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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, 10.-12. Mrz. 2014, Lund, Schweden. doi: 10.3384/ecp1409653. ISBN 978-91-7519-380-9. ISSN 1650-3686.

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Official URL: http://www.ep.liu.se/ecp/096/005/ecp14096005.pdf


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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Brembeck, JonathanInstitut für Systemdynamik und RegelungstechnikUNSPECIFIED
Pfeiffer, AndreasInstitut für Systemdynamik und RegelungstechnikUNSPECIFIED
Fleps-Dezasse, MichaelInstitut für Systemdynamik und RegelungstechnikUNSPECIFIED
Otter, MartinInstitut für Systemdynamik und RegelungstechnikUNSPECIFIED
Wernersson, KarlDassault Systèmes ABUNSPECIFIED
Elmqvist, HildingDassault Systèmes ABUNSPECIFIED
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:No
In ISI Web of Science:No
DOI :10.3384/ecp1409653
Page Range:pp. 53-62
EditorsEmailEditor's ORCID iD
Publisher:Linköping University Electronic Press
Series Name:Linköping Electronic Conference Proceedings
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 Dates:10.-12. Mrz. 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:31 Jul 2019 19:45

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