Feasible, Robust and Reliable Automation and Control for Autonomous Systems

The Special Issue book focuses on highlighting current research and developments in the automation and control field for autonomous systems as well as showcasing state-of-the-art control strategy approaches for autonomous platforms. The book is co-edited by distinguished international control system experts currently based in Sweden, the United States of America, and the United Kingdom, with contributions from reputable researchers from China, Austria, France, the United States of America, Poland, and Hungary, among many others. The editors believe the ten articles published within this Special Issue will be highly appealing to control-systems-related researchers in applications typified in the fields of ground, aerial, maritime vehicles, and robotics as well as industrial audiences

Trajectory-scheduling control systems and their multi-objective design automation

This thesis encompasses the analysis of TSN systems and their multi-objective design methods. TSN nodes are networked through interpolation and activation, similar to a gain-scheduling or local model/controller network. However, to achieve accuracy and ease of commissioning without requiring a large number of nodes, an algorithm has been developed first to identify optimum transition nodes within the entire operating envelope. Then the TSN approaches a nonlinear plant globally, not just locally, without requiring linearization. If desired or necessary, global optimisation provides an enhancement in the design process for TSNs. Since optimising only one aspect (a single objective) of performance while compromising others is undesirable, multi-objective designs have been developed concurrently to deliver or improve multiple aspects of performance. Following the development of a TSN, it is applied to nonlinear system modelling, and this TSN is termed a Trajectory-Scheduling Model (TSM). A TSM possesses the same properties and design features as the TSN generic framework. A nonlinear system, a coupled liquid-tank, is used to examine this modelling technique. Results verify the feasibility and effectiveness of the methods developed and validates the TSM. Further, the TSN technique is applied to nonlinear controller design, by way of a Trajectory-Scheduling Controller (TSC) network. It is illustrated through the design of a networked, easy-to-understand and easy-to-use PID control system for the coupled liquid-tank. Results show that the methods developed offer a high-performance linear control system with nonlinear capabilities to handle practical systems operating in a broad range and to cope with conflict between setpoint following at transient and disturbance rejection at steady state. This method is then applied to the PID network design problems for two nonlinear chemical processes

Trajectory-scheduling control systems and their multi-objective design automation

This thesis encompasses the analysis of TSN systems and their multi-objective design methods. TSN nodes are networked through interpolation and activation, similar to a gain-scheduling or local model/controller network. However, to achieve accuracy and ease of commissioning without requiring a large number of nodes, an algorithm has been developed first to identify optimum transition nodes within the entire operating envelope. Then the TSN approaches a nonlinear plant globally, not just locally, without requiring linearization. If desired or necessary, global optimisation provides an enhancement in the design process for TSNs. Since optimising only one aspect (a single objective) of performance while compromising others is undesirable, multi-objective designs have been developed concurrently to deliver or improve multiple aspects of performance. Following the development of a TSN, it is applied to nonlinear system modelling, and this TSN is termed a Trajectory-Scheduling Model (TSM). A TSM possesses the same properties and design features as the TSN generic framework. A nonlinear system, a coupled liquid-tank, is used to examine this modelling technique. Results verify the feasibility and effectiveness of the methods developed and validates the TSM. Further, the TSN technique is applied to nonlinear controller design, by way of a Trajectory-Scheduling Controller (TSC) network. It is illustrated through the design of a networked, easy-to-understand and easy-to-use PID control system for the coupled liquid-tank. Results show that the methods developed offer a high-performance linear control system with nonlinear capabilities to handle practical systems operating in a broad range and to cope with conflict between setpoint following at transient and disturbance rejection at steady state. This method is then applied to the PID network design problems for two nonlinear chemical processes.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Development of an electronic control unit for the T63 gas turbine

Includes bibliographical references.Fundamental research has been undertaken at the SASOL Advanced Fuels Laboratory to investigate the effects of the chemistry and physical properties of both conventional and synthetic jet fuels on threshold combustion. This research was undertaken using a purpose built low pressure continuous combustion test facility. Researchers at the laboratory now wish to examine these effects on an aviation gas turbine in service for which “off-map” scheduling of fuel to the engine would be required. A two phase project was thus proposed to develop this capability; the work of this thesis embodies Phase I of that project

Actuators for Intelligent Electric Vehicles

This book details the advanced actuators for IEVs and the control algorithm design. In the actuator design, the configuration four-wheel independent drive/steering electric vehicles is reviewed. An in-wheel two-speed AMT with selectable one-way clutch is designed for IEV. Considering uncertainties, the optimization design for the planetary gear train of IEV is conducted. An electric power steering system is designed for IEV. In addition, advanced control algorithms are proposed in favour of active safety improvement. A supervision mechanism is applied to the segment drift control of autonomous driving. Double super-resolution network is used to design the intelligent driving algorithm. Torque distribution control technology and four-wheel steering technology are utilized for path tracking and adaptive cruise control. To advance the control accuracy, advanced estimation algorithms are studied in this book. The tyre-road peak friction coefficient under full slip rate range is identified based on the normalized tyre model. The pressure of the electro-hydraulic brake system is estimated based on signal fusion. Besides, a multi-semantic driver behaviour recognition model of autonomous vehicles is designed using confidence fusion mechanism. Moreover, a mono-vision based lateral localization system of low-cost autonomous vehicles is proposed with deep learning curb detection. To sum up, the discussed advanced actuators, control and estimation algorithms are beneficial to the active safety improvement of IEVs

Design and validation of decision and control systems in automated driving

xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo

Design and validation of decision and control systems in automated driving

xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo

Model based control for a modern automotive diesel engine

The dynamic performance of a turbocharged diesel engine during transient operation has been studied. For appropriate analysis of data obtained from engine transient operation, four alternative automated filtering methods were implemented on the cycle-by-cycle in-cylinder pressure. The techniques to process instantaneous emission data and align the transient data from different analyzers were developed. In the experimental study, the effects of engine speed and EGR have been investigated through load increase tests at a constant engine speed with different EGR calibrations. Based on the experimental results, a real-time diesel engine model was developed by Simulink. The model is capable of simulating the main engine parameters. It included the air path mode], combustion model and dynamic emission behavior model. The model can run as a real-time simulator for engine control strategy development. . An advanced fast predictive contro] approach was proposed and validated in a HIL simulation platform. The model predictive control was developed for EGR and VGT control. The oxygen concentration oriented control was designed and implemented in the real-time model. Compared with PID control, MPC presents a good tracking performance of reference values with a shorter response time. The results in HIL proved the real-time capability of the control strategy

Zur Modellierung und Kompensation dynamischer Reibung in Aktuatorsystemen

Die vorliegende Arbeit befasst sich mit der Modellierung und Kompensation dynamischer Reibung in Aktuatorsystemen. Kinetische Reibung in Mechanismen ist eine der signifikantesten Nichtlinearitäten im System, welche einerseits als natürlicher Dämpfungsfaktor fungiert anderseits die maßgeblichen Regelungsfehler sowie Grenzzyklen und Stick-Slip-Effekte verursachen kann. Im Rahmen dieser Arbeit werden die Modelle dynamischer Reibung aus dem neusten Stand der Technik analysiert und im Kontext einer regelungstechnischen Kompensation der Reibung einander gegenüber gestellt. Ein weiteres, neu entwickeltes Modell dynamischer Reibung wird eingeführt und mit den bereits existierenden Ansätzen verglichen. Ferner liegt der Schwerpunkt der Arbeit auf der modellgestützten Kompensation dynamischer Reibung. In Ergänzung zu einer eher klassischen Feed-Forward Kompensation werden zwei neuartige, beobachtergestützte Ansätze vorgestellt und auf ihre Tauglichkeit sowohl theoretisch als auch experimentell geprüft. Drei verschiedene Aktuatorsysteme werden zur Evaluierung des vorgestellten Reibungsmodells angewendet, wobei eines von diesen auch der Integration und Evaluierung der entwickelten Kompensationsstrategien dient.This thesis is concerned with the modeling and compensation of dynamic friction in actuator systems. Kinetic friction is one of the most significant nonlinearities acting in mechanisms. On the one hand, it serves as a natural damping in the system. On the other hand, the friction can lead to significant control errors and can provoke the limit cycles and stick-slip effects. In this work, the state-of-the-art models of dynamic friction are analyzed and considered facing one another in the context of control-oriented friction compensation. A novel developed dynamic friction model is introduced and compared with other well-established modeling approaches. The second focus of this work is on the model-oriented compensation of dynamic friction. Two novel observer-based approaches are proposed in addition to a rather classical feed-forward compensation scheme. The suitability of the proposed control strategies is proved both theoretically and with experiments. Three different actuator systems are used to evaluate the presented friction model. One of them serves also for the integration and evaluation of the developed compensation methods