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IEEE International Conference on control Applications

作者： Bruckner, Martin Gruenbacher, Engelbert Institute for Design and Control of Mechatronical Systems

ISBN: (纸本)9781424422227

In this paper we discuss an optimal tuning strategy for a model based anti-windup (AW) compensator which is straightforward to use and can be tuned empirically with respect to a general cost-function. The presented cost-function is representative for the performance during saturation of the combination of a linear-controller and an AW-compensator. The simulation results showed that adding the tuned anti-windup compensator to the existing control structure can improve the performance of the closed loop system with respect to the minimized control-objectives of the cost-function. Simulation tests of a position control on a damped mass-spring system showed that the optimized anti-windup controller performance is closer to a MPC than a full-order anti-windup compensator derived by a linear matrix inequality.

关键词： Cost functions

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Comfort Oriented Robust Adaptive Cruise control in Multi-Lane Traffic Conditions

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IFAC-PapersOnLine 2016年第11期49卷 196-201页

作者： Schmied, Roman Waschl, Harald del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria

The increasing complexity of nowadays traffic situations requires further development of already existing Advanced Driver Assistant systems (ADAS). In the case of Adaptive Cruise control (ACC) such enhancements concern the consideration of lane change and/or multi-vehicle scenarios. Such lane change maneuvers may lead to switching processes for the controller which often lead to undesired and intense braking with detrimental effects on comfort, fuel economy and safety. This paper proposes an ACC approach within a multi-vehicle scenario which considers lane change maneuvers of surrounding traffic participants in a robust and predictive way with the objective to increase driving comfort. Robustness is addressed by considering worst case profiles concerning lane change behavior of preceding vehicles. Simulation results compare the robust controller to a nominal one and show significant improvement of the proposed approach by means of a comfort oriented performance index. © 2016

关键词： Adaptive cruise control

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Black Box SCR Modeling and control for Small CI Engines

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IFAC-PapersOnLine 2016年第11期49卷 28-33页

作者： Stadlbauer, Stephan Waschl, Harald del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria

Selective catalytic reduction (SCR) has become widely used to reduce NOxemissions especially for medium and heavy duty CI engines, while lean NOxtraps (LNT) are a typical choice for light duty engines. In the field of small engines, SCR is usually not applied, because an expensive additional AdBlue supply is necessary and the emission limits can be also achieved with less complex methods. Nevertheless, if the engine is used as range extender of a hybrid electric vehicle, in engine-only operation it must also fulfill the Diesel emission legislation. There SCR is a sensible and maybe in view of future legislation only choice. A key problem of this choice, is that for small engines, typically the available space for the SCR is limited and leads to a strongly reduced storage capability of the catalyst. Some of the features of a small system render a purely data based approach feasible as system dynamics are faster and phenomenon like storage are less pronounced. Thus in this work a black box modeling approach is presented and combined with an NMPC strategy for closed loop SCR control. The proposed control strategy is validated in simulation and experiments on a testbench. © 2016

关键词： Selective catalytic reduction Digital storage Engines Hybrid vehicles Nitrogen oxides After treatment control strategies Data based model Exhaust aftertreatment Light duty engines Modeling and control Range extenders Storage capability

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Approximate optimal control by inverse CLF approach

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IFAC-PapersOnLine 2015年第11 11期48卷 286-291页

作者： Rohrweck, Hannes Schwarzgruber, Thomas del Re, Luigi Institute for Design and Control of mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

This paper presents an approach to approximate the solution of the infinite horizon optimal control problem for a class of nonlinear systems. Instead of finding an approximate solution of the Hamilton-Jacobi-Bellman (HJB) equation for a given system and cost functional, a control lyapunov function (CLF) is constructed, that solves an optimal control problem for the same system but for a different and a-priori unknown cost-function. By adapting the CLF in an appropriate way, the inverse cost-function approximates the desired cost-function and therefore the found solution approximates the optimal solution. This approach does not only approximate the solution of the original optimal control problem, but it delivers the exact solution of a similar optimal control problem for the very same system. © 2015

关键词： Inverse problems Cost functions Costs Couplings Lyapunov functions Optimal control systems Approximate solution control Lyapunov function Cost functionals Hamilton Jacobi Bellman equations Infinite horizons Optimal control problem Optimal controls Optimal solutions

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Incorporation of robustness properties into the observer based anti-windup scheme in the case of actuator uncertainties

Incorporation of robustness properties into the observer bas...

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作者： Bruckner, Martin Del Re, Luigi Institute for Design and Control of Mechatronical Systems Austria

ISBN: (纸本)9781424474264

Saturation is a very common nonlinearity in control systems and may produce serious performance deterioration or even loss of stability. To cope with saturation, several anti-windup (AW) schemes have been developed over a long time. Unfortunately, they are based on the assumption that there is a static nonlinearity between the output of the controller and the plant input, which, in many situations, is not the case, because of an actuator dynamics. Against this background we provide a design procedure for the design of the AW-compensator that guarantee stability of the observer based anti-windup to face unmodeled actuator dynamics and guarantee a certain level of performance. This mixed performance method is later extended for systems with unmeasurable actuator outputs by the use of an unknown input observer (UIO). The effectiveness of the presented algorithm is demonstrated on an engine test-bench simulator. © 2010 AACC.

关键词： Actuators

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Robust approximate tracking of matched disturbance non - control affine systems

Robust approximate tracking of matched disturbance non - Con...

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作者： Ortner, P. Gruenbacher, E. Del Re, L. Institute for Design and Control of Mechatronical Systems Austria

ISBN: (纸本)9783902661425

In this paper we discuss the problem of trajectory tracking of non control affine nonlinear systems. The main idea is to approximate the non control affine system by a special class of nonlinear systems, the so called extended Hammerstein systems (EHS). The control afine dynamic part of the EHS is computed such that an optimal control problem and therefore the robustifying feedback part of the tracking controller is already solved in the transformation process. Therefore no positive definite solution of the HJE needs to be computed since it gets a design parameter. The resulting system is then controlled by a trajectory tracking algorithm which ensures robustness against input disturbances and system uncertainties as well. A simulation example shows the efficiency of the proposed method.

关键词： Nonlinear systems

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Dynamic Full Range Input Shaping of Injection Parameters for Reduction of Transient NOx Emissions

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IFAC-PapersOnLine 2017年第1期50卷 3726-3731页

作者： Großbichler M. Schmied R. Waschl H. Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria

For modern passenger car Diesel engines strong limitations on emissions, due to legislation, require large efforts in combustion and aftertreatment control. This control problem is mainly approached by an intensive stationary calibration process and dynamic compensation techniques. However, large differences in combustion conditions between steady state, as used for calibration, and real transient maneuvers, such as tip-ins, can lead to undesired emission peaks. Against this background, the present work adapts a previously introduced input shaping strategy for injection parameters, such that it is applicable in the full engine operation range. Different to the former approach, the shape of the correction profile is determined directly from identified local models of the selected injection parameters to the NOx response. By using local linear models it is possible to consider variations in the system dynamics and parameterize the input shapers in an automated fashion. Additionally this approach can be applied together with a state of the art engine control, since it does not need a change in the base calibration. The improved strategy is evaluated on a passenger car Diesel engine and it is shown that a reduction of the undesired NOx overshoot can be achieved without impacting other performance indicators. © 2017

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On-line Maneuver Identification in Highway Traffic Using Elastic Template Matching⁎

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IFAC-PapersOnLine 2018年第15期51卷 557-562页

作者： Tkachenko, Pavlo Zhou, Jinwei Gagliardi, Davide del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Altenberger Strasse 69 LinzA-4040 Austria

Early identification and interpretation of traffic maneuvers will become key elements of modern driver assistance systems. Currently, only simple traffic situations can be detected by using a decision tree (DT) procedure in most cases. Even though this approach is straightforward, it still requires an expert to build a different DT for every maneuver. Moreover, for complex driving behaviours such simple logic identification does not work. In the present work we develop a template (or pattern) matching (TM) algorithm for maneuver recognition in highway traffic with a particular focus on a cut-in maneuver. By using maneuver patterns we are able to consider scenarios of arbitrary complexity and make the identification procedure more systematic and with minimal man expert involvement. The key element of the proposed TM algorithm is the settlement of a distance measure. We use dynamic time warping (DTW) method for an optimal non-linear alignment between two sequences under certain restrictions. It enables a correct assignment of the same maneuver but having different dynamics (speed, aggressiveness, etc.), and is robust to data with missing values. We illustrate the proposed method by cut-in detection from real traffic data and compare it to the standard DT identification. © 2018

关键词： Template matching

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Model based Diesel Injection Profile Optimization to Reduce Transient Soot Peaks

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IFAC-PapersOnLine 2018年第31期51卷 219-224页

作者： Großbichler, Martin Polterauer, Philipp Zhang, Zhen Waschl, Harald Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria AVL Commercial Driveline & Tractor Engineering GmbH Austria

To meet current legislation limits, modern Diesel engines achieve low raw emission levels and utilize complex aftertreatment systems. Still, during fast transients undesired emission peaks may occur for both soot and NOx. These are caused by deviations in the in-cylinder conditions between the quasi steady engine calibration and the transient operation, e.g. during tip-ins. In this work a case study is performed to analyze the potential reduction of transient soot emissions during a specified engine maneuver. An additional target is to investigate potential benefits of a novel in-situ soot sensor based on the Laser Induced Incandescence (LII) principle which offers a high temporal resolution. Measurement data from a Diesel engine is used to develop time varying setpoint deviation models which will be utilized in a numerical optimization problem to determine an optimized injection profile. The modeling and optimization is carried out in parallel for both sensors and results are compared against each other. In the experimental validation the optimized injection profiles were capable of reducing undesired overshoots during transients with minimal impact on the torque response. Furthermore, the novel sensor allows to gain additional insights in the relation between input parameters and soot response, which is reflected by the obtained models and control action. © 2018

关键词： Diesel engines Dust Engine cylinders Ignition Laws and legislation Optimization Soot Combustion control Compression ignition Engine control Experimental validations High temporal resolution Laser induced incandescence Modeling and optimization Numerical optimizations

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Evaluation of impact on pollution of a linear HEV optimal control strategy by engine-in-the-loop simulation

Evaluation of impact on pollution of a linear HEV optimal co...

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7th IFAC Symposium on Advances in Automotive control, AAC 2013

作者： Reig, A. Del Re, L. Institute for Design and Control of Mechatronical Systems Kepler University Linz Austria

ISBN: (纸本)9783902823434

The key motivation for Hybrid Electric Vehicles (HEV) is fuel consumption optimisation, but the impact of their control strategies on emissions can be very strong, both positive and negative. Indeed, the Energy Management Problem (EMP) in HEVs consists in optimally splitting power demands among the available energy sources (i.e. batteries and fuel) such that consumption and/or emissions are minimised. While fuel consumption minimisation has been widely studied, simple map-based emissions simulations which assume a quasi-static engine behaviour have been mostly used for emission assessment. This tends to underestimate emissions, and can be particularly wrong in the case of switching strategies, as for most automatic engine Start and Stop systems, but also for optimal solutions arising from the fuel efficiency minimisation problem solved by minimisation of the total energy costs. This paper proposes an Engine-in-the-Loop-based HEV model for optimal control strategies evaluation which does not require emissions and fuel consumption models for the evaluation. For this purpose, a dynamic forwards (i.e. causal) non-linear power train is modelled, calibrated with dynamic measurements from corresponding production vehicle. Then, a real engine is placed within the simulation, allowing to measure pollutants and fuel consumption directly from test bench sensors. Thus, a real-time capable simplified linear HEV control strategy is evaluated with real driving cycles as well as o-ine methods like dynamic programming for benchmarking purposes. The effect of optimally solving the fuel minimisation EMP on pollutant emissions is also considered and evaluated for different scenarios.

关键词： Engines

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