Horizon-1 predictive control of networked controlled vehicle drivetrains

Caruntu, Constantin F.; Lazăr, Mircea; Cairano, Stefano Di; Gielen, RH Rob; Bosch, van den Ppj Paul

doi:10.3182/20110828-6-it-1002.02780

Cited by 5 publications

(3 citation statements)

References 17 publications

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“…It is worth mentioning that the drivetrain model (2) was firstly implemented in Matlab/Simulink and three different control strategies were applied in order to damp the driveline oscillations: a PID controller, an explicit MPC controller and the one step ahead predictive controller as it is shown in [16]. The obtained results confirmed that the proposed approach can outperform the above mentioned controllers.…”

Section: Resultssupporting

confidence: 81%

See 1 more Smart Citation

OSEK Based Embedded Networked Controller Handling Communication Delays

Braescu

Caruntu

Ferariu

et al. 2011

2011 Second Eastern European Regional Conference on the Engineering of Computer Based Systems

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The paper presents a new embedded networked controller designed for vehicle driveline oscillations damping. To benefit of increased safety and predictability, the controller's algorithm is developed under OSEK/VDX realtime operating system. The implementation is tailored to fit available embedded architecture's resources. Main challenge refers to the configuration of accepted delays, taking into account the required memory consumption and execution times. The controller supports asynchronous exchanges of data, being able to handle certain communication delays. The discrete-time model of the closed-loop controller area network (CAN) based system is obtained by means of polytopic approximation techniques. The suggested embedded controller is designed according to one step ahead predictive control algorithm with flexible control Lyapunov function, assuming that the model admits polytopic uncertainty and hard constraints. If the Lyapunov function is appropriately chosen, the command computation involves solving a single linear program at each sampling period. The proposed approach is experimentally verified using an industrial test-bench setup consisting of a Freescale based electronic control unit (which implements the controller) linked via a CAN bus with a dSPACE MicroAutoBox plant simulator.

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Section: Resultssupporting

confidence: 81%

“…the drivetrain model from [16] can be written in a state space form as [16]. The engine torque (control input) is restricted by lower and upper bounds and by a torque rate constraint (see [17] for details): vector, the discretized model is: can be found in [18].…”

Section: A Drivetrain Modelmentioning

confidence: 99%

OSEK Based Embedded Networked Controller Handling Communication Delays

Braescu

Caruntu

Ferariu

et al. 2011

2011 Second Eastern European Regional Conference on the Engineering of Computer Based Systems

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show abstract

“…First, the upper bound of the time delay should be determined. The following equation can be used to determine the upper bound of the time delay induced by the CAN communication (Herpel et al, 2009;Caruntu et al, 2011b).…”

Section: Can Delay Modelmentioning

confidence: 99%

Drivability improvements for a single-motor parallel hybrid electric vehicle using robust controls

Wang

Zhang

et al. 2014

J. Zheijang Univ.-Sci.

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For a single-motor parallel hybrid electric vehicle, during mode transitions (especially the transition from electric drive mode to engine/parallel drive mode, which requires the clutch engagement), the drivability of the vehicle will be significantly affected by a clutch torque induced disturbance, driveline oscillations and jerks which can occur without adequate controls. To improve vehicle drivability during mode transitions for a single-motor parallel hybrid electric vehicle, two controllers are proposed. The first controller is the engine-side controller for engine cranking/starting and speed synchronization. The second controller is the motor-side controller for achieving a smooth mode transition with reduced driveline oscillations and jerks under the clutch torque induced disturbance and system uncertainties. The controllers are all composed of a feed-forward control and a robust feedback control. The robust controllers are designed by using the mu synthesis method. In the design process, controloriented system models that take account of various parameter uncertainties and un-modeled dynamics are used. The results of the simulation demonstrate the effectiveness of the proposed control algorithms.

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Real-time Networked Predictive Control of a Vehicle Drivetrain with Backlash

Caruntu

Lazăr

2012

IFAC Proceedings Volumes

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Horizon-1 predictive control of networked controlled vehicle drivetrains

Cited by 5 publications

References 17 publications

OSEK Based Embedded Networked Controller Handling Communication Delays

OSEK Based Embedded Networked Controller Handling Communication Delays

Drivability improvements for a single-motor parallel hybrid electric vehicle using robust controls

Real-time Networked Predictive Control of a Vehicle Drivetrain with Backlash

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