Control oriented modeling of an electro-pneumatic gearbox actuator

Szabo, Adam; Bécsi, Tamás; Gáspár, Péter; Aradi, Szilárd

doi:10.23919/ecc.2018.8550589

Cited by 9 publications

(5 citation statements)

References 19 publications

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“…However, the model developed for this research had to be able to predict the effects of constructional changes, thus a more universal model was needed, based on conservation equations, such as the conversation of energy and conservation of momentum. A more detailed description of the model is found in [30], this section only presents the main steps.…”

Section: Nonlinear Model Of the Actuatormentioning

confidence: 99%

“…The paper summarizes the results of previous work regarding the modeling and model-based LTI control of the actuator, then complements it with testing on the real system. Following the Model-Based Development (MBD) process, in [30], a nonlinear model is developed, which is validated against laboratory measurement in [31], then the model-based controllers have been designed in [32]. Based on the tests on the real system, it becomes clear that to use the developed controllers on the actual system successfully, they must be substantially modified.…”

Section: Introductionmentioning

confidence: 99%

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Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Szabo¹,

Bécsi

Gáspár

2020

Applied Sciences

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The paper presents the modeling and control design of a floating piston electro-pneumatic gearbox actuator and, moreover, the industrial validation of the controller system. As part of a heavy-duty vehicle, it needs to meet strict and contradictory requirements and units applying the system with different supply pressures in order to operate under various environmental conditions. Because of the high control frequency domain of the real system, post-modern control methods with high computational demands could not be used as they do not meet real-time requirements on automotive level. During the modeling phase, the essential simplifications are shown with the awareness of the trade-off between calculation speed and numerical accuracy to generate a multi-state piecewise-linear system. Two LTI control methods are introduced, i.e., a PD and an Linear-Quadratic Regulators (LQR) solution, in which the continuous control signals are transformed into discrete voltage solenoid commands for the valves. The validation of both the model and the control system are performed on a real physical implementation. The results show that both modeling and control design are suitable for the control tasks using floating piston cylinders and, moreover, these methods can be extended to electro-pneumatic cylinders with different layouts.

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Section: Nonlinear Model Of the Actuatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Szabo¹,

Bécsi

Gáspár

2020

Applied Sciences

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“…The development of a nonlinear model of the actuator is presented in [33], which proved to be a useful environment for testing linear time invariant (LTI) controllers. The model is lumped since there are no spatial variations taken into consideration.…”

Section: A Modelingmentioning

confidence: 99%

Reinforcement Learning Based Control Design for a Floating Piston Pneumatic Gearbox Actuator

et al. 2020

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The project is also supported by the Hungarian Government and co-financed by the European Social Fund, EFOP-3.6.3-VEKOP-16-2017-00001: Talent management in autonomous vehicle control technologies ABSTRACT Electro-pneumatic actuators play an essential role in various areas of the industry, including heavy-duty vehicles. This article deals with the control problem of an Automatic Manual Transmission, where the actuator of the system is a double-acting floating-piston cylinder, with dedicated inner-position. During the control design of electro-pneumatic cylinders, one must implement a set-valued control on a nonlinear system, when, as in the present case, non-proportional valves provide the airflow. As both the system model itself and the qualitative control goals can be formulated as a Partially Observable Markov Decision Process, Machine learning frameworks are a conspicuous choice for handling such control problems. To this end, six different solutions are compared in the article, of which a new agent named PG-MCTS, using a modified version of the "Upper Confidence bound for Trees" algorithm, is also presented. The performance and strategic choice comparison of the six methods are carried out in a simulation environment. Validation tests performed on an actual transmission system and implemented on an automotive control unit to prove the applicability of the concept. In this case, a Policy Gradient agent, selected by implementation and computation capacity restrictions. The results show that the presented methods are suitable for the control of floating-piston cylinders and can be extended to other fluid mechanical actuators, or even different set-valued nonlinear control problems.

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“…First, to provide an environment, where the developed controllers can be tested, a more detailed, nonlinear model has been developed in [38]. The model has been verified and validated against measurements, which has been presented in [39].…”

Section: System Descriptionmentioning

confidence: 99%

LPV-Based Controller Design of a Floating Piston Pneumatic Actuator

et al. 2020

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The paper presents the modeling and control design of a floating piston pneumatic gearbox actuator using a grid-based Linear Parameter Varying approach. First, the nonlinear model of the pneumatic actuator is presented, then it is transformed into a 6th order Linear Parameter Varying representation with endogenous scheduling parameters. The model is simplified based on empirical considerations to solve the controller synthesis and allow fast controller tuning. The developed Linear Parameter Varying controller is tested in simulations. Moreover, using a balanced truncation-model order reduction method, the minimum order of the controller is determined, which can provide acceptable performance. The simplified controller is implemented in an embedded environment and validated against the real target. Then, the validation results are compared with a gain-scheduled PD controller and a Linear Quadratic Regulator. The results show that by taking the time-varying nature of the scheduling parameters into account, the Linear Parameter Varying controller surpasses the Linear Quadratic Regulator, which cannot handle the high-speed transients around Neutral. Furthermore, the PD controller performs slightly better in two of the four test cases, although the Linear Parameter Varying controller has a higher level of fault tolerance.

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Control oriented modeling of an electro-pneumatic gearbox actuator

Cited by 9 publications

References 19 publications

Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Reinforcement Learning Based Control Design for a Floating Piston Pneumatic Gearbox Actuator

LPV-Based Controller Design of a Floating Piston Pneumatic Actuator

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