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Transmitted torque observer applied to real time engine and clutch torque estimation

IFAC-PapersOnLine 2015年第26期48卷 73-78页

作者： Losero, Rémi Lauber, Jimmy Guerra, Thierry-Marie Automatic Control and Human-Machine Systems LAMIH UVHC UMR CNRS 8201 Valenciennes France

In automation control system applications, the transmitted engine and clutch torque are unavoidable information for the control strategies. For example, these information are required to engine control, hybrid vehicle and automated transmission management. An angular domain discrete observer is proposed to estimate the transmitted torque from incremental encoders which are already implemented on the vehicle. Some simulation results of transmitted clutch torque estimation are presented as instantaneous brake engine torque and clutch torque estimation on real data. This proposed torque estimation method based on shaft angular deformation permits to obtain accurate results in different automotive applications. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Torque Automation Clutches Engines Hybrid vehicles Nonlinear systems Vehicle transmissions Angular deformation Automated transmission Automation control system Automotive applications Engine torque Incremental encoder Observer Torque estimation

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Environment-Driven Online LiDAR-Camera Extrinsic Calibration

arXiv

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arXiv 2025年

作者： Huang, Zhiwei Li, Jiaqi Zhong, Ping Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Tongji University Shanghai201804 China The School of Computer Science and Engineering Central South University Hunan Changsha410083 China The National Key Laboratory of Science and Technology on Automatic Target Recognition National University of Defense Technology Hunan Changsha410073 China The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China The National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

LiDAR-camera extrinsic calibration (LCEC) is the core for data fusion in computer vision. Existing methods typically rely on customized calibration targets or fixed scene types, lacking the flexibility to handle variations in sensor data and environmental contexts. This paper introduces EdO-LCEC, the first environment-driven, online calibration approach that achieves human-like adaptability. Inspired by the human perceptual system, EdO-LCEC incorporates a generalizable scene discriminator to actively interpret environmental conditions, creating multiple virtual cameras that capture detailed spatial and textural information. To overcome cross-modal feature matching challenges between LiDAR and camera, we propose dual-path correspondence matching (DPCM), which leverages both structural and textural consistency to achieve reliable 3D-2D correspondences. Our approach formulates the calibration process as a spatial-temporal joint optimization problem, utilizing global constraints from multiple views and scenes to improve accuracy, particularly in sparse or partially overlapping sensor views. Extensive experiments on real-world datasets demonstrate that EdO-LCEC achieves state-of-the-art performance, providing reliable and precise calibration across diverse, challenging environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Spatio-temporal data

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Discrete angular torque observer applicated to the engine torque and clutch torque estimation via a dual-mass flywheel 10

Discrete angular torque observer applicated to the engine to...

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10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015

作者： Losero, Remi Lauber, Jimmy Guerra, Thierry-Marie Automatic Control and Human-Machine Systems LAMIH UVHC UMR CNRS 8201 Valenciennes France Mechatronic Team VALEO Clutch Amiens France

ISBN: (纸本)9781467373173

The interest in engine torque and clutch torque estimation is important in the automotive industry. They are determinant variables in engine and powertrain management like hybrid engine vehicle, automated transmission and energy saving strategies. An instantaneous brake engine torque and transmitted clutch torque estimation method based on discrete angular domain fuzzy observer using a torsion angle calculation is proposed in this paper. It is applied on a filtration device;the dual mass flywheel. The observer permits to obtain good experimental results of the engine torque and clutch torque estimation. © 2015 IEEE.

关键词： Clutches

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Dual clutch torque estimation Based on an angular discrete domain Takagi-Sugeno switched observer

Dual clutch torque estimation Based on an angular discrete d...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Rémi Losero Jimmy Lauber Thierry-Marie Guerra Pascal Maurel Automatic Control and Human-Machine Systems LAMIH UMR/CNRS Valenciennes France Valeo Powertrain Systems Amiens France

ISBN: (纸本)9781509006274

× Nowadays, the dual clutch transmission is tending to be generalized because of the high yield of this kind of gearbox with sprockets. The dual clutch transmission also allows gear shifting without torque breaking. These kinds of transmissions are usually controlled in torque. To exploit all of the capacities of this technology in term of comfort and driving pleasure, accurate information of both clutch torque is mandatory. Further, the clutch torque cannot be measured on vehicle because of cost and packaging reasons. This paper proposes a technical solution of the clutch torque estimation in the dual clutch control framework. The estimation is based on an angular discrete domain Takagi-Sugeno switched observer and shaft torsion estimation from encoder sensors with a virtual teeth adding method. The methodology permits to obtain very interesting simulation results of clutch torque estimation on a complete vehicle simulation platform.

关键词： Torque Gears Estimation Vehicles Shafts Sensors Engines

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Replica of an Advanced Takagi-Sugeno discrete observer without matrix inversion

Replica of an Advanced Takagi-Sugeno discrete observer witho...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Thomas Laurain Jimmy Lauber Reinaldo Martinez Palhares Automatic Control and Human-Machine Systems Valenciennes France Department of Electronics Engineering Federal University of Minas Gerais Belo Horizonte Brazil

ISBN: (纸本)9781509006274

This paper aims to present a systematic methodology for designing a Replica of an Advanced Takagi-Sugeno (RATS) discrete observer. Advance observers for nonlinear systems under Takagi-Sugeno representation have been designed for years using efficient structure such as non-PDC (Parallel Distributed Compensation), which it is powerful and, in some cases, it is the only observer able to estimate an unknown value. However, in spite of these advantages, this observer strategy presents an inconvenient: The use of matrix inversion. This paper will present the RATS observer which is equivalent an observer using the non-PDC structure without matrix inversion. By a stability analysis, not only the efficiency is proved but also its validity. Finally, some simulation results will emphasize the originality and the power of the proposed RATS observer.

关键词： Observers Lyapunov methods Rats Takagi-Sugeno model Stability analysis Nonlinear systems Estimation error

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Observer design to control individual cylinder spark advance for idle speed management of a SI engine

Observer design to control individual cylinder spark advance...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Thomas Laurain Jimmy Lauber Reinaldo Martinez Palhares Automatic Control and Human-Machine Systems UMR CNRS 8201 Valenciennes France Department of Electronics Engineering Federal University of Minas Gerais Belo Horizonte Brazil

This paper aims to present an original methodology to design an observer that can be used in idle speed control using a global command for the throttle and an individual command for the spark timing. To develop an efficient control, we need previously to estimate unmeasured parameters such as the torque generated by each cylinder. Two observers are proposed: the methodology for the first one is based on a discrete periodic Takagi-Sugeno approach, and the second one on an unknown input observer. Finally, some simulation results showing the performance of the developed methodology are provided. The model used for our simulation is based on a dynamic hybrid one.

关键词： Sparks Engines Observers Torque Mathematical model Atmospheric modeling Velocity control

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Estimation-based control law for appproximating Takagi-Sugeno-based controller

Estimation-based control law for appproximating Takagi-Sugen...

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IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR

作者： Thomas Laurain Jimmy Lauber Reinaldo Martinez Palhares Automatic Control and Human-Machine Systems LAMIH UMR/CNRS Valenciennes France Department of Electronics Engineering Federal University of Minas Gerais Belo Horizonte Brazil

This paper aims to manage the problem of matrix inversion in advanced Takagi-Sugeno-based controllers such as most of the non-Parallel Distributed Compensation. These controllers are difficult to use in embedded computers that have limited performances due to technologic resources. The originality of the proposed method is to use an observer written under the descriptor form for approximating the fuzzy matrix inversion. Thanks to such an observer, the advanced controller can be approximated in both steady and transient phases. Consequently, an Estimation-based control Law for Approximating Takagi-Sugeno-based (ECLATS) controller is developed using Lyapunov stability analysis and Linear Matrix Inequalities formulation. This ECLATS controller can provide similar performances than the advanced fuzzy ones, but without any matrix inversion. Numerical examples prove the efficiency of the estimation by comparison.

关键词： Lyapunov methods Observers Linear matrix inequalities Takagi-Sugeno model Estimation error Stability analysis Nonlinear systems

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Adaptivity in human-Computer Interface systems: Identifying User Profiles for Personalised Support

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IFAC Proceedings Volumes 1998年第26期31卷 407-412页

作者： M. Dimitrova G. Johannsen H.A. Nour Eldin J. Zaprianov M. Hubert Institute of Control and System Research Bulgarian Academy of Sciences PB 79 1113 Sofia Bulgaria Laboratory for Systems Engineering and Human-Machine Systems (IMAT-MMS) University of Kassel D-34109 Kassel Germany Group of Automatic Control and Technical Cybernetics atk D-42097 Wuppertal Germany

Adaptivity for user "personalised" support is viewed as complementary to systems for cognitive support and is related to the following aspects of user modelling: individual user profile, user style/state diagnosis, context of work and mental workload prediction. The paper reports the results of an empirical study revealing a particular kind of contextual influences on user behaviour, namely, the freedom to choose the set of operations to be performed from a larger set of tasks, valid for all users at the basic skill level of performance. Stability of patterns was found on the level of minimal reaction times (RTs), but not on the level of mean RTs. Neural networks successfully generalised the minimal RT profiles across contexts.

关键词： User interfaces human-centered design mental workload interface adaptation monitoring neural networks

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A robust nonlinear controller for nontrivial quadrotor maneuvers: Approach and verification

A robust nonlinear controller for nontrivial quadrotor maneu...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Yuyi Liu J. M. Montenbruck P. Stegagno F. Allgower A. Zell Department of Computer Science University of Tubingen Tubingen Germany Autonomous Robotics and Human-Machine Systems group Max Planck Institute for Biological Cybernetics Tubingen Germany Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Eberhard Karls Universitat Tubingen Tubingen Baden-WÃ¼rttemberg DE

This paper presents a nonlinear control approach for quadrotor Micro Aerial Vehicles (MAVs), which combines a backstepping-like regulator based on the solution of a certain class of global output regulation problems for the rigid body equations on SO(3), a robust controller for the system with bounded disturbances, as well as a trajectory generator using a model predictive control method. The proposed algorithm is endowed with strong convergence properties so that it allows the quadrotor MAVs to reach almost all the desired attitudes. The control approach is implemented on a high-payload-capable quadcopter with unstructured dynamics and unknown disturbances. The performance of our algorithm is demonstrated through a series of experimental evaluations and comparisons with another control method on normal and aggressive trajectory tracking tasks.

关键词： Attitude control Trajectory Robustness Heuristic algorithms Mathematical model Tracking Aerodynamics

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Guidelines Resulting from Modeling, Evaluation and Coordination Enhancement of Itaipu Hydro Power Plant Protection

Guidelines Resulting from Modeling, Evaluation and Coordinat...

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IEEE Power and Energy Society General Meeting

作者： Jonas Pesente Rodrigo A. Ramos Jacqueline G. Rolim Miguel Moreto Automatic Control and Human-Machine Systems LAMIH UMR/CNRS Valenciennes France Dept. Architecture Built Environment and Construction Engineering (ABC) Politecnico di Milano Milano Italy Dept. Structural Engineering Civil Geotechnical Politecnico di Torino Torino Italy Valeo Powertrain Systems Amiens France Dept. Civil Environmental Architectural Engineering and Mathematics (DICATAM) University of Brescia Brescia Italy

ISBN: (纸本)9781509041695

Generator protection misoperations may intensify a disturbance or even lead the power system to a major outage, especially when it occurs in a large power plant. Additionally, the power system expansion changes the short circuit currents and, thus, from time to time the system requires a re-evaluation of protection coordination. In this paper, Itaipu power plant's modeling, analysis and coordination evaluation of the protection functions performed due to scheduled technological update are presented. Lessons learned and undesirable situations concerning operation of large generators connected to large transmission systems observed during this process were used to propose a set of guidelines for overexcitation protection coordination evaluation for generators with the same type of configuration.

关键词： Synchronous Generator Protection Power Plant Protection Coordination Generator Overexcitation Protection short-circuit currents Pattern Evaluation power systems Hydroelectric Power Plants HIGH POWER dynamos Transmission systems Generator protection

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