{"title":"Ausgewählte Beiträge der GMA-Fachausschüsse 2.13 und 2.14","authors":"Frank Woittennek, K. Röbenack","doi":"10.1515/auto-2023-0126","DOIUrl":"https://doi.org/10.1515/auto-2023-0126","url":null,"abstract":"","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"581 - 583"},"PeriodicalIF":1.0,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45481173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Nicole Gehring, Abdurrahman Irscheid, Joachim Deutscher, Frank Woittennek, Joachim Rudolph
Abstract This paper gives an overview of the control of distributed-parameter systems using normal forms. Considering linear controllable PDE-ODE systems of hyperbolic type, two methods derive tracking controllers by mapping the system into a form that is advantageous for the control design, analogous to the finite-dimensional case. A flatness-based controller makes use of the hyperbolic controller canonical form that follows from a parametrization of the system’s solutions. A backstepping design exploits the strict-feedback form of the system to recursively stabilize and transform the subsystems.
{"title":"Control of distributed-parameter systems using normal forms: an introduction","authors":"Nicole Gehring, Abdurrahman Irscheid, Joachim Deutscher, Frank Woittennek, Joachim Rudolph","doi":"10.1515/auto-2023-0051","DOIUrl":"https://doi.org/10.1515/auto-2023-0051","url":null,"abstract":"Abstract This paper gives an overview of the control of distributed-parameter systems using normal forms. Considering linear controllable PDE-ODE systems of hyperbolic type, two methods derive tracking controllers by mapping the system into a form that is advantageous for the control design, analogous to the finite-dimensional case. A flatness-based controller makes use of the hyperbolic controller canonical form that follows from a parametrization of the system’s solutions. A backstepping design exploits the strict-feedback form of the system to recursively stabilize and transform the subsystems.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"183 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136106841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zusammenfassung Die physikalischen Eigenschaften pneumatischer Antriebe ermöglichen den Bau von sicheren, leichten und intuitiv bedienbaren Robotern, deren Regelung jedoch herausfordernd ist. Gründe dafür sind die Dynamik der Pneumatik und nichtlineare Reibung mit Unsicherheiten, die ohne abtriebsseitige Momentensensorik unbekannt ist. In dieser Arbeit wird die nichtlineare modellbasierte Trajektorienfolgeregelung eines Roboters mit sechs pneumatischen Drehgelenken vorgestellt. Sie umfasst die Mechanik und Pneumatik sowie, im Gegensatz zum Stand der Technik, deren Verkopplung in einem zentralen Regler. Ausgehend vom dynamischen Modell des Gesamtsystems wird der Regler mittels Feedback-Linearisierung, einem Sonderfall der differentiellen Flachheit, hergeleitet. Die Regelung wird experimentell validiert und anhand der Messungen werden praktische Auswirkungen ihrer Struktur aufgezeigt.
{"title":"Flachheitsbasierte Trajektorienfolgeregelung eines pneumatischen Roboters","authors":"K. Hoffmann, C. Trapp, A. Hildebrandt, O. Sawodny","doi":"10.1515/auto-2023-0052","DOIUrl":"https://doi.org/10.1515/auto-2023-0052","url":null,"abstract":"Zusammenfassung Die physikalischen Eigenschaften pneumatischer Antriebe ermöglichen den Bau von sicheren, leichten und intuitiv bedienbaren Robotern, deren Regelung jedoch herausfordernd ist. Gründe dafür sind die Dynamik der Pneumatik und nichtlineare Reibung mit Unsicherheiten, die ohne abtriebsseitige Momentensensorik unbekannt ist. In dieser Arbeit wird die nichtlineare modellbasierte Trajektorienfolgeregelung eines Roboters mit sechs pneumatischen Drehgelenken vorgestellt. Sie umfasst die Mechanik und Pneumatik sowie, im Gegensatz zum Stand der Technik, deren Verkopplung in einem zentralen Regler. Ausgehend vom dynamischen Modell des Gesamtsystems wird der Regler mittels Feedback-Linearisierung, einem Sonderfall der differentiellen Flachheit, hergeleitet. Die Regelung wird experimentell validiert und anhand der Messungen werden praktische Auswirkungen ihrer Struktur aufgezeigt.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"659 - 669"},"PeriodicalIF":1.0,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42942875","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Sten Grüner, Mario Hoernicke, Katharina Stark, N. Schoch, Nafise Eskandani, J. Pretlove
Abstract In this work we emphasize the role of the engineering process within the industrial automation domain and its underrepresentation in the Industry 4.0 community possibly explained by discrete roots of Industry 4.0. Towards this aim, we revisit the value chain on the leading picture of Industry 4.0 and indicate gaps for “design-to-order” products and projects where requirement artifacts like Piping and Instrumentation Diagrams (P&IDs) or tag lists are exchanged prior to selecting, ordering and building the actual plant. After the understanding of the importance of the engineering process, we explore the opportunities of using Industry 4.0 technology stack to embed engineering information into the digital twin of a process plant. We underline possible synergies with the current developments of the Industry 4.0 community, like the Data Exchange in the Process Industry (DEXPI) and the Module Type Package (MTP) submodel template definitions. Finally, we present possible best practices for embedding existing engineering-related standards into the Industry 4.0 ecosystem and propose tactics and mechanisms for information modeling to accomplish this task in a most efficient and reusable way.
{"title":"Towards asset administration shell-based continuous engineering in process industries","authors":"Sten Grüner, Mario Hoernicke, Katharina Stark, N. Schoch, Nafise Eskandani, J. Pretlove","doi":"10.1515/auto-2023-0012","DOIUrl":"https://doi.org/10.1515/auto-2023-0012","url":null,"abstract":"Abstract In this work we emphasize the role of the engineering process within the industrial automation domain and its underrepresentation in the Industry 4.0 community possibly explained by discrete roots of Industry 4.0. Towards this aim, we revisit the value chain on the leading picture of Industry 4.0 and indicate gaps for “design-to-order” products and projects where requirement artifacts like Piping and Instrumentation Diagrams (P&IDs) or tag lists are exchanged prior to selecting, ordering and building the actual plant. After the understanding of the importance of the engineering process, we explore the opportunities of using Industry 4.0 technology stack to embed engineering information into the digital twin of a process plant. We underline possible synergies with the current developments of the Industry 4.0 community, like the Data Exchange in the Process Industry (DEXPI) and the Module Type Package (MTP) submodel template definitions. Finally, we present possible best practices for embedding existing engineering-related standards into the Industry 4.0 ecosystem and propose tactics and mechanisms for information modeling to accomplish this task in a most efficient and reusable way.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"689 - 708"},"PeriodicalIF":1.0,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47537951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zusammenfassung In vielen Anwendungen der Regelungstechnik werden Beobachter eingesetzt, um interne Zustandsgrößen oder Parameter zu schätzen oder Fehler zu detektieren. Solche Beobachter lassen sich auch für nichtlineare Systeme systematisch auf Basis der Beobachter- oder der Beobachtbarkeitsnormalform entwerfen. Letztere existiert für eine größere Systemklasse. Allerdings ist das Vektorfeld in der Beobachtbarkeitsnormalform nicht unbedingt an allen Punkten definiert oder Lipschitz-stetig, selbst wenn diese Eigenschaften auf die ursprüngliche Systemdarstellung zutreffen. Durch die Einbettung in höherdimensionale Räume ist es möglich, die Normalform einerseits zu konstruieren und gegebenenfalls gewisse singuläre Punkte zu vermeiden. In diesem Beitrag wird gezeigt, wie dies systematisch für polynomiale Systeme mit mehreren Ein- oder Ausgängen bewerkstelligt werden kann.
{"title":"Einbettungsbeobachter für polynomiale Systeme","authors":"D. Gerbet, K. Röbenack","doi":"10.1515/auto-2023-0065","DOIUrl":"https://doi.org/10.1515/auto-2023-0065","url":null,"abstract":"Zusammenfassung In vielen Anwendungen der Regelungstechnik werden Beobachter eingesetzt, um interne Zustandsgrößen oder Parameter zu schätzen oder Fehler zu detektieren. Solche Beobachter lassen sich auch für nichtlineare Systeme systematisch auf Basis der Beobachter- oder der Beobachtbarkeitsnormalform entwerfen. Letztere existiert für eine größere Systemklasse. Allerdings ist das Vektorfeld in der Beobachtbarkeitsnormalform nicht unbedingt an allen Punkten definiert oder Lipschitz-stetig, selbst wenn diese Eigenschaften auf die ursprüngliche Systemdarstellung zutreffen. Durch die Einbettung in höherdimensionale Räume ist es möglich, die Normalform einerseits zu konstruieren und gegebenenfalls gewisse singuläre Punkte zu vermeiden. In diesem Beitrag wird gezeigt, wie dies systematisch für polynomiale Systeme mit mehreren Ein- oder Ausgängen bewerkstelligt werden kann.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"646 - 658"},"PeriodicalIF":1.0,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45137227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Anja Rentz, Viktor Kühl, Venizelos E. Sourmelis T, M. Schmidt, M. Linder, O. Sawodny, M. Böhm
Abstract Thermochemical energy storage systems are promising for storing excess energy produced by renewable sources. Of particular interest and the focus of this paper is a specific application based on the reaction pair CaO and H2O. Working towards a model based controller for the reactor storage system, all of the ongoing processes need to be modeled. This publication establishes a model for the hydration process, where heat is recovered from the exothermic reaction of CaO and liquid H2O. The derivations are based on mass and enthalpy balance equations for the reactor and the cooling water. This yields a simple reactor system model, for which some parameters are unknown and need to be identified. For this, an optimization is set up. Additionally, the parameter sensitivity of the model outputs is analyzed. The simulation results with the identified parameters illustrate that the model is able to predict the measurements well. The sensitivity results coincide with the identification variance for the estimated parameters.
{"title":"Modeling and identification of the hydration process in a CaO/Ca(OH) 2 -based heat storage system","authors":"Anja Rentz, Viktor Kühl, Venizelos E. Sourmelis T, M. Schmidt, M. Linder, O. Sawodny, M. Böhm","doi":"10.1515/auto-2023-0040","DOIUrl":"https://doi.org/10.1515/auto-2023-0040","url":null,"abstract":"Abstract Thermochemical energy storage systems are promising for storing excess energy produced by renewable sources. Of particular interest and the focus of this paper is a specific application based on the reaction pair CaO and H2O. Working towards a model based controller for the reactor storage system, all of the ongoing processes need to be modeled. This publication establishes a model for the hydration process, where heat is recovered from the exothermic reaction of CaO and liquid H2O. The derivations are based on mass and enthalpy balance equations for the reactor and the cooling water. This yields a simple reactor system model, for which some parameters are unknown and need to be identified. For this, an optimization is set up. Additionally, the parameter sensitivity of the model outputs is analyzed. The simulation results with the identified parameters illustrate that the model is able to predict the measurements well. The sensitivity results coincide with the identification variance for the estimated parameters.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"584 - 598"},"PeriodicalIF":1.0,"publicationDate":"2023-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41482737","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of a compact flexible actuator with variable shape change featuring shape memory alloy wire loops in active-antagonist configurations for a bending and S-shape. The actuator was fabricated using heat-treated wire loops. The evaluation using optical marker tracking revealed a mean maximum absolute displacement at the distal tip of 19 mm and a force of 90 mN reached in under 15 s. For control, a closed-loop regime was evaluated with steady-state errors below 2°.
{"title":"Compact flexible actuator based on a shape memory alloy for shaping surgical instruments","authors":"N. Fischer, Franziska Mathis-Ullrich","doi":"10.1515/auto-2023-0049","DOIUrl":"https://doi.org/10.1515/auto-2023-0049","url":null,"abstract":"Abstract Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of a compact flexible actuator with variable shape change featuring shape memory alloy wire loops in active-antagonist configurations for a bending and S-shape. The actuator was fabricated using heat-treated wire loops. The evaluation using optical marker tracking revealed a mean maximum absolute displacement at the distal tip of 19 mm and a force of 90 mN reached in under 15 s. For control, a closed-loop regime was evaluated with steady-state errors below 2°.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"71 1","pages":"547 - 553"},"PeriodicalIF":1.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45306076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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