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distributed Intersection Conflict Resolution for Multiple Vehicles Considering Longitudinal-Lateral Dynamics

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2021年第5期70卷 4166-4177页

作者： Wang, Kaizheng Wang, Yafei Wang, Lin Du, Haiping Nam, Kanghyun Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Minist Educ China Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China Univ Wollongong Sch Elect Comp & Telecommu Engn Wollongong NSW 2522 Australia Yeungnam Univ Sch Mech Engn Gyongsan 712 South Korea

Multiple vehicles control at an intersection is one of the most challenging scenarios in the vehicle control field due to the high number of constraints. However, regarding the control strategies of an isolated intersection, few studies have considered the longitudinal-lateral dynamics comprehensively. In the approaches that treat the turning curve as a straight line, a longitudinal dynamic model is adopted, while the lateral execution ability is ignored. The ideal decisions that ignore vehicle dynamics are not accurately executed by actual vehicles, as doing so would be futile. In addition, due to the strong coupling and nonlinearity of the longitudinal-lateral dynamics model, the optimization problem is difficult to solve. Therefore, in this paper, a reasonable model, the simplified vehicle dynamics model coupled with longitudinal-lateral dynamics is used to describe longitudinal, lateral, and yaw motions comprehensively. Optimization of the longitudinal and lateral control of each vehicle is realized simultaneously. The multi-objective optimization problem is decomposed and solved by each vehicle utilizing model predictive control (MPC) in a distributed manner. A novel safety constraint interpretive method (SCIM) is proposed to reduce the number of constraints and facilitate the solution by converting the safety constraint. The asymptotic stability of a local closed-loop system is guaranteed by a terminal constraint, and the global feasibility is proven. Finally, a demanding intersection scenario, with comparison between the Proportional-Integral-Derivative (PID) method and Adaptive Cruise control (ACC) method, is carried out in a Processor-in-the-Loop (PiL) test. The results demonstrate that intersection safety is guaranteed with smoother control inputs obtained by the designed distributed method. The control inputs are more suitable for vehicle execution, especially in turning maneuvers.

关键词： Vehicle dynamics Optimization Dynamics Tires Safety Mathematical model Predictive models Autonomous traffic intersection connected vehicles distributed control system model predictive control (MPC)

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A lab equipped with industrial DCS for different control engineering courses 13

A lab equipped with industrial DCS for different control eng...

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13th IFAC Symposium on Advances in control Education (ACE)

作者： Balke, Carina Voeltzer, Klaas Dittmar, Rainer West Coast Univ Appl Sci Heide Germany

The paper describes the setup and operation of a control education lab which is used in different courses at both the undergraduate and graduate levels in electrical engineering and building systems programs. Its main characteristic is the equipment with several industrial-scale distributed control systems (DCS) and the use of commercial software for its design and operation. Although procurement and maintenance costs are relatively high, the use of the lab across different study programs and courses results in high lab utilization and reasonable cost per individual lab. Some of the student projects are described in detail, among them the design of a DCS integrated Model Predictive control (MPC) solution. The lab setup reduces the necessary system-specific training time for students and leads to a more efficient lab organization. Students appreciate the use of industry-related installation since it helps them to carry out a smooth transition from academia to industry. Copyright (C) 2022 The Authors.

关键词： distributed control system control engineering lab course curriculum student project

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Architectural Concepts for IEC 61499-based Machine controls: Beyond Normal Operation Handling 27

Architectural Concepts for IEC 61499-based Machine Controls:...

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IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Sonnleithner, Lisa Wiesmayr, Bianca Ashiwal, Virendra Sharma, Shubham Zoitl, Alois Walter, Joerg CDL VaSiCS Linz Austria Johannes Kepler Univ Linz LIT CPS Lab Linz Austria OFFIS Inst Informat Technol Oldenburg Germany

ISBN: (数字)9781665499965

ISBN: (纸本)9781665499965

Modern production systems are constantly getting more complex and moving towards smaller lot sizes and more customizable products. This poses new challenges on the control software, which is growing in size and complexity. To deal with this increasingly large and complex control software, design guidelines are needed. We are working on such design guidelines for IEC 61499, a modeling language for distributed control systems. In our previous work, we proposed a distributed and highly reusable application design based on skills. In this work, we will present concepts for extending this design beyond normal operation handling.

关键词： IEC 61499 distributed control system Software design Software architecture distributed design Design pattern Skill Choreography Error detection Error handling

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Game-Theory-Inspired Hierarchical distributed control Strategy for Cooperative Intersection Considering Priority Negotiation

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2021年第7期70卷 6438-6449页

作者： Wang, Kaizheng Wang, Yafei Du, Haiping Nam, Kanghyun Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China Univ Wollongong Sch Elect Comp & Telecommun Engn Wollongong NSW 2522 Australia Yeungnam Univ Sch Mech Engn Gyongsan 712 South Korea

Priority and mutual interaction among vehicles are crucial for the efficiency and safety control of unsignalized intersections. However, most of the approaches for intersection cooperation are based on first-come-first-served (FCFS) rules, neglecting the influence caused by different priorities. Focusing on the priority and mutual interaction between connected and automated vehicles (CAVs), this paper proposes a game-based hierarchical control strategy to improve the traveling efficiency at unsignalized intersections. The three-layered hierarchical strategy includes the priority negotiation layer (PNL), strategy bargaining layer (SBL) and strategy optimization layer (SOL), respectively. In the PNL, a game-theoretic strategy is designed for priority negotiation, in which the most efficient crossing order is sought by the Pareto-optimal set. In the SBL, with the assigned negotiated priority, a bargaining game is designed for further interaction between CAVs. In the SOL, model predictive control is applied for strategy optimization considering the comfort of drivers and executability of vehicles. Two cases of cooperative intersection, in which fixed priority with comparison of the Nash game method and greedy method, and negotiated priority with comparison of fixed priority are carried out in a hardware-in-the-loop (HiL) test. The results demonstrate that the traffic efficiency is improved with safety guaranteed by the proposed hierarchical strategy.

关键词： Games Optimization Safety Vehicle dynamics Delays Real-time systems Predictive control Autonomous traffic intersection bargaining game connected vehicles distributed control system game theory model predictive control (MPC)

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control strategies in enhanced stand-alone mini-grid operations for the NESI-an overview

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FRONTIERS IN ENERGY RESEARCH 2024年 12卷

作者： Balogun, Adeola Olajube, Ayobami Awelewa, Ayokunle Agoro, Sodiq Okafor, Frank Sanni, Timilehin Samuel, Isaac Ajilore, Adejumoke Univ Lagos Dept Elect & Elect Engn Lagos Nigeria Florida State Univ Dept Elect & Comp Engn Tallahassee FL USA Covenant Univ Dept Elect & Informat Engn Ota Ogun Nigeria North Carolina State Univ Dept Elect & Comp Engn Raleigh NC USA

Diverse control strategies for enhancing operations of isolated distribution grids are reviewed. Such distribution grids are called mini-grids or micro-grids, depending on their power flow capabilities. Robust control schemes identified in other climates for mini-grid and micro-grid operations are yet to be fully explored in the Nigerian electricity supply industry (NESI). Sustainable control strategies suitable for isolated distribution grids in the NESI predicate on capabilities for diverse objectives, such as energy conservation, affordability, efficient power throughput, and utilization, for enhanced resiliency and reliability. Consequently, the distributed control system in hierarchical layers is identified as a suitable choice for mini-grid operations in Nigeria because of its robustness in scalability and in energy conservation. However, the model predictive control (MPC) scheme is observed to be uniquely applicable in all of the hierarchical control layers. Therefore, a cascade-free MPC with improved robustness against sensitivity to system parameter variation is presented at the primary control layer for an H8 voltage source inverter (VSI) used for grid integration of the solar photovoltaic (PV) system. The H8 inverter gives more promising mitigation strategies against common-mode voltage and leakage current. Moreover, the control of DC link voltage for maximum power point tracking (MPPT) is achieved by the H8 inverter, thereby eliminating the need for a separate converter for MPPT. Thus, sustainability is achieved.

关键词： distributed control system hierarchical control system model predictive control H8 2-level voltage source inverter stand-alone mini-grid

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Collaborative Target-Tracking control Using Multiple Fixed-Wing Unmanned Aerial Vehicles with Constant Speeds

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JOURNAL OF GUIDANCE control AND DYNAMICS 2021年第2期44卷 238-250页

作者： Sun, Zhiyong Garcia de Marina, Hector Anderson, Brian D. O. Yu, Changbin Eindhoven Univ Technol Dept Elect Engn NL-5600 MB Eindhoven Netherlands Univ Complutense Madrid Dept Comp Architecture & Automat Control Madrid 28040 Spain Australian Natl Univ Canberra ACT 2601 Australia Westlake Univ Hangzhou 310024 Zhejiang Peoples R China CSIRO Data61 Res Sch Elect Energy & Mat Engn Canberra ACT Australia Westlake Inst Adv Study Inst Adv Technol Sch Engn 18 Shilongshan Rd Hangzhou Peoples R China

This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and nonidentical speeds. The dynamics of fixed-wing UAVs are modeled by unicycle-type equations with nonholonomic constraints, assuming that UAVs fly at constant altitudes in the nominal operation mode. The controller is designed such that all fixed-wing UAVs as a group can collaboratively track a desired target's position and velocity. This paper first presents conditions on the relative speeds of tracking UAVs and the target to ensure that the tracking objective can be achieved when UAVs are subject to constant-speed constraints. A reference velocity is constructed that includes both the target's velocity and position as feedback, which is to be tracked by the group centroid. In this way, all vehicles' headings are controlled such that the group centroid follows a reference trajectory that successfully tracks the target's trajectory. A spacing controller is further devised to ensure that all vehicles stay close to the group centroid trajectory. Tradeoffs in the controller design and performance limitations of the target tracking control due to the constant-speed constraint are also discussed in detail. Experimental results with three fixed-wing UAVs tracking a target rotorcraft are provided.

关键词： Model Predictive control UAV Rotorcrafts Fixed Wing Aircraft Airspeed Convergence Analysis Autopilot Numerical Simulation distributed control system Ground control Station

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A PID control Architecture Based on IEC 61499 ⁎

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IFAC-PapersOnLine 2024年第7期58卷 91-96页

作者： Guzmán González-Mateos Miguel A. Prada Antonio Morán Raúl González-Herbón Manuel Domínguez SUPPRESS research group Escuela de Ingenierías Universidad de León Campus de Vegazana León 24007 Spain https://suppress.unileon.es

This work presents an approach for PID control and optimization in a distributed system, using the IEC 61499 control standard. This standard enables communication among different PLCs, which are used to develop a three-layered event-driven control of a SISO loop. The lowest layer is in charge of cyclical data acquisition. The second layer carries out an event-based PID control. The highest layer runs a control optimization algorithm, specifically a simple tuning approach based on Ziegler-Nichols that is used to determine the PID parameters for different operating points. The proposed approach is assessed in a tank level SISO control problem, whose behavior can be modeled as a first-order plus dead time system in each operating point. For that purpose, it has been implemented using two PLCs and a software PLC running on an industrial computer. The experimental results on the SISO level control loop show the feasibility of the proposed approach for event-driven control in a distributed system and open interesting research questions in the intersection of controller design and distributed automation.

关键词： IEC61499 PID distributed control system PID Tuning Industrial application Applications of PID control

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IEC 61499 control Architectures Evaluation for Automation Software Development

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IFAC-PapersOnLine 2023年第2期56卷 3660-3665页

作者： A. Parant D. Zander F. Gellot A. Philippot

Industry 4.0 and the constant need to adapt production to the needs of consumers induce new specifications in developing control architectures for modern production systems. The control system must be easily and quickly adjustable when changing configurations. Holonic control architectures have the capabilities to meet these requirements. They combine agent-based technologies in decision-making and integrate their control system in which the IEC 61499 standard is often used. In this paper, we propose to evaluate control architectures to implement the control system of an automated production system using IEC 61499. These architectures are evaluated according to their complexity and adaptability to understand the most suitable architecture for holonic architecture.

关键词： distributed control system IEC 61499 evaluation adaptability automation software

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distributed control system of Ceramic Material Kiln Based on MVC

Distributed Control System of Ceramic Material Kiln Based on...

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2nd International Conference on Mechatronics and Intelligent Materials (MIM 2012)

作者： Yang, Shengquan Liu, Bailin Pei, Changxing Xian Technol Univ Sch Comp Sci & Engn Xian 710032 Shanxi Peoples R China Xidian Univ Sch Telecommun Engn Xian 710126 Peoples R China

ISBN: (纸本)9783037853849

The paper proposes and develops a distributed control system of ceramic material shuttle kiln control of MVC pattern based on the current ceramic material shuttle kiln control in which exist plenty of disadvantages such as wasting energy sources, low efficiency, bad precision and long periods, etc. Firstly, it introduces the basic theory and the system structure graph of the MVC pattern, and discusses in detail the design layer frame and structure characteristic of control system based on MVC pattern. Finally, under the environment of the Delphi, this paper illuminates the material realization of the MVC form of the total control system with adopting the multi-thread shared same buffer method. Practice development shows that the MVC pattern can separate easily the interface of operator and computer, operation logic and data disposal, which makes the total control system have the fluent trait, the spread trait and the easy maintenance trait.

关键词： Model View controller Kiln distributed control system Multi-Thread

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Do you smell it too? Towards Bad Smells in IEC 61499 Applications 26

Do you smell it too? Towards Bad Smells in IEC 61499 Applica...

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26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Sonnleithner, Lisa Oberlehner, Michael Kutsia, Elene Zoitl, Alois Bacsi, Sandor Johannes Kepler Univ Linz CDL VaSiCS Linz Austria Johannes Kepler Univ Linz LIT CPS Lab Linz Austria Budapest Univ Technol & Econ Budapest Hungary

ISBN: (纸本)9781728129891

Bad Smells are certain suboptimal structures or patterns in software. They can cause maintenance issues and hinder understandability. Therefore, it is essential to avoid Bad Smells in software. While the topic is well researched in other fields, it is still an open issue in industrial automation. In this work, we are taking a step towards closing that gap and propose a catalog of IEC 61499 Bad Smells.

关键词： IEC 61499 distributed control system CPS CPPS design smell code smell bad smell anti-pattern OCL

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