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model-based control of diesel engines with multiple fuel injections

INTERNATIONAL JOURNAL OF ENGINE RESEARCH 2018年第2期19卷 257-265页

作者： Yamasaki, Yudai Ikemura, Ryosuke Kaneko, Shigehiko Univ Tokyo Dept Mech Engn Tokyo Japan

We developed a feed-forward controller for a conventional diesel combustion engine with triple fuel injection and experimentally evaluated its performance. A combustion model that discretizes an engine cycle into a number of representative points to achieve a light calculation load is embedded into the controller;this model predicts the in-cylinder gas-pressure-peak timing with information about the operating condition obtained from the engine control unit. The controller calculates the optimal main-fuel-injection timing to control the in-cylinder gas-pressure peak using the prediction result as a controller with a single input and output. The controller's performance was evaluated by experiments using a four-cylinder diesel engine under changing the target value of the in-cylinder gas-pressure-peak timing during a target-following test and the performance was also evaluated under changing the exhaust gas recirculation ratio at the constant target value of the in-cylinder gas-pressure-peak timing for the disturbance-response test. It was found that the controller could calculate the optimal main-injection timing over a cycle and maintain the targeted in-cylinder gas-pressure-peak timing even when the target value or exhaust gas recirculation changed. The combustion model was also shown to be fast enough at predicting diesel combustion for onboard control.

关键词： Diesel engine multiple fuel injection feed-forward controller model-based control combustion model

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model-based control of a thermal regenerator. Part 2: control and estimation

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COMPUTERS & CHEMICAL ENGINEERING 2000年第11期24卷 2507-2517页

作者： Muske, KR Howse, JW Hansen, GA Cagliostro, DJ Villanova Univ Dept Chem Engn Villanova PA 19085 USA Univ Calif Los Alamos Natl Lab Computat Sci Methods Grp Los Alamos NM 87545 USA

This paper describes the model-based control and estimation techniques implemented on the hot blast stoves for the number 7 blast furnace at the Ispat Inland Steel facility in East Chicago, IN. The process model is a detailed heat transfer model of this thermal regenerator system used as part of a predictive control scheme to determine the minimum amount of fuel necessary to achieve the energy requirements. Batch nonlinear least squares estimation is used to update the predicted temperature profile and heat transfer coefficients. These estimated parameters are then used by the model-based controller to determine the minimum fuel required for the subsequent regenerative cycle. (C) 2000 Elsevier Science Ltd. All rights reserved.

关键词： model-based control nonlinear control state and parameter estimation

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model-based control of a 6-dof electrohydraulic Stewart-Gough platform

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MECHANISM AND MACHINE THEORY 2008年第11期43卷 1385-1400页

作者： Davliakos, Ioannis Papadopoulos, Evangelos Natl Tech Univ Athens Dept Mech Engn Athens 15780 Greece

In this paper, a novel model-based controller for a six Degree-of-Freedom (dof) electrohydraulic Stewart-Gough platform is developed. Dynamic models of low complexity are employed that describe the salient dynamics of the main electrohydraulic components. Rigid body equations of motion and hydraulics dynamics, including friction and servovalve models are used. The developed feedback controller uses the system dynamic and hydraulic model to yield servovalve currents, so that the error dynamics converge asymptotically to zero, independent of load variations. In this approach, force, pressure or acceleration feedback is not required. Simulations with typical desired trajectory inputs are presented and a good performance of the controller is obtained. The proposed methodology can be extended to electrohydraulic serial or closed-chain manipulators and simulators. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： Stewart platform hydraulic servomechanisms parallel mechanisms model-based control

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model-based control with intermittent feedback: bridging the gap between continuous and instantaneous feedback

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INTERNATIONAL JOURNAL OF control 2010年第12期83卷 2588-2605页

作者： Estrada, Tomas Antsaklis, Panos J. Elizabethtown Coll Dept Phys & Engn Elizabethtown PA 17022 USA Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA

The aim of this article is to provide a set of results in stability of model-based networked control systems (MB-NCS) with intermittent feedback, which we intend will serve as a nexus between the study of systems with instantaneous feedback and with continuous feedback. We apply the concept of intermittent feedback to a class of networked control systems known as MB-NCS. MB-NCS use an explicit model of the plant in order to reduce the network traffic while attempting to prevent excessive performance degradation, while intermittent feedback consists of the loop remaining closed for some fixed interval, then open for another interval. We begin by introducing the basic architecture for model-based control, then discuss the concept of intermittent feedback, its applications in various fields and its role as a link between instantaneous and continuous feedback. We then provide our results for the model-based architecture with intermittent feedback. We also address the case with output feedback (through the use of a state observer), providing a full description of the state response of the system, as well as a necessary and sufficient condition for stability in each case. Extensions of our results to cases with nonlinear plants are also presented. Next, we investigate the situation where the update times and h are time-varying, first addressing the case where they have upper and lower bounds, then moving on to the case where their distributions are independent identically distributed or driven by a Markov chain. Finally, we study the case of model-based control with intermittent feedback for discrete-time plants, again providing stability conditions for the basic architecture, the state observer case and the case with time-varying parameters.

关键词： control systems networked control networked control systems intermittent feedback model-based control

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model-based control of a VSC-based power generator with synthetic inertia provision in an isolated micro-grid

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IET GENERATION TRANSMISSION & DISTRIBUTION 2020年第22期14卷 5037-5046页

作者： Hardan, Faysal Norman, Rosemary Leithead, William Newcastle Univ Sch Engn Newcastle Upon Tyne NE1 7RU Tyne & Wear England Univ Strathclyde Elect & Elect Engn Dept Glasgow G1 1XW Lanark Scotland

Distributed energy resources such as solar photovoltaic, wind and energy storage systems are increasingly being utilised within isolated and grid-connected microgrids. Their integration has prompted the move towards more advanced coordinated control for flexible, efficient and secure operation of microgrid-based power systems. This study presents a new power control method based on a canonical inverse model and implied synthetic inertia (SI), which is implemented on a voltage source converter-based power generator (VSC-PG) for frequency response support. The control method augments a traditional power controller whilst the SI technique is blended with a new switching mechanism which enhances the performance of the VSC-PG when it is utilised with SI provision capability. The switching mechanism acts only when necessary, without contradicting the main frequency regulating sources. For assessment, the above method and SI technique have been designed and modelled for a 630 kVA VSC-PG with DC-link battery bank. The VSC-PG was connected within an isolated/remote microgrid formed by an 11 kV feeder, 1 MVA diesel generator and variable load. The performances of the proposed power controller and SI provider have been tested and analysed using detailed Matlab/Simulink simulations and found to compare favourably with methods published in the literature.

关键词： distributed power generation power control power distribution control frequency control power generation control voltage-source convertors diesel-electric generators DC-link battery bank remote microgrid Matlab-Simulink simulations apparent power 630 0 kVA voltage 11 0 kV apparent power 1 0 MVA implied synthetic inertia solar photovoltaic systems isolated microgrid power generator frequency regulating sources VSC-PG SI provider diesel generator SI provision capability switching mechanism SI technique power controller frequency response support voltage source converter canonical inverse model power control method microgrid-based power systems advanced coordinated control grid-connected microgrids energy storage systems distributed energy resources synthetic inertia provision VSC-based power generator model-based control

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model-based control of a granulation system

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POWDER TECHNOLOGY 2000年第2-3期108卷 192-201页

作者： Pottmann, M Ogunnaike, BA Adetayo, AA Ennis, BJ Dupont Co Du Pont Cent Sci & Engn Adv Proc Control & Modeling Grp Wilmington DE 19880 USA Dupont Co Du Pont Cent Sci & Engn & Agr Prod Ctr Particle Sci & Technol Wilmington DE 19880 USA

Granulation, the process by which granules are made from powdered, slurried, solution or molten feed material, is an important process in many industries. The main objective in the granulation process is to produce granules with consistent product quality, as indicated by various industry standard variables which can be related to two fundamental process quantities: particle size distribution and bulk density. While it is customary to specify a desired setpoint value for bulk density, the specifications on particle size distribution typically take the form of an upper limit (d(U)) and a lower limit (d(L)) determined by the screen sizes used in product classification. The paper discusses the peculiar control problems arising from such a combination of product quality specifications and then develops a model-based control scheme which systematically addresses the problems. Simulation studies illustrate the control system implementation and performance for various situations of practical significance. (C) 2000 Elsevier Science S.A. All rights reserved.

关键词： model-based control granulation system granules

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model-based control of a hexapod with linear direct drives

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2006年第5期19卷 463-472页

作者： Denkena, B. Holz, C. Abdellatif, H. Univ Hannover Hannover Ctr Prod Technol Inst Prod Engn & Machine Tools IFW D-30823 Garbsen Germany Leibniz Univ Hannover Hannover Ctr Mechatron MZH D-30167 Hannover Germany

To fulfil the increasing demands on accuracy and dynamics of modern machine tools a highly dynamic hexapod design has been developed at the Institute of Production Engineering and Machine Tools (IFW). This handling and processing machine PaLiDA allows very high dynamics, owing to the combination of a parallel kinematics design with linear direct drives as struts variable in lengths. The hexapod is operated by a single-joint control, based on the linear direct drives, that leads to a stable and robust handling but lacks dynamic accuracy. To raise the precision of motion, a model-based feedforward control is applied to calculate the rigid body and friction forces. This feedforward control is added to any applied independent drive controller and thereby reduces the tracking error significantly. Furthermore the pose-dependent mass matrix is considered in order to decouple the dynamics of the struts. This linearization allows operating the complex parallel structure with single-joint controllers in contrast to the implemented control. Furthermore the consideration of the diagonal elements of the mass matrix allows an adaptation of the PID controller's parameters within the workspace.

关键词： hexapod linear direct drives model-based control inverse dynamics model

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model-based control of thermoacoustic instabilities in partially premixed lean combustion - a design case study

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INTERNATIONAL JOURNAL OF control 2013年第11期86卷 2052-2066页

作者： Yuan, Xiao-Chuan Glover, Keith Univ Cambridge Dept Engn Cambridge CB2 1PZ England

Self-excited oscillation is becoming a major issue in low-emission, lean partially premixed combustion systems, and active control has been shown to be a feasible method to suppress such instabilities. A number of robust control methods are employed to obtain a feedback controller and it is observed that the robustness to system uncertainty is significantly better for a low complexity controller in spite of the norms being similar. Moreover, we demonstrate that closed-loop stability for such a complex system can be proved via use of the integral quadratic constraint method. Open- and closed-loop nonlinear simulations are provided.

关键词： thermoacoustic instability equivalence ratio perturbations partially premixed flames model-based control controller complexity robust control

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model-based control of continuous emulsion co-polymerization in a lab-scale tubular reactor

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JOURNAL OF PROCESS control 2019年 75卷 59-76页

作者： Joy, Preet Rossow, Kristina Jung, Falco Moritz, Hans-Ulrich Pauer, Werner Mitsos, Alexander Mhamdi, Adel Rhein Westfal TH Aachen Aachener Verfahrenstech Proc Syst Engn SVT Forckenbeckstr 51 D-52074 Aachen Germany Univ Hamburg Inst Tech & Macromol Chem Bundesstr 45 D-20146 Hamburg Germany

model-based control methods like nonlinear model predictive control (NMPC) is a promising approach to control complex chemical processes. While there are many publications on theoretical aspects and simulation studies, the experimental evaluation of NMPC is limited. We present the implementation and experimental validation of model-based control for continuous emulsion co-polymerization in a tubular reactor. We compare two schemes to control the total monomer conversion and the polymer composition at the reactor outlet. The two control schemes are (i) an NMPC scheme and (ii) a heuristic control approach, which consists of PI control, ratio control and feed forward control. The process model consists of a set of differential algebraic equations which capture the polymerization kinetics as well as the dynamics of the auxiliary equipment in the setup. We evaluate the performance of the NMPC scheme in silico for different constraints on the maximum reactor temperature. The simulation studies show that the NMPC maintains the temperature constraints. However, decreasing the maximum allowable temperature in the reactor results in a deviation of the total monomer conversion and polymer composition from the desired specifications. We also experimentally investigate the performance of both control schemes. As expected, the experimental studies show that both control schemes are able to reduce the variation of the polymer composition compared to the case without supervisory control. Although a deviation of the controlled variables from their setpoint values is observed in both control schemes, this deviation from setpoint is less with the NMPC scheme than with the heuristic control scheme. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： model-based control model predictive control Tubular reactor Emulsion co-polymerization

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model-based control of redundantly actuated parallel manipulators in redundant coordinates

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ROBOTICS AND AUTONOMOUS SYSTEMS 2012年第4期60卷 563-571页

作者： Mueller, A. Hufnagel, T. Univ Duisburg Essen Chair Mech & Robot Duisburg Germany Heilbronn Univ D-74081 Heilbronn Germany

model-based control of parallel kinematics machines (PKM) relies on computationally efficient formulations in terms of a set of independent joint coordinates. Since PKM models are commonly expressed in terms of actuator or end-effector coordinates the models are not valid at input- or output-singularities, respectively. Moreover input-singularities limit the motion range of PKM. Actuation redundancy is a means to increase the singularity-free range of motion. However, due to the redundancy only a subset of the actuator coordinates constitute independent coordinates. This subset corresponds to the actuator coordinates of the non-redundant PKM, which does generally not constitute proper minimal coordinates for the entire workspace. Hence a redundantly actuated PKM (RA-PKM) controlled by a model-based controller in terms of minimal coordinates would exhibit the same limitations as the non-redundant PKM. One approach to tackle this problem is to switch between different minimal coordinates, i.e., different motion equations are used within the controller. In this contribution a computed torque and augmented PD control scheme in redundant coordinates is proposed, as an alternative to coordinate switching, and applied to the control of redundantly actuated PKM. That is, no minimal coordinates are selected. This novel formulation is numerically robust and does not suffer from input- or output-singularities. Even more the formulation is always valid except at configuration space singularities. For the redundancy resolution within the inverse dynamics the pseudoinverse of a rank deficient matrix is required, for which an explicit formulation is presented. For both controllers exponential trajectory tracking is shown. Experimental results are reported for a planar 2 DOF RA-PKM. (C) 2011 Elsevier B.V. All rights reserved.

关键词： Parallel manipulators Redundant actuation model-based control Motion equations Redundant coordinates

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