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Economic MPC-based transient control for a dual-mode power-split HEV

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Science China(Technological Sciences) 2017年第12期60卷 1917-1934页

作者： QI YunLong WANG WeiDa xiang changle ZHAO YuLong School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China

The existing research into hybrid electric vehicle(HEV) control is mainly focussed on the optimisation of the power distribution between a conventional internal combustion engine(ICE) and an alternative power source(usually a battery pack), however,transient control, which is a key technique that affects both fuel economy and the drivability of the HEV, has not been fully addressed. Especially in dual-mode power-split HE Vs, due to the different dynamic characteristics of the actuators in the transmission, and its complicated speed-torque relationship, transient control also affects the precision of power distribution and the speed of response of the electric output power. To improve the transient control performance, the design of an economic model predictive control(EMPC)-based transient controller for a dual-mode power-split HEV is developed. By incorporating an experimental identification model of a diesel ICE in a control-oriented transmission model, a better coordination among the actuators involved in HEV transmission can be achieved. Moreover, an ICE efficiency index is also added to the objective function to improve ICE fuel efficiency during this transient process. Then, a fast MPC method is applied to reduce the on-line computation effort required of the proposed control algorithm. By the flexible application of the EMPC and an innovative ICE model which is suited to the control-oriented model in EMPC, the transient control performance was improved. The effectiveness,and the real-time performance,of the control algorithm are validated by way of MATLABTM/Simulink-based simulations,as well as test-bed experiments combined with the use of the RapidECU platform.

关键词： hybrid electric vehicle transient control fuel economy economic MPC fast MPC method

Robust adaptive fault-tolerant control of a tandem coaxial ducted fan aircraft with actuator saturation

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Chinese Journal of Aeronautics 2018年第6期31卷 1298-1310页

作者： Xiaoliang WANG changle xiang Homayoun NAJJARAN Bin XU Vehicle Research Center School of Mechanical Engineering Beijing Institute of Technology Okanagan School of Engineering The University of British Columbia

This paper is concerned with the robust adaptive fault-tolerant control of a tandem coaxial ducted fan aircraft under system uncertainty, mismatched disturbance, and actuator *** the proposed aircraft, comprehensive controllability analysis is performed to evaluate the controllability of each state as well as the margin to reject mismatched disturbance without any knowledge of the controller. Mismatched disturbance attenuation is ensured through a structured Hinfinity controller tuned by a non-smooth optimization algorithm. Embedded with the H-infinity controller, an adaptive control law is proposed in order to mitigate matched system uncertainty and actuator fault. Input saturation is also considered by the modified reference model. Numerical simulation of the novel ducted fan aircraft is provided to illustrate the effectiveness of the proposed method. The simulation results reveal that the proposed adaptive controller achieves better transient response and more robust performance than classic Model Reference Adaptive Control（MRAC） method, even with serious actuator saturation.

关键词： Comprehensive controllability Ducted fan aircraft Fault-tolerant Input saturation Robust adaptive control

Analysis Method and Principle of Dual-mode Electro-mechanical Variable Transmission Program

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Chinese Journal of Mechanical Engineering 2012年第3期25卷 524-529页

作者： LI Hongcai YAN Qingdong xiang changle WANG Weida National Key Lab of Vehicular Transmission Beijing Institute of TechnologyBeijing 100081China

Automotive industry,as an important pillar of the national economy,has been rapidly developing in recent *** proplems such as energy comsumption and environmental pollution are posed at the same ***-mechanical variable transmission system is considered one of avilable *** is brought forward a kind of design methods of dual-mode electro-mechanical variable transmission system rotational speed characteristics and dual-mode drive *** the motor operating behavior of running in four quadrants and the speed characteristics of the simple internal and external meshing single planetary gear train,four kinds of dual-mode electro-mechanical transmission system scheme are *** the velocity,torque and power characteristics of one of the programs are *** magnitude of the electric split-flow power is an important factor which influences the system performance,so in the parameters matching design,it needs to reduce the power needs under the first mode of the *** motor,output rotational speed range and the position of the mode switching point have relationships with the characteristics design of the planetary gear *** analysis method is to provide a reference for hybrid vehicles＇ *** the involved rotational speed and torque relationships are the natural contact of every part of transmission system,a theory basis of system program and performance analysis is provided.

关键词： electro-mechanical variable transmission dual-mode rotational speed characteristics

MPC-based energy management with adaptive Markov-chain prediction for a dual-mode hybrid electric vehicle

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Science China(Technological Sciences) 2017年第5期60卷 737-748页

作者： xiang changle DING Feng WANG WeiDa HE Wei QI YunLong School of Mechanical Engineering Beijing Institute of Technology Beijing 100081 China

The energy management strategy is an important part of a hybrid electrical vehicle design. It is used to improve fuel economy and to sustain a proper battery state of charge by controlling the power components while satisfying various constraints and driving demands. However, achieving an optimal control performance is challenging due to the nonlinearities of the hybrid powertrain, the time varying constraints, and the dilemma in which controller complexity and real-time capability are generally conflicting objectives. In this paper, a real-time capable cascaded control strategy is proposed for a dual-mode hybrid electric vehicle that considers nonlinearities of the system and complies with all time-varying constraints. The strategy consists of a supervisory controller based on a non-linear model predictive control （MPC） with a long sampling time interval and a coordinating controller based on linear model predictive control with a short sampling time interval to deal with different dynamics of the system. Additionally, a novel data based methodology using adaptive Markov chains to predict future load demand is introduced. The predictive future information is used to improve controller performance. The proposed strategy is implemented on a real test-bed and experimental trials using unknown driving cycles are conducted. The results demonstrate the validity of the proposed approach and show that fuel economy is significantly improved compared with other methods.

关键词： hybrid electric vehicle dual-mode energy management Markov chains model predictive control

A novel approach to the attitude stabilization structure for ducted-fan operative aerial robots:Finding improvements for modeling error and strong external transient disturbance

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Chinese Journal of Aeronautics 2022年第2期35卷 250-264页

作者： Wei FAN Bin XU changle xiang Yibo ZHANG Haiyang YANG School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401135China School of Automation Beijing Institute of TechnologyBeijing 100081China

This research concerns a novel attitude stabilization structure for a ducted-fan aerial robot to work against modeling error and strong external transient disturbance,and it focuses on two main control targets:modeling error compensation,and the improvement of disturbance resistance along the rolling *** the first research objective,we proposed an adaptive nominal controller with the reconfigurable control law design based on the estimation of the modeling error found in the *** of simulations and corresponding flight tests verified that the proposed adaptive control structure is robust against both constant and time-varying modeling *** the other research objective,a SAC(Stability Augmentation Control)structure was devised based on the CMG(Control Moment Gyroscope)theory in order to provide extra moment which effectively withstands the transient disturbance beyond the CDG(Critical Disturbance Gain).Furthermore,we studied the corresponding controller for the SAC via the SMC(sliding mode control)theory,while the working mechanism and performance of the SAC were verified through a specially devised prototype.

关键词： Adaptive control Disturbance rejection Ducted-fan aircraft Modeling error Stability augmentation systems

Synthetical Efficiency-based Optimization for the Power Distribution of Power-split Hybrid Electric Vehicles

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Chinese Journal of Mechanical Engineering 2014年第1期27卷 58-68页

作者： WANG Weida HAN Lijin xiang changle MA Yue LIU Hui National Key Laboratory of Vehicle Transmission Beijing Institute of Technology

Now the optimization strategies for power distribution are researched widely, and most of them are aiming to the optimal fuel economy and the driving cycle must be preknown. Thus if the actual driving condition deviates from the scheduled driving cycle, the effect of optimal results will be declined greatly. Therefore, the instantaneous optimization strategy carried out on-line is studied in this paper. The power split path and the transmission efficiency are analyzed based on a special power-split scheme and the efficiency models of the power transmitting components are established. The synthetical efficiency optimization model is established for enhancing the transmission efficiency and the fuel economy. The identification of the synthetical efficiency as the optimization objective and the constrain group are discussed emphatically. The optimization is calculated by the adaptive simulated annealing （ASA） algorithm and realized on-line by the radial basis function （RBF）-based similar models. The optimization for power distribution of the hybrid vehicle in an actual driving condition is carried out and the road test results are presented. The test results indicate that the synthetical efficiency optimization method can enhance the transmission efficiency and the fuel economy of the power-split hybrid electric vehicle （HEV） observably. Compared to the rules-based strategy the optimization strategy is optimal and achieves the approximate global optimization solution for the power distribution. The synthetical efficiency optimization solved by ASA algorithm can give attentions to both optimization quality and calculation efficiency, thus it has good application foreground for the power distribution of power-split HEV.

关键词： hybrid electric vehicles power-split synthetical efficiency-based optimization power distribution road test

Model-Based Double Closed-Loop Coordinated Control Strategy for the Electro-Mechanical Transmission System of Heavy Power-Split HEVs

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Automotive Innovation 2021年第1期4卷 44-55页

作者： Weida Wang Yuhang Zhang Xiaoxia Sun changle xiang Chao Yang School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China China North Vehicle Research Institute Beijing 100072China

The dual-mode electro-mechanical transmission(EMT)system is a crucial part of power-split hybrid electric vehicles(HEVs),especially for the heavy *** improve the precision of the system power distribution and the response speed of the electric power supply,a model-based double closed-loop coordinated control strategy is *** the basis of the proposed control strategy,an EMT system model,particularly of an electrical system,is established *** proposed control strategy includes the power distribution strategy,battery power closed-loop feedback control strategy,and motor coordinated control *** verify the feasibility of the proposed control strategy,simulation and experiment are *** results indicate that the proposed control strategy can realize the expected power distribution by coordinating generators and motors and achieve rapid and stable electric power supply.

关键词： Hybrid electric vehicles Electro-mechanical transmission system Hybrid power-split Power coordinated control Multi-power distribution

Influence of Wall Effect on Comprehensive Controllability for Ducted Fan Aircraft

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Journal of Beijing Institute of Technology 2020年第4期29卷 581-591页

作者： Tianfu Ai changle xiang Bin Xu Wei Fan Yibo Zhang Vehicle Research Center School of Mechanical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

A novel coaxial ducted fan structure aircraft is proposed to enable the aircraft near vertical walls at high *** state space equation of the system can be obtained by correlation deduction and identification of the whole prototype *** on the duct test bench experiment and computational fluid dynamics(CFD)simulation analysis,the expressions between the different distances dWE from the rotor center of the prototype to the wall and the thrust,reaction torque,and tilting moment of the system under hovering conditions are *** influence of the wall effect of the prototype is incorporated into the system model to analyze the relationship between distance dWE and the comprehensive controllability of the *** results show that the system comprehensive controllability vector of other channels changes little with the decrease of the distance dWE,and only the controllability vector of the rolling channel increases *** the same time,the tilting moment also increases significantly,which strengthens the tendency of the prototype to tilt towards the wall.

关键词： coaxial ducted fan aircraft hovering condition wall effect tilting moment comprehensive controllability analysis

A multi-objective power flow optimization control strategy for a power split plug-in hybrid electric vehicle using game theory

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Science China(Technological Sciences) 2021年第12期64卷 2718-2728页

作者： WANG WeiDa WANG WeiQi YANG Chao LIU Cheng YANG LiuQuan SUN XiaoXia xiang changle School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Vehicle Transmission Beijing 100081China China North Vehicle Research Institute Beijing 100072China

Power flow optimization control,which governs the energy flow among engine,battery,and motor,plays a very important role in plug-in hybrid electric vehicles(PHEVs).Its performance directly affects the fuel economy of *** the purpose of improving fuel economy,the electric system including battery and motor will be frequently scheduled,which would affect battery ***,a multi-objective optimization mechanism taking fuel economy and battery life into account is necessary,which is also a research focus in field of hybrid *** by this issue,this paper proposes a multi-objective power flow optimization control strategy for a power split PHEV using game ***,since the demand power of driver which is necessary for the power flow optimization control,cannot be known in advance,the demand power of driver can be modelled using a Markov chain to obtain predicted demand ***,based on the predicted demand power,the multi-objective optimization control problem is transformed into a game problem.A novel non-cooperative game model between engine and battery is established,and the benefit function with fuel economy and battery life as the optimization objective is ***,under the premise of satisfying various constraints,the participants of the above game maximize their own benefit function to obtain the Nash equilibrium,which comprises of optimal power split ***,the proposed strategy is verified compared with two baseline strategies,and results show that the proposed strategy can reduce equivalent fuel consumption by about 15%compared with baseline strategy 1,and achieve similar fuel economy while greatly extend battery life simultaneously compared with baseline strategy 2.

关键词： power split PHEV power flow optimization control multi-objective game theory battery life