Under the severe challenge of increasingly stringent emission regulations and constantly improving fuel economy requirements, hybrid electric vehicles (HEVs) have attracted widespread attention in the auto industry as...
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Under the severe challenge of increasingly stringent emission regulations and constantly improving fuel economy requirements, hybrid electric vehicles (HEVs) have attracted widespread attention in the auto industry as a practicable technical route of green vehicles. To address the considerations on energy consumption and emission performance simultaneously, a novel control algorithm design is proposed for the energy management system (EMS) of HEVs. First, energy consumption of the investigated P3 HEV powertrain is determined based on bench test data. Second, crucial performance indicators of NOx and particle emissions, prior to a catalytic converter, are also measured and processed as a prerequisite. A comprehensive objective function is established on the grounds of the Equivalent Consumption Minimization Strategy (ECMS) and corresponding simulation models are constructed in MATLAB/SIMULINK. Subsequently, the controlalgorithm is validated against the simulation results predicated on the Worldwide-Harmonized Light-Vehicle Test Procedure (WLTP).Integrated research contents include: (1) The searching process aimed at the optimal solution of the pre-established multi-parameter objective function is thoroughly investigated;(2) the impacts of weighting coefficients pertaining to two exhaust pollutants upon the specific configurations of the proposed controlalgorithm are discussed in detail;and (3) the comparison analysis of the simulation results obtained from ECMS and classical Dynamic Programming (DP), respectively, is performed.
This paper presents boundedness results for symmetric nonautonomous control systems. The results are Lyapunov-based and exploit the symmetric structure present in many compositional or distributed control system. The ...
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ISBN:
(纸本)9781479959013
This paper presents boundedness results for symmetric nonautonomous control systems. The results are Lyapunov-based and exploit the symmetric structure present in many compositional or distributed control system. The work extends some of our prior work which defines an equivalence class of symmetric control systems by determining conditions for boundedness of solutions for such systems. The extension is along two lines. First, the prior work was focused on stability for autonomous symmetric systems, and this work extends it to the nonautonomous case. Second, the prior work required exact symmetry in the system whereas the results in this paper allow for symmetry-breaking in the nonautonomous terms, which significantly broadens the class of systems to which these results will apply. These results will be useful for robotics and control engineers dealing with large-scale and distributed systems which are composed of many similar components because it will enable closed-form analysis on a very small system, and then guarantee system properties for much larger equivalent systems. Other potential application areas would be, for example, the design of controlalgorithms for fleets of autonomous robotic vehicles acting in a coordinated manner.
This paper exploits the control algorithm design of fuel-optimal satellite formation keeping strategy using linear programming *** the study,a fuel-optimal control problem is converted into a linear programming proble...
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ISBN:
(纸本)9781479946983
This paper exploits the control algorithm design of fuel-optimal satellite formation keeping strategy using linear programming *** the study,a fuel-optimal control problem is converted into a linear programming problem by means of an approximate discretization ***,model predictive control approach is adopted to realize the fuel-optimal *** last,the designed controlalgorithm is applied to a satellite which maneuvers from an initial orbit to a passive and periodic relative orbit with minimal fuel *** results demonstrate the efficiency and rapidity of the proposed algorithm.
In rehabilitation robotics, rehabilitation algorithms determine an appropriate magnitude and direction of assistive force, which is to help the patient perform desired motions. In this paper, proxy-based impedance con...
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In rehabilitation robotics, rehabilitation algorithms determine an appropriate magnitude and direction of assistive force, which is to help the patient perform desired motions. In this paper, proxy-based impedance control is proposed as a possible rehabilitation algorithm of a cable-driven assistive system that is designed for rehabilitation exercise of the wrist. The proposed method applies an assistive joint torque when the wrist angle deviates from the position of a proxy. A free space is assumed around the proxy such that a free motion of the wrist is allowed in a certain range. When the desired inertia of the hand is different from a nominal value, the proposed method also applies assistive torques to compensate for the inertia mismatch. The implementation of rehabilitation algorithms is challenged by actuator dynamics. The proposed algorithm is designed considering the actuator dynamics, and thus it shows the desired performance and stability in practice. (C) 2012 Elsevier Ltd. All rights reserved.
In this paper,the modeling and controldesign of a biomimetic robotic fish is *** Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the *** kinematic constr...
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In this paper,the modeling and controldesign of a biomimetic robotic fish is *** Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the *** kinematic constraints,Lagrangian formulation is used to obtain the dynamics of the fish *** computed torque control method is applied first,which can provide satisfactory tracking responses for fish *** this robotic fish is essentially an underactuated system,the reference trajectories for the orientation of the N links are planned in such a way that,at a neighborhood of the equilibrium point,the tracking task of N angles can be achieved by using N−1 joint *** deal with parameter uncertainties that exist in the actual environment,sliding mode control is *** feasibility and complexity issues,a simplified sliding mode controlalgorithm is given.A four-link robotic fish is modeled and simulated,and the results validate the effectiveness of reference planning and the proposed controllers.
In this study, the problem of control algorithm design for a class of nonlinear two-input and two-output systems with non-Gaussian disturbances is investigated, where a general non-linear auto-regressive moving averag...
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In this study, the problem of control algorithm design for a class of nonlinear two-input and two-output systems with non-Gaussian disturbances is investigated, where a general non-linear auto-regressive moving average with exogenous model is used to describe the system. Based on the deduced probability density functions of tracking errors, a new performance index is established using the entropy and joint entropy so as to characterise the uncertainty of the tracking errors of the closed-loop system. This performance also includes the expectations of tracking errors and the constrains of control energy. A recursive optimisation controlalgorithm is obtained by minimising the performance index. Moreover, the local stability condition of the closed-loop systems is established after some formulations. Finally, the comparative simulation results are presented to show that the performance of the proposed algorithm is superior to that of proportional-integral-derivative controller.
Different CAD-packages for control systems, designed and used in the Soviet Union are treated. control algorithm design and control system design, being the essential parts of CAD package development are described in ...
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Different CAD-packages for control systems, designed and used in the Soviet Union are treated. control algorithm design and control system design, being the essential parts of CAD package development are described in more detail. References are made to the contributions which discuss a number of particular packages as well as their application areas
A software package is described which offers a systematic approach to development of industrial process control software. The procedure of con trol program implementation splits up in 3 basic steps or phases. Phase 1 ...
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A software package is described which offers a systematic approach to development of industrial process control software. The procedure of con trol program implementation splits up in 3 basic steps or phases. Phase 1 covers control algorithm design and offline simulation. During phase 2 the real control programs are installed on process computer using results and experience of step one. Programs are thoroughly tested and evaluated in real time environment. The interplay of control software performance on the whole and its control behaviour can be investigated in closed loop simulation. Within phase 3 control software is tested on a dual computer system consisting of one computer simulating and a second computer controlling the plant. Both computers are coupled by realistic process interface equipment and are working asynchronously. Plant simulation and control software operate in parallel and in real-time. Phase 3 simulation supports final tuning and adapting of controlalgorithms and parameters. Concerning software engineering aspects an overall test and performance evaluation of the control system can be done. The system establishes a software and control engineering tool which makes control software development less costly and more reliable. Especially the transfer to real plant will become less risky after testing under realistic environment conditions.
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