[电动汽车稳定性控制]履带车辆混合驱动系统自动化建模

Tracked vehicle hybrid drive system is a kind of electromechanical transmission system and equipment. In order to improve the efficiency of system design and modeling, an automated modeling method was proposed for a series-parallel tracked vehicle hybrid drive systems. Based on the modeling of a power combining device and a power convergent device, the automated modeling principles were illustrated and the automated modeling rules and the screening conditions were further proposed. Then the final model equation eliminated intermediate quantity was derived. With the automated modeling method, some tracked vehicle hybrid drive systems were modeled in Simulink to validate the method. The automated modeling processes were programmed. And as an application demonstration for the automated modeling, optimal configuration seeking was described. The results show the method may build the model and screening the configuration automatically, which is a powerful method for rapid and automated modeling of tracked vehicle hybrid drive systems.     

Improving the development of event-driven control systems in the batch processing industry. A case study

This paper presents the results of an academia-industry collaborative project whose main objective was to test novel techniques for the development of event-driven control systems in the batch processing (e.g., pharmaceutical, fine chemicals, food) industries. Proposed techniques build upon industrial standards and focus on (i) formal synthesis of phase control logic and its automatic translation into procedural code, and (ii) verification of the complete discrete-event control system via dynamic simulation. In order to test the techniques in an engineering environment, a complete discrete-event control system was produced for a benchmark batch process plant based on a standard development method employed by one of the industrial partners. The control system includes functional process specification, control architecture, distributed control system (DCS) proprietary programming code for procedural control at equipment, unit, and process cell levels, and human-machine interfaces: A technical assessment of the development method and the obtained control system was then carried out. Improvements were suggested using the proposed techniques in the specification, code generation and, verification steps. The project assessed the impact of these techniques from both an engineering and economic point of view. Results suggest that the introduction of computer aided engineering (CAE) practices based on the benchmarked techniques and a structured approach could effect a 75% reduction of errors produced in the development process. This translates into estimated overall savings of 7% for green-field projects. Figures were compared with other partners' experience. It is expected that the work load on a given project will shift, increasing the load on process engineers during the specification stage and decreasing the load on the software engineers during the code writing.     

基于建模误差PDF形状的间歇过程数据驱动模型

间歇过程的优化控制依赖于过程精确的数学模型,数据驱动的建模方法是目前间歇过程模型研究中的热点问题.突破传统数据驱动建模方法中采用均方差(mean squared error,MSE)作为准则函数的思想,提出一种新颖的间歇过程数据驱动建模方法,引入了概率密度函数(probability density function,PDF)控制的概念,构造间歇过程模型误差控制系统,将模型的可调参数作为控制系统的输入,模型误差PDF的形状作为控制系统的输出,从而把开环模型参数辨识问题转化为模型误差PDF形状的闭环控制问题.通过可调参数控制模型误差PDF的空间分布状态,不仅能够保障模型精度,还可控制模型误差的空间分布状态,从而消除模型中的有色噪声.仿真实验表明,基于模型误差PDF形状的间歇过程数据驱动模型具有较好的建模精度、鲁棒性和泛化能力,为间歇过程的数据驱动建模提供了一条新途径.     

Hybrid modeling for robust nonlinear multivariable control

This paper describes a hybrid modeling approach and compares it to classic linear dynamic models and nonlinear models. Particular attention is given to the performance of each type of model when embedded in a multivariable model predictive control system. The hybrid approach combines linear state-space model with a nonlinear neural network correction. Confidence computations are used to determine the amount of correction applied. The combined model is adapted online to address changes in process operating range. The hybrid structure offers several benefits from a control perspective. It is evolutionary, building on the rich theoretical foundation of linear model predictive control. It can model nonlinear processes. It adapts online. When compared to other linear and nonlinear modeling techniques for control purposes, it has several specific advantages that make it ideally suited to particular applications. These applications include modeling and controlling: nonlinear processes, processes with slowly changing inputs, processes with interacting variables, and small systems with fast cycle time requirements.     

MIMO model of an interacting series process for Robust MPC via System Identification

This paper discusses the empirical modeling using system identification technique with a focus on an interacting series process. The study is carried out experimentally using a gaseous pilot plant as the process, in which the dynamic of such a plant exhibits the typical dynamic of an interacting series process. Three practical approaches are investigated and their performances are evaluated. The models developed are also examined in real-time implementation of a linear model predictive control. The selected model is able to reproduce the main dynamic characteristics of the plant in open-loop and produces zero steady-state errors in closed-loop control system. Several issues concerning the identification process and the construction of a MIMO state space model for a series interacting process are deliberated.     

Design and implementation of an automatic material handling system in a batch production environment

This paper presents the problem definition and the related research activities on the modeling, simulation, design and implementation of an automatic material handling system in a batch production environment. The colored and timed Petri nets are used to model and simulate the automatic material handling system. The Petri net modeling and simulation enable the determination of the design parameters of an automatic guided vehicle and an automatic storage/ retrieval system, and also the estimation of the expected performance capability of the whole system. Finally, the whole system has been implemented for a specific batch production line. The comparison of the performance capability expected by the Petri net simulation and that measured from the real-time running of the whole system shows a good agreement.     

批流程制造执行系统及其过程建模研究

制造执行系统是一种面向车间层的管理与控制系统 ,而批流程制造执行则是面向车间层的批量管理与控制系统 ,作为连接上层经营控制和底层过程控制的桥梁 ,批流程制造执行系统起着产品控制的作用。在上下信息的集成上 ,它以过程模型为依托 ,以主配方的转化、控制配方的生成为主线 ,将相关的人、设备、物料等集入 ,对它们实行有效地跟踪与管理 ,达到了批流程车间生产管理与控制的一体化操作。过程模型作为实现批流程制造执行系统的“引擎” ,是保证实现有效批量管理与控制的基础 ,文中的过程建模方法增强了批流程企业面向动态产品的自适应能力 ,为动态地建立柔性的配方和柔性的流程线 ,实现敏捷的市场响应和更快的产品上市时间奠定了基础     

Object-oriented graphical modeling of FMSs

Presented in the article is a method for constructing a graphical model of an FMS by using a new modeling tool called JR-net (Job Resource relation-net). JR-net is an object-oriented graphical tool for modeling automated manufacturing systems (AMSs), such as FMSs, FASs, and AS/RSs. As with the object-oriented modeling paradigm of Rumbaugh et al. (1991), the JR-net modeling framework supports the three stages of models: static layout model (object model); job flow model (functional model); and supervisory control model (dynamic model). In this article, the existing JR-net structure (Park 1992, Han et al., 1995) is extended further to make it a graphical tool for FMS modeling. Using the extended JR-net, a step-by-step procedure for constructing a graphical model of FMSs is presented. Also addressed are issues of classifying FMSs in terms of their generic functions and of utilizing the JR-net model of FMSs.     

一种基于动态最近邻聚类算法RBF网络非线性系统复合控制器设计

针对RBF网络的设计难点,提出一种动态确定隐层节点数和聚类中心的新方法。并基于逆动力学的思想,提出一种RBF网络逆控制与PID控制相结合的在线自学习控制方案。辨识器采用RBF网络结构和动态最近邻聚类算法,实现了对系统逆动力学的动态辨识。并将辨识模型作为控制器模型,与被控对象串联,构成一个动态伪线性系统,从而使非线性对象的控制问题简化成线性对象的问题。仿真结果证明了该控制策略具有良好的动态跟踪性能和抗干扰能力,具有较强的鲁棒性。     

A hybrid approach to modeling and control of vehicle height for electronically controlled air suspension

The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.     

固体氧化物燃料电池-燃气轮机混合发电系统建模与控制的研究现状与进展

固体氧化物燃料电池一燃气轮机(Solid oxide fuel cell-gas turbine,SOFC-GT)的混合发电系统是未来高效、清洁的发电技术之一,混合系统的建模、优化与控制方面的研究对于系统集成和商业化运行具有重要意义.通过论述国内外在SOFC单电池机理、半经验模型、电池组模型、混合系统模型,以及系统动态模型与分布式发电系统控制等各个层次的研究成果,提出多尺度的自主研发技术路线.发展适合于高燃料利用率和不同燃料组分的单电池机理模型,并简化出更为合理的半经验模型或近似精确解,用于系统级分析;开发具有自主知识产权的部件模型库,进行系统集成设计和匹配优化;遵循V型开发模式,在系统动态特性分析基础上,开发先进的控制算法形成快速控制原型;建立实时控制的硬件在环演示系统,进行SOFC-GT系统的预集成.     

An inter-machine material handling system for micro-manufacturing based on using a standard carrier

Lack of standardization is often a key problem area limiting the applications of any new automated micro-handling technology, due to that equipment makers may have to spend an excessive amount of time and resources to customize automation solutions. Carrier-based material handling systems provide product-independent solutions. Product independency is an essential requirement for re-using material handling systems, because they allow product change without mechanical changes in the transport devices. This paper describes a new automated inter-machine material handling system for micro-manufacturing integration, based on the standard carrier DIN-32561. The main task of the system is to transport (full/empty) carriers between different stations/machines in a micro-manufacturing plant, to integrate assembly and manufacturing. The authors designed a conveyor belt and an automated guided vehicle system to fit into a linear pick-and-place micro-manufacturing plant. Prototypes of the different components were then developed and tested.     

重载搬运机器人的动力学仿真及控制系统设计

关节型重载搬运机器人各运动关节动态性能和能量耗散水平直接影响机器人以及运动规划的可达性。以ABB公司生产的IRB460型重载搬运机器人为研究对象,针对其机械本体结构特性,建立重载搬运机器人三维模型。若仅考虑回转轴、大臂和小臂组成的三个自由度,重载搬运机器人系统模型可简化成空间三关节机器人系统模型;依据拉格朗日力学方程建立重载搬运机器人系统动力学模型,利用机械臂逆运动学和五次多项式插值算法完成对多关节机械臂空间轨迹规划。通过动力学仿真分析可知,重载搬运机器人各运动关节的动态性能变化稳定且能量耗散较小,且能够沿着预定轨迹完成PTP模式的运动控制。最后,搭建控制系统仿真实验平台,提出一种重载搬运机器人控制系统模型,实验结果表明,所设计的重载搬运机器人控制系统能够准确、稳定的控制各运动关节运动,验证了各运动关节驱动电动机功率参数选择的合理性,为实际的工业生产应用奠定了理论基础。     

Kinematics and dynamic modeling for holonomic constrained multiple robot systems through principle of workspace orthogonalization

This paper deals with an efficient mathematical modeling for multiple robot manipulators (or multifingered robot hands) holding and transporting a rigid common object on the constraint surfaces, subject to a set of holonomic (integrable) constraints. First, the kinematics and dynamics of the multiple robot systems are formulated. After a series of model transformations, a combined dynamic model is derived from a unified viewpoint. Then the system dynamics can be decomposed into two orthogonal subsystems the (reduced-order) motion subsystem and the force subsystem. From a practical point of view, the new dynamic model presented in this paper is suitable form for dynamic analysis and hybrid (position/force) control synthesis.     

A hybrid genetic algorithm to minimize makespan for the single batch machine dynamic scheduling problem

This paper considers a single batch machine dynamic scheduling problem, which is readily found in the burn-in operation of semiconductor manufacturing. The batch machine can process several jobs as a batch simultaneously, within the capacity limit of the machine, and the processing time is represented by the longest processing time among all jobs in a batch. For a single batch machine problem with arbitrary job release time, we proposed an improved algorithm (merge-split procedure) to refine the solution obtained by the LPT-BFF heuristic, and two versions of a hybrid genetic algorithm (GA) are introduced in this paper. Each version of the hybrid GA diversifies job sequences using the GA operators in stage 1, forms batches in stage 2, and finally sequence the batches in stage 3. The difference is that merge-split procedures are involved in the second version of the hybrid GA. Computational experiments showed that the hybrid GA would obtain satisfactory average solution quality and the merge-split procedures would be good at reinforcing the solution consistency of the hybrid GA.     

混联支路并联机器人动力学建模方法

混联支路并联机器人具有独立运动输出、高刚度、控制解耦等优点,但支路中闭环结构的存在也增加了运动学分析和动力学分析的难度.基于此,通过将支链与动平台完全断开以及将混联支路完全退化为串联支路或树状支路,提出基于虚功原理和等价树状结构的混联支路并联机器人动力学建模方法,推导出封闭形式的混联支路并联机器人逆动力学和正动力学模型,动力学模型的维数等于机器人的自由度数.利用最小惯性参数和递推牛顿-欧拉法可以减少支路逆动力学模型的计算时间,应用该方法对两种混联支路并联机器人(2-P(Pa)R-1-PUU和3-PU*)进行运动学分析和动力学分析,该方法适用于各类混联支路并联机器人,可以指导混联支路并联机器人的结构参数设计和驱动器选配,并可用于机器人的实时动力学控制.     

基于阻抗辨识和混杂控制的机器人辅助抗阻训练方法

现有机器人辅助抗阻训练方法大多是运用易受噪声干扰的患肢主动作用力或表面肌电信号直接进行治疗控制器设计,且在设计过程中未能同时将机器人连续变量运动控制与医师离散事件决策控制这种混杂特性融于统一框架内,具有一定的局限。针对上述问题,提出一种基于阻抗辨识和混杂控制的机器人辅助抗阻训练方法,该方法首先根据患肢主动作用力和实际运动位置在线辨识患肢时变生物阻抗;其次,运用混杂控制理论建立机器人辅助抗阻过程系统模型,根据患肢生物阻抗变化分别定义连续系统区域切换离散事件及离散系统控制状态,并基于混杂自动机设计离散事件决策控制器;最后,选用美国Barrett公司WAMTM柔顺机械臂构建康复试验系统,对所设计控制器进行有效性验证。试验结果验证了阻抗辨识和混杂控制理论应用于机器人辅助抗阻训练过程的有效性和实用性。     

高炉热风炉混杂系统模型

热风炉是高炉炼铁生产过程中的重要设备,是能源消耗的关键环节。针对目前国内高炉热风炉的产能效率较低,没有合适的模型进行整体分析的问题,该文研究了基于混合逻辑动态模型的高炉热风炉整体工作流程建模,在辨识得到热风炉2个工作阶段的状态空间方程的基础上,建立了混合逻辑动态模型,并利用HYSDEL语言对热风炉混合逻辑动态模型进行程序分析。该文所建立的模型切实反应了高炉热风炉实际工况,为后续热风炉系统特性的进一步分析和控制方案设计奠定了基础。     

基于前向建模的ISG型CVT混合动力系统再生制动仿真研究

基于对CVT混合动力汽车制动力分配的分析,综合考虑发动机反拖制动、CVT速比及夹紧力控制、电池快速充电特性与电机高效发电特性对再生制动性能的影响,制订了相应的再生制动控制策略。根据前向建模思想,利用数值建模与理论建模的方法,建立了CVT混合动力汽车再生制动系统综合模型,进行了EUDC等四种典型循环工况下的再生制动性能仿真,在保证安全制动的条件下,实现了较高比率的制动能量回收,仿真结果证明了所提出的再生制动控制策略和系统模型的正确性与适用性。     

Batch sizes and lead-time performance in flexible manufacturing systems

Production lead-time performance in flexible manufacturing systems is influenced by several factors which include: machine groupings, demand rates, machine processing rates, product batching, material handling system capacity, and so on. Hence, control of lead-time performance can be affected through the manipulation of one or more of these variables. In this article, we investigate the potential of batch sizing as a control variable for lead-time performance through the use of a queueing network model. We establish a functional relationship between the two variables, and incorporate the relationship in an optimization model to determine the optimal batch size(s) which minimizes the sum of annual work-in-process inventory and final inventory costs. The nonlinear batch sizing problem which results is solved by discrete optimization via marginal analysis. Results show that batch sizing can be a cheap and effective variable for controlling flexible manufacturing system throughput.