Simulation and Control of a Novel Two-Speed Uninterrupted Mechanical Transmission for Electric Vehicles

2015 ◽  
Author(s):  
Shengnan Fang ◽  
Jian Song ◽  
Yuzhuo Tai ◽  
Fei Li ◽  
Truong Sinh Nguyen
Keyword(s):  
Performance Improvement ◽  
Electric Vehicles ◽  
Control Method ◽  
Dynamic Performance ◽  
Linear Quadratic Regulator ◽  
Mechanical Transmission ◽  
Linear Quadratic ◽  
Robust Controller ◽  
Performance Requirements ◽  
And Control

Development of electric vehicle (EV) technology leads to the growing performance requirements of driving motor. Introducing a two-speed transmission to EV offers the possibility of economic and dynamic performance improvement of the whole powertrain. This paper presents an innovative two-speed Uninterrupted Mechanical Transmission (UMT), allowing the seamless shifting between two gears. Considering the uncertain factors during gearshift, a robust controller is designed based on H∞ control method. An optimal controller based on linear quadratic regulator is adopted for comparison. The results indicate that the UMT adopting robust controller provides an improvement of dynamic performance and shifting comfort for EV.

scholarly journals System design for inverted pendulum using LQR control via IoT

2020 ◽  
Vol 11 ◽  
pp. 12
Author(s):  
Dechrit Maneetham ◽  
Petrus Sutyasadi
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Lqr Control ◽  
Lqr Controller ◽  
Model Tuning ◽  
And Performance ◽  
Performance Results ◽  
And Control

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.

Dynamics Analysis and Control Method of a Novel Spherical Robot

2009 ◽  
Author(s):  
Hanxu Sun ◽  
Yili Zheng ◽  
Qingxuan Jia
Keyword(s):  
Control Method ◽  
Linear Quadratic Regulator ◽  
High Rate ◽  
Pd Controller ◽  
Velocity Control ◽  
Spherical Robot ◽  
Linear Quadratic ◽  
Lqr Controller ◽  
Gyroscopic Effects ◽  
And Control

A novel omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented; the mechanical structure of the robot are given, and the gyroscopic effects of high-rate flywheel can improve the dynamic stability of the robot. The simplified dynamic model of the robot is derived based on the constrained Lagrangian method. Moreover, a Linear Quadratic Regulator (LQR) controller and a Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the control method are validated through continuous circle motion experiment. This robot is designed for territory or lunar exploration in the future.

Development of a Ring Permeability Test System

2010 ◽  
Vol 136 ◽  
pp. 153-157
Author(s):  
Yu Hong Du ◽  
Xiu Ming Jiang ◽  
Xiu Ren Li
Keyword(s):  
Control System ◽  
Control Method ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
Measuring Method ◽  
Test System ◽  
Fluid Theory ◽  
And Control ◽  
Relationship Of ◽  
The Mathematical Model

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

scholarly journals Mathematical Modelling and Control of a Two-Wheeled PUMA-LikeVehicle

2016 ◽  
Vol 6 (2) ◽  
pp. 11 ◽  
Author(s):  
Khaled M Goher
Keyword(s):  
Mathematical Modelling ◽  
Sliding Mode ◽  
Impact Load ◽  
State Space Model ◽  
Linear Quadratic Regulator ◽  
The Body ◽  
Pole Placement ◽  
General Motors ◽  
Linear Quadratic ◽  
And Control

<p class="1Body">This paper presents mathematical modelling and control of a two-wheeled single-seat vehicle. The design of the vehicle is inspired by the Personal Urban Mobility and Accessibility (PUMA) vehicle developed by General Motors® in collaboration with Segway®. The body of the vehicle is designed to have two main parts. The vehicle is activated using three motors; a linear motor to activate the upper part in a sliding mode and two DC motors activating the vehicle while moving forward/backward and/or manoeuvring. Two stages proportional-integral-derivative (PID) control schemes are designed and implemented on the system models. The state space model of the vehicle is derived from the linearized equations. Controller based on the Linear Quadratic Regulator (LQR) and the pole placement techniques are developed and implemented. Further investigation of the robustness of the developed LQR and the pole placement techniques is emphasized through various experiments using an applied impact load on the vehicle.</p>

scholarly journals Simulation of a Steam Injected Gas Turbine Plant Control System

1997 ◽  
Author(s):  
Shusheng Zang ◽  
Jaqiang Pan
Keyword(s):  
Gas Turbine ◽  
Flow Rate ◽  
Controller Design ◽  
Dynamic Performance ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Turbine Plant ◽  
Fuel Flow ◽  
Lqr Controller ◽  
Gas Turbine Plant

The design of a modern Linear Quadratic Regulator (LQR) is described for a test steam injected gas turbine (STIG) unit. The LQR controller is obtained by using the fuel flow rate and the injected steam flow rate as the output parameters. To meet the goal of the shaft speed control, a classical Proportional Differential (PD) controller is compared to the LQR controller design. The control performance of the dynamic response of the STIG plant in the case of rejection of load is evaluated. The results of the computer simulation show a remarkable improvement on the dynamic performance of the STIG unit.

Modeling and Control of a Complex Interacting Process

2011 ◽  
Vol 403-408 ◽  
pp. 3758-3762
Author(s):  
Subhajit Patra ◽  
Prabirkumar Saha
Keyword(s):  
Storage System ◽  
Linear Quadratic Regulator ◽  
Model Parameters ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Dynamic Matrix ◽  
Liquid Storage ◽  
Efficient Control ◽  
And Control

In this paper, two efficient control algorithms are discussed viz., Linear Quadratic Regulator (LQR) and Dynamic Matrix Controller (DMC) and their applicability has been demonstrated through case study with a complex interacting process viz., a laboratory based four tank liquid storage system. The process has Two Input Two Output (TITO) structure and is available for experimental study. A mathematical model of the process has been developed using first principles. Model parameters have been estimated through the experimentation results. The performance of the controllers (LQR and DMC) has been compared to that of industrially more accepted PID controller.

Acoustic Control Modeling of Conical Bores With Actuating Boundary Conditions

2001 ◽  
Author(s):  
Kevin M. Farinholt ◽  
Donald J. Leo
Keyword(s):  
Boundary Conditions ◽  
Driving Forces ◽  
State Space Model ◽  
Linear Quadratic Regulator ◽  
Mode Shapes ◽  
Linear Quadratic ◽  
Acoustic Control ◽  
Average Control ◽  
The One ◽  
And Control

Abstract An investigation of the natural frequencies and mode shapes associated with sealed conical bores having actuating boundary conditions is presented. Beginning with the one dimensional wave equation for spherically expanding waves, modal characteristics are developed as functions of cone geometry and actuator parameters. This paper presents both analytical and experimental comparisons for the purpose of validating model and development techniques. An investigation of the orthogonality and adjointness of the solution is presented. A discussion of incorporating driving forces in the system model for the purpose of coupling control actuators with internal acoustics is also included. Including these driving forces, a state space model of the system is developed for the purpose of applying modern feedback control. This paper concludes with a study on applying Linear Quadratic Regulator techniques to this system, relating tradeoffs between spatially averaged pressure and control voltages. The results of our simulations indicate that pressure reductions of 30% are attainable with average control voltages of 14.4 volts, given an example geometry.

An integrated control strategy of path following and lateral motion stabilization for autonomous distributed drive electric vehicles

2019 ◽  
pp. 095440701988416
Author(s):  
Yuan Zou ◽  
Ningyuan Guo ◽  
Xudong Zhang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Electric Vehicles ◽  
Control Strategy ◽  
Integrated Control ◽  
Path Following ◽  
Control Technique ◽  
Programming Algorithm ◽  
Linear Quadratic ◽  
And Control

This article proposes an integrated control strategy of autonomous distributed drive electric vehicles. First, to handle the multi-constraints and integrated problem of path following and the yaw motion control, a model predictive control technique is applied to determine optimal front wheels’ steering angle and external yaw moment synthetically and synchronously. For ensuring the desired path-tracking performance and vehicle lateral stability, a series of imperative state constraints and control references are transferred in the form of a matrix and imposed into the rolling optimization mechanism of model predictive control, where the detailed derivation is also illustrated and analyzed. Then, the quadratic programming algorithm is employed to optimize and distribute each in-wheel motor’s torque output. Finally, numerical simulation validations are carried out and analyzed in depth by comparing with a linear quadratic regulator–based strategy, proving the effectiveness and control efficacy of the proposed strategy.

Optimization control for dynamic vibration absorbers and active suspensions of in-wheel-motor-driven electric vehicles

2020 ◽  
Vol 234 (9) ◽  
pp. 2377-2392
Author(s):  
Mingchun Liu ◽  
Yuanzhi Zhang ◽  
Juhua Huang ◽  
Caizhi Zhang
Keyword(s):  
Electric Vehicles ◽  
Ride Comfort ◽  
Linear Quadratic Regulator ◽  
Vibration Absorber ◽  
Linear Quadratic ◽  
Dynamic Vibration Absorber ◽  
Dynamic Vibration ◽  
Optimization Control ◽  
Motor Vibration ◽  
Suspension Performance

This study addresses the challenges of ride comfort improvement and in-wheel-motor vibration suppression in in-wheel-motor-driven electric vehicles. First, a mathematical model of a quarter vehicle equipped with a dynamic vibration absorber and an active suspension is developed. Then, a two-stage optimization control method is proposed to improve the coupled dynamic vibration absorber–suspension performance. In the first stage, a linear quadratic regulator controller based on particle swarm optimization is designed for the dynamic vibration absorber to suppress the in-wheel-motor vibration, in which the dynamic vibration absorber parameters and linear quadratic regulator controller weighting factors are optimally matched by using the particle swarm optimization algorithm. In the second stage, a finite-frequency H∞ controller is designed in the framework of linear matrix inequality optimization for the active suspension to improve vehicle ride comfort. Suspension performance factors, including suspension working space and road-holding ability, are taken as constraints in both stages. The proposed method simultaneously improves vehicle ride comfort and suppresses in-wheel-motor vibration. Finally, the effectiveness and superiority of the proposed method are illustrated through comparison simulations.

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