Online Controller Setpoint Optimization for Traction Control Systems Applied to Construction Machinery

2018 ◽  
Author(s):  
Addison Alexander ◽  
Annalisa Sciancalepore ◽  
Andrea Vacca
Keyword(s):  
Control System ◽  
Control Systems ◽  
Real Time ◽  
Controller Design ◽  
Optimization Technique ◽  
Parameter Tuning ◽  
System Model ◽  
Model Parameters ◽  
Time Data ◽  
Traction Control

The development of a suitable traction control system for off-road heavy machinery is complicated by several different factors, which differentiate these machines from typical on-road systems. One such difficulty arises from the fact that they are often operated on ground conditions which can vary widely and rapidly. Due to this, traction control systems designed for these vehicles must be robust to a large array of surface types, and they must be capable of reacting quickly to significant changes in those types. In order to accomplish this, this paper proposes an online parameter optimization technique suitable for tuning the setpoint of a control system to maximize the tractive potential of a construction vehicle in real time. The traction control principle itself is based on selectively braking wheels which are slipping. It also attempts to account for the interactions of the transmission systems that deliver power from the engine to the wheels. This research uses a wheel loader as a reference machine for assessing controller performance. Drawing on previous work in simulation and controller design, a system model was developed which incorporates the vehicle dynamics of the machine as well as the behavior of the electrohydraulic brakes. This system model was leveraged to understand the effect of different optimization schemes on the performance of the traction control. The self-tuning algorithm is based on a compound optimization method utilizing both a system identification component and a parameter tuning component. The first part optimizes the model parameters to fit it as well as possible to measured slip-friction data. Based on the results of this, the second part draws from theories of wheel traction to maximize a balance of pushing force and traction effectiveness. The result is a method which can achieve the proper setpoint based on real-time data describing the ground condition. This system was run first in simulation and then on a modified vehicle system. In both cases, the algorithm allows the controller to find better setpoints to improve the traction control performance online.

scholarly journals A Real-Time, Automatic, and Dynamic Scheduling and Control System for PET Patients Based on Wearable Sensors

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1104
Author(s):  
Shin-Yan Chiou ◽  
Kun-Ju Lin ◽  
Ya-Xin Dong
Keyword(s):  
Control System ◽  
Real Time ◽  
Human Error ◽  
Dynamic Scheduling ◽  
Wearable Sensors ◽  
Time Data ◽  
Scan Time ◽  
Number Of Patients ◽  
And Control ◽  
Automatic Scheduling

Positron emission tomography (PET) is one of the commonly used scanning techniques. Medical staff manually calculate the estimated scan time for each PET device. However, the number of PET scanning devices is small, the number of patients is large, and there are many changes including rescanning requirements, which makes it very error-prone, puts pressure on staff, and causes trouble for patients and their families. Although previous studies proposed algorithms for specific inspections, there is currently no research on improving the PET process. This paper proposes a real-time automatic scheduling and control system for PET patients with wearable sensors. The system can automatically schedule, estimate and instantly update the time of various tasks, and automatically allocate beds and announce schedule information in real time. We implemented this system, collected time data of 200 actual patients, and put these data into the implementation program for simulation and comparison. The average time difference between manual and automatic scheduling was 7.32 min, and it could reduce the average examination time of 82% of patients by 6.14 ± 4.61 min. This convinces us the system is correct and can improve time efficiency, while avoiding human error and staff pressure, and avoiding trouble for patients and their families.

Next Generation of Real Time Data Acquisition, Calibration and Control System for the RatCAP Scanner

2007 ◽  
Author(s):  
Sachin S Junnarkar ◽  
Jack Fried ◽  
Sudeepti Southekal ◽  
Jean-Francois Pratte ◽  
Paul O'Connor ◽  
...  
Keyword(s):  
Control System ◽  
Data Acquisition ◽  
Real Time ◽  
Next Generation ◽  
Time Data ◽  
Real Time Data ◽  
And Control

Sectional Data Acquisition and Control System for Solar Street Lamps Based on Internet of Things

2013 ◽  
Vol 773 ◽  
pp. 148-153 ◽  
Author(s):  
Juan Zhou ◽  
Bing Yan Chen ◽  
Meng Ni Zhang ◽  
Ying Ying Tang
Keyword(s):  
Control System ◽  
Internet Of Things ◽  
Data Acquisition ◽  
Real Time ◽  
Network Flow ◽  
Short Interval ◽  
Management Problem ◽  
Time Data ◽  
Control Centre ◽  
And Control

Aiming at the management problem of real-time data created while intelligent solar street lamps working, sectional data acquisition and control system based on internet of things is introduced in the paper. Communication protocol with unified form and flexible function is designed in the system, and communication address is composed of sectional address and subsection address. Three-level data structure is built in the polling algorithm to trace real-time state of lamps and to detect malfunction in time, which is suitable for sectional lamps management characteristics. The system reflects necessary statistic data and exception information to remote control centre through GPRS to short interval expend on transmission and procession and save network flow and system energy. The result shows the system brings improved management affection and accords with the idea of energy-saving and environmental protection.

scholarly journals Adaptive Model Predictive Vibration Control of a Cantilever Beam with Real-Time Parameter Estimation

2014 ◽  
Vol 2014 ◽  
pp. 1-15 ◽  
Author(s):  
Gergely Takács ◽  
Tomáš Polóni ◽  
Boris Rohal’-Ilkiv
Keyword(s):  
Control System ◽  
Vibration Control ◽  
State Space ◽  
Real Time ◽  
Cantilever Beam ◽  
State Space Model ◽  
Model Parameters ◽  
Extended Kalman Filtering ◽  
Space Model ◽  
Continuous State

This paper presents an adaptive-predictive vibration control system using extended Kalman filtering for the joint estimation of system states and model parameters. A fixed-free cantilever beam equipped with piezoceramic actuators serves as a test platform to validate the proposed control strategy. Deflection readings taken at the end of the beam have been used to reconstruct the position and velocity information for a second-order state-space model. In addition to the states, the dynamic system has been augmented by the unknown model parameters: stiffness, damping constant, and a voltage/force conversion constant, characterizing the actuating effect of the piezoceramic transducers. The states and parameters of this augmented system have been estimated in real time, using the hybrid extended Kalman filter. The estimated model parameters have been applied to define the continuous state-space model of the vibrating system, which in turn is discretized for the predictive controller. The model predictive control algorithm generates state predictions and dual-mode quadratic cost prediction matrices based on the updated discrete state-space models. The resulting cost function is then minimized using quadratic programming to find the sequence of optimal but constrained control inputs. The proposed active vibration control system is implemented and evaluated experimentally to investigate the viability of the control method.

scholarly journals Vision based hardware-software real-time control system for autonomous landing of an UAV

2020 ◽  
Author(s):  
Krzysztof Blachut ◽  
Hubert Szolc ◽  
Mateusz Wasala ◽  
Tomasz Kryjak ◽  
Marek Gorgon
Keyword(s):  
Control System ◽  
Real Time ◽  
Heterogeneous Computing ◽  
Computing System ◽  
Video Stream ◽  
Real Time Control ◽  
Time Data ◽  
Autonomous Landing ◽  
Computing Platform ◽  
Time Control

In this paper we present a vision based hardware-software control system enabling autonomous landing of a mul-tirotor unmanned aerial vehicle (UAV). It allows the detection of a marked landing pad in real-time for a 1280 x 720 @ 60 fps video stream. In addition, a LiDAR sensor is used to measure the altitude above ground. A heterogeneous Zynq SoC device is used as the computing platform. The solution was tested on a number of sequences and the landing pad was detected with 96% accuracy. This research shows that a reprogrammable heterogeneous computing system is a good solution for UAVs because it enables real-time data stream processing with relatively low energy consumption.

A REAL-TIME DATA-DRIVEN CONTROL SYSTEM FOR MULTI-MOTOR-DRIVEN MECHANISMS

2017 ◽  
Vol 32 (6) ◽  
Author(s):  
Huashan Liu ◽  
Lingbin Zeng ◽  
Wuneng Zhou ◽  
Shiqiang Zhu
Keyword(s):  
Control System ◽  
Real Time ◽  
Data Driven ◽  
Time Data ◽  
Real Time Data

scholarly journals Lead and lag controller design in fractional-order control systems

2019 ◽  
Vol 52 (7-8) ◽  
pp. 1017-1028
Author(s):  
Tufan Dogruer ◽  
Nusret Tan
Keyword(s):  
Control System ◽  
Control Systems ◽  
Fractional Order ◽  
Fourth Order ◽  
Controller Design ◽  
Design Method ◽  
Performance Criteria ◽  
Order System ◽  
Fractional Order Control ◽  
Minimum Error

This paper presents a controller design method using lead and lag controllers for fractional-order control systems. In the presented method, it is aimed to minimize the error in the control system and to obtain controller parameters parametrically. The error occurring in the system can be minimized by integral performance criteria. The lead and lag controllers have three parameters that need to be calculated. These parameters can be determined by the simulation model created in the Matlab environment. In this study, the fractional-order system in the model was performed using Matsuda’s fourth-order integer approximation. In the optimization model, the error is minimized by using the integral performance criteria, and the controller parameters are obtained for the minimum error values. The results show that the presented method gives good step responses for lead and lag controllers.

Fuzzy Control of Reactant Supply System in PEM Fuel Cell

2011 ◽  
Vol 180 ◽  
pp. 11-19
Author(s):  
Stanisław Hożyń ◽  
Bogdan Żak
Keyword(s):  
Control System ◽  
Fuel Cell ◽  
Control Systems ◽  
Pem Fuel Cell ◽  
Cell System ◽  
Supply System ◽  
System Model ◽  
Comparison Analysis ◽  
Fuel Cell System ◽  
Main Emphasis

Paper presents the attempt to make a synthesis of a fuel cell control system using fuzzy logic. The main emphasis was placed on taking into account the limitations of fuel cell usage onto underwater ships. The fuel cell system model was implemented in MATLAB/SIMULINK as well as proposed control system. For the formulated model there were made the simulation researches and the comparison analysis of the elaborated control systems were performed.

Incorporation of a Secondary Wheel Assembly using Novel Zigbee based Traction Control System for Vehicle Stability during Tire Blow-Outs

2018 ◽  
Vol 10 (6) ◽  
Author(s):  
M. Thirunavukkarasu ◽  
V. Lakshminarayanan
Keyword(s):  
Control System ◽  
Real Time ◽  
Time Pressure ◽  
Steering Wheel ◽  
Proper Solution ◽  
Market Demand ◽  
Traction Control ◽  
The Real ◽  
Traction Control System ◽  
Custom Made

Tire blow-outs or puncture during the operation of the vehicle is one of the major root causes of road accidents. The drivers lose his/her control of the steering wheel when the tire get punctured or busted leading towards loss of stability of the vehicle causing adverse effects to the vehicle and the passenger. Due to the rapid change in the pressure range within the tyres, the rim of the wheels come in contact with the road surface causing loss of traction and stability of the vehicle leading to accidents. Despite, the rapid advancements witnessed in the field of automobile industry stating from autonomous vehicles to electronic stability unit, a proper solution addressing the issue of accidents caused due to tire blow-outs remains unanswered. In this proposed study, automatic activation of an additional secondary wheel/roller assembly mounted to the chassis using a custom made Zigbee based smart traction system in order to address the traction and stability issues based on the real-time pressure of the tyre is presented. The real-time pressure of the wheels is monitored by the control system which then decides on scheduling the activation of the secondary wheel/roller assembly using a battery operated pneumatic system which will prevent the vehicle from losing its stability. The proposed traction control system consisting of the secondary roller assembly could also be considered as a lifesaving add-on to the passenger vehicle and a replacement for the wheel replacement jack emphasising the market demand of the proposed solution which is a robust and a cost-effective solution.

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