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Model Predictive control based Motion Cueing Algorithm for Driving Simulator

Journal of systems Science and systems Engineering 2024年第5期33卷 607-626页

作者： Ayesha Hameed Ali Soltani Sharif Abadi Andrzej Ordys Institute of Automatic Control and Robotics Warsaw University of TechnologyWarsawPoland Institute of Electronic Systems Warsaw University of TechnologyWarsawPoland

Thanks to the emerging integration of algorithms and simulators, recent Driving Simulators (DS) find enormous potential in applications like advanced driver-assistance devices, analysis of driver’s behaviours, research and development of new vehicles and even for entertainment purposes. Driving simulators have been developed to reduce the cost of field studies, allow more flexible control over circumstances and measurements, and safely present hazardous conditions. The major challenge in a driving simulator is to reproduce realistic motions within hardware constraints. Motion Cueing Algorithm (MCA) guarantees a realistic motion perception in the simulator. However, the complex nature of the human perception system makes MCA implementation challenging. The present research aims to improve the performance of driving simulators by proposing and implementing the MCA algorithm as a control problem. The approach is realized using an actual vehicle model integrated with a detailed model of the human vestibular system, which accurately reproduces the driver’s perception. These perception motion signals are compared with simulated ones. A 2-DOF stabilized platform model is used to test the results from the two proposed control strategies, Proportional Integrator and Derivative (PID) and Model Predictive control (MPC).

关键词： Driving simulator motion cueing algorithm control theory model predictive control PID

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Hybrid Strategy of Partitioned and Monolithic Methods for Solving Strongly Coupled Analysis of Inverse and Direct Piezoelectric and Circuit Coupling

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 1371-1386页

作者： Daisuke Ishihara Syunnosuke Nozaki Tomoya Niho Naoto Takayama Department of Intelligent and Control Systems Kyushu Institute of TechnologyFukuokaJapan

The inverse and direct piezoelectric and circuit coupling are widely observed in advanced electro-mechanical systems such as piezoelectric energy *** strongly coupled analysis methods based on direct numerical modeling for this phenomenon can be classified into partitioned or monolithic *** formulation has its advantages and disadvantages,and the choice depends on the characteristics of each coupled *** study proposes a new option:a coupled analysis strategy that combines the best features of the existing formulations,namely,the hybrid partitioned-monolithic *** analysis of inverse piezoelectricity and the monolithic analysis of direct piezoelectric and circuit interaction are strongly coupled using a partitioned iterative hierarchical *** a typical benchmark problem of a piezoelectric energy harvester,this research compares the results from the proposed method to those from the conventional strongly coupled partitioned iterative method,discussing the accuracy,stability,and computational *** proposed hybrid concept is effective for coupled multi-physics problems,including various coupling conditions.

关键词： Structure-piezoelectric-circuit interaction energy harvesting partitioned method monolithic method hybrid method

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Algorithm Selection Method Based on Coupling Strength for Partitioned Analysis of Structure-Piezoelectric-Circuit Coupling

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Computer Modeling in Engineering & Sciences 2024年第2期138卷 1237-1258页

作者： Daisuke Ishihara Naoto Takayama Department of Intelligent and Control Systems Kyushu Institute of TechnologyIizuka820-8502Japan

In this study, we propose an algorithm selection method based on coupling strength for the partitioned analysis ofstructure-piezoelectric-circuit coupling, which includes two types of coupling or inverse and direct piezoelectriccoupling and direct piezoelectric and circuit coupling. In the proposed method, implicit and explicit formulationsare used for strong and weak coupling, respectively. Three feasible partitioned algorithms are generated, namely(1) a strongly coupled algorithm that uses a fully implicit formulation for both types of coupling, (2) a weaklycoupled algorithm that uses a fully explicit formulation for both types of coupling, and (3) a partially stronglycoupled and partially weakly coupled algorithm that uses an implicit formulation and an explicit formulation forthe two types of coupling, *** examples using a piezoelectric energy harvester,which is a typicalstructure-piezoelectric-circuit coupling problem, demonstrate that the proposed method selects the most costeffectivealgorithm.

关键词： Multiphysics coupling strength partitioned algorithm structure-piezoelectric-circuit coupling strongly coupled algorithm weakly coupled algorithm

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Implementation of Justified Inspection Zone for Fault Location on Overhead Transmission Lines of 110 kV and Above 6

Implementation of Justified Inspection Zone for Fault Locati...

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6th International Youth Conference on Radio Electronics, Electrical and Power Engineering, REEPE 2024

作者： Sharygin, Dmitriy Filatova, Galina Yablokov, Andrey Department of Electric Power Systems Automatic Control Ivanovo Russia

ISBN: (纸本)9798350382891

The existing normative and technical documentation of operating organizations does not allow for the reliable organization of the minimal possible inspection zone. The article presents research on the implementation of justified inspection zone for fault location on overhead transmission lines of 110 kV and above. The fault location research was carried out on an imitation model in the Simulink / MATLAB software package. Fault location formulae developed by the authors were used under consideration of multitude factors influencing the measurement using the Monte Carlo method. Only the methodological error of fault location was taken into account in the calculation for the implementation of the inspection zone. The most probable (justified) inspection zone was calculated based on the values of fault locations obtained using the calculation formulae. The generalized Gaussian distribution (GGD) and the functions of mathematical expectation and standard deviation were used to implement the justified inspection zone. © 2024 IEEE.

关键词： Electric power transmission

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SELECTION STRATEGIES FOR CENTRALIZED ACTIVE STRUCTURAL ACOUSTIC control OF A CASING BASED ON SYSTEM IDENTIFICATION DATA 30

SELECTION STRATEGIES FOR CENTRALIZED ACTIVE STRUCTURAL ACOUS...

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30th International Congress on Sound and Vibration, ICSV 2024

作者： Hafez, Amir Pawelczyk, Marek Wrona, Stanislaw Institute of Automatic Control Department of Measurements and Control Systems Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

ISBN: (纸本)9789090390581

Active Structural Acoustic control (ASAC) is a technique designed to minimize the acoustic radiation emitting from operating machines or devices. It employs an encapsulated structure, sensors to capture the noise, and actuators to control surface vibrations. This paper analyses two selection strategies to optimize a centralized ASAC system. The main purpose is to reduce the computational complexity by limiting the amount of secondary path FIR models utilized in the system. The strategies are thoroughly examined and discussed in section 2, complemented by illustrative figures to provide visual clarity. A numerical model was created in MATLAB program to carry out simulations. Each simulation was performed with a different strategy, where the amount and order of the secondary path models differed. The numerical model uses the Normalized Multiple Error Filtered-X Least Mean Square (NMEFxLMS) as the control algorithm for the simulations presented in this paper. An optimization margin was deduced from the simulations conducted. Subsequently, the computational complexity was determined for both strategies based on deducted optimization margins. © 2024 Proceedings of the International Congress on Sound and Vibration. All rights reserved.

关键词： Acoustic variables control

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Automated Method for the Research of the Relay Protection Function Implemented in 6(10) kV Digital Instrument Transformers Using Real Oscillograms

Automated Method for the Research of the Relay Protection Fu...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Filatova, Galina Piskunov, Dmitry Evdakov, Alexey Department of electric power systems automatic control Ivanovo Russia

The increasing of automation and digitization of 6(10) kV distribution networks remains a relevant task. The solution of this task may be associated with the widespread implementation of digital instrument transformers and devices based on them. The article is dedicated to the development of a methodology of the function for determining the faulted section at a single-phase ground fault (SPGF) implemented in a digital instrument transformer 6(10) kV. The methodology involves the modeling of electromagnetic transient processes on the Real Time Digital Simulator (RTDS). The research is carried out on a model of a 10 kV electrical network area with the simulation of various types of single-phase ground faults (e.g. arc faults). The model parameters are varied automatically using a «script». Additionally, a database of real oscillograms containing single phase to ground faults is created to validate the function. The article discusses the main features of data collection and processing specific to the electrical energy sector. The oscillograms obtained from models and real energy objects will be used for conducting high-voltage laboratory tests of digital instrument transformers and the faulted section determination function. The test facility diagram is presented in the article. © 2024 IEEE.

关键词： Distribution transformers

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Influence of Histogram Equalization on Multi-Classification of Retinal Diseases in OCT B-scans 27

Influence of Histogram Equalization on Multi-Classification ...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Marciniak, Tomasz Stankiewicz, Agnieszka Poznan University of Technology Institue of Automatic Control and Robotics Department of Automatic Control Robotics and Electrical Engineering Poznan Poland

ISBN: (纸本)9788362065486

The aim of this article is to analyze the impact of adaptive histogram equalization of the human eye OCT B-scans on the effectiveness of the classification of pathological changes. Tests were performed on two datasets. The first dataset contains 4 class B-scans (CNV, DME, DRUSEN, and NORMAL) taken with the use of Spectralis Heidelberg device, while the second dataset contains images from two devices (Spectralis Heidelberg OCT and Avanti Optovue OCT) and additionally contains the VMT (i.e., vitreomacular traction) class. The images were subjected to standard histogram equalization and contrast limited adaptive histogram equalization (CLAHE) with various parameters. The classification process was carried out using VGG16 artificial neural network. It can be observed that histogram equalization has no significant impact on improving classification performance. © 2024 Division of Signal Processing and Electronic systems, Poznan University of technology (DSPES PUT).

关键词： Optical coherence tomography

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control Design for Collaborative Aerial Transportation of Flexible Payload 25

Control Design for Collaborative Aerial Transportation of Fl...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Romadov, Sergey V. Kozyr, Andrey V. Efromeev, Andrey G. Department of Automatic Control Systems Tula State University Tula Russia

ISBN: (纸本)9798350389234

The task of collaborative transportation of large in size cargo is associated with difficulties, both in the group organization of aircraft control, and in ensuring the safety of cargo and route optimality. However, this method of transportation is becoming more popular and is already being used in commercial services. Usually the loads are assumed to be rigid or are limited to a simplified description of elastic vibrations using approximating polynomials is being used. This paper consider the task of constructing a physically interpretable and simple for control algorithm design linear mathematical model of a system that describes the behavior of two aerial vehicles transporting a flexible inhomogeneous load. For this purpose, two classical models describing elastic vibrations were used – Euler-Bernoulli and Timoshenko. They make it possible to obtain intuitive and physically interpretable relations describing the dynamics of body deflection. The method is based on the use of a design model in the form of a beam or rod, which is typical for the problem under consideration. The proposed mathematical formulation constructing method allows one to simultaneously take into account the uniformity of the elastic load and describe the dynamics of motion in the easiest way. Regulator built on the basis of solutions of a linear matrix inequalities system which can achieve conveniently specified desired characteristics, ensure robustness, which is important for a system with uncertain parameters, and minimize the consumed power is proposed. © 2024 IEEE.

关键词： Linear matrix inequalities

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Study of the Characteristics of Linear Flexible Object control System 8

Study of the Characteristics of Linear Flexible Object Contr...

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8th International Conference on Information, control, and Communication Technologies, ICCT 2024

作者： Romadov, Sergey V. Kozyr, Andrey V. Efromeev, Andrey G. Tula State University Department of Automatic Control Systems Tula Russia

ISBN: (纸本)9798331517564

The paper solves a flexible object control problem. The issues of constructing a mathematical model of an inhomogeneous flexible link based on the Euler-Bernoulli equation are considered. The simple design model was chosen, which, for example, can describe the vibrations of a single-link manipulator, load bending during aerial transportation, or a helicopter blade. A universal algorithm for determining the parameters of an elastic system is presented. A convenient method is used to analytically determine mode shapes of an inhomogeneous structure. Vibrations model was built by the method of initial parameters with discretization of distributions of mass and bending rigidity. The system dynamics equations are obtained by integrating the Euler-Bernoulli equation, which makes mathematical formulation universal. The resulting mathematical model describes with sufficiently high accuracy the dynamics of objects, which are characterized by a constant or stepwise distribution of mass and stiffness along their length. The control system, providing high speed with minimal fluctuations, is developed using LQR and LMI methods. It is shown that the LMI method allows one to directly limit the control action and more intuitively set the required characteristics of the system, however, it is less resistant to changes in the parameters of the control object. control system needs to be done more robust, and thus further research is necessary. © 2024 IEEE.

关键词： Euler equations

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The Unscented Kalman Filter for Nonlinear Parameter Identification of Adaptive Cruise control systems

arXiv

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arXiv 2023年第8期8卷 4094页

作者： Ampountolas, Konstantinos The Automatic Control & Autonomous Systems Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece

This paper develops and investigates a dual unscented Kalman filter (DUKF) for the joint nonlinear state and parameter identification of commercial adaptive cruise control (ACC) systems. Although the core functionality of stock ACC systems, including their proprietary control logic and parameters, is not publicly available, this work considers a car-following scenario with a human-driven vehicle (leader) and an ACC engaged ego vehicle (follower) that employs a constant timeheadway policy (CTHP). The objective of the DUKF is to determine the CTHP parameters of the ACC by using real-time observations of space-gap and relative velocity from the vehicle's onboard sensors. Real-time parameter identification of stock ACC systems is essential for assessing their string stability, large-scale deployment on motorways, and impact on traffic flow and throughput. In this regard, L2and L∞string stability conditions are considered. The observability rank condition for nonlinear systems is adopted to evaluate the ability of the proposed estimation scheme to estimate stock ACC system parameters using empirical data. The proposed filter is evaluated using empirical data collected from the onboard sensors of two 2019 SUV vehicles, namely Hyundai Nexo and SsangYong Rexton, equipped with stock ACC systems;and is compared with batch and recursive least-squares optimization. The set of ACC model parameters obtained from the proposed filter revealed that the commercially implemented ACC system of the considered vehicle (Hyundai Nexo) is neither L2nor L∞string stable. Copyright © 2023, The Authors. All rights reserved.

关键词： Adaptive cruise control

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