TY - CHAP A1 - Braun, Tristan A1 - Straußberger, Florian A1 - Reuter, Johannes A1 - Preissler, Gabi T1 - A semilinear distributed parameter approach for solenoid valve control including saturation effects T2 - American Control Conference (ACC), 2015, 1-3 July 2015, Chicago, IL, USA N2 - In this paper a semilinear parabolic PDE for the control of solenoid valves is presented. The distributed parameter model of the cylinder becomes nonlinear by the inclusion of saturation effects due to the material's B/H-curve. A flatness based solution of the semilinear PDE is shown as well as a convergence proof of its series solution. By numerical simulation results the adaptability of the approach is demonstrated, and differences between the linear and the nonlinear case are discussed. The major contribution of this paper is the inclusion of saturation effects into the magnetic field governing linear diffusion equation, and the development of a flatness based solution for the resulting semilinear PDE as an extension of previous works [1] and [2]. KW - valves KW - convergence KW - inclusions KW - parabolic equations KW - partial differential equations Y1 - 2015 SN - 978-1-4799-8684-2 U6 - http://dx.doi.org/10.1109/ACC.2015.7171126 N1 - Volltextzugriff für Hochschulangehörige via Datenbank IEEE Xplore SP - 2600 EP - 2605 ER - TY - CHAP A1 - Braun, Tristan A1 - Straußberger, Florian A1 - Reuter, Johannes T1 - State estimation for fast-switching solenoid valves BT - A study on practical nonlinear observers and new experimental results T2 - 20th International Conference on Methods and Models in Automation and Robotics (MMAR) : 24 - 27 Aug. 2015, Miedzyzdroje, Poland N2 - Knowing the position of the spool in a solenoid valve, without using costly position sensors, is of considerable interest in a lot of industrial applications. In this paper, the problem of position estimation based on state observers for fast-switching solenoids, with sole use of simple voltage and current measurements, is investigated. Due to the short spool traveling time in fast-switching valves, convergence of the observer errors has to be achieved very fast. Moreover, the observer has to be robust against modeling uncertainties and parameter variations. Therefore, different state observer approaches are investigated, and compared to each other regarding possible uncertainties. The investigation covers a High-Gain-Observer approach, a combined High-Gain Sliding-Mode-Observer approach, both based on extended linearization, and a nonlinear Sliding-Mode-Observer based on equivalent output injection. The results are discussed by means of numerical simulations for all approaches, and finally physical experiments on a valve-mock-up are thoroughly discussed for the nonlinear Sliding-Mode-Observer. KW - valves KW - linearisation techniques KW - observers KW - solenoids Y1 - 2015 SN - 978-1-4799-8701-6 U6 - http://dx.doi.org/10.1109/MMAR.2015.7283990 N1 - Volltextzugriff für Hochschulangehörige via Datenbank IEEE Xplore SP - 862 EP - 867 ER - TY - CHAP A1 - Reuter, Johannes A1 - Braun, Tristan A1 - Straußberger, Florian T1 - Sensorless position estimation of magnetic actuators T2 - 7th Workshop on Digital Fluid Power (DFP 15), September 26 - 27, 2015, Linz, Austria Y1 - 2015 SN - 978-3-200-04014-4 SP - 173 EP - 190 ER - TY - CHAP A1 - Braun, Tristan A1 - Reuter, Johannes A1 - Rudolph, Joachim T1 - Position observation for proportional solenoid valves by signal injection T2 - 7th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2016, Loughborough University, Leicestershire, UK, 5—8 September 2016 (IFAC-PapersOnLine Vol. 49, Iss. 21) N2 - The method of signal injection is investigated for position estimation of proportional solenoid valves. A simple observer is proposed to estimate a position-dependent parameter, i.e. the eddy current resistance, from which the position is calculated analytically. Therefore, the relationship of position and impedance in the case of sinusoidal excitation is accurately described by consideration of classical electrodynamics. The observer approach is compared with a standard identification method, and evaluated by practical experiments on an off-the-shelf proportional solenoid valve. KW - Hydraulic actuators KW - Electromagnetic devices KW - Magnetic fields KW - Observers KW - Parameter estimation Y1 - 2016 U6 - http://dx.doi.org/10.1016/j.ifacol.2016.10.513 SN - 2405-8963 N1 - Volltextzugriff für Angehörige der Hochschule Konstanz möglich. SP - 74 EP - 79 ER - TY - CHAP A1 - Braun, Tristan A1 - Reuter, Johannes T1 - Towards sensorless control for softlanding of fast-switching electromagnetic actuators T2 - 3rd Baden-Württemberg Center of Applied Research Symposium on Information and Communication Systems - SInCom 2016 Y1 - 2016 UR - http://nbn-resolving.de/urn:nbn:de:bsz:ofb1-opus4-17866 SN - 978-3-943301-21-2 SP - 49 EP - 54 ER - TY - CHAP A1 - Braun, Tristan A1 - Reuter, Johannes T1 - Sliding-mode observation with iterative parameter adaption for fast-switching solenoid valves T2 - Variable-structure approaches : analysis, simulation, robust control and estimation of uncertain dynamic processes N2 - Control of the armature motion of fast-switching solenoid valves is highly desired to reduce noise emission and wear of material. For feedback control, information of the current position and velocity of the armature are necessary. In mass production applications, however, position sensors are unavailable due to cost and fabrication reasons. Thus, position estimation by measuring merely electrical quantities is a key enabler for advanced control, and, hence, for efficient and robust operation of digital valves in advanced hydraulic applications. The work presented here addresses the problem of state estimation, i.e., position and velocity of the armature, by sole use of electrical measurements. The considered devices typically exhibit nonlinear and very fast dynamics, which makes observer design a challenging task. In view of the presence of parameter uncertainty and possible modeling inaccuracy, the robustness properties of sliding mode observation techniques are deployed here. The focus is on error convergence in the presence of several sources for modeling uncertainty and inaccuracy. Furthermore, the cyclic operation of switching solenoids is exploited to iteratively correct a critical parameter by taking into account the norm of the observation error of past switching cycles of the process. A thorough discussion on real-world experimental results highlights the usefulness of the proposed state observation approach. Y1 - 2016 SN - 978-3-319-31537-9 N1 - Volltextzugriff für Angehörige der Hochschule Konstanz möglich. SP - 189 EP - 212 PB - Springer CY - Cham ER - TY - CHAP A1 - Braun, Tristan A1 - Reuter, Johannes A1 - Rudolph, Joachim T1 - A novel observer approach for self sensing of single-coil digital valves T2 - 20th World Congress of the International Federation of Automatic Control, (IFAC 2017), 9-14 July 2017, Toulouse, France (IFAC-PapersOnLine Vol. 50, Iss. 1) N2 - Observer-based self sensing for digital (on–off) single-coil solenoid valves is investigated. Self sensing refers to the case where merely the driving signals used to energize the actuator (voltage and coil current) are available to obtain estimates of both the position and velocity. A novel observer approach for estimating the position and velocity from the driving signals is presented, where the dynamics of the mechanical subsystem can be neglected in the model. Both the effect of eddy currents and saturation effects are taken into account in the observer model. Practical experimental results are shown and the new method is compared with a full-order sliding mode observer. KW - Self sensing actuators KW - Observer design KW - Singular perturbation analysis Y1 - 2017 U6 - http://dx.doi.org/10.1016/j.ifacol.2017.08.508 SN - 2405-8963 N1 - Volltextzugriff für Angehörige der Hochschule Konstanz möglich. SP - 782 EP - 787 ER - TY - JOUR A1 - Braun, Tristan A1 - Reuter, Johannes A1 - Rudolph, Joachim T1 - Sensorlose Positionsregelung eines hydraulischen Proportional-Wegeventils mittels Signalinjektion T1 - Sensorless feedback control of a directional control valve by signal injection JF - at - Automatisierungstechnik N2 - Es wird eine Methode zur sensorlosen Positionsbestimmung bei elektromagnetisch betätigten Aktoren vorgestellt. Dabei werden basierend auf einer Signalinjektion die positionsabhängigen Parameter bei der injizierten Frequenz bestimmt und daraus über ein geeignetes Modell die Position des Magnetankers ermittelt. Die Eignung des Verfahrens zur sensorlosen Positionsregelung wird an einem bidirektionalen Proportionalventil anhand praktischer Versuche demonstriert. N2 - A method for sensorless position estimation for electromagnetic actuators based on signal injection is proposed. The position dependent parameters are identified at the frequency of the injected signal and the position of the plunger is determined by a suitable model. The applicability of the procedure for sensorless feedback control of the plunger position is demonstrated by practical experiments with a directional control valve. KW - Sensorlose Regelung KW - Positionsschätzung KW - Signalinjektion KW - Elektromagnete KW - Proportionalventile Y1 - 2017 U6 - http://dx.doi.org/10.1515/auto-2017-0003 SN - 0178-2312 N1 - Volltextzugriff für Angehörige der Hochschule Konstanz möglich VL - 65 IS - 4 SP - 260 EP - 269 ER - TY - CHAP A1 - Wenzl, Hanna A1 - Straußberger, Florian A1 - Braun, Tristan A1 - Wirtensohn, Stefan A1 - Kiltz, Lothar A1 - Reuter, Johannes A1 - Aschemann, Harald T1 - Comparison and Identifiability Analysis of Friction Models for the Dither Motion of a Solenoid T2 - 23rd International Conference on Methods Models in Automation Robotics (MMAR), 27-30 Aug. 2018, Miedzyzdroje, Poland N2 - In this paper, the mechanical subsystem of a proportional solenoid excited by a dither signal is considered. The objective is to find a suitable friction model that reflects the characteristic mechanical properties of the dynamic system. Several different friction models from the literature are compared. The friction models are evaluated with respect to their accuracy as well as their practical identifiability, the latter being quantified based on the Fisher information matrix. Y1 - 2018 SN - 978-1-5386-4325-9 U6 - http://dx.doi.org/10.1109/MMAR.2018.8485888 N1 - Volltextzugriff für Angehörige der Hochschule Konstanz via IEEE Xplore möglich. SP - 321 EP - 326 PB - IEEE ER - TY - JOUR A1 - Braun, Tristan A1 - Reuter, Johannes A1 - Rudolph, Joachim T1 - Observer Design for Self-Sensing of Solenoid Actuators With Application to Soft Landing JF - IEEE Transactions on Control Systems Technology N2 - A constructive nonlinear observer design for self-sensing of digital (ON/OFF) single coil electromagnetic actuators is studied. Self-sensing in this context means that solely the available energizing signals, i.e., coil current and driving voltage are used to estimate the position and velocity trajectories of the moving plunger. A nonlinear sliding mode observer is considered, where the stability of the reduced error dynamics is analyzed by the equivalent control method. No simplifications are made regarding magnetic saturation and eddy currents in the underlying dynamical model. The observer gains are constructed by taking into account some generic properties of the systems nonlinearities. Two possible choices of the observer gains are discussed. Furthermore, an observer-based tracking control scheme to achieve sensorless soft landing is considered and its closed-loop stability is studied. Experimental results for observer-based soft landing of a fast-switching solenoid valve under dry conditions are presented to demonstrate the usefulness of the approach. KW - Observers KW - Eddy currents KW - Actuators KW - Valves KW - Solenoids KW - Stability analysis KW - Integrated circuit modeling Y1 - 2018 U6 - http://dx.doi.org/10.1109/TCST.2018.2821656 SN - 1558-0865 SN - 1063-6536 N1 - Volltextzugriff für Angehörige der Hochschule Konstanz via IEEE Xplore möglich. IS - Published online: 10 Apr 2018 ER -