Equivalent circuit models for batteries are commonly used in electric vehicle battery management systems to estimate state of charge and other important latent variables. They are computationally inexpensive, but suffer from a loss of accuracy over the full range of conditions that may be experienced in real-life. One reason for this is that the model parameters, such as internal resistance, change over the lifetime of the battery due to degradation. However, estimating long term changes is challenging, because parameters also change with state of charge and other variables. To address this, we modelled the internal resistance parameter as a function of state of charge and degradation using a Gaussian process (GP). This was performed computationally efficiently using an algorithm [1] that interprets a GP to be the solution of a linear time-invariant stochastic differential equation. As a result, inference of the posterior distribution of the GP scales as 𝒪(n) and can be implemented recursively using a Kalman filter.
{"title":"Combining Non-Parametric and Parametric Models for Stable and Computationally Efficient Battery Health Estimation","authors":"A. Aitio, D. Howey","doi":"10.1115/DSCC2020-3180","DOIUrl":"https://doi.org/10.1115/DSCC2020-3180","url":null,"abstract":"\u0000 Equivalent circuit models for batteries are commonly used in electric vehicle battery management systems to estimate state of charge and other important latent variables. They are computationally inexpensive, but suffer from a loss of accuracy over the full range of conditions that may be experienced in real-life. One reason for this is that the model parameters, such as internal resistance, change over the lifetime of the battery due to degradation. However, estimating long term changes is challenging, because parameters also change with state of charge and other variables. To address this, we modelled the internal resistance parameter as a function of state of charge and degradation using a Gaussian process (GP). This was performed computationally efficiently using an algorithm [1] that interprets a GP to be the solution of a linear time-invariant stochastic differential equation. As a result, inference of the posterior distribution of the GP scales as 𝒪(n) and can be implemented recursively using a Kalman filter.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"34 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2020-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74053925","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}
Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.
{"title":"Model Reference Control With Command Shaping for a Micro-Electromagnetic Actuator With Input Constraints","authors":"Gerald Eaglin, J. Vaughan","doi":"10.1115/dscc2019-9162","DOIUrl":"https://doi.org/10.1115/dscc2019-9162","url":null,"abstract":"\u0000 Model Reference Control is used to force a system to track the response of an assigned reference model, where the reference model is often designed to reflect the desired properties of the system. If a linear reference model is used, Model Reference Control has a linearizing effect for nonlinear plants, allowing it to be cascaded with linear controllers. Model Reference Control has been used to force nonlinear flexible systems to behave linearly such that input shaping can be used to limit residual vibration. However, when a system encounters saturation limits, the vibration limiting property of input shaping is degraded. This paper proposes Model Reference Control with an adaptive input shaping method to account for saturation by modifying the input shaper after saturation has been encountered. Simulations are presented to illustrate the effectiveness of this method in canceling residual vibration for a nonlinear electromagnetic actuator subject to input constraints.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"20 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78679705","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}
The kinetic energy of a mass traveling in the horizontal direction can be fully transformed into potential energy using an elastica as a temporary storage element. This problem, which resembles the sport of pole-vaulting, is investigated using a non-dimensional framework and by solving the ensuing two-point boundary problem. Dimensional studies are conducted with the objective of better understanding the role of the mass of the vaulter, modeled here as the mass attached to the elastica, and torque applied by the vaulter, modeled here as external torque on the elastica, on vaulting performance. Simulation results indicate better vaulting performance, as indicated by higher non-dimensional potential energy, for lower mass and higher torque.
{"title":"Kinetic to Potential Energy Transformation Using an Elastica","authors":"Sheryl Chau, R. Mukherjee","doi":"10.1115/dscc2019-8929","DOIUrl":"https://doi.org/10.1115/dscc2019-8929","url":null,"abstract":"\u0000 The kinetic energy of a mass traveling in the horizontal direction can be fully transformed into potential energy using an elastica as a temporary storage element. This problem, which resembles the sport of pole-vaulting, is investigated using a non-dimensional framework and by solving the ensuing two-point boundary problem. Dimensional studies are conducted with the objective of better understanding the role of the mass of the vaulter, modeled here as the mass attached to the elastica, and torque applied by the vaulter, modeled here as external torque on the elastica, on vaulting performance. Simulation results indicate better vaulting performance, as indicated by higher non-dimensional potential energy, for lower mass and higher torque.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"108 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81430314","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}
Mohamed Toub, M. Shahbakhti, R. Robinett, G. Aniba
Building heat, ventilation and air conditioning (HVAC) systems are good candidates for demand response (DR) programs as they can flexibly alter their consumption to provide ancillary services to the grid and contribute to frequency and voltage regulation. One of the major ancillary services is the load following demand response (DR) program where the demand side tries to track a DR load profile required by the grid. This paper presents a real-time Model Predictive Control (MPC) framework for optimal operations of a micro-scale concentrated solar power (MicroCSP) system integrated into an office building HVAC system providing ancillary services to the grid. To decrease the energy cost of the building, the designed MPC exploits, along with the flexibility of the building’s HVAC system, the dispatching capabilities of the MicroCSP with thermal energy storage (TES) in order to control the power flow in the building and respond to the DR incentives sent by the grid. The results show the effect of incentives in the building participation to the load following DR program in the presence of a MicroCSP system and to what extent this participation is affected by seasonal weather variations and dynamic pricing.
{"title":"Model Predictive Control of Micro-CSP Integrated Into a Building HVAC System for Load Following Demand Response Programs","authors":"Mohamed Toub, M. Shahbakhti, R. Robinett, G. Aniba","doi":"10.1115/dscc2019-9106","DOIUrl":"https://doi.org/10.1115/dscc2019-9106","url":null,"abstract":"\u0000 Building heat, ventilation and air conditioning (HVAC) systems are good candidates for demand response (DR) programs as they can flexibly alter their consumption to provide ancillary services to the grid and contribute to frequency and voltage regulation. One of the major ancillary services is the load following demand response (DR) program where the demand side tries to track a DR load profile required by the grid. This paper presents a real-time Model Predictive Control (MPC) framework for optimal operations of a micro-scale concentrated solar power (MicroCSP) system integrated into an office building HVAC system providing ancillary services to the grid. To decrease the energy cost of the building, the designed MPC exploits, along with the flexibility of the building’s HVAC system, the dispatching capabilities of the MicroCSP with thermal energy storage (TES) in order to control the power flow in the building and respond to the DR incentives sent by the grid. The results show the effect of incentives in the building participation to the load following DR program in the presence of a MicroCSP system and to what extent this participation is affected by seasonal weather variations and dynamic pricing.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"35 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85377117","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}
Ayaz Siddiqui, P. Ramaprabhu, Joe Deese, C. Vermillion
In this paper, we present a combined flight dynamic, control system, and wake interaction model for an array (farm) of tethered energy systems, assessing the response of the array to a turbulent incoming flow field. The model presented herein constitutes the most detailed farm-level dynamic model for tethered energy systems to-date. In particular, the model accounts for more realistic approximations of tether dynamics and added mass effects, while characterizing the ability to control the system through both tethers and control surfaces. Focusing on a specific design and array geometry for ocean current energy harvesting, we analyze the dynamic performance of the array under a turbulent flow field that is representative of the turbulent environment in the Gulf Stream. We perform a frequency domain analysis of individual tethered systems in order to better understand the attenuation properties of the modeled system.
{"title":"Flight Dynamics and Control of a Farm of Tethered Energy Systems in a Turbulent Field","authors":"Ayaz Siddiqui, P. Ramaprabhu, Joe Deese, C. Vermillion","doi":"10.1115/dscc2019-9168","DOIUrl":"https://doi.org/10.1115/dscc2019-9168","url":null,"abstract":"\u0000 In this paper, we present a combined flight dynamic, control system, and wake interaction model for an array (farm) of tethered energy systems, assessing the response of the array to a turbulent incoming flow field. The model presented herein constitutes the most detailed farm-level dynamic model for tethered energy systems to-date. In particular, the model accounts for more realistic approximations of tether dynamics and added mass effects, while characterizing the ability to control the system through both tethers and control surfaces. Focusing on a specific design and array geometry for ocean current energy harvesting, we analyze the dynamic performance of the array under a turbulent flow field that is representative of the turbulent environment in the Gulf Stream. We perform a frequency domain analysis of individual tethered systems in order to better understand the attenuation properties of the modeled system.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"73 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75449103","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}
Helene Nguewou-Hyousse, William L. Scott, D. Paley
During crawling, a caterpillar body stretches and bends, and a wave repeatedly travels from the tail to the head. Recently, caterpillar locomotion has been modeled using the theory of planar discrete elastic rods (PDER). This work takes a similar modeling approach and introduces feedback control laws with communication between neighboring segments. Caterpillar locomotion is modeled first as a network of spring-mass-dampers connected through nearest neighbor interactions and then as a network of linked torsional springs. Feedback laws are designed to achieve consensus and traveling wave solutions. Simulation results show the displacement of each segment of a caterpillar during locomotion. These results show promise for the design of feedback control laws in a network model of soft robotic systems.
{"title":"Distributed Control of a Planar Discrete Elastic Rod Model for Caterpillar-Inspired Locomotion","authors":"Helene Nguewou-Hyousse, William L. Scott, D. Paley","doi":"10.1115/dscc2019-9220","DOIUrl":"https://doi.org/10.1115/dscc2019-9220","url":null,"abstract":"\u0000 During crawling, a caterpillar body stretches and bends, and a wave repeatedly travels from the tail to the head. Recently, caterpillar locomotion has been modeled using the theory of planar discrete elastic rods (PDER). This work takes a similar modeling approach and introduces feedback control laws with communication between neighboring segments. Caterpillar locomotion is modeled first as a network of spring-mass-dampers connected through nearest neighbor interactions and then as a network of linked torsional springs. Feedback laws are designed to achieve consensus and traveling wave solutions. Simulation results show the displacement of each segment of a caterpillar during locomotion. These results show promise for the design of feedback control laws in a network model of soft robotic systems.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"40 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82016873","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}
Lane keeping control of the single track vehicle model with linear tire characteristics is analyzed in the presence of time delay. In order to compensate time delay, the predictor control approach called finite spectrum assignment is applied. This controller uses an internal model of the plant to predict current system states in spite of the time delay. The predictions are based on a simplified version of the vehicle model, neglecting tire dynamics. The predictive control approach is compared with traditional feedback control using analytically derived stability maps and numerical simulations. Robustness to parameter mismatches and numerical issues related to the implementation of the control law are also analyzed.
{"title":"Lane Keeping Control Using Finite Spectrum Assignment With Modeling Errors","authors":"Illés Vörös, Balázs Várszegi, D. Takács","doi":"10.1115/dscc2019-8960","DOIUrl":"https://doi.org/10.1115/dscc2019-8960","url":null,"abstract":"\u0000 Lane keeping control of the single track vehicle model with linear tire characteristics is analyzed in the presence of time delay. In order to compensate time delay, the predictor control approach called finite spectrum assignment is applied. This controller uses an internal model of the plant to predict current system states in spite of the time delay. The predictions are based on a simplified version of the vehicle model, neglecting tire dynamics. The predictive control approach is compared with traditional feedback control using analytically derived stability maps and numerical simulations. Robustness to parameter mismatches and numerical issues related to the implementation of the control law are also analyzed.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"16 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74777886","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}
In this paper we introduce the Generalized Contact Control Framework (GCCF) implemented on a compliant robotic manipulator. We demonstrate that the combined joint compliance and GCCF-based compliance control enable the completion of complex contact tasks in uncertain environments, where complex refers to the need to meet different contact force requirements involving multiple steps and output axes. Operating in uncertain environments means limited knowledge of the location or material properties of contact objects. The demonstrated tasks include opening a pill bottle and rigidly connecting to a purely mechanical tool changer. The GCCF simplifies the definition and modification of contact control parameters and allows for on-the-fly definition and completion of new tasks. Unlike hybrid force/impedance controllers, we do not need to define large damping and stiffness matrices, and we decouple the joint level control gains from the compliance control. The result is a robotic manipulator that can dynamically switch between unconstrained motion and contact tasks and provides a lot of versatility to perform a wide variety of tasks.
{"title":"Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies","authors":"Adam Pettinger, M. Pryor","doi":"10.1115/dscc2019-9062","DOIUrl":"https://doi.org/10.1115/dscc2019-9062","url":null,"abstract":"\u0000 In this paper we introduce the Generalized Contact Control Framework (GCCF) implemented on a compliant robotic manipulator. We demonstrate that the combined joint compliance and GCCF-based compliance control enable the completion of complex contact tasks in uncertain environments, where complex refers to the need to meet different contact force requirements involving multiple steps and output axes. Operating in uncertain environments means limited knowledge of the location or material properties of contact objects. The demonstrated tasks include opening a pill bottle and rigidly connecting to a purely mechanical tool changer. The GCCF simplifies the definition and modification of contact control parameters and allows for on-the-fly definition and completion of new tasks. Unlike hybrid force/impedance controllers, we do not need to define large damping and stiffness matrices, and we decouple the joint level control gains from the compliance control. The result is a robotic manipulator that can dynamically switch between unconstrained motion and contact tasks and provides a lot of versatility to perform a wide variety of tasks.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"36 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82622564","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}
Publisher’s Note: This paper was selected for publication in ASME Letters in Dynamic Systems and Control. https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046961/1082714/Multiple-Scale-Analysis-of-a-Tunable-Bi-Stable
{"title":"Multiple-Scale Analysis of a Novel Piezoelectric Energy Harvester With a Tunable Potential Function","authors":"Feng Qian, N. Abaid, L. Zuo","doi":"10.1115/dscc2019-9091","DOIUrl":"https://doi.org/10.1115/dscc2019-9091","url":null,"abstract":"\u0000 Publisher’s Note:\u0000 This paper was selected for publication in ASME Letters in Dynamic Systems and Control.\u0000 https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046961/1082714/Multiple-Scale-Analysis-of-a-Tunable-Bi-Stable","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"28 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76615077","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}
Inspired by nature, continuum robots show their potential in human-centered environments due to the compliant-to-obstacle features and dexterous mobility. However, there are few such robots successfully implemented outside the laboratory so far. One reason is believed to be due to the real time control challenge for soft robots, which require a highly efficient, highly accurate dynamic model. This paper presents a new systematic methodology to formulate the dynamics of constant curvature continuum robots. The new approach builds on several new techniques: 1) using the virtual work principle to formulate the equation of motion, 2) using specifically selected kinematic representations to separate integral variables from the non-integral variables, and 3) using vector representations to put the integral in a compact form. By doing so, the hard-to-solve integrals are evaluated analytically in advance and the accurate inverse dynamics are established accordingly. Numerical simulations are conducted to evaluate the performances of the newly proposed model.
{"title":"A New Approach to Model Constant Curvature Continuum Robot Dynamics","authors":"Yujiong Liu, P. Ben-Tzvi","doi":"10.1115/dscc2019-8999","DOIUrl":"https://doi.org/10.1115/dscc2019-8999","url":null,"abstract":"\u0000 Inspired by nature, continuum robots show their potential in human-centered environments due to the compliant-to-obstacle features and dexterous mobility. However, there are few such robots successfully implemented outside the laboratory so far. One reason is believed to be due to the real time control challenge for soft robots, which require a highly efficient, highly accurate dynamic model. This paper presents a new systematic methodology to formulate the dynamics of constant curvature continuum robots. The new approach builds on several new techniques: 1) using the virtual work principle to formulate the equation of motion, 2) using specifically selected kinematic representations to separate integral variables from the non-integral variables, and 3) using vector representations to put the integral in a compact form. By doing so, the hard-to-solve integrals are evaluated analytically in advance and the accurate inverse dynamics are established accordingly. Numerical simulations are conducted to evaluate the performances of the newly proposed model.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"8 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84212558","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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