Engelbert Grünbacher

Adaptive Inverse Torque Control of a Diesel Engine Using Adaptive Mapping Update

Torque control is a basic element of engine control systems, in particular since it has become a standard interface for different functionalities. Torque control is also a critical requirement emission test cycle simulation on test benches. This torque control is usually reached by extensive, physical based modeling of the vehicle. This paper presents an approach to avoid this effort and to obtain a dramatic reduction of the parametrization work, by first determining an approximated model and then updating it online during operation. This model is than used for a stable inverse control. To handle model uncertainties and perturbation a correction feedback, with robustifying effect, is added to the control structure. This approach is detailed using data and measurements on a BMW M47D production diesel engine on a dynamic test bench.

Discrete-time control design for setpoint tracking of a combustion engine test bench

A sampled-data control redesign for a combustion engine test bench is studied. The design applies a model reference approach, based on a continuous-time controller that has been designed using a robust optimal control design. The goal of the redesign is to make the discrete-time controller less sensitive to sampling and to keep the sampled-data tracking performance as close as possible to the continuous-time tracking performance. The performance of the redesigned controller is tested for a setpoint tracking of the speed and the torque of the test bench. Some numerical simulations are performed, comparing the performance of the discrete-time redesigned controller with a discrete-time emulation controller obtained by sampling and zero order hold of the continuous-time controller.

Nonlinear observer and output feedback design for a combustion engine test bench

Abstract Combustion engine control depends strongly on the availability and the quality of the signals involving in the controller construction. In general, not all signals are available through measurement, and therefore an observer is necessary to realize the controller. This paper proposes an observer design for a combustion engine test bench. The observer is used to estimate the torque and the rotation angle of the engine, based on the measurement of the engine and the dynamometer speeds. The convergence of the observer is proved, and separation principle is also shown. The observer is then used to construct an output feedback controller for set point tracking of the test bench. Numerical simulations are performed, showing the performance of the observer and comparing the performance of the output feedback with the state feedback controller. Moreover, the effect of combustion oscillation which causes a vibration noise is taken into account, and the use of internal model based filter to handle the noise is presented.

Discrete-Time Model Reference Controller Design For A Combustion Engine Test Bench

Abstract A sampled-data control redesign for a combustion engine test bench is studied. The design applies a model reference approach, based on a continuous-time controller that has been designed using a robust optimal control design. The goal of the redesign is to make the discrete-time controller less sensitive to sampling and to keep the sampled-data closed loop performance as close as possible to the continuous-time close-loop performance. Some simulations are performed, comparing the performance of the discrete-time redesigned controller with a discrete-time emulation controller obtained by sampling and zero order hold of the continuous-time controller.

Goal oriented experiment planning for the optimal use of dynamical engine test benches

The high performance of dynamic engine test benches allows much freedom in arranging engine tests, thus substantially contributing to accelerating vehicle development. However physical limits restrict this freedom. Exploiting these limits as well as examining their effects on the test planning, was the goal of a cooperation between the Institute for Design and Control of Mechatronic Systems of the JKU Linz, the Linz Center of Mechatronics and the AVL Graz, all Austria.

Guaranteed performance in semi global trajectory tracking for matched disturbance nonlinear systems

In this article, we present a semi global trajectory tracking approach that guarantees a priori computable L 2 and L ∞ performance bounds for matched disturbance control affine systems. The proposed controller is derived by combining a standard inverse control technique with an extended nonlinear robust state feedback. The latter is based on a control Lyapunov function used for stabilising one operating point inside the considered state space. A difference gradient formulation of this Lyapunov function is then applied to prove stabilisation along any trajectory in the considered state space. Results for L 2 and L ∞ bounded disturbances will be presented and further extended to the case of actuator uncertainties and disturbance offsets. The theoretical contributions are verified applying them to a numerical example.

Performance oriented tuning approach for a nonlinear controlled active suspension system

Abstract This paper presents a nonlinear control design approach for active suspensions based on the backstepping method with a special class of control Lyaponov functions. This approach is shown to yield a good performance and to allow an easy tuning of the trade-off between safety and comfort, a strong asset in order to simplify the experimental tuning work required in the vehicle development process. The paper presents the methods and conditions for the simplified tuning to be possible. Different road profiles are used to test the method, and the results are presented at the end of the paper, confirming the validity of the approach.

Zielorientierte Versuchsplanung für den optimalen Einsatz dynamischer Motorenprüfstände

Die hohe Leistungsfahigkeit dynamischer Motorenprufstande erlaubt eine grose Freiheit in der Gestaltung von Motorentests, was einen erheblichen Beitrag zur Beschleunigung der Fahrzeugentwicklung leistet. Dennoch gibt es physikalische Grenzen, die diese Freiheiten einschranken. Diese Grenzen bei Prufstanden regelungstechnisch zu nutzen, aber auch deren Auswirkungen auf die Versuchsplanung zu durchleuchten, war Ziel einer Kooperation zwischen dem Institut fur Design und Regelung mechatronischer Systeme der JKU Linz, dem Linz Center of Mechatronics und der AVL Graz.