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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

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

ISBN: (纸本)9783902823625

To deal with the demanding goals of the restricted Diesel emission legislation the focus in the application of exhaust after treatment systems to fulfill these strict requirements moves more and more to model based design, optimization and control. Against this background a nonlinear model predictive control (MPC) for an exhaust after treatment system consisting of a DOC (Diesel oxidation catalyst), a DPF (Diesel particulate filter) and a SCR (selective catalytic reduction) is proposed. Similar to standard ammonia control schemes also in this study the dosing amount is the only adjustable input variable. But in contrast to these usually simple feed forward dosing approaches in this proposal also information about the nonlinear temperature behavior and the storage effects of the SCR -included in a nonlinear SCR model - can be considered for the ammonia control. Based on these improved knowledge of the system a nonlinear model predictive controller, also applicable for real time tests on the engine, is applied for SCR control leading to promising results in simulation. © IFAC.

关键词： Selective catalytic reduction

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Cooperative Adaptive Cruise control Applying Stochastic Linear Model Predictive control Strategies

Cooperative Adaptive Cruise Control Applying Stochastic Line...

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European control Conference

作者： Dominik Moser Harald Waschl Harald Kirchsteiger Roman Schmied Luigi del Re Institute for Design and Control of Mechatronical Systems at the Johannes Kepler University of Linz

ISBN: (纸本)9781467371605

In this paper a cooperative adaptive cruise control approach using stochastic, linear model predictive control strategies is presented. The presented approach deals with an urban traffic environment where vehicle to vehicle and vehicle to infrastructure communication systems are available. The goal is the minimization of a vehicle's fuel consumption in a vehicle-following scenario. This is achieved by minimizing a piecewise linear approximation of the vehicle's fuel consumption map. By means of a conditional Gaussian model the probability distribution of the upcoming velocity of the preceding vehicle is estimated based on current measurements and upcoming traffic light signals. The predicted distribution function of the predecessor's velocity is used in two ways for stochastic model predictive control. On the one hand, individual chance constraints are introduced and subsequently reformulated to obtain an equivalent deterministic model predictive control problem. On the other hand, samples are drawn from the prediction model and used for a randomized optimization approach. Finally, the two developed stochastic control strategies are evaluated and compared against a deterministic model predictive control approach by means of a virtual traffic simulation. The evaluation of the controllers show a significant reduction of the fuel consumption compared to the predecessor while increasing safety and driving comfort.

关键词： vehicle Fuel consumption Predictive control control strategy Adaptive cruise control ride comfort CRUISE control Traffic lights linear models Traffic simulation Electric current measurement Stochastic distributed model predictive control nonlinear model predictive control Model predictive control

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Validation of a virtual control oriented cylinder selective soot sensor

Validation of a virtual control oriented cylinder selective ...

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Conference of the Society of Instrument and control Engineers of Japan

作者： Zhen Zhang Stephan Stadlbauer Richard Fuerhapter Luigi del Re Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz

ISBN: (纸本)9781479985845

The improved steady state performance of engine control and aftertreatment makes the transient contribution to the total emissions increasingly important. As several control mechanism, e.g. the exhaust recirculation, are set for all cylinders at a time, misbalancing represents a practical limit to the achievable emission control. This paper tackles both issues at a time using a virtual soot sensor. The virtual soot sensor is based on piecewise principal components analysis (PCA) of the in-cylinder pressure measurements and on their representation by a polynomial structure which has been proposed in a previous work. The peaks detected by sensor during transient working condition cannot be confirmed as standard PM or soot measurement systems are too slow. In this paper we use an in-situ laser induced incandescence (LII) system to provide a fast soot reference and to validate the performance of the virtual soot sensor. The results confirm the ability of the proposed virtual sensor to recognize soot changes - also between individual cylinders - with sufficient speed without requiring any additional hardware.

关键词： Particulate Matter Soot model Transient emission Fast soot measurement LII

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A novel tuning approach for offset-free MPC

A novel tuning approach for offset-free MPC

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European control Conference (ECC)

作者： Harald Waschl John Bagterp Jørgensen Jakob Kjøbsted Huusom Luigi del Re Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria DTU Compute Technical University of Denmark Denmark Department of Chemical and Biochemical Engineering Technical University of Denmark Denmark

Since the beginnings in the chemical and process industry, model based predictive control strategies have become widely accepted. Often mentioned success factors for MPC are the use of optimization based on a plant model, the consideration of constraints, and an intuitive tuning. Indeed, if a nominal plant and overall objective are known, the tuning can become straightforward. However, as soon as disturbances have to be taken into account, the tuning effort increases and becomes less intuitive. Against this background, a novel strategy to address the issues with unknown disturbances is proposed. The idea is to separate the nominal tuning process and extend the control by an outer loop, which ensures offset-free control. The inner, nominal loop decouples the system and essentially leads to a first order response. This inner loop addresses the performance targets in the nominal case, and the outer loop provides offset-free control in case of unknown disturbances. The outer loop consists of feedback controllers adapting the reference, which due to the decoupling can be tuned by known guidelines. The proposed strategy is presented and evaluated using a simulated case study.

关键词： Tuning Optimization Linear programming Kalman filters Standards Steady-state Process control

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Approximating the time optimal solution for accessible unknown systems by learning using a virtual output 19

Approximating the time optimal solution for accessible unkno...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Trogmann, Hannes Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

ISBN: (纸本)9783902823625

Time optimal control of systems with bounded inputs is a numerically awkward problem as essentially a whole trajectory has to be designed on the basis of a single final point at unknown time. Analytical solutions are possible only for very few problems, in general numerical techniques will be needed, which, in view of the non convexity of the associated optimization problem, will typically converge to a local minimum. In case of an unknown but experimentally accessible nonlinear system, such a solution cannot be found numerically, but a learning algorithm has been proposed which typically converges to a solution not far from the optimal one. However, as in the case of numerical computations, no guarantee of global optimality can be given. In the numerical case, different randomization techniques can be used to ascertain the existence of better solutions, e.g. by choosing different initial conditions. This is more difficult in the case of an experimental method for unknown systems, but this paper proposes an approach based on virtual outputs (linear combination of measurable states) for the same goal which is shown to work in a classical problem of counterintuitive time optimal control - the fastest climbing of a plane. © IFAC.

关键词： Aircraft control

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A PCA-based modeling approach for estimation of road-tire forces by in-tire accelerometers 19

A PCA-based modeling approach for estimation of road-tire fo...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Krier, David Zanardo, Gabriele S. Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

ISBN: (纸本)9783902823625

The knowledge of the forces acting between tire and road is crucial for modern vehicle control systems. Typically, such forces are estimated on the basis of indirect measurements and rely on complex mathematical models. Sensors embedded in the tire (e.g. accelerometers) offer the possibility of directly reaching the area of the tire-road interaction, and of delivering signals during the wheel rotation. Such signals reflect the tire state and the force exchanged between tire and road. In this paper an innovative approach to estimate such forces is presented. It exploits the signal delivered during the wheel rotation by an accelerometer glued to the inner side of the tire tread. The approach consists in processing the signal by means of the Principal Component Analysis (PCA). The results of experimental activities employing a real vehicle provide evidence to support the feasibility and the soundness of the proposed approach. © IFAC.

关键词： Principal component analysis

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control design for a multi input single output hydraulic cylinder system 19

Control design for a multi input single output hydraulic cyl...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Schwarzgruber, Thomas Passenbrunner, Thomas Ernst Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz4040 Austria

ISBN: (纸本)9783902823625

This work discusses several approaches to the multi input, single output problem in hydraulic control. The multi input problem arises from the fact, that the actuator force in a hydraulic cylinder is the result of a combination of two pressure states, which is not uniquely defined. With each individual pressure state there may be associated a subsystem with a control input. To achieve a desired actuator force there are inifinitely many combinations of pressure values possible, and it is therefore unclear how to chose the tracking reference values for the pressure subsystems. Secondary objectives are defined, with time optimality of the step response of the subsystems being one of them, that can be used to solve the multi input problem by treating it as an optimization problem. The practical implications of the optimal solutions are discussed and a new solution is proposed, motivated by the results of the optimization problems. The proposed solution is used to develop a backstepping control for a hydraulic multi input single output system, and its performance is shown in simulation. © IFAC.

关键词： Hydraulic actuators

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NO/NO2 Ratio based NH3 control of a SCR

NO/NO2 Ratio based NH3 Control of a SCR

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SAE 2014 World Congress and Exhibition

作者： Stadlbauer, Stephan Waschl, Harald Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Altenbergerstr 69 A-4040 Linz Austria

The emissions of modern Diesel engines, which are known to have various health effects, are beside the drivers torque demands and low fuel consumptions one of the most challenging issues for combustion and after treatment control. To comply with legal requirements, emission control for heavy duty engines is not feasible without additional hardware, usually consisting of a Diesel oxidation catalyst (DOC), a Diesel particulate filter (DPF) and a selective catalytic reduction (SCR) system. In contrast to other NOx reduction systems, e.g. lean NOx traps, the SCR system requires an additional ingredient, namely ammonia (NH3), to reduce the NOx emissions to non harmful components. Consequently, the correct amount of NH 3 dosing in the SCR catalyst is one of the critical components to reach high conversion rates and avoid ammonia slip. Against this background and in contrast to existing proposals in which the NH3 dosing is often calculated based on a NOx emission sensor, this work presents a strategy to adopt the set point estimation of the NH3 dosing, based on a virtual NOx sensor extended by a virtual DOC model. On basis of that structure the NO/NO2 ratio and the NOx mass flow entering the SCR is estimated and accordingly the correct dosing amount of ammonia. Furthermore a model predictive controller - including the set point calculation, calibrated with a SCR model and the feedback from a NH3 sensor at the outlet of the SCR - is developed and tested in simulation on a dynamical driving cycle. To validate the advantages of the NO/NO2 value estimation for the SCR control the methods are compared in different aspects like the conversion efficiency and the NH3 slip for dynamical load changes. Copyright © 2014 SAE International.

关键词： Selective catalytic reduction

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Predictive Cooperative Adaptive Cruise control: Fuel Consumption Benefits and Implementability

Predictive Cooperative Adaptive Cruise Control: Fuel Consump...

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Optimization and Optimal control in Automotive systems: workshop organized by the Austrian Center of Competence in Mechatronics, ACCM 2013

作者： Lang, Dominik Stanger, Thomas Schmied, Roman del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Altenberger Straße 69 4040 Linz Austria

ISBN: (纸本)9783319053707

Impressive improvements of efficiency and safety of vehicles have been achieved over the last decade, but increasing traffic density and drivers' age accentuate the need of further improvements. The contributions summarized in this chapter argue that a substantial additional fuel benefit can be achieved by extending the well introduced Adaptive Cruise control in a predictive sense, e.g. taking into account a predicted behavior of other traffic components. This chapter starts by discussing results on the potential benefits in the ideal case (full information, no limits on computing power) and then examines how much of the potential benefits is retained if approximate solutions are used to cope with a realistic situation, with limited information and computing power. Two setups are considered: vehicles exchanging a small set of simple data over a V2V link and the case of mixed traffic, in which some vehicles will not provide any information, but the information must be obtained by a probabilistic estimator. The outcome of these considerations is that the approach is able to provide-statistically-a substantial fuel consumption benefit without affecting negatively the driveability or the driver comfort like other methods, e.g. platooning, would. © Springer International Publishing Switzerland 2014.

关键词： Vehicles

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SCR Ammonia Dosing control by a Nonlinear Model Predictive controller

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IFAC Proceedings Volumes 2014年第3期47卷 3018-3023页

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

To deal with the demanding goals of the restricted Diesel emission legislation the focus in the application of exhaust after treatment systems to fulfill these strict requirements moves more and more to model based design, optimization and control. Against this background a nonlinear model predictive control (MPC) for an exhaust after treatment system consisting of a DOC (Diesel oxidation catalyst), a DPF (Diesel particulate filter) and a SCR (selective catalytic reduction) is proposed. Similar to standard ammonia control schemes also in this study the dosing amount is the only adjustable input variable. But in contrast to these usually simple feed forward dosing approaches in this proposal also information about the nonlinear temperature behavior and the storage effects of the SCR - included in a nonlinear SCR model - can be considered for the ammonia control. Based on these improved knowledge of the system a nonlinear model predictive controller, also applicable for real time tests on the engine, is applied for SCR control leading to promising results in simulation.

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