Rolls-Royce Solutions Gmbh

Mtu Friedrichshafen Gmbh

Pilz Gmbh & Co Kg.

Robert Boschgmbh

Zf Friedrichshafen Ag

Primetals Technologies Germany Gmbh

Eyesense Gmbh

Knut Graichen

Jens Niemeyer

Daniel Bergmann

Karsten Harder

Jörg Remele

Daniel Bakovic

Michael Buchholz

Roman Geiselhart

Andreas Voelz

Steffen Mutschler

Tim Späder

Adrian Trachte

Michael Hilsch

Matthias Bitzer

Steffen Joos

Klaus Loehe

Tomas Szabo

Sebastian Hentzelt

Andreas Völz

Theresa Kruse

Achim Mueller

Johannes Reinhard

Andreas VÖLZ

Roland KRIVÁNEK

A method for the model-based open-loop and closed-loop control of an internal combustion engine includes the steps of: during stationary operation, switching takes place cyclically from the normal operation to an exploration operation, wherein in the exploration operation, an exploration measure of quality (J/EXP) is calculated in accordance with combustion model and variance (VAR) thereof, wherein the exploration measure of quality (J/EXP) is set as essential for the operating point of the internal combustion engine, wherein on the basis of the operating variables of the internal combustion engine combustion model is adapted, and wherein switching back to normal operation takes place.

Method for the model-based open-loop and closed-loop control of an internal combustion engine

A method for a model-based open-loop and closed-loop control of an internal combustion engine includes the steps of: determining, via a combustion model, injection system setpoint values for controlling injection system actuators, according to a setpoint torque; adapting, during an operation of the internal combustion engine, the combustion model according to a model value, the model value being calculated from a first Gaussian process model for representing a base grid and a second Gaussian process model for representing adaptation data points; determining, by an optimizer, a minimized measure of quality by changing the injection system setpoint values within a prediction horizon, and, in an event that the minimized measure of quality is found, the injection system setpoint values are set as critical for adjusting an operating point of the internal combustion engine; and monitoring the model value in respect of a monotony which is predefined.

Method for the model-based open-loop and closed-loop of an internal combustion engine

A method for a model-based open-loop and closed-loop control of an internal combustion engine includes the steps of: calculating, by an optimizer, a pre-optimized quality measure based on an operating situation, wherein, in calculating the pre-optimized quality measure, a plurality of discrete manipulated variables having a plurality of discrete settings are interpreted as a plurality of continuous manipulated variables having a continuous settings range; quantizing the plurality of continuous manipulated variables, and the plurality of continuous manipulated variables are set as a plurality of new discrete manipulated variables (SG(new)) having a plurality of discrete settings; and calculating, by the optimizer, a post-optimized quality measure based on the plurality of new discrete manipulated variables and the operating situation of the internal combustion engine, and the post-optimized quality measure is set as critical for an operating point of the internal combustion engine by the optimizer.

A method is described for collision-free motion planning of a first manipulator with closed kinematics. The method includes defining a dynamic optimization problem, solving the optimization problem using a numerical approach, and determining a first movement path for the first manipulator based on the solution of the optimization problem. The dynamic optimization problem includes a cost function that weights states and control variables of the first manipulator, a dynamic that defines states and control variables of the first manipulator as a function of time, and at least one inequality constraint for a distance to collisions. Furthermore, the optimization problem includes at least one equality constraint for the closed kinematics.

Collision-free motion planning for closed kinematics

A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.

Method for collision-free motion planning

A method for controlling and regulating an internal combustion engine with exhaust gas recirculation, in which an EGR rate is determined by a Kaiman filter from calculated and measured variables of the gas path and from calculated and measured variables of combustion. A method for the model-based control and regulation of an internal combustion engine includes calculating injection system set values for controlling the injection system actuators as a function of a set torque by a combustion model. Gas path set values for controlling the gas path actuators are calculated as a function of an EGR rate by a gas path model. A measure of quality is calculated by an optimizer as a function of the injection system and gas path set values. The measure of quality is minimized by the optimizer by changing the injection system and gas path set values within a prediction horizon. The injection system and gas path set values are set by the optimizer as definitive for adjusting the operating point of the engine by using the minimized measure of quality.

Method for the model-based control and regulation of an internal combustion engine

A method for regulation of an internal combustion engine with an SCR catalytic converter in which the operating point of the engine is predefined by an engine control unit and the operating point of the catalytic converter is predefined by an SCR control unit. An overall system quality measure is calculated by an optimizer in accordance with fed back values of the engine control unit and fed back values of the SCR control unit, by changing the default values for the engine control unit and the SCR control unit, the optimizer minimizes the overall system quality measure for a prediction horizon regarding operating costs. On the basis of the minimized overall system quality measure the optimizer sets the default values for the engine control unit and the default values for the SCR control unit as decisive for setting the operating point of the engine and the catalytic converter.

Method for the model-based open loop and closed loop control of an internal combustion engine

A method for collision-free motion planning of a first manipulator of a robotic control apparatus from a starting point to a destination point. The method includes repeatedly determining a target path of the first manipulator to the destination point with a global planner, continuously determining a movement of the first manipulator with a local planner based on a current target path of the global planner, and performing the movement by the first manipulator in parallel with the determination by the global planner and the local planner.

Method and apparatus for collision-free motion planning of a manipulator

A method for model-based open-loop and closed-loop control of an internal combustion engine, in which method injection system setpoint values for activating the injection system control elements are calculated dependent on a setpoint torque by a combustion model, and gas path setpoint values for activating the gas path control elements are calculated by a gas path model. The combustion model is adapted during ongoing operation of the internal combustion engine. A quality measure is calculated by an optimizer dependent on the injection system setpoint values and the gas path setpoint values, the quality measure is minimized by the optimizer by varying the injection system setpoint values and gas path setpoint values within a prediction horizon. The injection system setpoint values and gas path setpoint values are set by the optimizer, based on the minimized quality measure, as being definitive for setting of the operating point of the internal combustion engine.

The invention relates to a method for generating a control variable trajectory for an actuator so as to influence an input variable of a system, wherein a set point is supplied to the output variable of the system of a trajectory planning procedure, which from the set point generates a trajectory of constrained input values for a filter integrator chain and a trajectory of flat desired states, wherein the trajectory of constrained input values and the trajectory of flat desired states are supplied to a flatness-based feedforward control procedure that generates therefrom the control variable trajectory for the actuator, wherein in the trajectory planning procedure so as to generate the trajectory of constrained input values at least one constraint is applied in dependence upon the trajectory of flat desired states.

Real-time capable control strategy for hydraulic systems while systematically taking into consideration control (rate) and state variable constraints

A method for predictive open-loop and/or closed-loop control of an internal combustion engine with control variables pursuant to a model of the engine with characterizing variables and a control circuit for the control variables. The control variables are adjusted in an open-loop or closed-loop manner by measuring actual values and specifying target values of the characterizing variables and, optionally, depending on the boundary and/or environmental and/or ageing conditions. The characterizing variables are controlled pursuant to a model of the engine with the characterizing variables and a control circuit with the control variables. The controlling is part of a model-based predictive control, wherein the characterizing variables of the engine model are calculated and the control variables of the engine are adjusted in a predictively controlled manner. A model-based predictive non-linear controller is used for the controlling, which is constructed in a modular manner with a number of model-based predictive control modules.

Method and device for predictive open-loop and/or closed-loop control of an internal combustion engine and internal combustion engine having the device for carrying out the method

A transmission which includes input and output shafts and first and second step-down devices for producing various step-down ratios. The first and second step-down devices are associated with first and second controllable clutches, respectively, in order to connect, in a torque-transmitting manner, the respective step-down device between the input shaft and the output shaft. A first gear of the transmission is obtained by actuating the first clutch and a second gear by actuating the second clutch. A method of controlling a gearshift, from the first gear to the second gear, includes the steps of determining operating condition parameters of the transmission; and determining optimized degrees of actuation of the clutches by a search process related to a transmission model that determines the degrees of actuation on the basis of operating condition parameters in relation to a predetermined optimization criterion. The transmission model is based on slip.

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Heroldsberg, Germany

Knut Graichen