Survey of advanced suspension developments and related optimal control applications

In the near future, a significant increase in electric power consumption in vehicles is expected. To limit the associated increase in fuel consumption and exhaust emissions, smart strategies for the generation, storage/retrieval, distribution, and consumption of electric power will be used. Inspired by the research on energy management for hybrid electric vehicles (HEVs), this paper presents an extensive study on controlling the vehicular electric power system to reduce the fuel use and emissions, by generating and storing electrical energy only at the most suitable moments. For this purpose, both off-line optimization methods using knowledge of the driving pattern and on-line implementable ones are developed and tested in a simulation environment. Results show a reduction in fuel use of 2%, even without a prediction of the driving cycle being used. Simultaneously, even larger reductions of the emissions are obtained. The strategies can also be applied to a mild HEV with an integrated starter alternator (ISA), without modifications, or to other types of HEVs with slight changes in the formulation.

http://www.mate.tue.nl/mate/pdfs/5064.pdf

Energy management strategies for vehicular electric power systems

http://www.mate.tue.nl/mate/pdfs/1606.pdf

Survey A review of methods for input/output selection

The gradual decline in global oil reserves and presence of ever so stringent emissions rules around the world, have created an urgent need for the production of automobiles with improved fuel economy. HEVs (hybrid electric vehicles) have proved a viable option to guaranteeing improved fuel economy and reduced emissions. The fuel consumption benefits which can be realised when utilising HEV architecture are dependent on how much braking energy is regenerated, and how well the regenerated energy is utilised. The challenge in developing an HEV control strategy lies in the satisfaction of often conflicting control constraints involving fuel consumption, emissions and driveability, without over-depleting the battery state of charge at the end of the defined driving cycle. As a result, a number of power management strategies have been proposed in literature. This paper presents a comprehensive review of these literatures, focusing primarily on contributions in the aspect of parallel hybrid electric vehicle modelling and control. As part of this treatise, exploitable research gaps are also identified. This paper prides itself as a comprehensive reference for researchers in the field of hybrid electric vehicle development, control and optimisation.

/pdf/modelling-and-control-of-hybrid-electric-vehicles-a-1hmutec0id.pdf

Modelling and control of hybrid electric vehicles (a comprehensive review)

This survey paper aims to provide some insight into the design of suspension control system within the context of existing literature and share observations on current hardware implementation of active and semi-active suspension systems. It reviews the performance envelop of active, semi-active, and passive suspensions with a focus on linear quadratic-based optimisation including a specific example. The paper further discusses various design aspects including other design techniques, the decoupling of load and road disturbances, the decoupling of pitch and heave modes, the use of an inerter as an additional design element, and the application of preview. Various production and near production suspension systems were examined and described according to the features they offer, including self-levelling, variable damping, variable geometry, and anti-roll damping and stiffness. The lessons learned from these analytical insights and related hardware implementations are valuable and can be applied towards future active or semi-active suspension design.

State of the art survey: active and semi-active suspension control

This paper presents the modeling and control of a waste heat recovery system for a Euro-VI heavy-duty truck engine. The considered waste heat recovery system consists of two parallel evaporators with expander and pumps mechanically coupled to the engine crankshaft. Compared to previous work, the waste heat recovery system modeling is improved by including evaporator models that combine the finite difference modeling approach with a moving boundary one. Over a specific cycle, the steady-state and dynamic temperature prediction accuracy improved on average by 2% and 7%. From a control design perspective, the objective is to maximize the waste heat recovery system output power. However, for safe system operation, the vapor state needs to be maintained before the expander under highly dynamic engine disturbances. To achieve this, a switching model predictive control strategy is developed. The proposed control strategy performance is demonstrated using the high-fidelity waste heat recovery system model subject to measured disturbances from an Euro-VI heavy-duty diesel engine. Simulations are performed using a cold-start World Harmonized Transient cycle that covers typical urban, rural and highway driving conditions. The model predictive control strategy provides 15% more time in vapor and recovered thermal energy than a classical proportional-integral (PI) control strategy. In the case that the model is accurately known, the proposed control strategy performance can be improved by 10% in terms of time in vapor and recovered thermal energy. This is demonstrated with an offline nonlinear model predictive control strategy.

/pdf/modeling-and-control-of-a-parallel-waste-heat-recovery-41t3rxme50.pdf

Modeling and Control of a Parallel Waste Heat Recovery System for Euro-VI Heavy-Duty Diesel Engines

A design methodology is presented for tracking control of second-order chained form systems. The methodology separates the tracking-error dynamics, which are in cascade form, into two parts: a linear subsystem and a linear time-varying subsystem. The linear time-varying subsystem, after the first subsystem has converged, can be treated as a chain of integrators for the purposes of a backstepping controller. The two controllers are designed separately and the proof of stability is given by using a result for cascade systems. The method consists of three steps. In the first step we apply a stabilizing linear state feedback to the linear subsystem. In the second step the second subsystem is exponentially stabilized by applying a backstepping procedure. In the final step it is shown that the closed-loop tracking dynamics of the second-order chained form system are globally exponentially stable under a persistence of excitation condition on the reference trajectory. The control design methodology is illustrated by application to a second-order non-holonomic system. This planar manipulator with two translational and one rotational joint (PPR) is a special case of a second-order non-holonomic system. The simulation results show the effectiveness of our approach. Copyright © 2002 John Wiley & Sons, Ltd.

http://www.mate.tue.nl/mate/pdfs/2161.pdf

Tracking control of second-order chained form systems by cascaded backstepping

This paper presents the identification and validation of a dynamic Waste Heat Recovery (WHR) system model. Driven by upcoming CO2 emission targets and increasing fuel costs, engine exhaust gas heat utilization has recently attracted much attention to improve fuel efficiency, especially for heavy-duty automotive applications. In this study, we focus on a Euro-VI heavy-duty diesel engine, which is equipped with a Waste Heat Recovery system based on an Organic Rankine Cycle. The applied model, which combines first principle modelling with stationary component models, covers the two-phase flow behavior and the effect of control inputs. Furthermore, it describes the interaction with the engine on both gas and drivetrain side. Using engine dynamometer measurements, an optimal fit of unknown model parameters is determined for stationary operating points. From model validation, it is concluded that the identified model shows good accuracy in steady-state and can reasonably capture the most important dynamics over a wide range of operating conditions. The resulting real-time model is suitable for model-based control. Copyright © 2013 SAE International.

Experimental validation of a dynamic waste heat recovery system model for control purposes

In this paper, a switching Model Predictive Control strategy is designed for an automotive Waste Heat Recovery system with two parallel evaporators. The objective is to maximize Waste Heat Recovery system output power, while satisfying safe operation under highly dynamic disturbances from the engine. Safe system operation is associated with vapor state after the evaporators. The closed-loop performance of the Model Predictive Control strategy is demonstrated on a high-fidelity validated Waste Heat Recovery system model subject to realistic disturbances from an Euro VI heavy-duty diesel engine. The simulation results, based on a World Harmonized Transient Cycle, demonstrate that the proposed control strategy outperforms a classical PI control strategy in terms of safety and relative average power, up to 15% and 3%, respectively. cop. 2014 IEEE.

Model predictive control of a waste heat recovery system for automotive diesel engines

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2008/data/papers/2385.pdf

de Ag Bram Jager

Papers

Modeling and Control of a Parallel Waste Heat Recovery System for Euro-VI Heavy-Duty Diesel Engines

Tracking control of second-order chained form systems by cascaded backstepping

Experimental validation of a dynamic waste heat recovery system model for control purposes

Model predictive control of a waste heat recovery system for automotive diesel engines

An Adaptive Sub-Optimal Energy Management Strategy for Hybrid Drive-Trains