Published by De Gruyter (O)

Volume 58 Issue 9 -

Issue of at - Automatisierungstechnik

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Contents
Journal Overview

September 9, 2010

GMA: Automation in neuem Umfeld

Dirk Abel, Gerd-Ulrich Spohr

Page range: 487-488

September 9, 2010

Entwurf nichtlinearer Beobachter mit linearer und näherungsweise linearer Fehlerdynamik

Klaus Röbenack

Page range: 489-497

Abstract

Observer design by exact linearization of the error dynamics is well-known in the control engineers´ community for roughly 25 years. Unfortunately, this approach is not widely used in control engineering due to restrictive existence conditions and a difficult calculation. In this paper we recall existence conditions and computation methods. Then, we consider the extended Luenberger observer, which is based on a local Taylor linearization and easier to compute. We discuss generalizations and global convergence conditions.

September 9, 2010

Entkopplungsregelung und Reibungskompensation für einen Roboter mit elastischen verkoppelten Gelenken

Luc Le-Tien, Alin Albu-Schäffer, Klaus Janschek, Gerd Hirzinger

Page range: 499-511

Abstract

The paper describes the control and friction compensation of a robot with flexible joints (the DLR medical robot), which has strong mechanical couplings within pairs of joints realized with a differential gear-box. In consideration of this coupling, a MIMO state controller is designed for the strongly coupled joints. In addition a disturbance observer is developed to compensate the nonlinear effects of the friction and to improve the position accuracy of the robot. It is shown that the system is global asymptotically stable for the MIMO controller and the disturbance observer. Finally, experimental results with the DLR medical robot are presented validating the proposed concept.

Open Access September 9, 2010

Security-Aspekte bei der Entwicklung eingebetteter Software

Heiko Adamczyk

Page range: 512-522

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Abstract

Requirements for the software development of functional safety devices are already clearly defined in well established standards. However, such requirements for the software development doesn´t exist in the area of IT Security. In this paper some Security related design issues will be discussed. Afterwards a framework for the IT Security related software development process will be defined.

September 9, 2010

Mehr Systematik für den Anlagenbau und das industrielle Lösungsgeschäft — Gesteigerte Effizienz durch Domain Engineering

Nasser Jazdi, Camelia Maga, Peter Göhner, Thomas Ehben, Thilo Tetzner, Ulrich Löwen

Page range: 524-532

Abstract

This article describes challenges in the industrial solution business from both the provider´s and operator´s point of view and proposes an approach to manage these challenges. The approach is based on splitting the engineering process into project-dependent and project-independent activities. This approach is developed and tested in the context of the cooperation between the Institute of Industrial Automation and Software Engineering (IAS) of the University of Stuttgart and Siemens AG.

September 9, 2010

Modellierung und Simulation von Kraftwerksblöcken

Rüdiger Kutzner, Martin Bennauer, Stefan Hopp, Frank Joswig, Martin Könemund, Edwin Lerch, Martin Lösing, Carsten Meinecke, Andree Wenzel, Heribert Werthes

Page range: 533-540

Abstract

This paper describes the modeling and validation of a steam turbine power plant and the corresponding control system. Instead of a life time reducing optimization on-site, the stress on mechanical and electrical components can be reduced by means of simulation. Typical commissioning results are used to validate the simulation models. Even infrequently employed functions of the control system can now be checked.

About this journal

Objective
Automatisierungstechnik (AUTO) publishes articles covering the entire range of automation technology: development and application of methods, the operating principles, characteristics, and applications of tools and the interrelationships between automation technology and societal developments. The journal includes a tutorial series on "Theory for Users," and a forum for the exchange of viewpoints concerning past, present, and future developments. Automatisierungstechnik is the official organ of GMA (The VDI/VDE Society for Measurement and Automatic Control) and NAMUR (The Process-Industry Interest Group for Automation Technology).

Topics

control engineering
digital measurement systems
cybernetics
robotics
process automation / process engineering
control design
modelling
information processing
man-machine interfaces
networked control systems
complexity management
machine learning
ambient assisted living
automated driving
bio-analysis technology
building automation
factory automation / smart factories
flexible manufacturing systems
functional safety
mechatronic systems

Article formats
Overview articles (reviews), methodological papers, applications papers, tools papers