Nonlinear State Estimation with an Extended FMI 2.0 Co-Simulation Interface

Brembeck, Jonathan and Pfeiffer, Andreas and Fleps-Dezasse, Michael and Otter, Martin and Wernersson, Karl and Elmqvist, Hilding (2014) Nonlinear State Estimation with an Extended FMI 2.0 Co-Simulation Interface. In: Proceedings of the 10th International Modelica Conference - Lund, Sweden - Mar 10-12, 2014, 96, pp. 53-62. Linköping University Electronic Press. 10th International Modelica Conference, 2014-03-10 - 2014-03-12, Lund, Schweden. doi: 10.3384/ecp1409653. ISBN 978-91-7519-380-9. ISSN 1650-3686.

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Abstract

In this paper we propose a method how to automatically utilize continuous-time Modelica models directly in nonlinear state estimators. The approach is based on an extended FMI 2.0 Co-Simulation Interface [1] that interacts with the state estimation algorithms implemented in a Modelica library [2]. Besides a short introduction to Kalman Filter based state estimation, we give details on a generic interface to cooperate with FMUs in Modelica, an implementation of nonlinear state estimation based on this interface, and the Dymola prototype used for the evaluation. Finally we show first results in a tire load estimation application [3] for DLR’s robotic electric research platform ROMO [4].

Item URL in elib:

https://elib.dlr.de/88764/

Document Type:

Conference or Workshop Item (Speech)

Title:

Nonlinear State Estimation with an Extended FMI 2.0 Co-Simulation Interface

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Brembeck, Jonathan	Institut für Systemdynamik und Regelungstechnik	UNSPECIFIED	UNSPECIFIED
Pfeiffer, Andreas	Institut für Systemdynamik und Regelungstechnik	UNSPECIFIED	UNSPECIFIED
Fleps-Dezasse, Michael	Institut für Systemdynamik und Regelungstechnik	UNSPECIFIED	UNSPECIFIED
Otter, Martin	Institut für Systemdynamik und Regelungstechnik	UNSPECIFIED	UNSPECIFIED
Wernersson, Karl	Dassault Systèmes AB	UNSPECIFIED	UNSPECIFIED
Elmqvist, Hilding	Dassault Systèmes AB	UNSPECIFIED	UNSPECIFIED

Date:

12 March 2014

Journal or Publication Title:

Proceedings of the 10th International Modelica Conference - Lund, Sweden - Mar 10-12, 2014

Refereed publication:

Yes

Open Access:

Yes

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

Volume:

DOI:

10.3384/ecp1409653

Page Range:

pp. 53-62

Editors:

Editors	Email	Editor's ORCID iD	ORCID Put Code
Tummescheit, Hubertus	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Årzén, Karl-Erik	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED

Publisher:

Linköping University Electronic Press

Series Name:

Linköping Electronic Conference Proceedings

ISSN:

1650-3686

ISBN:

978-91-7519-380-9

Status:

Published

Keywords:

FMI 2.0 Co-Simulation, FMU, Inline Integration, Kalman Filter, State Estimation, Moving Horizon Estimation, Tire Load Estimation

Event Title:

10th International Modelica Conference

Event Location:

Lund, Schweden

Event Type:

international Conference

Event Start Date:

10 March 2014

Event End Date:

12 March 2014

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Transport

HGF - Program Themes:

Terrestrial Vehicles (old)

DLR - Research area:

Transport

DLR - Program:

V BF - Bodengebundene Fahrzeuge

DLR - Research theme (Project):

V - Fahrzeugintelligenz (old)

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of System Dynamics and Control > Vehicle System Dynamics

Deposited By:

Pfeiffer, Andreas

Deposited On:

15 Dec 2014 14:09

Last Modified:

24 Apr 2024 19:54

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