Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158732
M. Mousavi, B. Boulet
A seamless two-speed transmission that incorporates a two-stage planetary gear set with common sun and common ring gears and two braking mechanisms to control the flow of power is introduced. For an electric vehicle equipped with such a transmission, a detailed dynamical model of the driveline including the half shaft stiffness and longitudinal vehicle dynamics is derived by exploiting the torque balance and virtual work principle. A deterministic Luenberger observer and a stochastic Kalman-Bucy filter are designed to estimate the unmeasured states. These observers estimate the speed of the sun and ring gears and the input and output torques of the transmission based on the measured speeds of the electric motor and the vehicle. Due to nonlinearities in the system such as the longitudinal vehicle dynamics, nonlinear observer methods generally apply for the observer design. However, the nonlinearities are only function of measurable states. Hence, using linear output injection to design an observer results in linear error dynamics. Therefore, the nonlinear observer design problem is transformed into the design of an observer for a linear system. The simulation and experimental results are presented to verify and compare the performance of the deterministic Luenberger estimator with stochastic Kalman-Bucy filter when the system encounters noise.
{"title":"Dynamical modeling and optimal state estimation using Kalman-Bucy filter for a seamless two-speed transmission for electric vehicles","authors":"M. Mousavi, B. Boulet","doi":"10.1109/MED.2015.7158732","DOIUrl":"https://doi.org/10.1109/MED.2015.7158732","url":null,"abstract":"A seamless two-speed transmission that incorporates a two-stage planetary gear set with common sun and common ring gears and two braking mechanisms to control the flow of power is introduced. For an electric vehicle equipped with such a transmission, a detailed dynamical model of the driveline including the half shaft stiffness and longitudinal vehicle dynamics is derived by exploiting the torque balance and virtual work principle. A deterministic Luenberger observer and a stochastic Kalman-Bucy filter are designed to estimate the unmeasured states. These observers estimate the speed of the sun and ring gears and the input and output torques of the transmission based on the measured speeds of the electric motor and the vehicle. Due to nonlinearities in the system such as the longitudinal vehicle dynamics, nonlinear observer methods generally apply for the observer design. However, the nonlinearities are only function of measurable states. Hence, using linear output injection to design an observer results in linear error dynamics. Therefore, the nonlinear observer design problem is transformed into the design of an observer for a linear system. The simulation and experimental results are presented to verify and compare the performance of the deterministic Luenberger estimator with stochastic Kalman-Bucy filter when the system encounters noise.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129680575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158725
S. Vera, J. A. Cobano, D. Alejo, G. Heredia, A. Ollero
This paper presents an optimal conflict resolution method for multiple unmanned aerial vehicles based on pseudospectral collocation which solves numerically optimal control problems by using non-linear programming. The trajectory of each aerial vehicle is defined by a set of waypoints and the time of arrival at each waypoint. The maneuvers allowed to solve the conflicts are the changes of speed of each aerial vehicle. A novel aspect is the application of this kind of methods to multiple aerial vehicles. The main characteristic of the method is the low execution time in the addressed problem. Moreover, the scalability of the proposed method is studied and the execution time is compared with another optimal solver. Several simulations in different scenarios are performed to test the behavior of the method.
{"title":"Optimal conflict resolution for multiple UAVs using pseudospectral collocation","authors":"S. Vera, J. A. Cobano, D. Alejo, G. Heredia, A. Ollero","doi":"10.1109/MED.2015.7158725","DOIUrl":"https://doi.org/10.1109/MED.2015.7158725","url":null,"abstract":"This paper presents an optimal conflict resolution method for multiple unmanned aerial vehicles based on pseudospectral collocation which solves numerically optimal control problems by using non-linear programming. The trajectory of each aerial vehicle is defined by a set of waypoints and the time of arrival at each waypoint. The maneuvers allowed to solve the conflicts are the changes of speed of each aerial vehicle. A novel aspect is the application of this kind of methods to multiple aerial vehicles. The main characteristic of the method is the low execution time in the addressed problem. Moreover, the scalability of the proposed method is studied and the execution time is compared with another optimal solver. Several simulations in different scenarios are performed to test the behavior of the method.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130671306","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158832
Gregor L. Stein, Jan Strubel, U. Konigorski
In this contribution parameterizations of constant state feedback controllers are given that assign the closed-loop eigenvalues of a linear system to predefined locations and encompass, besides the degrees of freedom due to the controller, freedom in the choice of system parameters. These parameterizations are subsequently used in an optimization procedure in order to simultaneously obtain a controller and assign the degrees of freedom available in system design for robust and minimum gain eigenvalue assignment.
{"title":"A robust eigenvalue assignment approach to integrated system and control design","authors":"Gregor L. Stein, Jan Strubel, U. Konigorski","doi":"10.1109/MED.2015.7158832","DOIUrl":"https://doi.org/10.1109/MED.2015.7158832","url":null,"abstract":"In this contribution parameterizations of constant state feedback controllers are given that assign the closed-loop eigenvalues of a linear system to predefined locations and encompass, besides the degrees of freedom due to the controller, freedom in the choice of system parameters. These parameterizations are subsequently used in an optimization procedure in order to simultaneously obtain a controller and assign the degrees of freedom available in system design for robust and minimum gain eigenvalue assignment.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133989666","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158764
P. Dost, C. Sourkounis
A modulation strategy for an active rectifier is discussed in this paper. It is designed for an inverter which is structurally based on the topology of the rectifier stage in an indirect matrix converter. This modulation strategy is based on a carrier signal whilst the switching frequency remains variable within a certain range. The switching frequency is dependent on the input value for the inverter output voltage. This modulation strategy allows easy set-up of the output voltage within a wide range and with that allows the use of energy storage systems which demand high flexibility. This Modulation scheme allows a reduction of switching processes depending on the working point while it remains based on the underlying PWM signal. The implementation of this strategy is illustrated in this paper as well as simulation results which demonstrate the variance in the switching frequency.
{"title":"PWM based modulation strategy with variable switching frequency for an active rectifier stage with flexible DC-voltage output","authors":"P. Dost, C. Sourkounis","doi":"10.1109/MED.2015.7158764","DOIUrl":"https://doi.org/10.1109/MED.2015.7158764","url":null,"abstract":"A modulation strategy for an active rectifier is discussed in this paper. It is designed for an inverter which is structurally based on the topology of the rectifier stage in an indirect matrix converter. This modulation strategy is based on a carrier signal whilst the switching frequency remains variable within a certain range. The switching frequency is dependent on the input value for the inverter output voltage. This modulation strategy allows easy set-up of the output voltage within a wide range and with that allows the use of energy storage systems which demand high flexibility. This Modulation scheme allows a reduction of switching processes depending on the working point while it remains based on the underlying PWM signal. The implementation of this strategy is illustrated in this paper as well as simulation results which demonstrate the variance in the switching frequency.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131328723","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158786
D. Dochain, H. MacLean
This paper presents a simple mass balance model for plant growth. This basis is in the development of a model intended to enable the prediction and control of a plant production chamber for MELiSSA, a regenerative life support system project developed by the ESA. Photosynthesis and respiration have been selected as key reactions for biomass production. Considering these reactions, the model was developed using a mass balance approach. Reaction kinetics were chosen based on plant physiology and standard biochemical reaction knowledge. The identification and validation of yield and kinetic parameters were performed using data from lettuce and beet experiments in a closed plant chamber. Although the model adequately predicts plant growth, the oxygen prediction can be improved by considering two stages on the basis of the photosynthetic quotient.
{"title":"Identification of simple mass balance models for plant growth - evolving yields and incorporating developmental stages","authors":"D. Dochain, H. MacLean","doi":"10.1109/MED.2015.7158786","DOIUrl":"https://doi.org/10.1109/MED.2015.7158786","url":null,"abstract":"This paper presents a simple mass balance model for plant growth. This basis is in the development of a model intended to enable the prediction and control of a plant production chamber for MELiSSA, a regenerative life support system project developed by the ESA. Photosynthesis and respiration have been selected as key reactions for biomass production. Considering these reactions, the model was developed using a mass balance approach. Reaction kinetics were chosen based on plant physiology and standard biochemical reaction knowledge. The identification and validation of yield and kinetic parameters were performed using data from lettuce and beet experiments in a closed plant chamber. Although the model adequately predicts plant growth, the oxygen prediction can be improved by considering two stages on the basis of the photosynthetic quotient.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"157 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113990718","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158894
Xiang-Gui Guo, Jianliang Wang, F. Liao
This paper studies the distributed non-fragile H∞ consensus problems for linear multi-agent systems with external disturbances and unknown initial disturbances under switching weighted balanced directed topologies. The designed controllers are insensitive to multiplicative controller coefficient variations. Sufficient conditions for the existence of the proposed control strategy are also obtained by using linear matrix inequality (LMI) technique. It is worth mentioning that instead of requiring the coupling strength among neighboring agents to be larger than a threshold value as in previous literature, the coupling strength in this paper can be determined by solving some LMIs. Finally, a numerical example is presented to show the effectiveness of the proposed method.
{"title":"Non-fragile H∞ consensus of linear multi-agent systems with interval-bounded variations","authors":"Xiang-Gui Guo, Jianliang Wang, F. Liao","doi":"10.1109/MED.2015.7158894","DOIUrl":"https://doi.org/10.1109/MED.2015.7158894","url":null,"abstract":"This paper studies the distributed non-fragile H∞ consensus problems for linear multi-agent systems with external disturbances and unknown initial disturbances under switching weighted balanced directed topologies. The designed controllers are insensitive to multiplicative controller coefficient variations. Sufficient conditions for the existence of the proposed control strategy are also obtained by using linear matrix inequality (LMI) technique. It is worth mentioning that instead of requiring the coupling strength among neighboring agents to be larger than a threshold value as in previous literature, the coupling strength in this paper can be determined by solving some LMIs. Finally, a numerical example is presented to show the effectiveness of the proposed method.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"273 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116058731","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158918
Deniz Engules, Murat Hot, Baran Alikoc
This paper presents the state-space modeling and control of a coupled-tank liquid level system. Observed-state feedback controller via eigenvalue assignment and LQG control are designed in discrete-time and implemented by an industrial controller PLC. Both control design methods are augmented with integral action for a reference tracking without steady-state error for step inputs. The aim of the study is to examine the control performances of the methods subject to reference tracking, noise attenuation, disturbance rejection. The experimental results are presented and discussed for this purpose.
{"title":"Level control of a coupled-tank system via eigenvalue assignment and LQG control","authors":"Deniz Engules, Murat Hot, Baran Alikoc","doi":"10.1109/MED.2015.7158918","DOIUrl":"https://doi.org/10.1109/MED.2015.7158918","url":null,"abstract":"This paper presents the state-space modeling and control of a coupled-tank liquid level system. Observed-state feedback controller via eigenvalue assignment and LQG control are designed in discrete-time and implemented by an industrial controller PLC. Both control design methods are augmented with integral action for a reference tracking without steady-state error for step inputs. The aim of the study is to examine the control performances of the methods subject to reference tracking, noise attenuation, disturbance rejection. The experimental results are presented and discussed for this purpose.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116284183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158750
D. Sauter, J. Yamé, C. Aubrun, F. Hamelin
In this paper, fault adaptive control is developed for building Heating Ventilation and Air Conditioning (HVAC) systems. That is, the control system parameters and objective functions are adapted/reconfigured in the presence of a fault or performance deviation by means of an intermediate reconfigurable control layer. It allows maintaining building and HVAC operation within its specified energy and comfort performance requirements when a mechanical or operational fault takes place, until the fault is corrected. An integrated design, composed of two levels, respectively fault diagnosis and reconfiguration mechanism is proposed to recover performances after fault occurrence. This approach is applied to a 3 zones building and simulation results are given to show its effectiveness.
{"title":"Design of fault isolation filter for control reconfiguration: Application to energy efficiency control in buildings","authors":"D. Sauter, J. Yamé, C. Aubrun, F. Hamelin","doi":"10.1109/MED.2015.7158750","DOIUrl":"https://doi.org/10.1109/MED.2015.7158750","url":null,"abstract":"In this paper, fault adaptive control is developed for building Heating Ventilation and Air Conditioning (HVAC) systems. That is, the control system parameters and objective functions are adapted/reconfigured in the presence of a fault or performance deviation by means of an intermediate reconfigurable control layer. It allows maintaining building and HVAC operation within its specified energy and comfort performance requirements when a mechanical or operational fault takes place, until the fault is corrected. An integrated design, composed of two levels, respectively fault diagnosis and reconfiguration mechanism is proposed to recover performances after fault occurrence. This approach is applied to a 3 zones building and simulation results are given to show its effectiveness.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128263264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158789
Mohamed Kebdani, G. Dauphin-Tanguy, A. Dazin, P. Dupont
The MPBL is an effective technology in terms of heat flow transport capacity: 10 MW.m, [2],with high level adaptability. A bond graph model of such a system is proposed in this paper. The model is dynamic, qualitative, configurable and pays particular attention to the dynamic of the transient regime. It aims at being a tool dedicated to designing the different components of a MPBL. It is also used for a physical analysis of the system in different operating conditions.
{"title":"Bond graph model of a mechanically Pumped Biphasic Loop. (MPBL).","authors":"Mohamed Kebdani, G. Dauphin-Tanguy, A. Dazin, P. Dupont","doi":"10.1109/MED.2015.7158789","DOIUrl":"https://doi.org/10.1109/MED.2015.7158789","url":null,"abstract":"The MPBL is an effective technology in terms of heat flow transport capacity: 10 MW.m, [2],with high level adaptability. A bond graph model of such a system is proposed in this paper. The model is dynamic, qualitative, configurable and pays particular attention to the dynamic of the transient regime. It aims at being a tool dedicated to designing the different components of a MPBL. It is also used for a physical analysis of the system in different operating conditions.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128647098","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158783
Z. Szabó, J. Bokor
While sensors play an important role in the control loop, in practice they often are considered to be a part of the plant and the explicit interaction between the plant and sensor is disregarded in the further considerations. Based on an input/output perspective, this paper investigates the internal stability property of the control loop when this interface is considered explicitly. As a main result of the paper, we provide a Youla type characterization of all the sensors that renders the loop stable for a fixed plant and controller.
{"title":"Sensor parametrization and the sensor group","authors":"Z. Szabó, J. Bokor","doi":"10.1109/MED.2015.7158783","DOIUrl":"https://doi.org/10.1109/MED.2015.7158783","url":null,"abstract":"While sensors play an important role in the control loop, in practice they often are considered to be a part of the plant and the explicit interaction between the plant and sensor is disregarded in the further considerations. Based on an input/output perspective, this paper investigates the internal stability property of the control loop when this interface is considered explicitly. As a main result of the paper, we provide a Youla type characterization of all the sensors that renders the loop stable for a fixed plant and controller.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133719860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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