146 research outputs found
Least costly energy management for series hybrid electric vehicles
Energy management of plug-in Hybrid Electric Vehicles (HEVs) has different
challenges from non-plug-in HEVs, due to bigger batteries and grid recharging.
Instead of tackling it to pursue energetic efficiency, an approach minimizing
the driving cost incurred by the user - the combined costs of fuel, grid energy
and battery degradation - is here proposed. A real-time approximation of the
resulting optimal policy is then provided, as well as some analytic insight
into its dependence on the system parameters. The advantages of the proposed
formulation and the effectiveness of the real-time strategy are shown by means
of a thorough simulation campaign
Virtual-bike emulation in a series-parallel human-powered electric bike
Combining the advantages of standard bicycles and electrified vehicles,
electric bikes (e-Bikes) are promising vehicles to reduce emission and traffic.
The current literature on e-Bikes ranges from works on the energy management to
the vehicle control to properly govern the human-vehicle interaction. This last
point is fundamental in chain-less series bikes, where the link between the
human and the vehicle behavior is only given by a control law. In this work, we
address this problem in a series-parallel bike. In particular, we provide an
extension of the virtual-chain concept, born for series bikes, and then we
improve it developing a virtual-bike framework. Experimental results are used
to validate the effectiveness of the solutions, when the cyclist is actually
riding the bike.Comment: Accepted for publication at the IFAC World Congress 202
Non-Invasive Experimental Identification of a Single Particle Model for LiFePO4 Cells
The rapid spread of Lithium-ions batteries (LiBs) for electric vehicles calls
for the development of accurate physical models for Battery Management Systems
(BMSs). In this work, the electrochemical Single Particle Model (SPM) for a
high-power LiFePO4 cell is experimentally identified through a set of
non-invasive tests (based on voltage-current measurements only). The SPM is
identified through a two-step procedure in which the equilibrium potentials and
the kinetics parameters are characterized sequentially. The proposed
identification procedure is specifically tuned for LiFePO4 chemistry, which is
particularly challenging to model due to the non-linearity of its open circuit
voltage (OCV) characteristic. The identified SPM is compared with a
second-order Equivalent Circuit Model (ECM) with State of Charge dependency.
Models performance is compared on dynamic current profiles. They exhibit
similar performance when discharge currents peak up to 1C (RMSE between
simulation and measures smaller than 20 mV) while, increasing the discharge
peaks up to 3C, ECM's performance significantly deteriorates while SPM
maintains acceptable RMSE (< 50 mV).Comment: Accepted for publication at the IFAC World Congress 202
Direct learning ofLPVcontrollers from data
In many control applications, it is attractive to describe nonlinear (NL) and time-varying (TV) plants by linear parametervarying (LPV) models and design controllers based on such representations to regulate the behaviour of the system. The LPV system class offers the representation of NL and TV phenomena as a linear dynamic relationship between input and output signals, which relationship is dependent on some measurable signals, e.g., operating conditions, often called as scheduling variables. For such models, powerful control synthesis tools are available, but the way how to systematically convert available first principles models to LPV descriptions of the plant, to efficiently identify LPV models for control from data and to understand how modeling errors affect the control performance are still subject of undergoing research. Therefore, it is attractive to synthesize the controller directly from data without the need of modeling the plant and addressing the underlying difficulties. Hence, in this paper, a novel data-driven synthesis scheme is proposed in a stochastic framework to provide a practically applicable solution for synthesizing LPV controllers directly from data. Both the cases of fixed order controller tuning and controller structure learning are discussed and two different design approaches are provided. The effectiveness of the proposed methods is also illustrated by means of an academic example and a real application based simulation case study
Direct data-driven control of linear parameter-varying systems
In many control applications, nonlinear plants can be modeled as linear parameter-varying (LPV) systems, by which the dynamic behavior is assumed to be linear, but also dependent on some measurable signals, e.g., operating conditions. When a measured data set is available, LPV model identification can provide low complexity linear models that can embed the underlying nonlinear dynamic behavior of the plant. For such models, powerful control synthesis tools are available, but the way the modeling error and the conservativeness of the embedding affect the control performance is still largely unknown. Therefore, it appears to be attractive to directly synthesize the controller from data without modeling the plant. In this paper, a novel data-driven synthesis scheme is proposed to lay the basic foundations of future research on this challenging problem. The effectiveness of the proposed approach is illustrated by a numerical example
Data-driven inversion-based control of nonlinear systems
In this paper, we introduce the Data-Driven Inversion-Based Control (D2-IBC)
method for nonlinear control system design. The method relies on a two degree-of-freedom
architecture, with a nonlinear controller and a linear controller running in parallel, and does not
require any detailed physical knowledge of the plant to control. Specically, we use input/output
data to synthesize the control action by employing convex optimization tools only. We show the
eectiveness of the proposed approach on a simulation example, where the D2-IBC performance
is also compared to that of the Direct FeedbacK (DFK) design approach, a benchmark method
for nonlinear controller design from data
A data-driven approach to nonlinear braking control
In modern road vehicles, active braking control
systems are crucial elements to ensure safety and lateral
stability. Unfortunately, the wheel slip dynamics is highly
nonlinear and the on-line estimation of the road-tire conditions
is still a challenging open research problem. These facts make
it difficult to devise a braking control system that is reliable
in any situation without being too conservative. In this paper,
we propose the Data-Driven Inversion Based Control (D2-IBC)
approach to overcome the above issues. The method relies on
a two degrees of freedom architecture, with a linear controller
and a nonlinear controller in parallel, both designed using only
experimental data. The effectiveness of the proposed approach
is shown by means of an extensive simulation campaign
An Add-on Model Predictive Control Strategy for the Energy Management of Hybrid Electric Tractors
The hybridization process has recently touched also the world of agricultural
vehicles. Within this context, we develop an Energy Management Strategy (EMS)
aiming at optimizing fuel consumption, while maintaining the battery state of
charge. A typical feature of agricultural machines is that their internal
combustion engine is speed controlled, tracking the reference requested by the
driver. In view of avoiding any modification on this original control loop, an
add-on EMS strategy is proposed. In particular, we employ a multi-objective
Model Predictive Control (MPC), taking into account the fuel consumption
minimization and the speed tracking requirement, including the engine speed
controller in the predictive model. The proposed MPC is tested in an
experimentally-validated simulation environment, representative of an orchard
vineyard tractor.Comment: Submitted to IEEE Transactions on Vehicular Technolog
Direct data-driven H2 − H∞ loop-shaping
In this paper, a direct data-driven approach is proposed to tune fixed-order controllers for unknown stable LTI plants in a mixed-sensitivity loop-shaping problem. The method requires a single set of input-output samples and it is based on simple convex optimization techniques; moreover, it guarantees internal stability as the data-length tends to infinity. Compared to a standard model-based approach, the proposed methodology theoretically guarantees the same asymptotical performance in case of correct parameterization, whereas the direct data-driven formulation is less conservative in case of undermodeling. The effectiveness of the method is illustrated via some numerical examples
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