Non - linear modelling of hydraulically actuated production machines using optimised experiments:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Essen ; [München]
Vulkan
2014
|
| Series: | Schriftenreihe des Instituts für Werkzeugmaschinen und Fertigungstechnik der Technischen Universität Braunschweig
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XVIII, 316 S. graph. Darst. |
| ISBN: | 9783802783326 |
Staff View
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| 245 | 1 | 0 | |a Non - linear modelling of hydraulically actuated production machines using optimised experiments |c Franz Dietrich |
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| 490 | 0 | |a Schriftenreihe des Instituts für Werkzeugmaschinen und Fertigungstechnik der Technischen Universität Braunschweig | |
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CONTENTS
1 INTRODUCTION 1
1.1 CONTEXT 1
1.2 MOTIVATION 4
1.3 OBJECTIVES 6
1.4 STRUCTURE OF THE THESIS 7
2 MODELS OF HYDRAULICALLY ACTUATED STEWART PLATFORMS 11
2.1 THE PURPOSE OF MODELLING 11
2.1.1 DESIGN OF FORMING PROCESSES 12
2.1.2 MODEL-BASED CONTROL OF MACHINES 13
2.1.3 TRAJECTORY CONTROL OF HYDRAULIC ACTUATORS 14
2.1.4 MODEL STRUCTURES OF HYDRAULIC SERVO SYSTEMS 15
2.2 MODEL STRUCTURE FOR HYDRAULICALLY ACTUATED STEWART PLATFORMS 17
2.3 KINEMATIC MODEL 18
2.4 MODEL OF MULTIBODY DYNAMIC SYSTEM 21
2.4.1 MODEL STRUCTURE 21
2.4.2 METHODS OF VIRTUAL WORK AND VIRTUAL POWER FOR ROBOTS
WITH ANGULAR DEGREES OF FREEDOM 23
2.4.3 COORDINATE TRANSFORMATION OF MULTIBODY DYNAMIC
SYSTEM 29
2.4.4 REDUCED MODEL OF THE STEWART PLATFORM 30
2.5 HYDRAULIC ACTUATOR MODEL 31
2.5.1 SERVO HYDRAULIC ACTUATOR MODEL 31
2.5.2 VALVE AMPLIFICATION STAGES 37
2.5.3 PIPELINE DYNAMICS 44
2.5.4 FRICTION 45
2.6 SUMMARY 46
3 MODEL STRUCTURE AND FRAMEWORK 47
3.1 A FRAMEWORK FOR EXPERIMENT REPRESENTATION AND NUMERICAL
TREATMENT OF EXPERIMENT DATA 47
3.1.1 MODEL STRUCTURE 48
3.1.2 A SIMPLIFIED MODEL EXAMPLE 49
3.1.3 SIMULATION AND EXPERIMENT SAMPLING 51
IX
HTTP://D-NB.INFO/1048446034
CONTENTS
3.1.4 CONTINUITY AND DIFFERENTIABILITY OF THE MODEL . 53
3.1.5 NORMALISATION WITH RESPECT TO THE PARAMETER VECTOR 59
3.1.6 NORMALISATION OF THE OUTPUT VECTOR 61
3.2 PREDICTION ERROR FORMULATIONS 62
3.2.1 NOISE MODEL #1: ADDITIVE OUTPUT NOISE 63
3.2.2 NOISE MODEL #2: NOISE IN THE STATE EQUATIONS . 65
3.2.3 NOISE MODEL #3: NOISE IN THE PARAMETERS 68
3.3 SUMMARY 70
4 PARAMETER ESTIMATION FROM EXPERIMENTAL DATA 73
4.1 REPORTS ON PARAMETER IDENTIFICATION FOR HYDRAULIC SERVO SYS
TEMS 73
4.1.1 RELEVANCE FOR THIS THESIS 74
4.2 CRITERIA AND CONCEPTS FOR PARAMETER ESTIMATION 75
4.2.1 LEAST SQUARES ESTIMATOR 76
4.2.2 FUNDAMENTALS OF THE MAXIMUM LIKELIHOOD METHOD . 76
4.2.3 GRADIENT OF THE MAXIMUM LIKELIHOOD OBJECTIVE FUNCTION 82
4.2.4 HESSIAN OF THE MAXIMUM LIKELIHOOD OBJECTIVE FUNCTION 84
4.2.5 SUMMARY OF MAXIMUM LIKELIHOOD THEORY AND ITS FUR
THER USAGE IN THIS WORK 91
4.3 UNCERTAINTY IN THE ESTIMATE 91
4.3.1 THEORY OF FISHER'S INFORMATION MATRIX 92
4.3.2 SAMPLE FISHER INFORMATION MATRIX USING THE GRADIENT
EQ. (4.45B) 93
4.3.3 SAMPLE FISHER INFORMATION MATRIX USING THE HESSIAN
EQ. (4.45C) 95
4.3.4 ASPECTS OF IMPLEMENTATION 95
4.4 CASE STUDY: MULTIBODY SYSTEM DYNAMICS 98
4.5 CASE STUDY: HYDRAULIC ACTUATOR MODEL 100
4.5.1 STAGE 1: VIRTUALLY SEPARATED HYDRAULIC ACTUATOR . . . 102
4.5.2 STAGE 2: STEWART PLATFORM WITH ACTUATORS 113
4.6 SUMMARY AND CONTRIBUTION 117
5 EXPERIMENT DESIGN 121
5.1 PRELIMINARY GENERAL CONSIDERATIONS 122
5.2 MEASURES OF QUALITY 124
5.2.1 IMPORTANT MATHEMATICAL PROPERTIES AND PRELIMINARY
CHOICES INHERENT WITH D-OPTIMAL EXPERIMENT DESIGN . 126
5.3 EXPERIMENT DESIGN ALGORITHMS 142
5.3.1 RELEVANT APPROACHES FOR LINEAR MODELS 143
5.3.2 ALGORITHMS FOR NONLINEAR MODELS 143
X
CONTENTS
5.4 CASE STUDIES 144
5.4.1 CASE STUDY: INITIAL CONDITION FOR NONLINEAR PENDULUM 145
5.4.2 CASE STUDY: INPUT SEQUENCE FOR NONLINEAR PENDULUM 150
5.4.3 CASE STUDY: INPUT SEQUENCE AND INITIAL CONDITION FOR
NONLINEAR PENDULUM 152
5.4.4 CASE STUDY: INITIAL CONDITION FOR HYDRAULIC ACTUATOR . 154
5.4.5 CASE STUDY: INPUT SEQUENCE FOR HYDRAULIC ACTUATOR . 160
5.4.6 CASE STUDY: INPUT SEQUENCE AND INITIAL CONDITION FOR
HYDRAULIC ACTUATOR 162
5.4.7 CASE STUDY: STEWART PLATFORM 163
5.5 CONCLUSION 166
6 PLANNING FOR SAFE EXECUTION OF EXPERIMENTS 169
6.1 AN EXAMPLE WITH AN INTUITIVE SOLUTION 169
6.2 LAVALLES FRAMEWORK FOR ROBOTIC PLANNING TASKS 172
6.2.1 ALGORITHMS 173
6.2.2 METRICS 177
6.3 A RAPIDLY EXPLORING DENSE TREE ALGORITHM FOR NONLINEAR DY
NAMIC MODELS 178
6.3.1 ENHANCEMENTS TO THE METRICS 179
6.3.2 ENHANCEMENTS TO THE GROWTH ALGORITHM 179
6.3.3 MULTI-TREE STRUCTURES 181
6.4 CASE STUDIES 182
6.4.1 NONLINEAR PENDULUM: SINGLE TREE PLANNER 182
6.4.2 NONLINEAR PENDULUM: PLANNER WITH TWO OPPOSING TREESL83
6.4.3 HYDRAULIC ACTUATOR 183
6.5 CONCLUSION 186
7 CASE STUDY: HYDRAULIC STEWART PLATFORM 189
7.1 TECHNIQUES FOR VERIFICATION AND VALIDATION 190
7.1.1 THE RELEVANCE OF VERIFICATION AND VALIDATION FOR THE
MODELLING PROCESS 190
7.1.2 RELEVANT VALIDATION TECHNIQUES 191
7.2 REMARKS: A-PRIORI VERIFICATION AND A-PRIORI VALIDATION IN THE
CASE STUDIES 199
7.2.1 VERIFICATION OF THE CODE BASE IMPLEMENTED 199
7.2.2 A-PRIORI VALIDATION OF THE CODE BASE 200
7.3 STEWART PLATFORM CASE STUDY: VALIDATION OF PARAMETER ESTIM
ATES 201
7.3.1 EXPERIMENT AND PARAMETER ESTIMATION 202
7.3.2 VALIDATION WITH ESTIMATION DATA 203
XI
CONTENTS
7.3.3 VALIDATION BY FRESH DATA: THE INVERSE MODEL PREDIC
TION TEST 209
7.3.4 VALIDATION BY MINIMUM CONTROLLER ACTION 214
7.4 CONCLUSION 217
8 FINAL REMARKS 221
8.1 SUMMARY AND CONCLUSIONS 221
8.2 OVERALL RESULTS AND THEIR RELEVANCE 224
8.3 PERSPECTIVES 225
A KINEMATIC AND MULTIBODY SYSTEM DYNAMIC ANALYSIS OF THE STEWART
PLATFORM 227
A.L NOMENCLATURE 228
A.2 KINEMATIC MODEL 230
A.2.1 GEOMETRY AND PARAMETERS OF THE HEXAPOD 230
A.2.2 CONSTANT VALUES 233
A.2.3 FORWARD AND INVERSE KINEMATIC MODEL 234
A.2.4 DIFFERENTIAL KINEMATIC MODEL 236
A.3 MODEL OF THE MULTIBODY DYNAMIC SYSTEM 237
A. 3.1 PARAMETERS 237
A.3.2 MODELLING VIA THE PRINCIPLE OF VIRTUAL POWER 238
A.3.3 ROTATIONS 240
A.3.4 EXTERNAL FORCES 242
A.3.5 INERTIAL FORCES 242
A.3.6 GRAVITATION TERMS 247
A.3.7 JACOBIANS 247
A.4 VALIDATION OF THE KINEMATIC AND DYNAMIC MODEL 249
A.4.1 KINEMATIC TRANSFORMATIONS AND JACOBIANS 249
A.4.2 MODEL-TO-MODEL CROSS-VALIDATION OF DYNAMIC MODEL
AGAINST SIMMECHANICS IMPLEMENTATION 251
A.5 REDUCTION OF THE MODEL COMPLEXITY 255
A.6 PARAMETER ESTIMATION FROM EXPERIMENTAL DATA 257
B DEFINITIONS AND MATHEMATIC DETAILS OF MODELS 263
B.L NONLINEAR PENDULUM 263
B.2 HYDRAULIC ACTUATOR 264
B.2.1 PARTIAL DERIVATIVES 266
B.2.2 LEAKAGE MODEL EQ. (2.43) 270
B.2.3 DYNAMIC MODEL OF THE VALVE PISTON 271
B.3 HYDRAULIC ACTUATOR WITH VALVE PISTON MODEL 271
B.4 MULTIBODY DYNAMICS OF THE STEWART PLATFORM 272
XII
CONTENTS
B.O STEWART PLATFORM WITH HYDRAULIC ACTUATORS 273
B.5.1 PARTIAL DERIVATIVES 274
B.O STEWART PLATFORM WITH HYDRAULIC ACTUATORS AND VALVE PISTONS 276
B.6.1 PARTIAL DERIVATIVES 276
C SELECTED ASPECTS OF SOFTWARE ENGINEERING 279
C.L REMARKS ABOUT SOFTWARE ENGINEERING 279
C.L.L IMPORTANT OBJECTIVES 279
C.2 TECHNOLOGIES 280
C.3 ACCESS PATTERNS AND TESTING PATTERNS 281
C.4 REMARKS ON THE DESIGN AND IMPLEMENTATION 283
D R, A ROBOT CONTROL ARCHITECTURE FOR RESEARCH PURPOSES 287
D.L CONTROL ALGORITHMS 288
D.2 ADAPTATION OF VALVE OFFSET 289
D.3 EXECUTION OF AN EXPERIMENT SEQUENCE 290
D.4 TRAJECTORY GENERATION 291
XM |
| any_adam_object | 1 |
| author | Dietrich, Franz |
| author_facet | Dietrich, Franz |
| author_role | aut |
| author_sort | Dietrich, Franz |
| author_variant | f d fd |
| building | Verbundindex |
| bvnumber | BV041793731 |
| ctrlnum | (OCoLC)874065858 (DE-599)DNB1048446034 |
| dewey-full | 621.902 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 621 - Applied physics |
| dewey-raw | 621.902 |
| dewey-search | 621.902 |
| dewey-sort | 3621.902 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Werkstoffwissenschaften / Fertigungstechnik |
| format | Thesis Book |
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| series2 | Schriftenreihe des Instituts für Werkzeugmaschinen und Fertigungstechnik der Technischen Universität Braunschweig |
| spelling | Dietrich, Franz Verfasser aut Non - linear modelling of hydraulically actuated production machines using optimised experiments Franz Dietrich Essen ; [München] Vulkan 2014 XVIII, 316 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Schriftenreihe des Instituts für Werkzeugmaschinen und Fertigungstechnik der Technischen Universität Braunschweig Zugl.: Braunschweig, Techn. Univ., Diss., 2013 Hexapode Robotik (DE-588)4328194-1 gnd rswk-swf Hydrostatischer Antrieb (DE-588)4160940-2 gnd rswk-swf Parallelstruktur Maschinenbau (DE-588)4529086-6 gnd rswk-swf Nichtlineares mathematisches Modell (DE-588)4127859-8 gnd rswk-swf Werkzeugmaschine (DE-588)4065604-4 gnd rswk-swf Parameterschätzung (DE-588)4044614-1 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Industrieroboter (DE-588)4026861-5 s Werkzeugmaschine (DE-588)4065604-4 s Parallelstruktur Maschinenbau (DE-588)4529086-6 s Hexapode Robotik (DE-588)4328194-1 s Hydrostatischer Antrieb (DE-588)4160940-2 s Nichtlineares mathematisches Modell (DE-588)4127859-8 s Parameterschätzung (DE-588)4044614-1 s DE-604 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4612220&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027239291&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Dietrich, Franz Non - linear modelling of hydraulically actuated production machines using optimised experiments Hexapode Robotik (DE-588)4328194-1 gnd Hydrostatischer Antrieb (DE-588)4160940-2 gnd Parallelstruktur Maschinenbau (DE-588)4529086-6 gnd Nichtlineares mathematisches Modell (DE-588)4127859-8 gnd Werkzeugmaschine (DE-588)4065604-4 gnd Parameterschätzung (DE-588)4044614-1 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4328194-1 (DE-588)4160940-2 (DE-588)4529086-6 (DE-588)4127859-8 (DE-588)4065604-4 (DE-588)4044614-1 (DE-588)4026861-5 (DE-588)4113937-9 |
| title | Non - linear modelling of hydraulically actuated production machines using optimised experiments |
| title_auth | Non - linear modelling of hydraulically actuated production machines using optimised experiments |
| title_exact_search | Non - linear modelling of hydraulically actuated production machines using optimised experiments |
| title_full | Non - linear modelling of hydraulically actuated production machines using optimised experiments Franz Dietrich |
| title_fullStr | Non - linear modelling of hydraulically actuated production machines using optimised experiments Franz Dietrich |
| title_full_unstemmed | Non - linear modelling of hydraulically actuated production machines using optimised experiments Franz Dietrich |
| title_short | Non - linear modelling of hydraulically actuated production machines using optimised experiments |
| title_sort | non linear modelling of hydraulically actuated production machines using optimised experiments |
| topic | Hexapode Robotik (DE-588)4328194-1 gnd Hydrostatischer Antrieb (DE-588)4160940-2 gnd Parallelstruktur Maschinenbau (DE-588)4529086-6 gnd Nichtlineares mathematisches Modell (DE-588)4127859-8 gnd Werkzeugmaschine (DE-588)4065604-4 gnd Parameterschätzung (DE-588)4044614-1 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Hexapode Robotik Hydrostatischer Antrieb Parallelstruktur Maschinenbau Nichtlineares mathematisches Modell Werkzeugmaschine Parameterschätzung Industrieroboter Hochschulschrift |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=4612220&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027239291&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT dietrichfranz nonlinearmodellingofhydraulicallyactuatedproductionmachinesusingoptimisedexperiments |