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An Efficient Distributed Task Allocation Method for Maximizing Task Allocations of Multirobot Systems

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年第3期21卷 3588-3602页

作者： Wang, Shengli Liu, Youjiang Qiu, Yongtao Li, Simin Zhou, Jie Tsinghua Univ Dept Engn Phys Beijing 100084 Peoples R China China Acad Engn Phys Inst Elect Engn Mianyang 621900 Peoples R China

This paper addresses the distributed task allocation problem for maximizing the total number of successfully executed tasks of multirobot systems. Due to the deadline time of tasks and fuel limits of robotic vehicles, not all tasks can be successfully executed sometimes. Based on the performance impact (PI) algorithm, an effective and efficient performance impact (EEPI) algorithm is proposed, its novelty lies in its cost function and task release procedure. The fundamental ideas of the proposed cost function are as follows. First, the traveling time from the initial position of each vehicle to the positions of its tasks is minimized, so that more time can be left for the vehicle to execute more tasks due to the limited fuel. Second, the start time of each task should be close enough to its deadline, so that tasks with earlier deadlines can be assigned earlier than those with later deadlines. To avoid invalid removal performance impacts (RPIs) and inclusion performance impacts (IPIs), the tasks assigned to a vehicle are all released if the number of tasks removed by the vehicle during the task removal phase is the most, which further increases the total number of successfully executed tasks. Both simulations and hardware-in-the-loop experiments suggest that compared with the state-of-the-art distributed task allocation algorithms, the proposed EEPI is not only effective in maximizing the number of successfully executed tasks but efficient in saving the number of iterations and time to converge. Note to Practitioners-This work was motivated by the limitations of the existing distributed task allocation algorithms for maximizing the total number of successfully executed tasks. The consensus-based bundle algorithm (CBBA) has been proven to guarantee convergence and 50% optimality under the diminishing marginal gain (DMG) assumption in previously published works. Based on CBBA, a performance impact (PI) algorithm was proposed, and simulations show that it can assign more

关键词： Multirobot systems distributed algorithms task allocation hardware-in-the-loop experiments

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A closed-loop directional dynamics control with LQR active trailer steering for articulated heavy vehicle

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2023年第12期237卷 2741-2758页

作者： Deng, Zhao-wen Jin, Yong-hui Gao, Wei Wang, Bao-hua Hubei Univ Automot Technol Coll Automot Engn Checheng West Rd 167 Shiyan 442002 Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Energy & Power Engn Nanjing Peoples R China

To improve the directional performance of articulated heavy vehicles (AHV), three previewed points driver model and LQR active trailer steering (ATS) strategy are proposed and examined using closed-loop driver/vehicle dynamics simulation. Firstly, a simplified linear three-degree-of-freedom (3-DOF) yaw plane model for AHV is established and validated. Secondly, based on the multi-point preview-predictor following strategy, the weighted-average error of three previewed points of the tractor is defined as the final lateral previewed displacement error. According to the assumption of constant yaw rate and the trajectory prediction of AHV, and three previewed points driver model has been configured, it's path-following performance is verified. Thirdly, instead of using the idea of minimization, a linear quadratic regulator (LQR) controller is proposed based on the linear 3-DOF yaw plane model of AHV to make the control variables to keep following the desired responses. Through joint simulations using MATLAB/Simulink and TruckSim, the effectiveness of the built-in driver model, three-previewed point driver model and three-previewed point driver model + LQR ATS control methods on improving vehicle orientation performance were compared and analyzed through closed-loop driver/vehicle dynamics simulations. The significant effectiveness of the proposed method in improving maneuverability and stability is verified through low-speed 360 degrees trajectory tracking tests and high-speed double lane change maneuver simulations. Finally, a hardware-in-the-loop (HIL) platform is used to further verify the effectiveness of the designed strategy.

关键词： Articulated heavy vehicles driver model active trailer steering maneuverability and stability hardware-in-the-loop experiments

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Hierarchical extension H2/H∞ control approach for active front steering system of vehicle

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2024年

作者： Zhou, Chen Wu, Yu-ze Wang, Zheng Xu, Fei-xiang China Univ Min & Technol Sch Informat & Control Engn Daxue Rd 1 Xuzhou 221116 Peoples R China Univ Tokyo Inst Ind Sci Bunkyo Ku Tokyo Japan Huaqiao Univ Fujian Key Lab Green Intelligent Drive & Transmiss Xiamen Peoples R China

Aiming at improving the vehicle handling stability and vehicle control performance by conventional H2/H infinity control, this paper investigates the active front steering (AFS) system by proposing a hierarchical extension H2/H infinity control strategy. Considering uncertainties and the vehicle handling stability, a mixed H2/H infinity control method is presented to generate the additional front wheel angle through tracking the desired vehicle yaw rate in the upper level. Furthermore, to enhance the H2/H infinity control effect, the novel extension control is proposed to adjust the H2/H infinity control signal dynamically according to different domains defined by the vehicle states. To track front wheel angle from the upper level, this study puts forward the fractional-order proportional-integral-derivative (FOPID) controller for driving the electro-hydraulic steering actuators. The hardware-in-the-loop experiments are performed to demonstrate the hierarchical control theory. The test results indicate that the proposed hierarchical extension H2/H infinity control strategy improves the vehicle cornering stability well, as well as can make the vehicle have better handling stability than conventional H2/H infinity and sliding mode control.

关键词： Active front steering vehicle handling stability extension H2/H infinity control FOPID control hardware-in-the-loop experiments

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A high-frequency reduced-order model for parameters optimization of AC/ DC distribution systems considering random disturbances

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SUSTAINABLE ENERGY TECHNOLOGIES AND ASSESSMENTS 2024年 71卷

作者： Jiang, Songhan Peng, Ke Zhao, Xueshen Chen, Jiajia Jiang, Yan Liu, Yuxin Shandong Univ Technol Sch Elect & Elect Engn Zibo 255000 Shandong Peoples R China

Accompanying the rapid development of AC/DC distribution systems, along with the random disturbances introduced by a significant number of distributed generations and loads, the difficulty of system stability analysis has increased. The phenomenon of DC bus voltage instability has become severe, affecting the safe and stable operation of power systems. This paper focuses on the research of multi-terminal AC/DC distribution systems. A reduced-order method for multi-terminal distribution systems is proposed. Through parameter equivalent transformation, the system model is simplified while maintaining its dynamic characteristics. Parameter sensitivity analysis is utilized to identify key parameters influencing the system's dynamic behavior, achieving an analytical expression of the system's dynamic characteristics. And stability domain analysis is applied to delineate the variations in system dynamic behavior and responses to random disturbances under different parameter settings. Then a multi-parameter optimization method is designed to enhance system stability while achieving fast system response. Finally, theoretical analysis is validated through software simulation and hardware-in-the-loop experiments.

关键词： AC/DC power distribution systems High-frequency oscillation Sensitivity analysis Analytical equations Random disturbance hardware-in-the-loop experiments

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Adaptive VSG control strategy considering energy storage SOC constraints

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FRONTIERS IN ENERGY RESEARCH 2023年 11卷

作者： Han, Jinglin Feng, Xichun Zhao, Hui Hu, Ping He, Chunguang State Grid Hebei Econ Res Inst Shijiazhuang Peoples R China State Grid Hebei Elect Power Co Ltd Shijiazhuang Peoples R China

The virtual synchronous generator (VSG) control strategy is proposed to mitigate the low inertia problem in the power system brought about by the high percentage of distributed generation connected to the grid and the application of power electronic devices. In order to maximize the effectiveness of the advantages of the flexible and adjustable parameters of VSG control, an adaptive VSG control strategy considering SOC constraint of the energy storage unit is proposed in this paper. Considering the significant loss of service life by operating the energy storage unit at its limit state, based on the rate and degree of change in system frequency, the adaptive control strategy realizes the online adaptive adjustment of the inertia factor and damping factor under different perturbation conditions by adaptively adjusting the control parameters when the system frequency oscillates. Finally, the effects of this adaptive VSG control method and conventional VSG control method are compared by simulation in PLECS. hardware-in-the-loop (HIL) experimental platforms and semi-physical simulation experiments are constructed on RTBOX, and the feasibility and validity of this adaptive VSG control strategy are verified.

关键词： virtual synchronous generator control optical storage unit state of charge constraint adaptive control virtual inertia semi-physical simulation experiments hardware-in-the-loop experiments

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Real-time open-switch fault diagnosis in automotive permanent magnet synchronous motor drives based on Kalman filter

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IET POWER ELECTRONICS 2020年第12期13卷 2450-2460页

作者： Naseri, Farshid Schaltz, Erik Lu, Kaiyuan Farjah, Ebrahim Shiraz Univ Adv Power Elect & Elect Vehicle Lab Shiraz Iran Aalborg Univ Dept Energy Technol Aalborg Denmark

This study proposes an effective diagnosis method for single and multiple open-switch faults (OSFs) in three-phase permanent magnet synchronous motor (PMSM) drives. The proposed method is based on the real-time estimation of the three-phase motor currents using three Kalman filters (KFs). Three residual signals are defined as the differences between the three-phase measured and estimated stator currents. The averaged normalised residual signals are used as diagnostic criteria for the detection of OSFs. The proposed method accurately detects the OSFs, localises the faulty switches and effectively discriminates between the OSFs and current sensor faults. The main superiorities of the proposed KF-based method are its fast detection time and high robustness to measurement noises/errors and load variations. Moreover, the proposed method is useful for both closed-loop and open-loop PMSM drives. The proposed method can be embedded as a subroutine in the drive control unit without any hardware extension. The effectiveness of the proposed method is confirmed through extensive simulations and several hardware-in-the-loop experiments on a testbed with a 1.5 kW PMSM and dSPACE1104 control board. In addition, the real-time feasibility of the proposed method using low-cost microprocessor technology is guaranteed by testing it on TMS320F28335 from Texas Instruments (c).

关键词： synchronous motors fault diagnosis permanent magnet motors control engineering computing machine control synchronous motor drives stators Kalman filters closed loop systems three-phase motor currents Kalman filter estimated stator currents normalised residual signals OSFs faulty switches current sensor faults KF-based method fast detection time load variations open-loop PMSM drives drive control unit hardware-in-the-loop experiments real-time feasibility open-switch fault diagnosis automotive permanent magnet synchronous motor drives effective fault diagnosis method single switch faults multiple open-switch faults three-phase permanent magnet synchronous motor drives real-time estimation power 1 5 kW

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Power Split Supercharging: A Mild Hybrid Approach to Boost Fuel Economy

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ENERGIES 2020年第24期13卷 6580页

作者： Nazari, Shima Siegel, Jason Middleton, Robert Stefanopoulou, Anna Univ Calif Davis Dept Mech Engn Davis CA 95616 USA Univ Michigan Dept Mech Engn Ann Arbor MI 48109 USA

This work investigates an innovative low-voltage (<60 V) hybrid device that enables engine boosting and downsizing in addition to mild hybrid functionalities such as regenerative braking, start-stop, and torque assist. A planetary gear set and a brake permit the power split supercharger (PSS) to share a 9 kW motor between supercharging the engine and direct torque supply to the crankshaft. In contrast, most e-boosting schemes use two separate motors for these two functionalities. This single motor structure restricts the PSS operation to only one of the supercharging or parallel hybrid modes;therefore, an optimized decision making strategy is necessary to select both the device mode and its power split ratio. An adaptive equivalent consumption minimization strategy (A-ECMS), which uses the battery state of charge (SoC) history to adjust the equivalence factor, is developed for energy management of the PSS. The A-ECMS effectiveness is compared against a dynamic programming (DP) solution with full drive cycle preview through hardware-in-the-loop experiments on an engine dynamometer testbed. The experiments show that the PSS with A-ECMS reduces vehicle fuel consumption by 18.4% over standard FTP75 cycle, compared to a baseline turbocharged engine, while global optimal DP solution decreases the fuel consumption by 22.8% compared to the baseline.

关键词： energy management hybrid electric vehicle powertrain electrification equivalent consumption minimization supercharging hardware-in-the-loop experiments

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