共查询到20条相似文献，搜索用时 15 毫秒
1.
Junnian Wang Jun Wang Qingnian Wang Xiaohua Zeng 《Journal of The Franklin Institute》2018,355(5):2283-2312
A rule-based energy management strategy, that the control rules are extracted from acknowledged optimal algorithms and its control parameters are optimized offline and corrected online, for a series-parallel hybrid powertrain with an automatic mechanical transmission (AMT) is proposed in this paper to achieve near optimal fuel economy and battery state-of-charge (SOC) balance. Firstly, the dynamic programming (DP) global optimization method is applied to extract driving-mode transition rules and gear shifting rules. Furthermore, an instantaneous equivalent fuel consumption minimizing optimization method (ECMS) is utilized to determinate the engine torque distribution rules during its parallel driving mode. Then selected control parameters of driving-mode switching rules and torque split distribution are optimized based on genetic algorithm (GA) for further fuel consumption improvement. And the adaptive correction of optimized control parameters based on online driving cycle recognition method is discussed also. The simulation results show that this real-time rule-based energy management control strategy associated with the series of optimization approaches comprehensively can achieve a relatively close fuel consumption results to global optimal results and sustain the battery SOC balance after the end of driving cycle without much cycle-depending care. 相似文献
2.
《Journal of The Franklin Institute》2001,338(2-3):371-390
An optimal control approach for gear shift operations in automatic transmissions is proposed in this paper. Starting from a verified model of a typical power train with an automatic transmission a performance measure for evaluating the gear shift process in terms of passengers comfort and control expenditure is developed. The gear shift operation is stated as a multistage decision process by making use of the dynamic programming method. Thereby, the synchronization of the gear box is formulated as a constraint at the end of the process. A control law is derived analytically in an explicit form by minimizing the performance measure over each process stage. Simulation results show a significant improvement in terms of gear shift comfort by different driving load cases. Furthermore, the shift time and the frictional losses in the shift elements can be reduced by applying the proposed control. 相似文献
3.
In parallel hybrid electric vehicles (HEVs), the power split between the engine and the electric motor as well as the gear shift in the gearbox determines the overall energy efficiency. In this paper an adaptive energy management strategy with velocity forecast is proposed to optimize the fuel consumption in parallel HEVs, which is formulated into a mixed-integer optimization problem. Approximate dynamic programming with a novel actor-gear-critic design is presented for simultaneously controlling the power split and gear shift online. The power split as a continuous variable is determined from an actor network to realize the energy distribution between two power sources. The gear shift as a discrete variable is obtained from a gear network to adjust the gear ratio in the gearbox. The concept enables an online learning of the energy management strategy for different driving behaviors without the requirement of a system model and the driving cycle. Simulation results indicate that the proposed strategy achieves close fuel economy compared with the optimal solutions resulting from dynamic programming. Furthermore, a multi-stage neural network is introduced for velocity forecast, providing a computationally efficient training framework with good prediction performance. The velocity prediction is finally combined with the energy management strategy for an effective application and fuel economy. 相似文献
4.
Jr-Yi ShenBrian C. Fabien 《Journal of The Franklin Institute》2002,339(2):189-210
This paper describes the design and implementation of digital controllers for a flywheel energy storage device that incorporates a radial flux hybrid permanent magnetic bearing. Although the uncontrolled device is asymptotically stable, active control is required to: (i) ensure that a finite radial air gap is maintained at all times, and (ii) attenuate the oscillations of the flywheel which reduce the efficiency of the motor generator. The paper presents the design of gain scheduled discrete time linear quadratic regulator (LQR) and linear quadratic Gaussian (LQG) controllers for this rotordynamic system. Real time experiments are conducted to investigate the performance of the controllers. The result indicates that the LQR controller with approximate system velocities is easier to implement than the LQG controller, and also provides superior performance. 相似文献
5.
6.
A new delayed state-variable model for networked control systems is presented, upon which a linear quadratic regulator (LQR) is designed. A method of delays-estimation online is also given. A fuzzy logic with LQR controller is addressed for the difficulty on implementation of LQR in networked control systems (NCSs) with time-variant delays. Simulation results prove that the novel controller can make the system stable and robustly preserve the performance in terms of time-variant delays. 相似文献
7.
Zebin Yang Qifeng Ding Xiaodong Sun Huimin Zhu Chengling Lu 《Journal of The Franklin Institute》2021,358(7):3701-3725
In order to improve the anti-disturbance performance of a bearingless induction motor (BIM) control system, a fractional-order sliding mode control (FOSMC) strategy based on improved load torque observer is proposed on the basis of the sliding mode speed regulation system. Using the information memory and genetic characteristics of the fractional calculus operator, the fractional integral term of the speed error is introduced in the design of the traditional sliding surface, which reduces the influence of disturbance on the speed regulation system. The fractional-order sliding mode control law is derived based on the BIM mathematical model, and the stability of the control law is proved by Lyapunov theorem. An improved observer is constructed based on the BIM state equations, and the real-time observed load torque is introduced into the fractional-order sliding mode controller. To improve the observer's convergence speed, the proportional integral form is used to replace the integral form in the traditional reduced order load observer. And the state error feedback coefficients of the improved load observer are calculated. Both simulation and experimental results verified the effectiveness of the proposed control strategy. 相似文献
8.
Qing Hui 《Journal of The Franklin Institute》2012,349(1):74-92
A distributed linear-quadratic-regulator (LQR) semistability theory for discrete-time systems is developed for designing optimal semistable controllers for discrete-time coupled systems. Unlike the standard LQR control problem, a unique feature of the proposed optimal control problem is that the closed-loop generalized discrete-time semistable Lyapunov equation can admit multiple solutions. Necessary and sufficient conditions for the existence of solutions to the generalized discrete-time semistable Lyapunov equation are derived and an optimization-based design framework for distributed optimal controllers is presented. 相似文献
9.
Jian Guo 《Journal of The Franklin Institute》2018,355(15):7626-7642
This paper addresses formation control problem with collision avoidance for general linear multi-agent systems via an optimal control strategy. In the proposed optimal control strategy, a novel potential function is designed to accomplish formation of multi-agent systems (MASs) with obstacle/collision avoidance capability, which can avoid rectangle obstacles accurately. In this potential function, a novel relative velocity based self-adaptive detection region is proposed to avoid collisions with adjacent agents. Moreover, a non-quadratic avoidance performance index is constructed based on inverse optimal control approach. Then, the optimal control strategy is designed to guarantee the asymptotic stability of the closed-loop system and optimality of the proposed performance index. Finally, a simulation example is given to illustrate the efficiency of the proposed approach. 相似文献
10.
Conventional direct torque control (DTC) suffers from large torque ripple and nonconstant switching frequency, which are caused by the hysteresis band amplitude and the motor speed. Many methods have been proposed to tackle these problems. However, these methods are usually complicated and parameter dependent. A novel DTC method for brushless DC motors based on duty ratio control is proposed to reduce torque ripple and maintain a constant switching frequency. During each switching period, an active voltage vector and a zero voltage vector are applied. A simple and effective method implemented to calculate the duty ratio relies only on the torque error, reducing the parameter dependence. The proposed method has the advantages of conventional DTC and effectively reduces torque ripple, which improves the performance of conventional DTC. Simulation and experimental results are given to confirm the method’s validity. 相似文献
11.
Xiaojing Wu Wenyan Zheng Xinxiu Zhou Shikai Shao 《Journal of The Franklin Institute》2021,358(8):4178-4208
In this paper, the appointed-time prescribed performance and finite-time tracking control problem is investigated for quadrotor unmanned aerial vehicle (QUAV) in the presence of time-varying load, unknown external disturbances and unknown system parameters. For the position loop, a novel appointed-time prescribed performance control (ATPPC) strategy is proposed based on adaptive dynamic surface control (DSC) frameworks and a new prescribed performance function to achieve the appointed-time convergence and prescribed transient and steady-state performance. For the attitude loop, a new finite-time control strategy is proposed based on a new designed sliding mode control technique to track the desired attitude in finite time. Some assumptions of knowing system parameters are canceled. Finally, the stability of the closed-loop system is proved via Lyapunov Theory. Simulations are performed to show the effectiveness and superiority of the proposed control scheme. 相似文献
12.
《Journal of The Franklin Institute》2023,360(5):3633-3656
In the electric driving system, the measurement of the motor speed error becomes more and more important, which has an impact on the system vibration suppression. In this paper, based on the single-neuron adaptive PID control method, the dual-inertia system considering gear friction torque is modeled and studied. Firstly, the dual-inertia system with gear friction is established, and dynamic differential equations of it are derived; Then, the comprehensive meshing stiffness and the time-varying friction torque of the gear system are deduced; Next, the Ziegler-Nichlos frequency domain response method is adopted to obtain the parameters of the PID controller. The control methods including the PID, Fuzzy-PID with DOB and single-neuron adaptive PID are utilized to adjust the motor speed of the system; Finally, the effects of gear friction, the moment of inertia of load and control methods on motor speed and system error are analyzed. 相似文献
13.
In this paper, optimized interaction control is investigated for human-multi-robot collaboration control problems, which cannot be described by the traditional impedance controller. To realize global optimized interaction performance, the multi-player non-zero sum game theory is employed to obtain the optimized interaction control of each robot agent. Regarding the game strategies, Nash equilibrium strategy is utilized in this paper. In human-multi-robot collaboration problems, the dynamics parameters of the human arm and the manipulated object are usually unknown. To obviate the dependence on these parameters, the multi-player Q-learning method is employed. Moreover, for the human-multi-robot collaboration problem, the optimized solution is difficult to resolve due to the existence of the desired reference position. A multi-player Nash Q-learning algorithm considering the desired reference position is proposed to deal with the problem. The validity of the proposed method is verified through simulation studies. 相似文献
14.
《Journal of The Franklin Institute》2023,360(2):910-942
The main challenges of modular robot manipulators (MRMs) with the environmental constraints include the avoidance of catastrophic collision and the precious contacting in the whole interaction process. Consequently, an event-triggered optimal interaction control method of MRMs under the complex multi-task constraints is presented in this paper. Firstly, on the basis of the joint torque feedback (JTF) technique, the dynamic model of constrained MRM subsystem is established. Secondly, the sensorless-based decentralized nonlinear disturbance observer (NDOB) is proposed to detect and identify the sudden external collision for each joint. Then, the performance index function is improved to achieve the interaction control, which contains the fusion state variable function, the influence of external collision, the known model term, and the estimation of model uncertainties through the radial basis function neural network (RBFNN) identifier. Further, based on event-triggered mechanism and adaptive dynamic programming (ADP) algorithm, the approximate event-triggered optimal interaction control strategy is acquired by the critic neural network (NN). Next, the closed-loop MRM system is demonstrated to be uniformly ultimately bounded (UUB) through the Lyapunov stability theorem. Finally, the experiments are achieved effectively for each joint on the platform, such that the feasibility and universality of the proposed interaction control approach are testified by the experimental results. 相似文献
15.
The study aims to explore the optimal actuator switching scheme of observer-based event-triggered state feedback control for distributed parameter systems. The performance of distributed parameter systems is improved through the observer-based event-triggered control, in which the state feedback is updated only when a triggered event happens. In such an event-triggered mechanism, the event-based closed-loop system and minimum time interval between consecutive events are bounded. Based on finite horizon linear quadratic regulator (LQR) optimal control, the optimal switching algorithm is proposed based on the event-triggered mechanism during an unfixed time interval. Finally, the proposed scheme is verified through a simulation case. 相似文献
16.
Consensus-based total-amount cooperative tracking control for multi-motor locomotive traction system
Changfan Zhang Zhenzhen Lin Jianhua Liu Jing He Han Wu Peng Li 《Journal of The Franklin Institute》2019,356(2):819-834
In locomotive traction system, unavoidable factors (such as idling and skidding) typically lead to the decline of traction performance of one or more motors, thereby resulting in the fluctuation of total torque traction amount. In this paper, the consensus-based total-amount cooperative tracking control (TACTC) is proposed to maintain the consensus of total torque traction amount with the given reference instruction. First, a disturbance observer is employed to estimate uncertain disturbances, then the output torque and observed values are fed back to design the total amount cooperative tracking control protocol, which is used to coordinate traction torque output redundancy of each individual motor. Simulation results show that the proposed approach is effective in reducing tracking time and tracking errors. 相似文献
17.
Xinwei Wang Chao Han Yuanjin Yu Zhaohua Yang 《Journal of The Franklin Institute》2018,355(7):3274-3287
A modified adaptive backstepping tracking method is proposed to improve the tracking performance of the magnetic bearing system with nonlinear magnetic toque. For a magnetically suspended momentum wheel, two dimensional gyroscopic torque can be produced when the rotor shaft is actively deflected by the active magnetic bearing. High precision rapid tracking control of shaft deflection is desiderated to provide high precision and wide bandwidth outputting torque. The nonlinearity of magnetic bearing is analyzed initially, and the stiffness coefficients of magnetic bearing can be treated as bounded continuous functions with respect to deflection angles. A fuzzy function based adaptive law is proposed to estimate the stiffness coefficients. Combining with a modified backstepping method, the proposed control strategy can deal with the nonlinearity efficiently when the shaft deflects rapidly, and its stability is proved by Lyapunov stability theory. To validate the effectiveness of this method, numerous simulations are performed and the results indicate that this method improves the tracking precision when tracking high frequency reference deflection angles. 相似文献
18.
Oscar Barambones José A. Cortajarena Isidro Calvo José M. Gonzalez de Durana Patxi Alkorta Ali Karami-Mollaee 《Journal of The Franklin Institute》2021,358(11):5795-5819
The introduction of advanced control algorithms may improve considerably the efficiency of wind turbine systems. This work proposes a high order sliding mode (HOSM) control scheme based on the super twisting algorithm for regulating the wind turbine speed in order to obtain the maximum power from the wind. A robust aerodynamic torque observer, also based on the super twisting algorithm, is included in the control scheme in order to avoid the use of wind speed sensors. The presented robust control scheme ensures good performance under system uncertainties avoiding the chattering problem, which may appear in traditional sliding mode control schemes. The stability analysis of the proposed HOSM observer is provided by means of the Lyapunov stability theory. Experimental results show that the proposed control scheme, based on HOSM controller and observer, provides good performance and that this scheme is robust with respect to system uncertainties and external disturbances. 相似文献
19.
《Journal of The Franklin Institute》2022,359(9):4260-4287
In this paper, we formulate and study a reliability-performance balancing problem (RPBP) for long-term operational and unattended control systems with degrading actuators. It preliminarily explores a new type of autonomous maintenance method to extend the useful lifetime of the control system. The actuator, as the crucial component of a control system, executes calculated control actions and thereby is often exposed to the high-load working environment. As the actuator degrades, the control action will gradually alter with increasing magnitude to maintain the desired control performance, but this will accelerate the actuator degradation and thus reduce the useful lifetime (use reliability) of the control system. Therefore, conditionally balancing the control performance and use reliability is meaningful, for which a novel dynamic regulation strategy under the model predictive control (MPC) framework is proposed. Specifically, we model the actuator degradation using a diffusion Wiener process coupled with the control action or system state, and the corresponding actuator reliability is derived. By fusing the degradation model and system dynamics, a degradation-incorporated state space (DISS) model is formulated, in which the basic idea is to consider the actuator degradation as an extended state variable and to control it accordingly. Based on the DISS model, a mixed-index nonlinear MPC integrated with a weight tuning strategy is proposed to achieve a satisfactory balance between control performance and use reliability in the presence of actuator degradation. Further, the reference curve and the upper bound of actuator degradation are given for constructing the objective function and the constraint in the MPC optimization problem. An illustrative example is presented to demonstrate the availability of the proposed method. 相似文献
20.
A rotary variable admittance device and its application in vehicle seat suspension vibration control
Donghong Ning Shuaishuai Sun Jianqiang Yu Minyi Zheng Haiping Du Nong Zhang Weihua Li 《Journal of The Franklin Institute》2019,356(14):7873-7895
In this paper, a novel semi-active variable admittance (VA) concept is proposed, and a seat suspension prototype with a magnetorheological fluid damper based rotary VA device is designed, manufactured, and experimentally validated. The conventional inerter with a single flywheel has a constant inertance, which can effectively improve the suspension performance by being integrated into a mechanical network with springs and dampers. The proposed rotary VA device comprises a gear reducer, two flywheels and a variable damping (VD) device which is used to connect the two flywheels. With carefully designing, the rotary VA device is compacted and is similar with a VD device in size. The rotary VA device is installed in the centre of a seat suspension's scissors structure to form a VA seat suspension. According to the test results, the equivalent inertance of the seat suspension can vary from 11.3 Kg–76.6 Kg with a 3 Hz frequency and 5 mm amplitude sinusoidal movement by changing the current from 0 A–1 A. By analysing the system characteristics, a hybrid controller with two acceleration feedbacks is proposed. Thereafter, the seat suspension and controller are validated in experiments by comparing the performance with a conventional passive seat suspension. The random vibration test shows the excellent performance of the proposed seat suspension; the frequency weighted root mean square acceleration of the seat is reduced by 43.6%, which indicates a great improvement of the ride comfort. The VA device shows great prospect in the suspension application. 相似文献