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Realtime-capable FE-based railway catenary emulation via pantograph test rig impedance control

IFAC-PapersOnLine 2017年第1期50卷 8636-8641页

作者： Aschauer G. Schirrer A. Kozek M. Jakubek S. Institute of Mechanics and Mechatronics Division of Control and Process Automation Technische Universität Wien Getreidemarkt 9/325-A5 Vienna A-1060 Austria

This work shows novel results of emulating railway catenary dynamics on a test rig for pantograph testing in order to provide for virtual test rides of railway pantograph current collectors under laboratory conditions. A realtime-capable finite-element model of a railway catenary is formulated efficiently in moving coordinates. An advanced test rig impedance control architecture is adopted for the finite-element model structure, and detailed simulations of an existing full-size pantograph test rig are carried out. The high fidelity of the realtime catenary model as well as the emulation performance of the closed-loop test rig setup in contact with a pantograph model provides promising results for the future implementation of the simulation/control architecture on the test rig hardware. © 2017

关键词： distributed-parameter systems finite elements Impedance control partial differential equations predictive control railways

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Integrated input-output selection strategy for robust control of complex parameter varying systems 10

Integrated input-output selection strategy for robust contro...

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10th International Conference on Motion and Vibration control, MOVIC 2010

作者： Hemedi, Mark Schirrer, Alexander Westermayer, Christian Kozek, Martin Division of Control and Process Automation Institute for Mechanics and Mechatronics Vienna Technical University Wiedner Hauptstrasse 8 A-1040 Vienna Austria

The selection of optimal inputs and outputs from larger candidate sets is an important prerequisite for an effective robust control application. This is especially true for active damping of complex and high-dimensional multi-input multi-output systems (MIMO) with flexible modes. Existing optimal selection strategies are commonly based on a single nominal system model and cannot explicitly consider parameter variations in the system. Consequently, an optimal selection for the nominal plant may perform poorly for a different parameter setting or even render the perturbed closed-loop system unstable. The proposed integrated input-output (I/O) selection strategy overcomes this problem by explicitly considering a set of systems covering the range of parameter variation. It is structured in three consecutive selection steps, where only the subset of accepted candidates is fed into the subsequent selection;thus, it is also computationally efficient. An additional advantage is a quantitative ranking of the final candidates, which enables the control engineer to make an optimal I/O choice. The method is illustrated by a flexible beam example as well as at a blended wing-body passenger aircraft model. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Flexible structures

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Comparison of LQ-optimal actuator / sensor selection approaches for flexible structure systems

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AIP Conference Proceedings 2012年第1期1493卷 459-466页

作者： Mark Hemedi Alexander Schirrer Martin Kozek Vienna University of Technology Institute of Mechanics and Mechatronics Division of Control and Process Automation Austria

In active control of flexible structures, the optimal selection of actuating andmeasurement positions on the structure is a prerequisite to enable effective control design. This paper compares two selection onsets based on the LQG control problem formulation. Although the two selection onsets differ considerably in their idea, it is shown at a classical bending beam example that they produce consistent results. The methods’ characteristics are discussed and outlined, providing a guideline for their applicability in practice. The first onset, published in [11], utilizes the LQG formalism and efficient tuning parameter search to design tuned LQG controllers for each candidate actuator / sensor. Thereby, a normalized performance index can be formulated which reflects the efficiency of actuation / measurement. This very general onset has been shown to produce reliable results in numerically challenging industrial problems and is easily extended to sets of linearized systems of nonlinear plants. The strategy presented in [3] reformulates the LQG design problem into a sensor (actuator) cost minimization problem subject to LMI constraints which implement the corresponding Riccati equations and coupling conditions. A numeric example for this method is given in the present paper for the first time which shows strong discrimination of non-optimal actuator / sensor positions. Both methods are compared at a bending beam input selection task, highlighting each method’s major advantages and limitations.

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Neural network predictive trajectory tracking of an autonomous two-wheeled mobile robot

Neural network predictive trajectory tracking of an autonomo...

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作者： Seyr, Martin Jakubek, Stefan Novak, Gregor Institute of Mechanics and Mechatronics Div. of Control and Process Automation TU Vienna Austria Institute for Computer Technology TU Vienna Austria

ISBN: (纸本)008045108X

As a prerequisite for precise trajectory tracking of a two-wheeled mobile robot, accurate control of the velocity and the curvature along a predefined trajectory is vital. After offline training, a neural network is used for nonlinear predictive control. To make the system more robust against modeling inaccuracies and other disturbance influences, the control error is integrated and used to adjust the control variables calculated by the predictor. Copyright © 2005 IFAC.

关键词： Neural networks

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Predictive Battery Cooling in Heavy-Duty Fuel Cell Electric Vehicles

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IFAC-PapersOnLine 2022年第24期55卷 304-310页

作者： Banu Ç Büyüker Alessandro Ferrara Christoph Hametner Institute of Mechanics and Mechatronics Division of Process Control and Automation TU Wien Vienna Austria

In electric vehicles, it is essential to prevent battery overheating due to excessive ohmic losses or inadequate cooling. Indeed, the temperature of battery systems significantly impacts their performance, lifetime, and safety. This paper proposes a predictive cooling optimization method for the battery thermal management system of heavy-duty fuel cell electric vehicles. The predictive cooling strategy is based on a model predictive control (MPC) formulation to maintain the battery temperature in its optimal range (to increase efficiency) and avoid high-temperature peaks (to increase lifetime and safety). The predictive thermal management relies on the ohmic losses forecast provided by a predictive energy management system. Simulations of a real-world driving cycle validate the proposed MPC and assess the impact of the predictive horizon length, which is critical for thermal management performance. The comparison against a simple hysteresis control strategy highlights the significant benefits of the proposed MPC for higher battery efficiency and lifetime.

关键词： Battery Thermal Management System Fuel Cell Electric Vehicles Model Predictive control Predictive Cooling Strategies Battery Thermal Model

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Implementation of model predictive control in an industrial continuous annealing furnace

Implementation of model predictive control in an industrial ...

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13th IASTED International Conference on control and Applications, CA 2011

作者： Bitschnau, Lukas Kozek, Martin Jakubek, Stefan Leeber, Florian Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna University of Technology Vienna Austria Divison Metals Andritz AG Eibesbrunnergasse 20 Vienna Austria

ISBN: (纸本)9780889868724

This paper presents a successful implementation of a model predictive controller (MPC) in an continuous annealing furnace, based on a compact process model with few physical parameters. The complete furnace structure, including the conveyed strip, the heater elements, and the thermal effects of the cladding, is therefore described by a discrete state space model of low order. To ensure stability of the discretized process model a physically motivated sufficient stability criterion is presented. For state estimation, an efficient Kalman filter algorithm is introduced. A model based predictive controller, which also respect considers process constraints, is customized to the special application of the continuous annealing furnace. Experimental results demonstrate the effective industrial implementation and the potential of constrained model based predictive control.

关键词： Stability criteria

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An advanced criterion for optimal actuator and sensor placement on complex flexible structures

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IFAC Proceedings Volumes 2009年第2期42卷 114-119页

作者： Christian Westermayer Alexander Schirrer Mark Hemedi Martin Kozek Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Vienna Austria

In a comprehensive control design approach for flexible mechanic structures, such as lightweight vehicles or aircraft, a vital decision is the positioning and design of actuators and sensors for the control tasks. This paper proposes an optimal placement approach that exploits the special structure of flexible mechanical systems and incorporates controllability/observability based measures as well as further knowledge on actuator and sensor properties. It combines the advantages of state of the art positioning criteria such that a balance between low and high frequency modes is assured and at the same time applicability to complex systems in arbitrary system coordinates is guaranteed. These essential properties are illustrated on a clamped beam. The controlled system is studied in terms of the generalized plant description, as it is common in robust control design. Thus it serves as natural extension to the controller design process later on and enables comprehensive control design optimization at an early stage.

关键词： active control robust control optimal actuator placement optimal sensor placement modal system representation vibration damping

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Predictive Battery Cooling in Heavy-Duty Fuel Cell Electric Vehicles 10th

Predictive Battery Cooling in Heavy-Duty Fuel Cell Electric ...

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10th IFAC Symposium on Advances in Automotive control, AAC 2022

作者： Büyüker, Banu Ç. Ferrara, Alessandro Hametner, Christoph Institute of Mechanics and Mechatronics Division of Process Control and Automation TU Wien Vienna Austria Christian Doppler Laboratory for Innovative Control and Monitoring of Automotive Powertrain Systems TU Wien Vienna Austria

关键词： Model predictive control

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Co-simulation as effective method for flexible structure vibration control design validation and optimization

Co-simulation as effective method for flexible structure vib...

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Mediterranean Conference on control and automation (MED)

作者： A. Schirrer M. Kozek Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna Austria

In control problems of complex dynamical systems the controller design is usually carried out on order-reduced and otherwise simplified models. This is done to keep the controller complexity manageably low or to ease the application of computationally expensive design methods. If the model reduction was carried out carefully, the resulting controllers will perform equally well on the original, complex system, but this has to be verified by suitable tests and simulations. In this paper, the use of co-simulation for effective and efficient verification and validation of the control design and its performance is proposed. The term co-simulation refers to the parallel simulation of complementary computation tasks, which run synchronized and exchange process data. Here we consider the simulation-based verification and optimization of a vibration control system for metro rail vehicle car bodies, so the two computation tasks are the control algorithm and a multi-body dynamics simulation. The control system uses structure strain sensors and piezoelectric actuators to introduce force / moment pairs into the car body structure. The goal is to minimize the vertical accelerations at performance measurement positions, thereby maximizing passenger ride comfort. Using co-simulation as a system validation tool, the control design methodology including actuator placement and model reduction could be validated and the actuator positioning could be optimized. This yielded outstanding improvements in passenger ride comfort for the considered class of vehicles with a state-of-the-art control approach.

关键词： automation Conferences

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Performance evaluation of an input/output selection criterion via normalized LQG closed-loop comparison

Performance evaluation of an input/output selection criterio...

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Mediterranean Conference on control and automation (MED)

作者： M. Hemedi A. Schirrer C. Westermayer M. Kozek Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna Austria

One essential task in control system design is the optimal selection of inputs and outputs (I/O). In this paper a new concept for solving the I/O selection problem is proposed. It is based on normalized comparison of LQG closed loops, which are designed for each potential actuator/sensor separately. The LQG controller is iteratively tuned to obtain a prescribed and fixed value of a suitable system norm quantity. The proposed placement criterion is applied to flexible structures and demonstrated for an academic example and for a large-scale blended-wing-body (BWB) passenger aircraft pre-design model. Comparison to a state-of-the-art open-loop I/O selection method from literature verifies the proposed approach, but also shows that the closed-loop approach provides additional system insight and highly flexible applicability.

关键词： control systems Optimal control Flexible structures Automatic control Actuators Open loop systems Design automation Aircraft controllability Observability

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