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12th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2010

作者： Németh, Balázs Gáspár, Péter Szabó, Zoltán Bokor, József Band, Olivier Sename Dugard, Luc Systems and Control Laboratory Computer and Automation Research Institute BudapestH-1111 Hungary Laboratoire D'Automatique de Grenoble CNRS-INPG GrenobleF-38402 France

ISBN: (纸本)9789633130582

The paper presents the design of an integrated vehicle tracking system which includes power-Train, active suspension, brake and steering components. The purpose of the research is to design an integrated vehicle control system with the aim of keeping the distance from a leader vehicle and tracking the yaw motion. First, a model of a vehicle which handles the effects of road irregularities and aerodynamic forces is formalized. Then an integrated vehicle tracking system based on a robust control method is designed. Since in the controller several actuators work in cooperation, a balance must be achieved between them. The operation of the controlled system is illustrated through simulation examples.

关键词： Robust control

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On acceleration of traffic flow

On acceleration of traffic flow

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International IEEE Conference on Intelligent Transportation systems

作者： Luspay, T. Kulcsár, B. Varga, I. Zegeye, S.K. De Schutter, B. Verhaegen, M. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences 1111 Kende u 14-17 Budapest Hungary Delf Center for Systems and Control Delf University of Technology Mekelweg 2 2628 CD Delf Netherlands

ISBN: (纸本)9781424476572

The paper contributes to the derivation and analysis of accelerations in freeway traffic flow models. First, a solution based on fluid dynamics and on pure mathematical manipulations is given to express accelerations. The continuous-time acceleration is then approximated by a discrete-time equivalent. By applying continues time microscopic and macroscopic traffic flow velocity definitions, spatial and material derivatives are used to describe the continuous-time and exact changes in the velocity vector field. A forward-difference Euler method is proposed to discretize the acceleration both in time and space. For applicability purposes the use of average quantities is proposed. The finite-difference approximation by space-mean speed is shown to be consistent, and its solution is convergent to the original continuous-time form. As an alternative, the acceleration obtained from a second-order macroscopic freeway model by means of physical interpretation [1] is analyzed and found to be an appropriate discrete approximations. Comparative remarks as well as future research questions conclude the paper. ©201 0 IEEE.

关键词： Flow velocity

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Road conditions in the design of vehicle speed control using the LPV method

Road conditions in the design of vehicle speed control using...

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Mediterranean Conference on control and automation (MED)

作者： Balázs Németh Péter Gáspár Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

The paper focuses on the design of a new adaptive cruise control which takes into consideration the knowledge of the inclinations of the road along the track of the vehicle. The controlled system incorporates the brake and the traction forces. By choosing the velocity of the vehicle fitting in with the inclinations of the road the number of unnecessary accelerations and brakes can be reduced, thus so can the operations of the actuators of the vehicles, i.e. the powertrain and the brake system. The longitudinal dynamics of the vehicle is formulated in a control-oriented linear model, which contains the longitudinal control force and disturbances such as the aerodynamic force, rolling resistance and road slope. If the inclination of the road surface is assumed to be known, it is considered in the calculation of the velocity tracking and the reference velocity. In the model the nonlinear properties of the predicted road inclinations are considered together with the safety requirements. The control system is designed by using LPV/ℋ ∞ control theory. The operation of the method is demonstrated through simulation examples in Matlab/Simulink and CarSim environments.

关键词： Vehicles Roads Force Mathematical model control design Aerodynamics Engines

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Considering predicted road conditions in vehicle control design using H∞ method

Considering predicted road conditions in vehicle control des...

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作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902661722

The paper focuses on the design of a velocity control system which takes into consideration the knowledge of the predicted inclinations of the road along the track of the vehicle. By using this velocity control it is possible to reduce the operations of the actuators, i.e. the powertrain and the brake system. The longitudinal dynamics of the vehicle is formulated in a simplifed control-oriented model, which contains the longitudinal control force and disturbances such as aerodynamic force, rolling resistance and road slope. If the inclination of the road surface is assumed to be known, it is considered in the calculation of the velocity tracking or the reference velocity. The design of the velocity tracking system is based on the H∞ control theory. In order to take into consideration the efects of dynamic disturbances and sensor noises weighting functions of quality performances in the controlled system are designed. The operation of the method is demonstrated through simulation examples in Matlab/Simulink and CarSim environments. © 2010 IFAC.

关键词： Robust control

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Identifiability of a Hodgkin-Huxley type ion channel under voltage step measurement conditions

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IFAC Proceedings Volumes 2010年第5期43卷 332-337页

作者： D. Csercsik Gábor Szederkényi Katalin M. Hangos Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

In this paper, we analyze the identifiability properties of a Hodgkin-Huxley (HH) type voltage dependent ion channel model under voltage clamp circumstances. The elimination of the differential variables is performed, and the identifiability of various parameters is analyzed using the differential algebra approach and the algorithm based on the Taylor series expansion of the output. It is shown that the model is structurally non-identifiable using certain commonly applied parametrizations, and hidden dependences between physical parameters are unravelled. Using the results of the identifiability analysis, physically meaningful examples are shown when the model parameters are different but the system outputs are identical.

关键词： Modeling and Identification control Applications in Biological Processes

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Computing reaction kinetic realizations of positive nonlinear systems using mixed integer programming

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IFAC Proceedings Volumes 2010年第14期43卷 981-986页

作者： Gábor Szederkényi Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute (MTA-SZTAKI) Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

The reaction kinetic realizations of nonnegative polynomial systems are studied in this paper. It is briefly reviewed that a wide class of positive systems can be written in or simply transformed to kinetic form. Based on the structure of kinetic realizations, valuable information can be obtained about the dynamical properties of the investigated systems using the results of chemical reaction network theory (CRNT). Since the realizations of a given system can have many different structures, mixed integer linear programming is used to generate the ones with required properties (i.e. the minimal/maximal number of reactions or complexes).

关键词： nonlinear systems positive systems chemical reaction networks mixed integer optimization

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Brake control using a prediction method to reduce rollover risk

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International Journal of Vehicle Autonomous systems 2010年第2-4期8卷 126-145页

作者： Gáspár, P. Szabó, Z. Bokor, J. Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

In this paper an active brake control for reducing the rollover risk of heavy vehicles is proposed. The brake system is activated only when the vehicle comes close to rolling over. A parameter dependent gain is applied to the normalised lateral load transfer, since the brake is activated when it has reached the critical value. The control design is based on the Linear Parameter Varying (LPV) model of yaw-roll dynamics of heavy vehicles. In the control design both the performance demands and the model uncertainties are taken into consideration. In order to enhance the performance of the active brake, this mechanism is extended with a prediction procedure, in which the critical values are predicted in advance using a short time interval. The control mechanism is demonstrated in vehicle manoeuvres. Copyright © 2010 Inderscience Enterprises Ltd.

关键词： Robust control

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On acceleration of traffic flow

On acceleration of traffic flow

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International Conference on Intelligent Transportation

作者： T. Luspay B. Kulcsár I. Varga S.K. Zegeye B. De Schutter M. Verhaegen Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Systems and Control Laboratory Hungarian Academy of Sciences Budapest Hungary Delft Center for Systems and Control University of Technology Delft The Netherlands

The paper contributes to the derivation and analysis of accelerations in freeway traffic flow models. First, a solution based on fluid dynamics and on pure mathematical manipulations is given to express accelerations. The continuous-time acceleration is then approximated by a discrete-time equivalent. By applying continues time microscopic and macroscopic traffic flow velocity definitions, spatial and material derivatives are used to describe the continuous-time and exact changes in the velocity vector field. A forward-difference Euler method is proposed to discretized the acceleration both in time and space. For applicability purposes the use of average quantities is proposed. The finite-difference approximation by space-mean speed is shown to be consistent, and its solution is convergent to the original continuous-time form. As an alternative, the acceleration obtained from a second-order macroscopic freeway model by means of physical interpretation [1] is analyzed and found to be an appropriate discrete approximations. Comparative remarks as well as future research questions conclude the paper.

关键词： Acceleration

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Design of integrated control for road vehicles using LPV methods

Design of integrated control for road vehicles using LPV met...

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Mediterranean Conference on control and automation (MED)

作者： Péter Gáspár Zoltán Szabó József Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary Systems and Control Laboratory Hungarian Academy of Sciences Hungary Hungarian Academy of Sciences Budapest University of Technology and Economics

The aim of the paper is to present a multi-layer supervisory architecture for the design and development of integrated control systems in road vehicles. The performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor. Since monitoring components and the FDI filters provide the supervisor with information about the various vehicle maneuvers and the different fault operations, it is able to make decisions about the necessary interventions into the vehicle motions and guarantee the reconfigurable and fault-tolerant operation of the vehicle. The advantage of this architecture is that local controllers are designed independently provided that the monitoring and fault signals are taken into consideration in the formalization of their performance specifications. The design of local controllers are based on LPV methods.

关键词： Vehicles Suspensions Actuators Monitoring Roads Bars Stability analysis

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Vehicle modeling for integrated control design

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Periodica Polytechnica Transportation Engineering 2010年第1期38卷 45-51页

作者： Németh, Balázs Gáspár, Péter Department of Control and Transport Automation BME Bertalan L. u. 2. H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute MTA Kende u. 13-17 H-1111 Budapest Hungary

This paper comprises the control-oriented modeling of an integrated vehicle system including powertrain, brake, active suspension and steering components. As the first step, the models of a vehicle are formalized. In the powertrain model the nonlinearities of an engine with thermodynamical and fluid mechanical features are considered. In the model of suspension the dynamics of sprung mass (body) and unsprung masses (e.g., wheels) are considered. In the brake system the necessary hydraulic pressure required for the desired brake power is determined. The pressure fluctuation arising from the skewness of brake disc during the rotation is distributed. The mechanical construction of electronic steering system is also dealt with. The model of the vehicle handles the effects of road and wind disturbances. Matlab/Simulink, CarSim and GT-Suite GT-Power are used during the simulations. Matlab/Simulink is a perfect tool for control design and a fast analysis of the operation of the controlled system. CarSim is a widely used vehicle dynamic simulator used wide-spread;GT-Power is a complex powertrain modeling program. Both are used for validating Matlab models. © Periodica Polytechnica 2010.

关键词： Simulink

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