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检索条件"任意字段=5th IFAC Symposium on Modelling and Control in Biomedical Systems"

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Multi-Level Predictive control for Energy Management of Hybrid Ships in the Presence of Uncertainty and Environmental Disturbances

Multi-Level Predictive Control for Energy Management of Hybr...

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14th ifac symposium on control in Transportation systems (CTS)

作者： Haseltalab, Ali Negenborn, Rudy R. Lodewijks, Gabriel Delft Univ Technol Dept Maritime & Transport Technol Delft Netherlands

In this paper, a control methodology is proposed to address the problem of energy management in hybrid ships in the presence of disturbances applied by the surrounding environment and taking the uncertainties within the ship model into account. Nonlinear Robust Tube-Based Model Predictive control (NRTB-MPC) is adopted to control the ship speed and calculate the demanded energy for propelling the ship. At the same time, a conventional MPC approach is proposed to track the demanded energy and determine the optimal split between different energy sources. Simulation experiments using a hybrid ship system illustrate the potential of the approach. (C) 2016, ifac (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Hybrid Ships Energy Management Multi-Level Model Predictive control

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Dynamic modelling, Investigation of Manoeuvring Capability and Navigation control of a Cargo Ship by using Matlab Simulation

Dynamic Modelling, Investigation of Manoeuvring Capability a...

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14th ifac symposium on control in Transportation systems (CTS)

作者： Uyar, Erol Alpkaya, Alican Tuncay Mutlu, Lutfi Ege Univ Elect & Elect Engn Dept Izmir Turkey Kirklareli Univ Fac Engn Mech Engn Kirklareli Turkey

In this paper a simplified dynamic analysis of a cargo ship using simulation and modelling are presented. Provided with mathematical equations dynamics of ship motion characteristics with several maneuvering capabilities are demonstrated with MATLAB & SIMULINK as simulation tool. the equations extended with acting thrust, resistance, steering and ruder forces are demonstrated for several maneuvers like on straight track coasting from full ahead to stop, turning actions A numerical application of fast time simulations on a freighter ship is given with graphical representations. Furthermore a simplified model for rolling motion of ship is introduced and some examples are simulated to explain the general effects of stability and wave parameters. the relation of these results to the more practical use for decision making to avoid resonance effects of ship in waves by loading operations or speed/course changes is demonstrated by means of simulation tool. (C) 2016, ifac (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Navigation Cascade control Ship Modeling Steering Route

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Monitoring Driver - Vehicle control in Automated Driving Applications

Monitoring Driver - Vehicle Control in Automated Driving App...

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14th ifac symposium on control in Transportation systems (CTS)

作者： Henze, Roman Atabay, Orhan Raksincharoensak, Pongsathorn TU Braunschweig Inst Automot Engn Braunschweig Germany Istanbul Tech Univ Fac Mech Engn Istanbul Turkey Tokyo Univ Agr & Technol Smart Mobil Res Ctr Fuchu Tokyo 183 Japan

In the change from assisted to highly automated driving, the precise knowledge of the transition between "Driver control Mode" and "Vehicle control Mode" and reliable monitoring of driver vehicle control is of crucial importance. the central part is the modelling and identification of the driving behaviour. On this basis, adaptive functions leading to higher customer acceptance and therefore sustainable market penetration of ADAS and automated driving functions can be developed on the one hand. On the other, aspects of controllability affect the classification in terms of functional safety levels with regard to the validation in automated driving scenarios. the paper deals with three relevant aspects: objective monitoring of driver characteristics, adaptive function design using lateral control in lane keeping scenarios as an example and controllability. taking longitudinal control when following another vehicle as an example. (C) 2016, ifac (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Intelligent/Automated vehicles Human Factors modelling of Driver - Vehicle control Functional Safety

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Dynamic modeling platform for series hybrid electric vehicles

Dynamic modeling platform for series hybrid electric vehicle...

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8th ifac symposium on Advances in Automotive control (AAC)

作者： Evangelou, Simos A. Shabbir, Wassif Imperial Coll London Dept Elect & Elect Engn London England

this paper introduces simulation model that can be used designs and control systems for hybrid electric vehicles (HEVs). the work involves a novel simulating platform, developed in Simulink, where each component of a series HEV is developed using a first-principles approach in a modular fashion, validated by available experimental data and then integrated to form a coupled nonlinear dynamic model. the vehicle model is capable to act as a platform for the design of supervisory control systems (SCSs) that optimize the energy flow in the powertrain. Simulations with two distinct SCSs and two driving cycles are used to analyze the vehicle performance under varying driving and operating conditions. the results demonstrate the applicability of the model for realistic prediction of both vehicle behavior and component energy losses, design optimization and control system design. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： modelling hybrid electric vehicle supervisory control energy management

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High Redundancy Actuator with 12 Elements: Open-and Closed-loop Model Validation

High Redundancy Actuator with 12 Elements: Open-and Closed-l...

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7th ifac symposium on Mechatronic systems (MECHATRONICS)

作者： Antong, Hasmawati Dixon, Roger Ward, Christopher P. Loughborough Univ Wolfson Sch Mech Mfg & Elect Engn Loughborough LE11 3TU Leics England

the high-redundancy actuator concept that is inspired by biomimetic is an approach to fault tolerant actuator that aims to provide fault tolerance using relatively large numbers of small actuation elements. the actuation elements are assembled in parallel and series configurations to form a single actuator that has intrinsic fault tolerance. During normal operations, it is possible that some of these elements are operational and some are faulty. In this situation, the high-redundancy actuator will still work, but with graceful degradation. this paper discusses the modelling aspect of the high-redundancy actuator that consists of 12 actuation elements based on linear electromechanical actuation technology. Simulation results are validated with real-time experimental results using both a single actuator and the full high-redundancy actuator in open-loop and closed-loop. (C) 2016, ifac (International Federation of Automatic control) Hosting Elsevier Ltd. All rights reseirved.

关键词： actuator modelling fault-tolerant actuator high-redundancy actuator parallel redundancy lock-up fault loose fault

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control System Design of a Vertical Take-off and Landing Fixed-Wing UAV

Control System Design of a Vertical Take-off and Landing Fix...

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14th ifac symposium on control in Transportation systems (CTS)

作者： Cakici, Ferit Leblebicioglu, M. Kemal Middle East Tech Univ Elect & Elect Engn Dept Ankara Turkey

In this study, design and implementation of control system of a vertical take-off and landing (VTOL) unmanned aerial vechicle (UAV) with level flight capability is considered. the platform structure includes both multirotor and fixed-wing (FW) conventional aircraft control surfaces: therefore named as VTOL-FW. the proposed method includes implementation of multirotor and airplane controllers and design of an algorithm to switch between them in achieving transitions between VTOL and FW flight modes. thus, VTOL-FW UAV's flight characteristics are expected to be improved by enabling agile maneuvers, increasing survivability and exploiting full flight envelope capabilities. (C) 2016, ifac (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Aircraft control autopilot mathematical modelling control. PID control VTOL UAV

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Software sensor as distributed parameter system for the control of secondary cooling in the continuous casting of steel

Software sensor as distributed parameter system for the cont...

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17th ifac symposium on control, Optimization and Automation in Mining, Mineral and Metal Processing (MMM)

作者： Hulko, G. Ondrejkovic, K. Bucek, P. Bartko, M. FME STU Bratislava Inst Automat Measurement & Appl Informat Nam Slobody 17 Bratislava 81231 Slovakia ZP VVC Sro Kolkaren 35 Podbrezova 97681 Slovakia

Sophisticated numerical models are created nowadays for the continuous casting of steel, partly thanks to the rapid development of information technology. these models are based on the numerical solutions of nonlinear partial differential equations describing the dynamics of modelled phenomena. Such distributed parameter numerical models used as "software sensors" offer the possibility to control the secondary cooling process. However, in current engineering practice the control synthesis is solved by lumped parameter systems approach. Tins paper shows how to solve the control synthesis problem based on distributed parameter system approach, using widely available software products for numerical modelling of continuous casting of steel combined with algorithms for control of lumped and distributed parameter systems. (C) 2016, ifac (International Federation or Antomatie (control) Hosting by Filsevier Ltd. All rights reserved.

关键词： software sensor continuous casting of steel distributed parameter system dynamics decomposition control design approximation problem constrained model predictive control

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Invariant based control of induction and maintenance phases for anesthesia

Invariant based control of induction and maintenance phases ...

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6th ifac Conference on Foundations of systems Biology in Engineering (FOSBE)

作者： Fiacchini, Mirko Queinnec, Isabelle Tarbouriech, Sophie Mazerolles, Michel Univ Grenoble Alpes CNRS GIPSA Lab F-38000 Grenoble France Univ Toulouse CNRS LAAS Toulouse France CHU Toulouse Dept Anesthesie Reanimat F-31059 Toulouse France

Set theory and invariant sets are the key ingredients used in this paper to address the control problem of general anesthesia. Both the induction phase, corresponding to the administration of an open loop bolus dose, and the maintenance phase of the depth of hypnosis during the surgical operation are considered. the obtained control results to emulate the multi -phase control law used in practice.

关键词： Anesthesia biomedical systems computational methods constrained control

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Optimal Autopilot and Guidance of the ROV: SAGA

Optimal Autopilot and Guidance of the ROV: SAGA

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14th ifac symposium on control in Transportation systems (CTS)

作者： Kartal, Seda Karadeniz Ege, Emre Leblebicioglu, M. Kemal Middle East Tech Univ Dept Elect & Elect Engn Ankara Turkey Desistek Robot LLC Ankara Turkey

In this study, an optimal autopilot algorithm is developed for 3D motion of SAGA which is an unmanned underwater survey vehicle. Firstly, a nonlinear mathematical model for SAGA is obtained. the structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. the resultant nonlinear system is then controlled by PID controllers. these PID controllers arc designed for 3D motion which is realized by a suitable combination of right, left and vertical thrusters. the optimal control problem is that the vehicle is supposed to reach the desired position and rotation with desired velocity by consuming minimum energy. this problem is solved with a genetic algorithm. All of this study is performed in a Matlab/Simulink environment. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Autopilot guidance genetic algorithm mathematical modelling PID controller unmanned underwater vehicle

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A modular virtual laboratory for quadrotor control simulation

A modular virtual laboratory for quadrotor control simulatio...

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11th ifac symposium on Advances in control Education (ACE)

作者： Murphy, Michael D. Cork Inst Technol Dept Proc Energy & Transport Engn Cork Ireland

the development of a Virtual Laboratory for control systems simulation is presented in this paper. A mechanistic quadrotor model was created using existing theory and a feedback controller was applied for altitude and coordinate control. the simulation environment was built on a transparent modelling platform that allowed the users to easily modify the controller parameters. the human machine interface employed both two and three dimensional graphic displays enabling real-time monitoring of the quadrotor's trajectory. the Virtual Laboratory was modulated for usage by multiple student groups. Two example experiments are presented in order to demonstrate the type of control simulations that may be carried out in this Virtual Laboratory. the results from these experiments indicate that this Virtual Laboratory may be easily integrated into control and simulation courses and projects for undergraduate engineering students. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Virtual Laboratory Simulation control UAV Quadrotor Education

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