Springer. Automotive Model Predictive Control. Luigi del Re, Frank Allgower, Luigi Glielmo, Models, Methods and Applications

Transcription

1 Luigi del Re, Frank Allgower, Luigi Glielmo, Carlos Guardiola, and Ilya Kolmanovsky (Eds.) Automotive Model Predictive Control Models, Methods and Applications Springer

2 Contents 1 Chances and Challenges in Automotive Predictive Control 1 Luigi del Re, Peter Ortner, Daniel Alberer 1.1 Introduction: The Rationale Alternatives for Modeling First Principles Models Data-only Models Advanced Use of Data Alternatives for Optimization Basic Algorithmic Approaches Coping with Nonlinearity Chances: State and Outlook Conclusions 19 References 19 Part I: Models 2 On Board NOx Prediction in Diesel Engines: A Physical Approach 25 Jean Arregle, J. Javier Lopez, Carlos Guardiola, Christelle Monin 2.1 Introduction Main Physical/Chemical Mechanisms of NOx Formation/Destruction NOx Re-burning NOx Formation in LTC Conditions Mechanisms and Model Sensitivity Structure of Physically-based NOx Models Flame Temperature Determination Input Parameters Accuracy 33

3 VIII Contents Intake Air Mass Flow Rate Accuracy Air + EGR Mixture Temperature and Oxygen Fraction Conclusions 34 References 35 3 Mean Value Engine Models Applied to Control System Design and Validation 37 Pierre Olivier Calendini, Stefan Breuer 3.1 State of the Art Mean Value Engine Model System Model Structure as a Response to the Requirements Bond Graph Applied to Mean Value Engine Models Naturally Aspirated and Turbocharged Engine in Bond Graph Structure Basic Blocs for Building Mean Value Models The Volume Bloc The Gas Exchange Bloc Heat Exchange Models Combustion Model Possibilities Environment Model Application Example: Choice of an Air Loop Control Strategy Implementation of the Robustness Simulation Results of the Robustness Simulations Conclusions 50 References 51 4 Physical Modeling of Turbocharged Engines and Parameter Identification 53 Lars Eriksson, Johan Wahlstrom, Markus Klein 4.1 Introduction MVEM Modeling Library Development Building Blocks: Component Models The Engine Cylinders: Flow, Temperature, and Torque Implementation Examples Modeling of a Diesel Engine with EGR/VGT Experimental Data Minimum Number of States Model Extensions Gray-Box Models and Identification Conclusions 68 References 69

4 Contents IX 5 Dynamic Engine Emission Models 73 Markus Hirsch, Klaus Oppenauer, Luigi del Re 5.1 Introduction Data-based Model Identification Mean Value Emission Model Input Selection Model Structure Parameter Identification Regressor Selection Realization and Results Crank Angle Based Emission Model Workflow zone Process Calculation zone Model Emission Models Model Development and Verification Data for Identification: Input Design Limitations Summary 85 References 86 6 Modeling and Model-based Control of Homogeneous Charge Compression Ignition (HCCI) Engine Dynamics 89 Rolf Johansson, Per Timestdl, Anders Widd 6.1 Introduction HCCI Modeling Fuel Modeling Auto-ignition Modeling Thermal Modeling and Auto-ignition Experiments Model Predictive Control Conclusions 99 References 100 Part II: Methods An Overview of Nonlinear Model Predictive Control Lalo Magni, Riccardo Scattolini 7.1 Introduction Problem Formulation and State-feedback NMPC Control Law Feasibility and Stability in Nominal Conditions The Robustness Problem Output Feedback and Tracking Ill

5 X Contents Output Feedback Ill Tracking Implementation Problems and Alternative Approaches References Optimal Control Using Pontryagin's Maximum Principle and Dynamic Programming 119 Bart Saerens, Moritz Diehl, Eric Van den Bulck 8.1 Introduction Optimal Control Pontryagin's Maximum Principle Dynamic Programming Vehicle and Powertrain Model Vehicle and Driveline Model Engine Model Minumum-fuel Acceleration with the Maximum Principle Minumum-fuel Acceleration with Dynamic Programming Discussion of the Results Comparison between the Maximum Principle and Dynamic Programming Comparison with Other Research Conclusions 136 References On the Use of Parameterized NMPC in Real-time Automotive Control 139 Mazen Alamir, Andre Murilo, Richard Fiirhapter, Peter Ortner Rachid Amari, Paolina Tona, 9.1 Introduction The Parameterized NMPC: Definitions and Notation Example 1: Diesel Engine Air Path Control Example 2: Automated Manual Transmission Control Conclusion 148 References 148 Part III: Applications 10 An Application of MPC Starting Automotive Spark Ignition Engine in SICE Benchmark Problem 153 Akira Ohata, Masaki Yamakita 10.1 Introduction Control Design Strategy in MBD Benchmark Problem 161

6 Contents XI 10.4 Application of MPC Summary 169 References Model Predictive Control of Partially Premixed Combustion 171. Per Tunestdl, Magnus Lewander 11.1 Introduction Experimental Setup PPC Definition Control Control Design Results Response to EGR. Disturbance Response to Load Changes Response to Speed Changes Discussion Conclusions 180 References Model Predictive Powertrain Control: An Application to Idle Speed Regulation 183 Stefano Di Cairano, Diana Yanakiev, Alberto Bemporad, Ilya Kolrnanovsky, Davar Hrovat 12.1 Introduction Engine Model for Idle Speed Control Control-oriented Model and Controller Design Controller Synthesis and Refinement Feedback Law Synthesis and Functional Assessment Prediction Model Refinement Experimental Validation Conclusions 193 References On Low Complexity Predictive Approaches to Control of Autonomous Vehicles 195 Paolo Falcone, Francesco Borrelli, Eric H. Tseng, Davor Hrovat 13.1 Introduction to Autonomous Guidance Systems Vehicle Modeling Low Complexity Predictive Path Following Two Levels Autonomous Path Following Single Level Autonomous Path Following Results 206

7 XII Contents 13.5 Conclusions 209 References Toward a Systematic Design for Turbocharged Engine Control 211 Greg Stewart, Francesco Borrelli, Jaroslav Pekar, David Germann, Daniel Pachner, Dejan Kihas 14.1 Introduction Engine Control Requirements Steady-state Engine Calibration Control Functional Development Functional Testing Software Development Integration Calibration Certification Release and Post-release Support Iteration Loops Modeling and Control for Turbocharged Engines Modeling Model Predictive Control and Computational Complexity Explicit Predictive Control On the Complexity of Explicit MPC Control Laws Summary and Conclusions 228 References An Integrated LTV-MPC Lateral Vehicle Dynamics Control: Simulation Results 231 Giovanni Palmieri, Osvaldo Barbarisi, Stefano Scala, Luigi Glielmo 15.1 Introduction Full Vehicle Model Lateral Vehicle Dynamic Control Strategy Reference Signals Estimation of Tire Variables Supervisor Model Predictive Control An Alternative 2PI Regulator A Reduced Model for Slip Control A Slip Control Strategy Feedback Action Simulation Results Conclusions 253 References 254

8 Contents XIII 16 MIMO Model Predictive Control for Integral Gas Engines 257 Jakob Angeby, Matthias Huschenbett, Daniel Alberer 16.1 Introduction System Description Problem Statement Model Predictive Control Implementation Objective Function Model Derivation Model Extensions Real-time MPC Results Conclusions 271 References A Model Predictive Control Approach to Design a Parameterized Adaptive Cruise Control 273 Gerrit J.L. Naus, Jeroen Ploeg, M.J.G. Van de Molengraft, W.P.M.H. Heemels, Maarten Steinbuch 17.1 Introduction Problem Formulation Quantification Measures Parameterization Model Predictive Control Problem Setup Modeling Control Objectives and Constraints Control Problem / Cost Criterion Formulation Controller Design Parameterization Implementation Issues Results Conclusions and Future Work 282 References 283 Author Index 285