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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年第17卷第1期页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles vehicle dynamic modeling model predictive control path following optimization algorithm

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An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

《化学科学与工程前沿（英文）》 2022年第16卷第2期页码 237-250 doi: 10.1007/s11705-021-2058-6

摘要： Advanced model-based control strategies, e.g., model predictive control, can offer superior control of key process variables for multiple-input multiple-output systems. The quality of the system model is critical to controller performance and should adequately describe the process dynamics across its operating range while remaining amenable to fast optimization. This work articulates an integrated system identification procedure for deriving black-box nonlinear continuous-time multiple-input multiple-output system models for nonlinear model predictive control. To showcase this approach, five candidate models for polynomial and interaction features of both output and manipulated variables were trained on simulated data and integrated into a nonlinear model predictive controller for a highly nonlinear continuous stirred tank reactor system. This procedure successfully identified system models that enabled effective control in both servo and regulator problems across wider operating ranges. These controllers also had reasonable per-iteration times of ca. 0.1 s. This demonstration of how such system models could be identified for nonlinear model predictive control without prior knowledge of system dynamics opens further possibilities for direct data-driven methodologies for model-based control which, in the face of process uncertainties or modelling limitations, allow rapid and stable control over wider operating ranges.

关键词： nonlinear model predictive control black-box modeling continuous-time system identification machine learning industrial applications of process control

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Standard model of knowledge representation

Wensheng YIN

《机械工程前沿（英文）》 2016年第11卷第3期页码 275-288 doi: 10.1007/s11465-016-0372-3

摘要：

Knowledge representation is the core of artificial intelligence research. Knowledge representation methods include predicate logic, semantic network, computer programming language, database, mathematical model, graphics language, natural language, etc. To establish the intrinsic link between various knowledge representation methods, a unified knowledge representation model is necessary. According to ontology, system theory, and control theory, a standard model of knowledge representation that reflects the change of the objective world is proposed. The model is composed of input, processing, and output. This knowledge representation method is not a contradiction to the traditional knowledge representation method. It can express knowledge in terms of multivariate and multidimensional. It can also express process knowledge, and at the same time, it has a strong ability to solve problems. In addition, the standard model of knowledge representation provides a way to solve problems of non-precision and inconsistent knowledge.

关键词： knowledge representation standard model ontology system theory control theory multidimensional representation

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年第4卷第3期页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing actuator delay compensation adaptive control MIT rule discrete transfer function

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Ceramic membrane fouling mechanisms and control for water treatment

《环境科学与工程前沿（英文）》 2023年第17卷第10期 doi: 10.1007/s11783-023-1726-9

摘要：

● The fouling is summarized based on ceramic membrane performance and pollutants.

关键词： Ceramic membrane Fouling model Fouling control

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

《机械工程前沿（英文）》 2007年第2卷第2期页码 168-174 doi: 10.1007/s11465-007-0028-4

摘要： To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown environment.

关键词： predictive tracking corresponding stiffness algorithm

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

《机械工程前沿（英文）》 2018年第13卷第2期页码 179-210 doi: 10.1007/s11465-018-0464-3

摘要：

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

关键词： hydraulic servo system adaptive control robust control nonlinear friction disturbance compensation repetitive control noise alleviation constraint control

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多目标自适应优化模型预测控制——降低氧化锌回转窑的碳排放 Article

Ke Wei, Keke Huang, Chunhua Yang, Weihua Gui

《工程（英文）》 2023年第27卷第8期页码 96-105 doi: 10.1016/j.eng.2023.01.017

摘要：

The zinc oxide rotary kiln, as an essential piece of equipment in the zinc smelting industrial process, is presenting new challenges in process control. China's strategy of achieving a carbon peak and carbon neutrality is putting new demands on the industry, including green production and the use of fewer resources; thus, traditional stability control is no longer suitable for multi-objective control tasks. Although researchers have revealed the principle of the rotary kiln and set up computational fluid dynamics (CFD) simulation models to study its dynamics, these models cannot be directly applied to process control due to their high computational complexity. To address these issues, this paper proposes a multi-objective adaptive optimization model predictive control (MAO-MPC) method based on sparse identification. More specifically, with a large amount of data collected from a CFD model, a sparse regression problem is first formulated and solved to obtain a reduction model. Then, a two-layered control framework including real-time optimization (RTO) and model predictive control (MPC) is designed. In the RTO layer, an optimization problem with the goal of achieving optimal operation performance and the lowest possible resource consumption is set up. By solving the optimization problem in real time, a suitable setting value is sent to the MPC layer to ensure that the zinc oxide rotary kiln always functions in an optimal state. Our experiments show the strength and reliability of the proposed method, which reduces the usage of coal while maintaining high profits.

关键词： Zinc oxide rotary kiln Model reduction Sparse identification Real-time optimization Model predictive control Process control

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年第11卷第2期页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot nonlinear control vibration damping model-free control motion control

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Deformation control criterion of shield tunnel under lateral relaxation of soft soil

《结构与土木工程前沿（英文）》 2023年第17卷第5期页码 780-795 doi: 10.1007/s11709-023-0944-3

摘要： Metro shield tunnels under the lateral relaxation of soil (LRS) are susceptible to significant lateral deformations, which jeopardizes the structural safety and waterproofing. However, deformation control standards for such situations have not been clearly defined. Therefore, based on a specific case, a model test is conducted to realize the LRS of a shield tunnel in a sandy stratum to reveal its effect on segment liners. Subsequently, a deformation control criterion is established. The LRS is simulated by linearly reducing the loads applied to the lateral sides of the segment structure. During lateral unloading, the lateral earth pressure coefficient on the segment decreases almost exponentially, and the structural deformation is characterized by horizontal expansion at the arch haunches and vertical shrinkage at the arch vault and arch bottom. Based on the mechanical pattern of the segment structure and the acoustic emission, the deformation response of a segment can be classified into three stages: elastic and quasi-elastic, damage, and rapid deformation development. For a shield tunnel with a diameter of approximately 6 m and under the lateral relaxation of sandy soil, when the ellipticity of the segment is less than 2.71%, reinforcement measures are not required. However, the segment deformation must be controlled when the ellipticity is 2.71% to 3.12%; in this regard, an ellipticity of 3% can be used as a benchmark in similar engineering projects.

关键词： shield tunnel lateral relaxation of soil deformation control criterion of segment structure model test

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水库调度的最优控制模型与最大值原理求解方法

方强,王先甲,方德斌

《中国工程科学》 2007年第9卷第4期页码 55-59

摘要：

试图用最优控制理论来描述水库调度的连续变化特性，建立了水库调度的最优控制模型，用最大值原理给出了水库调度最优控制的必要条件，分析了不同条件和环境下水库调度最优控制策略和具体表示形式。最后对某具体算例进行了分析，结果表明该方法是有效的。

关键词：水利管理最优控制模型最大值原理水库调度

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Modelling the thresholds of nitrogen/phosphorus concentration and hydraulic retention time for bloom control

《环境科学与工程前沿（英文）》 2022年第16卷第10期 doi: 10.1007/s11783-022-1564-1

摘要：

● A new model for bloom control in open land scape water was constructed.

关键词： Reclaimed water landscape Algal bloom Nitrogen and phosphorus Hydraulic retention time Threshold Control model

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Review of fluid and control technology of hydraulic wind turbines

Maolin CAI, Yixuan WANG, Zongxia JIAO, Yan SHI

《机械工程前沿（英文）》 2017年第12卷第3期页码 312-320 doi: 10.1007/s11465-017-0433-2

摘要：

This study examines the development of the fluid and control technology of hydraulic wind turbines. The current state of hydraulic wind turbines as a new technology is described, and its basic fluid model and typical control method are expounded by comparing various study results. Finally, the advantages of hydraulic wind turbines are enumerated. Hydraulic wind turbines are expected to become the main development direction of wind turbines.

关键词： wind turbine hydraulic system fluid model control technology

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卫星主动控温回路的设计模型与算法

李运泽,杨娟,宁献文,王晓明,石晓波

《中国工程科学》 2008年第10卷第7期页码 48-50

摘要：

使用电加热器的卫星主动控温回路是一种重要的主动热控措施，通过简明扼要的机理分析建立起该主动控温过程中受控对象温度变化的动态方程，得出了稳态控温、瞬态控温两种基本的控温模式下主动控温回路电加热器功率需求的计算表达式，给出了进行主动控温回路电加热器热功率设计计算的一般流程，较详细地分析了一个具体设计算例，为卫星主动控温回路设计计算提供了简便的计算模型和方法。

关键词：卫星主动热控制主动控温回路模型与算法

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Temperature control of transfer roller’s bearing based on finite element analysis

Peng ZHANG, Yourong LI, Han XIAO

《机械工程前沿（英文）》 2009年第4卷第2期页码 215-218 doi: 10.1007/s11465-009-0026-9

摘要： After a heat preservation cover is installed on the main rolling line, the heat dissipation environment of the transfer roller working on the heat preservation cover is changed. To ensure the normal production, a reasonable working jet capacity of the roller neck is derived. First, a globe model of the transfer roller is built for finite element analysis. Second, the sub-model of the fixed end bearing is built and the boundary condition of the sub-model is supplied by the results of the globe model. The analysis result of the sub-model shows that the temperature of the transfer roller bearing exceeds 85°C a rolling periodicity later. With finite element analysis, the heat flux is obtained and the minimum working jet capacity is derived.

关键词： transfer roller bearing finite element analysis sub-model temperature control

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标题作者时间类型操作

Extended model predictive control scheme for smooth path following of autonomous vehicles

期刊论文

An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

期刊论文

Standard model of knowledge representation

Wensheng YIN

期刊论文

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

期刊论文

Ceramic membrane fouling mechanisms and control for water treatment

期刊论文

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

期刊论文