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arXiv 2025年

作者： Meijer, Tomas J. Scheres, Koen J.A. Nouwens, Sven A.N. Dolk, Victor S. Heemels, W.P.M.H. Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

Willems’ fundamental lemma has recently received an impressive amount of attention from the (data-driven) control community. In this paper, we formulate a version of this celebrated result based on frequency-domain data. In doing so, we bridge the gap between recent developments in data-driven analysis and control, and the readily-available techniques and extensive expertise for non-parametric frequency-domain identification in academia and industry. In addition, we generalize our results to allow multiple frequency-domain data sets to be carefully combined to form a sufficiently rich data set. Building on these results, we propose a data-driven predictive control scheme based on measured frequency-domain data of the plant. This novel scheme provides a frequency-domain counterpart of the well-known data-enabled predictive control scheme DeePC based on time-domain data. We prove that, under appropriate conditions, the new frequency-domain data-driven predictive control (FreePC) scheme is equivalent to the corresponding DeePC scheme, and we demonstrate the benefits of FreePC and the use of frequency-domain data in a numerical case study. These benefits include the ability to collect data in closed loop with a pre-stabilizing controller, dealing with noisy data, without increasing computational complexity, and intuitively visualizing the uncertainty in the frequency-domain data. In addition, we further showcase the potential of our frequency-domain Willems’ fundamental lemma in applications to data-driven simulation, and the linear-quadratic regulator (LQR) problem. Finally, we show that our results can be used to evaluate the transfer function of the system at a desired frequency based on a finite amount of frequency-domain data. © 2025, CC BY-NC-ND.

关键词： Predictive control systems

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Cost-optimal Fleet Management Strategies for Solar-electric Autonomous Mobility-on-Demand systems

arXiv

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arXiv 2023年

作者： Paparella, Fabio Hofman, Theo Salazar, Mauro The Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands

This paper studies mobility systems that incorporate a substantial solar energy component, generated not only on the ground, but also through solar roofs installed on vehicles, directly covering a portion of their energy consumption. In particular, we focus on Solar-electric Autonomous Mobility-on-Demand systems, whereby solar-electric autonomous vehicles provide on-demand mobility, and optimize their operation in terms of serving passenger requests, charging and vehicle-to-grid (V2G) operations. We model this fleet management problem via directed acyclic graphs and parse it as a mixed-integer linear program that can be solved using off-the-shelf solvers. We showcase our framework in a case study of Gold Coast, Australia, analyzing the fleet’s optimal operation while accounting for electricity price fluctuations resulting from a significant integration of solar power in the total energy mix. We demonstrate that using a solar-electric fleet can reduce the total cost of operation of the fleet by 10-15% compared to an electric-only counterpart. Finally, we show that for V2G operations using vehicles with a larger battery size can significantly lower the operational costs of the fleet, overcompensating its higher energy consumption by trading larger volumes of energy and even accruing profits. Copyright © 2023, The Authors. All rights reserved.

关键词： Solar energy

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Robust Commutation design: Applied to Switched Reluctance Motors

arXiv

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arXiv 2024年

作者： van Meer, Max Witvoet, Gert Oomen, Tom The Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Netherlands The Department of Optomechatronics TNO Delft Netherlands The Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Switched Reluctance Motors (SRMs) are cost-effective electric actuators that utilize magnetic reluctance to generate torque, with torque ripple arising from unaccounted manufacturing defects in the rotor tooth geometry. This paper aims to design a versatile, resource-efficient commutation function for accurate control of a range of SRMs, mitigating torque ripple despite manufacturing variations across SRMs and individual rotor teeth. The developed commutation function optimally distributes current between coils by leveraging the variance in the torque-current-angle model and is designed with few parameters for easy integration on affordable hardware. Monte Carlo simulations and experimental results show a tracking error reduction of up to 31% and 11%, respectively. The developed approach is beneficial for applications using a single driver for multiple systems and those constrained by memory or modeling effort, providing an economical solution for improved tracking performance and reduced acoustic noise. © 2024, CC BY-NC-ND.

关键词： Cost effectiveness

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Time-optimal design and control of Electric Race Cars Equipped with Multi-speed Transmissions

Time-optimal Design and Control of Electric Race Cars Equipp...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Camiel Cartignij Mauro Salazar Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology (TU/e) Eindhoven The Netherlands

This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission (MGT), specifically accounting for discrete gearshift dynamics. We formulate the problem as a mixed-integer optimal control problem (MIOCP), and deal with its complexity by combining convex optimization and Pontryagin's Minimum Principle (PMP) in a computationally efficient iterative algorithm satisfying necessary conditions for optimality upon convergence. Finally, we leverage our framework to compute the achievable lap time of a race car equipped with a fixed-gear transmission (FGT), a continuously variable transmission (CVT) and an MGT with 2 to 4 speeds, revealing that an MGT can strike the best trade-off in terms of electric motor control, and transmission weight and efficiency, ultimately yielding the overall best lap time.

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Automated Model-Free Commutation for Coarse Pointing Actuators in Free-Space Optical Communication

Automated Model-Free Commutation for Coarse Pointing Actuato...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Max van Meer Kjell van Schie Gert Witvoet Tom Oomen Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology The Netherlands Department of Optomechatronics TNO Delft The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Switched Reluctance Motors (SRMs) are widely used for their simplicity and cost-effectiveness, for example, in coarse laser pointing for free-space optical (FSO) communication, with torque ripple being a challenge in their implementation. This paper introduces an automated, modelfree approach to minimize torque ripple in SRMs despite manufacturing variations. Using an extremum-seeking approach, the commutation parameters are adapted online to mitigate the position-dependent velocity ripple through gradient descent. Simulations show that the method’s effectiveness is consistent across different SRMs, rendering it applicable to mass production, and experimental results verify that torque ripple is almost entirely eliminated in several hours. The developed approach enables accurate SRM control with minimal expert knowledge, functioning as a crucial step toward their deployment in constellation projects for FSO communication.

关键词： Mass production Adaptation models Accuracy Free-space optical communication Commutation Switched reluctance motors Manufacturing

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Robust Commutation design: Applied to Switched Reluctance Motors

Robust Commutation Design: Applied to Switched Reluctance Mo...

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European control Conference (ECC)

作者： Max Van Meer Gert Witvoet Tom Oomen Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology The Netherlands Department of Optomechatronics TNO Delft The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

关键词： Geometry Torque Monte Carlo methods Commutation Rotors Magnetoacoustic effects Switched reluctance motors

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Identifying Lebesgue-sampled Continuous-time Impulse Response Models: A Kernel-based Approach

arXiv

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arXiv 2023年

作者： González, Rodrigo A. Tiels, Koen Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Netherlands Delft Center for Systems and Control Delft University of Technology Netherlands

control applications are increasingly sampled non-equidistantly in time, including in motion control, networked control, resource-aware control, and event-triggered control. Some of these applications use measurement devices that sample equidistantly in the amplitude domain. The aim of this paper is to develop a non-parametric estimator of the impulse response of continuous-time systems based on such sampling strategy, known as Lebesgue-sampling. To this end, kernel methods are developed to formulate an algorithm that adequately takes into account the output intersample behavior, which ultimately leads to more accurate models and more efficient output sampling compared to the standard approach. The efficacy of this method is demonstrated through a mass-spring damper case study. © 2023, CC BY-NC-ND.

关键词： Continuous time systems

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Entropy for incremental stability of nonlinear systems under disturbances

Entropy for incremental stability of nonlinear systems under...

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IEEE Conference on Decision and control

作者： Michelle S. Chong Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Entropy notions for ε-incremental practical stability and incremental stability of deterministic nonlinear systems under disturbances are introduced. The entropy notions are constructed via a set of points in state space which induces the desired stability properties, called an approximating set. We provide conditions on the system which ensures that the approximating set is finite. Lower and upper bounds for the two estimation entropies are computed. The construction of the finite approximating sets induces a robust state estimation algorithm for systems under disturbances using quantized and time-sampled measurements.

关键词： Upper bound Approximation algorithms Entropy Nonlinear systems State estimation

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Kernel-based identification using Lebesgue-sampled data

arXiv

引用

arXiv 2023年

作者： González, Rodrigo A. Tiels, Koen Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Sampling in control applications is increasingly done non-equidistantly in time. This includes applications in motion control, networked control, resource-aware control, and event-based control. Some of these applications, like the ones where displacement is tracked using incremental encoders, are driven by signals that are only measured when their values cross fixed thresholds in the amplitude domain. This paper introduces a non-parametric estimator of the impulse response and transfer function of continuous-time systems based on such amplitude-equidistant sampling strategy, known as Lebesgue sampling. To this end, kernel methods are developed to formulate an algorithm that adequately takes into account the bounded output uncertainty between the event timestamps, which ultimately leads to more accurate models and more efficient output sampling compared to the equidistantly-sampled kernel-based approach. The efficacy of our proposed method is demonstrated through a mass-spring damper example with encoder measurements and extensive Monte Carlo simulation studies on system benchmarks. © 2023, CC BY-NC-ND.

关键词： Impulse response

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A Two-dimensional Spatial Optimization Framework for Vehicle Powertrain systems

A Two-dimensional Spatial Optimization Framework for Vehicle...

引用

IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Jorn van Kampen Mauro Salazar Theo Hofman Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology (TU/e) Eind-hoven MB The Netherlands

This paper presents a modeling framework to optimize the two-dimensional placement of powertrain elements inside the vehicle, explicitly accounting for the rotation, relative placement and alignment. Specifically, we first capture the multi-level nature of the system mathematically, and construct a model that captures different powertrain component orientations. Second, we include the relative element placement as variables in the model and derive alignment constraints for both child components and parent subsystems to automatically connect mechanical ports. Finally, we showcase our framework on a four-wheel driven electric vehicle. Our results demonstrate that our framework is capable of efficiently generating system design solutions in a fully automated manner, only using basic component properties.

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