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Observer-based interval type-2 fuzzy friction modeling and compensation control for steer-by-wire system

NEURAL COMPUTING & APPLICATIONS 2021年第16期33卷 10429-10448页

作者： Luo, Gang Wang, Zezheng Ma, Bingxin Wang, Yongfu Xu, Jianfeng Northeastern Univ Sch Mech Engn & Automat Shenyang 110819 Liaoning Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Peoples R China

This paper studies the tracking control of the SbW system with unknown nonlinear friction torque and the unmeasured angular velocity. An observer-based adaptive interval type-2 fuzzy logic system controller is proposed to eliminate the adverse influence of the friction torque on the SbW system. Firstly, the angular velocity of the front wheels is estimated via the observer, such that the system sensitivity to measurement noise, the hardware cost, and the structural complexity are reduced. Then, an interval type-2 fuzzy logic system (IT2 FLS) is used to model the friction torque, in which the model and parameters are not effectively identified. IT2 FLS has a more exceptional ability to deal with uncertainties than the traditional type-1 fuzzy logic system (T1 FLS), so the friction modeling based on IT2 FLS has more satisfactory effect in practical application. Finally, an adaptive interval type-2 fuzzy logic system controller is proposed to achieve excellent tracking performance. The tracking error can be guaranteed to converge asymptotically to zero by the Lyapunov stability theory. The numerical simulations and hardware-in-loop (HIL) experiments verify the effectiveness and superiority of the proposed friction modeling method and control strategy.

关键词： Steer-by-wire system Friction torque Interval type-2 fuzzy logic system Observer hardware-in-loop

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Microgrid Differential Protection Based on Superimposed Current Angle Employing Synchrophasors

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2023年第8期19卷 8775-8783页

作者： Dua, Gagandeep Singh Tyagi, Barjeev Kumar, Vishal Indian Inst Technol Roorkee Dept Elect Engn Roorkee 247667 Uttarakhand India

The inclusion of multi-energy distributed generators (DGs), especially inverter-interfaced generators, presents challenges in the microgrid's protection strategy and operational constraints. The work for designing primary protection mechanism for microgrid is continuously progressing. In this regard, this article presents a positive sequence superimposed current differential angle based protection scheme employing only positive sequence current phasor from both ends of the line. The proposed scheme collects current phasor measurements from the low-cost microphasor measurement units (mu PMUs). The performance of the proposed scheme is analyzed through simulations on a seven-node microgrid in grid-connected and isolated mode operation under various fault and no-fault situations, and also considering the effect of DG penetration level and DGs types. The simulations are also carried out in the IEEE-33 node network considering C37.118.1 standards-compliant PMUs. Furthermore, a real-time control hardware-in-loop testing is performed to further validate the scheme for practical implementation.

关键词： Distributed generator (DG) fault detection hardware-in-loop micro-phasor measurement unit (mu PMU) microgrid superimposed components

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A comprehensive techno-economic analysis for hydrogen fuel-cell supported HEVs using predictive control approach

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INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 2024年 83卷 396-409页

作者： Kumar, Maneesh Sen, Sachidananda Ajayan, J. Indian Inst Technol Dept Hydro & Renewable Energy Roorkee 247667 India SR Univ Dept Elect & Elect Engn Warangal 506371 Telangana India SR Univ Dept Elect & Commun Engn Warangal 506371 Telangana India

Overcoming the use of conventional internal combustion engines for future transportation is mandatory to achieve sustainability. In this regard, hybrid electric vehicles comprising hydrogen fuel cells with Li-ion battery storage are gaining more attention. The paper proposes a robust approach for economic power-sharing between these sources. A predictive speed control strategy is realized to improve the vehicle's overall operation compared to conventional proportional-integral-derivative controller and tested for various standardized driving cycles. Additionally, a comprehensive techno-economic analysis using total cost of ownership is performed. Results suggest that hybrid vehicles with fuel cells and batteries are more economical with costs($) of 5.81e04,2.17e04, . 81 e 04 , 2 . 17 e 04 , and 2.04e05, . 04 e 05 , for transient, modal, and manual driving cycles, respectively compared with internal combustion engines and batteries having 6.23e04, . 23 e 04 , 3.21e04, . 21 e 04 , and 2.54e05. . 54 e 05 . Furthermore, for evaluating the performance of the proposed predictive controller in terms of error minimization, various performance indices are obtained, compared, and tested using a hardware-in-loop platform.

关键词： Hybrid electric vehicles (HEVs) Energy management Hydrogen fuel cell Battery storage Sustainability hardware-in-loop

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A novel re-entry trajectory design strategy enforcing inequality and terminal constraints in height-velocity plane

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ADVANCES IN SPACE RESEARCH 2024年第5期73卷 2515-2531页

作者： Mishra, Deepak Sushnigdha, Gangireddy SVNIT Ichchhanath Surat 395007 India

A novel re-entry trajectory design approach for a winged reusable launch vehicle that satisfies path and terminal state constraints in the height velocity plane is proposed in this paper. A two-phase re-entry trajectory is proposed. A height -velocity plane entry corridor is designed using all path and quasi -equilibrium glide constraints. The proposed method creates the reference trajectory inside the re-entry corridor using three piecewise polynomials, such as linear and logarithmic. A two -parameter search optimization problem minimizes terminal range -to -go error for this reference trajectory generation problem. Improved Search Space Reduction solves this optimization problem. The Improved Search Space Reduction algorithm is compared to the Grey Wolf Optimizer and Particle Swarm Optimisation algorithms to prove its efficacy and superiority. The reference bank angle is modified using feedback linearization and bank reversal logic to create an entry trajectory that meets all path and terminal constraints. The effectiveness of the proposed method has been validated through Monte Carlo simulations that incorporate uncertainties such as variations in initial state, uncertainties in aerodynamics, and atmospheric perturbations. The controller OPAL-RT OP4510 provides bank angle command at every instant based on the current state of the vehicle parameters associated with real-time simulator OP4510. The real-time hardware -in -loop simulation results show that the obtained re-entry trajectory satisfies all path and terminal constraints. (c) 2023 COSPAR. Published by Elsevier B.V. All rights reserved.

关键词： Re-entry trajectory Height-velocity (h-v) plane Re-entry corridor Improved Search Space Reduction (ISSR) Optimization Feedback linearization hardware-in-loop

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Advanced Angle Field Weakening Control Strategy of Permanent Magnet Synchronous Motor

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2019年第4期68卷 3424-3435页

作者： Deng, Tao Su, Zhenhua Li, Junying Tang, Peng Chen, Xing Liu, Ping Chongqing Jiaotong Univ Sch Mechatron & Vehicle Engn Chongqing 400074 Peoples R China Chongqing Jiaotong Univ Sch Aeronaut Chongqing 400074 Peoples R China

The conventional field weakening algorithm is more dependent on parameters and computational complexity. Therefore, the concept of advanced angle beta is introduced, and the conversion of constant torque operation mode to field weakening operation mode is realized by increasing beta. In this paper, the conventional field weakening control and advanced angle field weakening are modeled and simulated showing results that the advanced angle field weakening control can make the motor switch smoothly between the constant torque operation mode and the field weakening mode. The dependence of the parameters of the motor is small and the algorithm is simpler. At the same time, the theory of field weakening control of permanent magnet synchronous motor is fused in the vehicle control and the controller is developed. The external characteristic curve of the motor is calibrated by setting up the back-to-back motor test bench. The function of the controller is verified by hardware-in-the-loop experiment. After vehicle verification, it is confirmed that the data can normally enter the field weakening zone to meet the torque response and high-efficiency range. Under the new European driving cycle (NEDC) operating conditions, the efficiency of the whole controller can reach 81.97%.

关键词： Permanentmagnet synchronous motor advanced angle field weakening control back-to-back motor test bench hardware-in-loop real vehicle experiment

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Design and hardware Implementation of Autopilot Control Laws for MAV Using Super Twisting Control

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2018年第3-4期90卷 455-471页

作者： Guruganesh, R. Bandyopadhyay, B. Arya, Hemendra Singh, G. K. CSIR NAL Flight Mech & Control Div Old Airport Rd Bangalore 560017 Karnataka India Indian Inst Technol IDP Syst & Control Engn Mumbai 400076 Maharashtra India Indian Inst Technol Dept Aerosp Engn Mumbai 400076 Maharashtra India

In this paper we present the design and implementation of autopilot tracking control law for Micro Aerial Vehicle using the second order sliding mode approach. The inner loop attitude tracking control design is carried out using output feedback based second order sliding mode technique, to ensure finite time convergence of the tracking error dynamics. While addressing tracking control of a time varying reference signal, it is important to investigate the stability characteristics of the internal dynamics to ensure perfect tracking. This paper mainly addresses the output tracking control problem for a MAV and investigate the stability characteristics of the longitudinal zero dynamics during tracking. We have proposed a stability proof based on Lyapunov theory to analyze the stability of the MAV longitudinal zero dynamics during tracking. A nonlinear aircraft model obtained using aerodynamic derivatives of The Blackkite 300 mm wingspan fixed MAV is used for both control design and as well as to verify its performance against the classical control methods. Extensive hardware in-loop simulation results of the proposed control algorithm implemented on the commercially available PX4 based Pixhawk autopilot board are also presented here.

关键词： Micro aerial vehicle Zero dynamics Super twisting control Time varying reference Autopilot hardware-in-loop

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Robust control of the PEM fuel cell air-feed system via sub-optimal second order sliding mode

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APPLIED ENERGY 2013年 104卷 945-957页

作者： Matraji, Imad Laghrouche, Salah Jemei, Samir Wack, Maxime UTBM EA7274 Inst Rech Transports Energie & Soc Syst & Transpo F-90010 Belfort France CNRS 3539 FR FCLAB Paris France Univ Franche Comte F-25030 Besancon France

This paper is focused on the control of air-feed system of Polymer Electrolyte Membrane Fuel Cell (PEM-FC). This system regulates the air entering in the cathode side of the fuel cell. The control objective is to maintain optimum net power output by regulating the oxygen excess ratio in its operating range, through the air compressor. This requires controllers with a fast response time in order to avoid oxygen starvation during load changes. The problem is addressed using a robust nonlinear second order sliding mode controller in cascaded structure. The controller is based on sub-optimal algorithm, which is known for its robustness under disturbances and uncertainties. The controller performance is validated through hardware-in-loop (HIL) simulation based on a commercial twin screw air compressor and a real time fuel cell emulation system. The simulation results show that the controller is robust and has a good transient performance under load variations and parametric uncertainties. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： PEM fuel cell air-feed system Robust second order sliding mode Cascade control hardware-in-loop

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Adaptive robust control of oxygen excess ratio for PEMFC system based on type-2 fuzzy logic system

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INFORMATION SCIENCES 2020年 511卷 1-17页

作者： Zhang, H. K. Wang, Y. F. Wang, D. H. Wang, Y. L. Northeastern Univ Sch Mech Engn & Automat Shenyang 110819 Liaoning Peoples R China La Trobe Univ Dept Comp Sci & Comp Engn Melbourne Vic 3086 Australia Minist Educ Key Lab Integrated Automat Proc Ind Shenyang 110819 Liaoning Peoples R China

The Proton Exchange Membrane Fuel Cell (PEMFC) air supply system takes on the characteristics of external disturbances and uncertain parameters, which is difficult to achieve accurate modeling and stability control. In this paper, an adaptive robust controller based on type-2 fuzzy logic systems (T2-FLS) is proposed to control the oxygen excess ratio (OER) of PEMFC air supply system. The controller does not need the unmodeled dynamics, which can be approximated by adaptive T2-FLS whose adaptive parameters are derived based on Lyapunov theory. The stability analysis shows that the system tracking error is uniform ultimate bounded. Finally, the practicability and feasibility of controller are validated by numerical simulation and hardware-in-loop (HIL) experiment. (C) Crown Copyright 2019 Published by Elsevier Inc. All rights reserved.

关键词： Type-2 fuzzy logic system Adaptive robust control Oxygen excess ratio Lyapunov stability hardware-in-loop

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Autonomous Emergency Braking of a Heavy Road Vehicle Using a Low-Density Flash Lidar

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2024年第2期73卷 1879-1889页

作者： Kumar, Vimal Subramanian, Shankar C. Rajamani, Rajesh Indian Inst Technol Madras Dept Engn Design Chennai 600036 India Univ Minnesota Dept Mech Engn Minneapolis MN 55455 USA

This article presents solutions to challenges in using a low-density flash lidar for application to a heavy road vehicle Autonomous Emergency Braking (AEB) system. Low-density flash lidars are relatively new to the commercial market and are much less expensive compared to point-cloud lidars. However, due to their low angular resolution, it becomes challenging to use the information provided by them for applications such as the AEB. Specifically, the challenges in identifying relevant targets and determining target width are discussed in this article, and solutions to the same are presented. Later, an AEB algorithm is developed for a heavy commercial road vehicle for demonstrating the usefulness of the proposed solutions. The AEB system is experimentally evaluated using a brake hardware-in-loop system along with IPG TruckMaker, and the results are presented.

关键词： Autonomous emergency braking flash lidar hardware-in-loop heavy commercial road vehicles

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PEM fuel cell air-feed system observer design for automotive applications: An adaptive numerical differentiation approach (vol 39, pg 17210, 2014)

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INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 2014年第34期39卷 19853-19853页

作者： Liu, Jianxing Laghrouche, Salah Ahmed, Fayez-Shakil Wack, Maxime Harbin Inst Technol Harbin 150006 Peoples R China Univ Technol Belfort Montbeliard Lab OPERA Belfort France

In this paper, an adaptive algebraic observer is proposed for a Polymer Electrolyte Membrane Fuel Cell (PEMFC) air-feed system, based on Higher Order Sliding Mode (HOSM) differentiators. The goal is to estimate oxygen and nitrogen partial pressures in the fuel cell cathode side, using measurements of supply manifold pressure and compressor mass flow rate. As the proposed technique requires the time derivatives of the states, Lyapunov-based adaptive HOSM differentiators are synthesized and implemented for estimating these derivatives without a-priori knowledge of the upper bounds of their higher order time derivatives. The performance of the proposed method is validated through experiments on a hardware-in-loop (HIL) test bench. These results illustrate the feasibility and effectiveness of the proposed approach.

关键词： PEM fuel cell Emulator hardware-in-loop Sliding mode differentiator

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