检索结果-内蒙古大学图书馆

Robust Reconfgurable control for In-wheel Electric Vehicles

IFAC-PapersOnLine 2015年第21期48卷 36-41页

作者： Gaspar, Péter Bokor, József Mihály, András Szabó, Zoltán Fülep, Timea Szauter, Ferenc Institute for Computer Science and Control Hungarian Academy of Sciences and MTA-BME Control Engineering Research Group Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Research Center of Vehicle Industry Széchenyi István University Gyôr Hungary

The paper presents a fault tolerant reconfgurable control method for vehicles driven by four in-wheel electric motors and a steering system. The aim of the design is to realize robust velocity and road trajectory tracking even under challenging driving conditions or actuator failures. The vehicle is operated solely with the in-wheel motors, thus steering intervention is only applied in case of skidding or a failure of an electric motor. The reconfgurable control is realized based on Linear Parameter Varying (LPV) framework, using the specifc characteristics of the in-wheel motors of fast and accurate torque control. The operation of the designed control system is demonstrated in a CarSim simulation environment. © 2015

关键词： Robust control

来源：评论

学校读者我要写书评

暂无评论

Hybrid Autonomous Underwater Glider (HAUG) Obstacle Detection and Avoidance

Hybrid Autonomous Underwater Glider (HAUG) Obstacle Detectio...

引用

11th IEEE International Conference on System engineering and Technology, ICSET 2021

作者： Putra, A. A. Gde Jenana Trilaksono, Bambang Riyanto Hidayat, Egi Muhammad Idris School of Electrical Engineering and Informatics Institut Teknologi Bandung Control and Computer Systems Research Group Bandung Indonesia

ISBN: (纸本)9781665437660

Hybrid Autonomous Underwater Glider (HAUG) is a vehicle used for underwater missions such as monitoring and finding new underwater resources. HAUG has good endurance and maneuverability compared to conventional Autonomous Underwater Vehicle (AUV) and Autonomous Underwater Glider (AUG). It is because HAUG has two operational modes. They are AUV and AUG's operational mode. When HAUG is in some missions, it may be faced with an obstacle that can be a threat to the HUG's safety. Therefore, HAUG should have the ability to detect and avoid obstacles. Gemini 720 im Imaging Forward Looking Sonar (FLS) is used for obstacle detection in this work. The main issue of underwater obstacle detection is noisy data received by sonar. Therefore, by designing an obstacle detection, it will overcome those issues. Frost filter and local histogram entropy are used in the sonar data processing. The processed sonar data are provided in the local sonar frame then will be used by obstacle avoidance systems. BK-product fuzzy and reactive algorithms are used for obstacle avoidance. In this paper, we added some procedures to those obstacle avoidance algorithms to handle the huge or non-complex u-shaped obstacle. Both of the obstacle detection and avoidance simulations are in ROS (Robot Operating System). The obstacle detection simulation shows that the different sizes of obstacles can be detected with average errors of approximately 0.335 meters. The obstacle avoidance simulations are in AUV's mode with no ocean current applied. The obstacle avoidance simulated in this work is with two cases. Using simulated lidar as a sensor's output and using sonar's plugin provided by Gazebo. The obstacle avoidance using simulated lidar shows that the error's value is approximately 10.12 meters, 103.62 meters, and 354.4 meters respectively. The obstacle avoidance simulation with sonar's plugin shows that the error's value is 6.55 meters. © 2021 IEEE.

关键词： Meters Laser radar Simulation Operating systems Sonar Robot sensing systems Systems engineering and theory

来源：评论

学校读者我要写书评

暂无评论

Bird's Eye View on Systems and control - General View and Case Studies

引用

IFAC-PapersOnLine 2016年第6期49卷 274-279页

作者： Vámos, T. Bars, R. Sik, D. Institute of Computer Science and Control Hungarian Academy of Sciences MTA-SZTAKI Budapest Hungary Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Engineering Research Group Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a website on the internet. © 2016

关键词： control theory Algorithms Case studies control disciplines control education control structure Systems and control

来源：评论

学校读者我要写书评

暂无评论

Set-based actuator reconfiguration analysis for the integrated control of lateral vehicle dynamics 9

Set-based actuator reconfiguration analysis for the integrat...

引用

9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Gáspár, Péter Németh, Balázs Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary

The paper proposes a set-based analysis of steering and braking actuator integration in order to improve the reconfiguration strategy of lateral vehicle control. The purpose is to examine the improvement possibilities of the stabilization abilities through actuator integration. The results are applied to the theoretical basis of the actuator selection strategy in the reconfigurable control. In the analysis the computation method of the maximum controlled Invariant Sets based on the nonlinear Sum-of-Squares (SOS) programming is used. The analysis considers the nonlinear characteristics of the tyre, the velocity and the tyre-road conditions which significantly determine the stability regions in the lateral dynamics. Thus, the resulting sets provide information about the stabilization abilities of the actuators for the entire vehicle system. The examination of the integrated actuation in the reconfiguration strategy is illustrated through various vehicle manoeuvres. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Actuators

来源：评论

学校读者我要写书评

暂无评论

Design of low conflict cruise control for safety critical vehicle interactions 9

Design of low conflict cruise control for safety critical ve...

引用

9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Németh, Balazs Gaspar, Péter Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary

In the paper a speed profile design strategy to avoid safety conflicts in vehicle interactions is proposed. A fault-tolerant strategy for an intersection scenario is presented, which handles the malfunction of the traffic control elements, such as traffic lights. The signals obtained from the road and vehicles in the traffic are handled jointly with the dynamic equations of the vehicle and built into the control design of speed. The look-ahead cruise control method is able to guarantee safety and find an energy-efficient solution with the incorporation of road grade and speed limits. The efficiency of the method is demonstrated through simulation examples. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Roads and streets

来源：评论

学校读者我要写书评

暂无评论

Rice Variety Classification Based on Optimized Near-Infrared Spectral Classification Model

引用

Rice science 2024年第1期31卷 6-9,I0009-I0012页

作者： YANG Sen WANG Zhenmin ZHANG Houqing SONG Wenlong College of Computer and Control Engineering Northeast Forestry UniversityHarbin 150040China The 49th Research Institute of China Electronics Technology Group Corporation Harbin 150000China

Accurate classification of rice variety is essential to ensure the brand value of high-quality rice *** the impact of sample state on modeling optimization algorithms,rice samples after grinding and sealing were *** enhance the accuracy of rice variety classification,we introduced a spectral characteristic wavelength selection method based on adaptive sliding window permutation entropy(ASW-PE).

关键词： sealing Infrared grinding

来源：评论

学校读者我要写书评

暂无评论

Nonlinear observer with observability-based parameter adaptation for vehicle motion estimation

引用

IFAC-PapersOnLine 2018年第15期51卷 60-65页

作者： Marco, Vicent Rodrigo Kalkkuhl, Jens Seel, Thomas Control Systems Group Department of Electrical Engineering and Computer Science Technische Universität Berlin BerlinD-10587 Germany Research and Development Daimler AG Sindelfingen71059 Germany

In the framework of self-driving cars and driver-assistance systems the demand for reliable information about the vehicle ego-motion is increasing. This paper describes an estimation scheme, based on a nonlinear observer design, that provides velocity and attitude angle estimates. The approach relies on a state-affine representation of a kinematic model bolstered by a dynamic model-based measurement equation. By means of a thorough observability analysis, global exponential convergence is theoretically guaranteed. Additionally, in order to minimize the errors introduced by the dynamic model limitations, an observer tuning rule is proposed. The adaptation of the tuning parameters is built upon an online observability assessment of the system without the support of the dynamic model. Experimental results show that the presented approach reliably estimates the motion states. © 2018

关键词： Motion estimation Automobile drivers Automotive industry Dynamic models Kinematics Nonlinear analysis Nonlinear systems Observability Driver assistance system Estimation schemes Global exponential convergence Measurement equations Non linear observer Nonlinear observer design Observability analysis Parameter adaptation

来源：评论

学校读者我要写书评

暂无评论

Delays in Model Reduction of Chemical Reaction Networks

引用

IFAC-PapersOnLine 2018年第14期51卷 100-105页

作者： Lipták, György Hangos, Katalin M. Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 BudapestH-1518 Hungary Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary

A novel engineering model reduction method is proposed in this paper that can be applied to a chemical reaction network (CRN) with chains of linear reactions. The reduced model is a delayed CRN with possibly different delays but with less state variables than the original model. As the first step of the model reduction, a decomposition method is also developed to transform chains with joint reactions into independent chains of linear reactions. The well known example of McKeithan's network is used as a case study to illustrate the basic concepts and the design method. © 2018

关键词： Reduction

来源：评论

学校读者我要写书评

暂无评论

Cost-optimal model predictive scheduling of home appliances

引用

IFAC-PapersOnLine 2017年第1期50卷 3344-3349页

作者： Bálint R. Magyar A. Hangos K.M. Department of Electrical Engineering and Information Systems Faculty of Information Technology University of Pannonia Veszprém Hungary Process Control Research Group HAS Research Institute for Computer Science and Control Budapest Hungary

A novel heuristic model-based optimal scheduling algorithm is proposed in this paper to operate heating and cooling type home appliances connected to smart grids where the price of the electrical energy is known in advance and temperature constraints are present. The properties and the use of the proposed algorithm are shown using a simple refrigerator model. The accuracy and the computational properties of the proposed method are compared to the schedule generated by the MPT toolbox. The algorithm works well with a relatively short prediction horizon using a fraction of the computing time needed for the MPT-based method. The robustness of the algorithm is also investigated with respect to the load of the refrigerator. It is shown that the designed schedule with an empty refrigerator is always suitable, yet not optimal, for any loaded case. © 2017

关键词： Demand side management Heuristics Model predictive control Scheduling algorithms Smart grids

来源：评论

学校读者我要写书评

暂无评论

Reconfigurable control Design of Steering and Torque Vectoring Based on Reachability Set Analysis

引用

IFAC-PapersOnLine 2017年第1期50卷 3702-3707页

作者： Németh B. Gáspár P. Fenyes D. Bokor J. Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 Budapest H-1111 Hungary Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Hungary

The paper proposes a reconfigurable control design of steering and torque vectoring using a variable-geometry suspension system. Torque vectoring control is based on the independent driving of the wheels. Simultaneously, the steering angle is generated by the variable-geometry suspension system by varying the camber angle of the front wheels. The efficiency of wheel tilting and torque vectoring, and their coordinated actuation are in the focus of the paper. In the analysis a reachable set computation method on the polynomial model of the vehicle based on the trajectory reversing method and the Sum-of-Squares (SOS) programming is proposed. Based on the analysis results a reconfigurable control is designed using the Linear Parameter Varying (LPV) method. © 2017

关键词： Reachability analysis Reconfigurable control Torque-vectoring Variable-geometry suspension

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：