Control Engineering Practice最新文献_第3页

Optimization of the energy-comfort trade-off of HVAC systems in electric city buses based on a steady-state model 基于稳态模型的城市电动公交车暖通空调系统能源-舒适性权衡优化研究

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-13 DOI: 10.1016/j.conengprac.2024.106158

Fabio Widmer, Stijn van Dooren, Christopher H. Onder

{"title":"Optimization of the energy-comfort trade-off of HVAC systems in electric city buses based on a steady-state model","authors":"Fabio Widmer, Stijn van Dooren, Christopher H. Onder","doi":"10.1016/j.conengprac.2024.106158","DOIUrl":"10.1016/j.conengprac.2024.106158","url":null,"abstract":"<div><div>The electrification of public transport vehicles offers the potential to relieve city centers of pollutant and noise emissions. Furthermore, electric buses have lower life-cycle greenhouse gas (GHG) emissions than diesel buses, particularly when operated with sustainably produced electricity. However, the heating, ventilation, and air-conditioning (HVAC) system can consume a significant amount of energy, thus limiting the achievable driving range. In this paper, we address the HVAC system in an electric city bus by analyzing the trade-off between the energy consumption and the thermal comfort of the passengers. We do this by developing a dynamic thermal model for the bus, which we simplify by considering it to be in steady state. We introduce a method that is able to quickly optimize the steady-state HVAC system inputs for a large number of samples representative of a year-round operation. A comparison between the results from the steady-state optimization approach and a dynamic simulation reveals small deviations in both the HVAC system power demand and achieved thermal comfort. Thus, the approximation of the system performance with a steady-state model is justified. We present two case studies to demonstrate the practical relevance of the approach. First, we show how the method can be used to compare different HVAC system designs based on a year-round performance evaluation. Second, we show how the method can be used to extract setpoints for online controllers that achieve close-to-optimal performance without any predictive information. In conclusion, this study shows that a steady-state analysis of the HVAC systems of an electric city bus is a valuable approach to evaluate and optimize its performance.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106158"},"PeriodicalIF":5.4,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142656575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Sliding-mode energy management strategy for dual-source electric vehicles handling battery rate of change of current 处理电池电流变化率的双源电动汽车滑动模式能量管理策略

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-13 DOI: 10.1016/j.conengprac.2024.106157

Hai-Nam Nguyen , Bảo-Huy Nguyễn , Thanh Vo-Duy , João Pedro F. Trovão , Minh C. Ta

{"title":"Sliding-mode energy management strategy for dual-source electric vehicles handling battery rate of change of current","authors":"Hai-Nam Nguyen , Bảo-Huy Nguyễn , Thanh Vo-Duy , João Pedro F. Trovão , Minh C. Ta","doi":"10.1016/j.conengprac.2024.106157","DOIUrl":"10.1016/j.conengprac.2024.106157","url":null,"abstract":"<div><div>For years, developing energy management strategies (EMS) for hybrid energy storage systems (HESS) of electric vehicles (EV) has been a topic of great interest thanks to the mutual support of energy sources. In this paper, we approach the energy management problems from the control point of view to exploit the remarkable advantages of control techniques in treating state constraints, system stability, and optimality. By that, we propose a sliding-mode strategy for the EMS of the battery–supercapacitor HESS on EVs. In order to prolong the lifespan of the battery, the rate of change in battery reference current is directly handled as the control input of the management system which is, to our best knowledge, novel in literature. Control parameters of the proposed EMS are optimally tuned by using Particle Swarm Optimization. The performance of the proposed EMS is validated by off-line simulation as well as real-time experiments on a Signal Hardware-in-the-Loop system with various comparisons, testing scenarios, and quality indices. The results and the approach of the paper illustrate the effectiveness and feasibility of the management system that can be applied not only to EVs but also to larger-scale energy networks in further research.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106157"},"PeriodicalIF":5.4,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142656379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Enhancing truck platooning efficiency and safety—A distributed Model Predictive Control approach for lane-changing manoeuvres 提高卡车编队效率和安全性--变道机动的分布式模型预测控制方法

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-12 DOI: 10.1016/j.conengprac.2024.106153

Beatriz Lourenço , Daniel Silvestre

{"title":"Enhancing truck platooning efficiency and safety—A distributed Model Predictive Control approach for lane-changing manoeuvres","authors":"Beatriz Lourenço , Daniel Silvestre","doi":"10.1016/j.conengprac.2024.106153","DOIUrl":"10.1016/j.conengprac.2024.106153","url":null,"abstract":"<div><div>The advent of autonomous driving technologies has paved the way for notable advancements in the realm of transportation systems. This paper explores the dynamic field of truck platooning, focusing on the development of a Nonlinear Model Predictive Control (NMPC) approach within a Cooperative Adaptive Cruise Control (CACC) framework. The research tackles the critical challenges in obstacle avoidance and lane-changing manoeuvres. The core contribution of this work lies in the development and implementation of a novel NMPC algorithm tailored to platoon control. This framework integrates a penalty soft constraint to guarantee obstacle avoidance and maintain platoon coherence while optimising control inputs in real-time. Several experiments, including static and dynamic obstacle avoidance scenarios, validate the efficacy of the proposed approach. In all experiments, the vehicles closely follow one another, resulting in smooth trajectories for all system states and control input signals. Even in the event of abrupt braking by the ego vehicle, the platoon remains cohesive. Moreover, the proposed NMPC proves to be computationally efficient when compared to the state-of-the-art.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106153"},"PeriodicalIF":5.4,"publicationDate":"2024-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142656378","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nonlinear model predictive control with set terminal constraint for safe robot motion planning via speed and separation monitoring 非线性模型预测控制与设定终端约束，通过速度和分离监控实现安全的机器人运动规划

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-08 DOI: 10.1016/j.conengprac.2024.106155

Aigerim Nurbayeva, Matteo Rubagotti

{"title":"Nonlinear model predictive control with set terminal constraint for safe robot motion planning via speed and separation monitoring","authors":"Aigerim Nurbayeva, Matteo Rubagotti","doi":"10.1016/j.conengprac.2024.106155","DOIUrl":"10.1016/j.conengprac.2024.106155","url":null,"abstract":"<div><div>This paper proposes a methodology for safely planning the motion of a robot manipulator sharing its workspace with a human operator. The motion of the robot is continuously re-planned via nonlinear model predictive control (NMPC), imposing the so-called <em>speed and separation monitoring</em> (SSM) condition to guarantee human safety. Contrary to previous works in the field, the NMPC algorithm is designed with an ellipsoidal terminal constraint, to enlarge the domain of attraction compared to the case in which a point terminal constraint was imposed. This is a very important aspect in real-world applications, allowing the robot to plan its motion from initial configurations that are relatively far from the goal point. Theoretical results are proved on recursive feasibility and closed-loop stability for both cases of NMPC with point and set terminal constraints, under the simplifying assumption of a static human. The effectiveness of the proposed approach is verified via numerical evaluation of the domain of attraction and with experiments on a UR5 manipulator.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106155"},"PeriodicalIF":5.4,"publicationDate":"2024-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142656377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Randomized iterative feedback tuning for fast MIMO feedback design of a mechatronic system 随机迭代反馈调整用于机电一体化系统的快速 MIMO 反馈设计

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-06 DOI: 10.1016/j.conengprac.2024.106152

Leontine Aarnoudse , Peter den Toom , Tom Oomen

引用次数: 0

Control design and analysis for autonomous underwater vehicles using integral quadratic constraints 使用积分二次约束的自主式水下航行器控制设计与分析

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-05 DOI: 10.1016/j.conengprac.2024.106142

Sourav Sinha , Mazen Farhood , Daniel J. Stilwell

{"title":"Control design and analysis for autonomous underwater vehicles using integral quadratic constraints","authors":"Sourav Sinha , Mazen Farhood , Daniel J. Stilwell","doi":"10.1016/j.conengprac.2024.106142","DOIUrl":"10.1016/j.conengprac.2024.106142","url":null,"abstract":"<div><div>This paper addresses the design and analysis of path-following controllers for an autonomous underwater vehicle (AUV) using a robustness analysis framework based on integral quadratic constraints (IQCs). The AUV is modeled as a linear fractional transformation (LFT) on uncertainties and is affected by exogenous inputs such as measurement noise and ocean currents. The proposed approach leverages a learning-based method to approximate the nonlinear hydrodynamic model with a linear parameter-varying one. Additionally, modeling uncertainties are incorporated into the other subsystem models of the AUV to capture the discrepancies between the outputs of the postulated mathematical abstractions and the experimental data. The resulting uncertain LFT system adequately captures the AUV behavior within a desired envelope. Ocean current disturbances are treated as uncertainties within the LFT system and properly characterized to reduce conservatism. The robust performance level, obtained from IQC analysis, serves as a qualitative measure of a controller’s performance, and is utilized in guiding the controller design process. The proposed approach is employed to design <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> controllers for the AUV. A comprehensive IQC-based analysis is subsequently conducted to demonstrate the robustness of the designed controllers to modeling uncertainties and disturbances. To validate the analysis results, extensive nonlinear simulations and underwater experiments are performed. The outcomes showcase the efficacy and reliability of the proposed approach in achieving robust control for the AUV.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106142"},"PeriodicalIF":5.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142586645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Time-optimal multi-point trajectory generation for robotic manipulators with continuous jerk and constant average acceleration 为具有连续颠簸和恒定平均加速度的机器人机械手生成时间最优多点轨迹

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-05 DOI: 10.1016/j.conengprac.2024.106154

Weiguang Yu , Daokui Qu , Fang Xu , Lei Zhang , Fengshan Zou , Zhenjun Du

{"title":"Time-optimal multi-point trajectory generation for robotic manipulators with continuous jerk and constant average acceleration","authors":"Weiguang Yu , Daokui Qu , Fang Xu , Lei Zhang , Fengshan Zou , Zhenjun Du","doi":"10.1016/j.conengprac.2024.106154","DOIUrl":"10.1016/j.conengprac.2024.106154","url":null,"abstract":"<div><div>To meet the demands of high-speed and high-accuracy applications of robotic manipulators, this paper proposes a time-optimal multi-point trajectory planning method with continuous jerk and constant average acceleration. A piecewise sine jerk model is developed for jerk continuity throughout the entire motion profile. An equivalent transformation of this complex model into the simple trapezoidal velocity model is proposed, effectively reducing the computational complexity and ensuring the reliability of real-time planning. The introduction of a parameter, named the trajectory smoothness coefficient, allows for a convenient trade-off between the priorities of speed and smoothness. The adaptive computation algorithm for peak jerk results in a constant average acceleration along paths of any length, ensuring a consistent level of work efficiency regardless of the density of path control points. Through a comprehensive evaluation of the critical constraints for each potential profile type, the single joint’s time-optimal and multiple joints’ time-synchronized planning problems are solved with closed-form solutions. Furthermore, by designing a multi-joint multi-point velocity look-ahead strategy, time-optimal multi-point trajectory planning for robotic manipulators is realized. Simulation and experimental results on a manipulator demonstrate the effectiveness of the proposed approach in improving time efficiency.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106154"},"PeriodicalIF":5.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142586646","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Lane-free signal-free intersection crossing via model predictive control 通过模型预测控制实现无车道无信号交叉口穿越

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-05 DOI: 10.1016/j.conengprac.2024.106115

Mehdi Naderi , Panagiotis Typaldos , Markos Papageorgiou

{"title":"Lane-free signal-free intersection crossing via model predictive control","authors":"Mehdi Naderi , Panagiotis Typaldos , Markos Papageorgiou","doi":"10.1016/j.conengprac.2024.106115","DOIUrl":"10.1016/j.conengprac.2024.106115","url":null,"abstract":"<div><div>The operation of signal-free intersections, where Connected Automated Vehicles (CAVs) cross simultaneously for all Origin-Destination (OD) movements, has the potential to greatly increase throughput and reduce fuel consumption. Since the intersection crossing areas naturally include no lanes, an extended crossing area, appropriately delineated, can be considered as a lane-free infrastructure so as to enable further efficiency benefits. This paper presents two Model Predictive Control (MPC) schemes to manage CAVs in signal-free and lane-free intersections. In fact, the control inputs of all vehicles are optimized over a time-horizon by online solving of a joint Optimal Control Problem (OCP) that minimizes a cost function including proper terms to ensure smooth and collision-free vehicle motion, while also considering fuel consumption and desired-speed tracking, when possible. Additionally, appropriate constraints are designed to respect the intersection boundaries and ensure smooth vehicle movements towards their respective destinations. A fast Feasible Direction Algorithm (FDA) is employed for the numerical solution of the introduced OCP. Multiple simulations are carried out to assess the efficiency and practicality of the proposed methods. A comparison with signalized intersection operation is provided.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106115"},"PeriodicalIF":5.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142585986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Active disturbance rejection path tracking control of vehicles with adaptive observer bandwidth based on Q-learning 基于 Q-learning 的自适应观测器带宽的车辆主动干扰抑制路径跟踪控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-04 DOI: 10.1016/j.conengprac.2024.106137

Longqing Li , Kang Song , Guojie Tang , Wenchao Xue , Hui Xie , Jingping Ma

{"title":"Active disturbance rejection path tracking control of vehicles with adaptive observer bandwidth based on Q-learning","authors":"Longqing Li , Kang Song , Guojie Tang , Wenchao Xue , Hui Xie , Jingping Ma","doi":"10.1016/j.conengprac.2024.106137","DOIUrl":"10.1016/j.conengprac.2024.106137","url":null,"abstract":"<div><div>In this paper, a novel algorithm for vehicle path tracking control is introduced, focusing on maintaining tracking accuracy and minimizing steering wheel oscillation to enhance mechanism lifespan and passenger comfort. Vehicle kinematics model is utilized to formulate a second-order dynamic equation for lateral error, integrating yaw error into the standard first-order dynamic equation. A Proportional-Derivative (PD) controller is designed, incorporating an ‘extended state’ to compensate for the discrepancy between the model and actual vehicle dynamics, termed as the ‘total disturbance’. This ‘total disturbance’ is observed by an Extended State Observer (ESO), and a disturbance rejection law, combined with the PD controller, is employed to achieve the desired yaw rate. For improved vehicle safety and comfort, a dynamic constraint on the yaw rate, based on the vehicle’s motion and dynamic principles, is proposed. The vehicle’s nonlinear dynamics are addressed through feedback linearization, converting the target yaw rate into the required steering angle, which is then executed by the steer-by-wire system. An adaptive online algorithm for adjusting the ESO bandwidth, using Q-learning, is implemented. This optimization aims to balance tracking accuracy and steering wheel oscillation. A mathematical analysis confirms the stability of the time-varying bandwidth ESO and the overall system, ensuring limited estimation and control errors. Experimental comparison with the classical Stanley and Model Predictive Control (MPC) method demonstrates the algorithm’s effectiveness, maintaining lateral error within ±0.1 m.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106137"},"PeriodicalIF":5.4,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142578335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study of control strategy for cylinder-to-cylinder combustion homogeneity of marine medium-speed diesel engines 船用中速柴油机汽缸间燃烧均匀性控制策略研究

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-04 DOI: 10.1016/j.conengprac.2024.106156

Shunhua Ou , Yonghua Yu , Nao Hu , Lei Hu , Jianguo Yang

{"title":"Study of control strategy for cylinder-to-cylinder combustion homogeneity of marine medium-speed diesel engines","authors":"Shunhua Ou , Yonghua Yu , Nao Hu , Lei Hu , Jianguo Yang","doi":"10.1016/j.conengprac.2024.106156","DOIUrl":"10.1016/j.conengprac.2024.106156","url":null,"abstract":"<div><div>Closed-loop combustion control (CLCC) is an efficient method for minimizing cylinder-to-cylinder combustion variation by adjusting individual cylinder fuel injection parameters. It is complementary to the closed-loop speed control, which precisely controls the engine speed by manipulating the global fuel injection parameters. However, the application of CLCC changed the conventional closed-loop speed control to a complex control structure. In addition, the selection of combustion control parameters will not only influence the combustion heat release control precisely, but also lead to increased calibration effort for the combustion controller. In this research, a triple closed-loop control strategy, in conjunction with a set-point online generation method, was proposed to improve the cylinder-to-cylinder combustion homogeneity, maintain the desired engine speed, and reduce the calibration effort simultaneously. A coefficient of variation in crank angle domain was utilized to analyze the cylinder-to-cylinder combustion homogeneity. The triple closed-loop control strategy was implemented on a marine medium-speed diesel engine. The experimental results indicated that the proposed control strategy, compared with the speed & IMEP (indicated mean effective pressure) cooperative control and speed & MFB50 (crank angle when 50 % fuel is consumed) cooperative control, has a better potential to alleviate cylinder-to-cylinder pressure variations at the same crankshaft angle. The cylinder-to-cylinder variation of IMEP and MFB50 decreased by 61 % and 38 % compared to the closed-loop speed control, respectively. The cylinder-to-cylinder combustion inhomogeneity, resulting from engine long-time operation and ambient conditions change, was significantly reduced as well. Therefore, the proposed strategy provides a multi-objective precise control method that allows the extension to low-carbon and zero-carbon marine engines.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"154 ","pages":"Article 106156"},"PeriodicalIF":5.4,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142578334","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0