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Design and Testing of an Innovative Pressure-Controlled Active Pantograph Through hardware-in-the-loop experiments

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2024年第11期73卷 16557-16565页

作者： Duan, Huayu Dixon, Roger Stewart, Edward Univ Birmingham Sch Engn Birmingham B15 2TT England

On railways with overhead lines, pantographs play a crucial role in electric trains. Maintaining the contact force between the pantograph and the overhead line is essential to ensure the robustness of the power supply and to minimise mechanical wear. This paper proposes an innovative pneumatic pressure-controlled active pantograph, tested through hardware-in-the-loop (HIL) experiments. The proposed easy-to-implement active pantograph is achieved by controlling the air pressure entering the pantograph. The controller design is based on an identified linear model, considering disturbance rejection performance and control input limitations. experimental results show that the closed-loop active pantograph can robustly and effectively reduce the contact force deviation. This highlights the capability of designing active pantographs through pressure control and model-based design philosophy to achieve improved pantograph-catenary contact performance.

关键词： Force Wire Vehicle dynamics Numerical models Regulators Contacts Bars Active pantograph hardware-in-the-loop experiment model-based controller design pantograph-catenary interaction

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Vibration analysis and adaptive model predictive control of active suspension for vehicles equipped with non-pneumatic wheels

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JOURNAL OF VIBRATION AND CONTROL 2024年第13-14期30卷 3207-3219页

作者： Liu, Wei Wang, Ruochen Rakheja, Subhash Ding, Renkai Meng, Xiangpeng Sun, Dong Jiangsu Univ Sch Automot & Traff Engn Zhenjiang Peoples R China Concordia Univ Dept Mech Ind & Aerosp Engn Montreal PQ Canada Zhengzhou Univ Light Ind Zhengzhou Peoples R China Jiangsu Univ Automot Engn Res Inst Zhenjiang Peoples R China Jiangsu Univ Sch Automot & Traff Engn 301 Xuefu Rd Zhenjiang 212013 Jiangsu Peoples R China

In this paper, an adaptive controller is proposed for an active suspension system to achieve optimal compromise performance for vehicles equipped with non-pneumatic wheels under different road conditions. Firstly, the effective vertical stiffness of the non-pneumatic wheel (NPW) was identified through the static force-deflection tests. Then, the effect of the variations in NPW stiffness and mass on the vibration responses was investigated using a quarter-vehicle model. In order to coordinate the ride comfort and handling performance of the vehicle for different road excitations, an adaptive controller was synthesized using the model predictive control (MPC) theory together with an H- & INFIN;state observer. The control gains for different control objectives were determined using a genetic algorithm (GA). Simulations indicate that the proposed controller can adapt to different road excitations and effectively enhance the dynamic performance of the vehicle. Specifically, by applying adaptive control, the root-mean-square (RMS) value of sprung mass acceleration (SMA) and the dynamic wheel load (DWL) coefficient are reduced by 19.4% and -9.3% on Class B roads and 12.4% and 3.8% on Class C roads, respectively, which is superior to the modified skyhook control (19.4% and -11.8% on Class B roads, and 19.3% and -12.3% on Class C roads). The effectiveness of simulation results was subsequently verified through hardware-in-the-loop experiments.

关键词： Active suspension adaptive control non-pneumatic wheel state observer vibration analysis hardware-in-the-loop experiment

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An active multiobjective real-time vibration control algorithm for parallel hybrid electric vehicle

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2023年第1期237卷 21-33页

作者： Song, Dafeng Wu, Jiajun Yang, Dongpo Chen, Hongxu Zeng, Xiaohua Jilin Univ State Key Lab Automot Simulat & Control Changchun Peoples R China Jilin Univ State Key Lab Automot Simulat & Control 5988 Renmin St Changchun 130025 Peoples R China

To improve the contradiction between vehicle dynamic performance and ride comfort by using the motor active output torque compensation method to reduce the torsional vibration of the hybrid electric vehicle (HEV) powertrain, an active multiobjective real-time vibration control (AMRVC) algorithm based on model prediction control (MPC) is proposed in this paper, and the current mainstream parallel HEV is taken as the research object to verify the proposed algorithm. Firstly, the torsional vibration model of the parallel HEV powertrain is established, simplified, and verified according to the experimental data, which provides the basis for the multimode adaptability and the application of the controller. Then, based on the state space equation of the torsional vibration system, the MPC controller considering the balance between ride comfort and power performance is designed, which can meet the multiobjective and real-time control effect of the hybrid power system while realizing the active vibration control. Finally, the effectiveness and real-time performance of the AMRVC algorithm are verified by multimode simulation analysis and hardware-in-the-loop (HIL) experiment. The simulation results show that the AMRVC algorithm based on MPC has good real-time application conditions, which can well coordinate the multiobjective requirements of vehicle ride comfort and dynamic performance, and remarkably improve the torsional vibration response of the powertrain by more than 55% in all HEV typical operating modes.

关键词： Active vibration control multiobjective real-time control model predictive control hybrid electric vehicle hardware-in-the-loop experiment

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hardware-in-the-loop exploration of energy versus emissions trade-off in eco-following scenarios for connected automated vehicles

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INTERNATIONAL JOURNAL OF ENGINE RESEARCH 2023年第4期24卷 1643-1654页

作者： Huang, Chunan Salehi, Rasoul Stefanopoulou, Anna G. Ersal, Tulga Univ Michigan Dept Mech Engn 1231 Beal Ave Ann Arbor MI 48109 USA Gen Motors Warren MI USA

Studies on eco-driving have mostly taken an energy-centric view and considered driving performance, while less attention has been paid on emissions behavior. This work extends in an experimentally verified way our understanding of the trade-offs among fuel economy, driving aggressiveness, and, especially, emissions in connected automated diesel-powered vehicles. experiments are performed with a 6.7-L Ford Powerstroke diesel engine, a urea-SCR based NOx aftertreatment system, and a full model for a Ford F250 medium-duty truck in the loop to provide realistic assessment of fuel consumption, tailpipe emissions, and driving style performances. An energy and emissions conscious speed planner is leveraged to follow the traffic. This planner offers flexibility in prioritizing energy or emissions while satisfying user-defined headway constraints, and thus allows exploration of different calibrations in a unified way. Results show how various calibrations of the flexible leader following policy yield 8%-14% decrease in total fuel consumption and 64%-70% decrease in tailpipe emissions compared with a strictly constrained following policy.

关键词： Connected automated vehicles hardware-in-the-loop experiment model predictive control diesel powertrain NOx emissions control

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Diode rectifier-based hybrid high-voltage direct current converter for offshore wind farms

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IET RENEWABLE POWER GENERATION 2023年第4期17卷 907-919页

作者： Fang, Zixi Cai, Xu Shi, Xianqiang Lyu, Jing Yang, Renxin Rao, Fangquan Shanghai Jiao Tong Univ Key Lab Control Power Transmiss & Convers Shanghai Peoples R China Shanghai Jiao Tong Univ Key Lab Control Power Transmiss & Convers Shanghai 200240 Peoples R China

This paper presents a diode rectifier (DR)-based hybrid converter topology for high-voltage direct current (HVDC) transmission system with offshore wind farms (OWFs). The hybrid converter consists of a DR and an auxiliary converter. A high conversion ratio ac/dc converter is designed as the auxiliary converter, which can form the offshore grid voltage for OWFs to achieve black-start. Under steady state, all the active power output from OWFs is delivered through the DR. Meanwhile, the auxiliary converter is able to compensate the reactive power and harmonic currents of the system. Comparing with the conventional modular multilevel converter (MMC), the number of submodules (SM) of the proposed hybrid converter is significantly reduced, which decreases the construction cost and size of the system. The topology and operation principle of the hybrid HVDC converter are introduced. Then the corresponding control strategy is designed to achieve energy balance and power transmission. Based on the mathematic model, a design method for the parameters of the auxiliary converter is proposed. Finally, the feasibility of the proposed hybrid HVDC converter is verified by both the simulation and hardware-in-the-loop experiment results.

关键词： power transmission offshore installations HVDC power transmission Wind power plants reactive power active power diodes diode rectifier-based hybrid converter topology high conversion ratio ac-dc converter modular multilevel converter hybrid HVDC converter rectifiers offshore grid voltage AC-DC power convertors (rectifiers) energy balance voltage-source convertors harmonic current auxiliary converter DR Voltage control operation principle wind power plants design method diode rectifier-based hybrid high-voltage direct current converter mathematic model power transmission control hardware-in-the-loop simulation Power system control high-voltage direct current transmission system construction cost Control of electric power systems voltage control OWF power grids offshore wind farm mathematical analysis Power electronics, supply and supervisory circuits d.c. transmission hardware-in-the-loop experiment Mathematical analysis topology principle control strategy HVDC power convertors

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Research on coordinated control strategy of isolated DC microgrid with PV/hybrid energy storage

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ENERGY REPORTS 2022年 8卷 893-899页

作者： Cui, Junhao Tian, Guizhen Liu, Guangchen Wu, Yuanyuan Guo, Zihao Inner Mongolia Univ Technol 49 Aimin St Hohhot 010051 Peoples R China Inner Mongolia Key Lab Elect Power Convers Transm Hohhot 010080 Peoples R China

During the operation of DC microgrid, energy storage system plays an important role in supplying the power difference between distributed generation unit and load and maintaining the voltage stability of DC bus, in recent years, hybrid energy storage technology has gradually attracted the attention of researchers. In this paper, a power distribution control strategy of hybrid energy storage system (HESS) is studied. The droop control based on virtual capacitor is used for the converter of supercapacitor (SC) to realize the power distribution in HESS, and the control strategy is improved to solve the problem that the deviation of bus voltage caused by droop control. Based on the control strategy of HESS, a coordinated control strategy of isolated DC microgrid is studied. By considering SOC of battery and the power demand of load, 3 operation modes of DC microgrid are set. DC microgrid can work in a designated mode under various conditions to achieve efficient and stable operation. Finally, the theory of the above control strategies is verified by the simulation work in RTDS and hardware-in-the-loop experiment based on DSP28335 and RTDS. (C) 2022 The Author(s). Published by Elsevier Ltd.

关键词： DC microgrid Hybrid energy storage Power distribution Coordinated control strategy hardware-in-the-loop experiment

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Enhanced Recurrent Fuzzy Neural Fault-Tolerant Synchronization Tracking Control of Multiple Unmanned Airships via Fractional Calculus and Fixed-Time Prescribed Performance Function

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2022年第10期30卷 4515-4529页

作者： Yu, Ziquan Zhang, Youmin Jiang, Bin Su, Chun-Yi Fu, Jun Jin, Ying Chai, Tianyou Nanjing Univ Aeronaut & Astronaut Coll Automat Engn Nanjing 211106 Peoples R China Concordia Univ Dept Mech Ind & Aerosp Engn Montreal PQ H3G 1M8 Canada Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China

This article proposes a fractional-order intelligent fault-tolerant synchronization tracking control (FO-I-FTSTC) scheme for multiple unmanned airships (UAs) against actuator faults. Within the developed control architecture, fixed-time prescribed performance functions (PPFs) are first designed to transform the synchronization tracking errors into a new set of error variables, such that the original errors are strictly confined within the prescribed bounds. Then, fractional calculus and sliding mode surface are sequentially introduced to construct the FO errors. Moreover, to handle the unknown terms and bias faults in the FO sliding-mode error dynamics, fuzzy neural networks with recurrent loops are artfully constructed to act as the intelligent learning units. Furthermore, the norm of the loss-of-effectiveness fault factors is introduced for each UA to reduce the number of adaptive parameters. The distinct feature of the proposed method is that the FO-I-FTSTC performance is significantly enhanced by integrating recurrent fuzzy neural networks, fractional calculus, and fixed-time PPFs into a unified framework, leading to a high-precision control scheme. It is shown by Lyapunov analysis that all UAs can track their desired references in a synchronized manner, and the synchronization tracking errors are bounded and strictly confined within the prescribed error bounds. Comparative hardware-in-the-loop experiments are presented to show the effectiveness of the proposed FO-I-FTSTC scheme.

关键词： Fault-tolerant control (FTC) fixed-time prescribed performance control fractional-order (FO) control hardware-in-the-loop experiment recurrent fuzzy neural network (RFNN) unmanned airship (UA)

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Hybrid Circuit Actuator Design for Ship Course Control experiment

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2022年第7期69卷 3329-3333页

作者： Li, Jiedong Bao, Yunpeng Sun, Mingwei Liu, Shengfei Chen, Zengqiang Nankai Univ Coll Artificial Intelligence Tianjin 300350 Peoples R China Xinzhou Teachers Univ Dept Comp Sci Xinzhou 034000 Peoples R China

This brief presents a low cost hardware-in-the-loop experimental design for large ship course control with actuator in the form of hybrid circuit, which can effectively capture the essential properties of friction and provide a more realistic environment to perform test. According to the Coulomb plus static friction model formulation, the velocity decision circuit, the absolute value circuit and the friction decision circuit are designed based on the basic circuit components and are validated by a series of simulations, respectively. Besides, the circuit of PID controller and the linear model of steering gear are also added to generate the closed-loop actuator. In addition, the model of the ship and the corresponding PID course controller are realized by the algorithm in the computer. The numerical model and the circuit implementation of realistic actuator can exchange information to establish a hardware-in-the-loop experimental platform. Finally, several experiments are carried out to verify the effectiveness of the proposed low-cost system.

关键词： Friction Integrated circuit modeling Marine vehicles Actuators Gears Circuits and systems Numerical models Hybrid circuit large ship course control friction hardware-in-the-loop experiment

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An experimental investigation of dynamic motions of a small-scale magnetoactive soft robot undergoing large nonlinear movements 17

An experimental investigation of dynamic motions of a small-...

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Conference on Active and Passive Smart Structures and Integrated Systems XVII

作者： Moezi, Seyed Alireza Sedaghati, Ramin Rakheja, Subhash Concordia Univ Mech Ind & Aerosp Engn Montreal PQ H3G 1M8 Canada

ISBN: (纸本)9781510660731;9781510660748

Small-scale magnetoactive soft robots (MSRs) with multimodal locomotion and wireless actuation capabilities have emerged in recent years for various highly sensitive and precise biomedical tasks such as targeted drug delivery and minimally invasive therapies. MSRs comprise magnetoactive elastomers consisting of micron-sized hard magnetic particles, such as neodymium-iron-boron (NdFeB), suspended or arranged into an elastomeric matrix. These robots generally exhibit large deformation under an applied magnetics stimulus, which is considered favorable for the aforementioned applications. Only limited efforts, however, have been reported on characterization of such robots. This is likely due to their nonlinear dynamics, especially under large deformations and hysteretic stress-strain characteristics, which strongly depend on the magnitude and frequency of the external magnetic stimuli. This study experimentally investigated and analyzed the real-time nonlinear and hysteretic responses of a MSR fabricated in the form of a cantilever beam made of a magnetoactive elastomer. An experiment was designed to characterize dynamic responses of the MSR under different magnetic stimuli at relatively higher frequencies to evaluate the rate-dependent hysteresis effect. A hardware-in-the-loop technique in conjunction with a PID controller was implemented, which permitted the generation of a precise and uniform magnetic field. The MSR was subjected to uniform magnetic loading perpendicular to the robot's length leading to large amplitudes and rates of harmonic movements of the MSR. The experiments were performed under different intensities, ranging from 2 to 30 mT, at frequencies up to 3 Hz. The measured data were analyzed to obtain response time-histories and frequency response characteristics of the MSR, apart from the motion snapshots.

关键词： Magnetoactive soft robot Large deformation Oscillatory movements Hysteresis effect hardware-in-the-loop experiment PID controller

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Incremental feedforward collective pitch control method for wind turbines

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FRONTIERS IN ENERGY RESEARCH 2023年 11卷

作者： Wang, Qinwei Du, Zeli Chen, Wenting Zhang, Jiarui Lin, Yonggang Liu, Hongwei Yanshan Univ State Key Lab Crane Technol Qinhuangdao Hebei Peoples R China Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou Zhejiang Peoples R China Yanshan Univ Natl Local Joint Engn Res Ctr Adv Mfg Forming Technol & Equipment Qinhuangdao Peoples R China

In recent years, wind turbines are becoming larger, which will exacerbate the complexity of loads Complex load change affect the output power quality and wind turbine service life so that must be studied. Pitch control is usually used to reduce wind turbine load. In this paper, based on the Light Detection and Ranging (LiDAR) technology and incremental feedforward control theory, an incremental feedforward collective pitch controller is proposed. The controller can be directly superimposed on the traditional collective pitch controller so that the incremental pitch angle can fully compensate wind influence. The effectiveness of the controller is verified by multi-software platform joint simulation and hardware-in-the-loop experiment. The results show that the controller can effectively reduce the wind turbine power and load fluctuation when the variation trend of wind speed in the rotor plane estimate by LiDAR data is the same as the actual wind speed.

关键词： wind turbine Light Detection and Ranging collective pitch control incremental feedforward control predictive control joint simulation hardware-in-the-loop experiment

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