an integrated three-component force transducer with embedded analog and digital electronics. The tactile sensor is a matrix of electrodes etched on a flexible printed circuit board covered by pressure conductive rubber. The force sensor is an off-the-shelf integrated three components micro-joystick. Communications of the sensors with other control modules are implemented with a CAN bus link. A local processing technique is proposed to enable the transmission of both tactile and force data using a single CAN message, and eventually validate through simulative and experimental tests. © 2006 IEEE.

关键词： Embedded systems

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Processing of Tactile/Force Measurements for a Fully Embedded Sensor

Processing of Tactile/Force Measurements for a Fully Embedde...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Giorgio Cannata Marco Maggiali Mechatronics and Automatic Control Laboratory Department of Communication Computer and System Science University of Genova Genoa Italy Mechatronics and Automatic Control Laboratory Italian Institute of Technologies University of Genova Genoa Italy

关键词： Force measurement Tactile sensors Force sensors Sensor arrays Robot sensing systems Transducers Transmission line matrix methods Electrodes Etching Flexible printed circuits

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Processing of an Embedded Tactile Matrix Sensor

Processing of an Embedded Tactile Matrix Sensor

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IEEE International Conference on Robotics and Biomimetics

A fully embedded tactile/force sensor system to be installed on the phalanges of a robot hand is presented in this paper. The sensor consists of a distributed array of analog tactile elements and an integrated three-component force transducer with embedded analog and digital electronics. The tactile sensor is a matrix of electrodes etched on a flexible printed circuit board covered by pressure conductive rubber. The force sensor is an off-the-shelf integrated three components micro-joystick. Communications of the sensors with other control modules are implemented with a CAN bus link. A local processing technique is proposed to enable the transmission of both tactile and force data using a single CAN message. Simulative and experimental tests validate the proposed method.

关键词： Tactile sensors Force sensors Sensor arrays Transmission line matrix methods Robot sensing systems Transducers Electrodes Etching Flexible printed circuits Rubber

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