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1

A ship manoeuvring desktop simulator for developing and validating automatic control algorithms

He H., Lataire E., Zwijnsvoorde T. V.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2023

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Vol. 17 No. 3

607--616

EN

This paper presents a user‐friendly simulator developed based on Windows Forms and deployed as a test bed for validating automatic control algorithms. The effectiveness of some of the integrated track controllers has been tested with free running experiments carried out in the Towing Tank for Manoeuvres in Shallow Water in Ostend, Belgium. The controllers enable a ship to follow predefined random paths with high accuracy. Ship‐to‐ship interaction is considered in some cases. Simulator environments provide useful tools for extending the number of validation scenarios, supplementing the work performed in the towing tank. The simulator is presented with a graphical user interface, aiming at providing a good user experience, numerous test scenarios and an extensively‐validated library of automatic control algorithms. With the usage of the simulator, further evaluation of developed control algorithms by implementing extensive test runs with different ships and waterways could be made. Case studies are shown to illustrate the functionality of the simulator.

2

Nieliniowe sterowanie predykcyjne ramion manipulatorów

Tatjewski Piotr

Pomiary Automatyka Robotyka

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2023

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R. 27, nr 2

47--58

PL

Przedmiotem artykułu są algorytmy sterowania predykcyjnego (typu MPC - Model Predictive Control) ramion manipulatorów sztywnych. Zastosowano MPC z modelem w przestrzeni stanów i wykorzystano najnowszą technikę tłumienia zakłóceń i błędów modelowania, pozwalającą uniknąć dynamicznego modelowania zakłóceń lub uciekania się do dodatkowych technik ich eliminowania, takich jak SMC. Rozważane są przede wszystkim najbardziej efektywne obliczeniowo algorytmy MPC-NPL (NPL - Nonlinear Prediction and Linearization), w dwóch wersjach: z optymalizacją QP (Quadratic Programming) z ograniczeniami i z jawną optymalizacją bez ograniczeń i spełnieniem ograniczeń nierównościowych a posteriori. Dla wszystkich rozważanych algorytmów przeprowadzono kompleksową analizę symulacyjną sterowania manipulatorem z napędem bezpośrednim, przy dwóch rodzajach zakłócenia: zewnętrznym i parametrycznym. Wyniki porównano z uzyskanymi dla znanego algorytmu CTC-PID (CTC - Computer Torque Control), uzyskując lepszą jakość regulacji algorytmami MPC. Zbadano wpływ długości okresu próbkowania i obliczeniowego opóźnienia sterowania na jakość regulacji, co jest istotne dla algorytmów z szybkim próbkowaniem opartych na modelach.

EN

The subject of the article are predictive control algorithms (of MPC type - Model Predictive Control) for rigid manipulator arms. MPC with a state-space model and with the latest disturbance and modeling error suppression technique was applied, which avoids dynamic disturbance modeling or resorting to additional disturbance cancellation techniques, such as SMC. First of all, the most computationally efficient MPC-NPL (Nonlinear Prediction and Linearization) algorithms are considered, in two versions: the first with constrained QP (Quadratic Programming) optimization and the second with explicit (analytical) optimization without constraints and satisfying a posteriori inequality constraints. For all considered algorithms, a comprehensive simulation analysis was carried out for a direct drive manipulator, with two kinds of disturbances: external and parametric. The obtained results were compared with those for the well-known CTC-PID algorithm (CTC - Computer Torque Control), showing better control quality with MPC algorithms. In addition, the influence of the length of the sampling period and of the computational delay on control quality was investigated, which is important for model-based algorithms with fast sampling.

3

Internet digital content pricing and subscribers control

Mejjouali Sobhi, Tadj Lotfi

Operations Research and Decisions

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2023

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Vol. 33, No. 3

59--73

EN

We use optimal control theory to determine the optimal rate of change in the subscription fee and the optimal ratio of ad space to the total web page space for a web content provider. An optimal solution is obtained using the maximum principle approach and the model predictive control approach. Numerical experiments show that it is preferable to use the first approach when the planning horizon is short and the second approach when the planning horizon is long.

4

Modeling the fuel consumption by a HEV vehicle - a case study

Lisowski Maciej, Gołębiewski Wawrzyniec, Prajwowski Konrad, Danilecki Krzysztof, Radwan Mirosław

Combustion Engines

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2023

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R. 62, nr 2

71--83

EN

The article presents a mathematical model demonstrating the synergy of HEV energetic machines in accordance with the model predictive control. Then the results of road tests are presented. They were based on the factory control of the above-mentioned system. The results of the operating parameters of the system according to the factory control and the results of the operating parameters according to the model predictive control were compared. On their basis, it could be concluded that the model predictive control contributed to changes in the power and electrochemical charge level of the energy storage system from 50.1% (the beginning) to 56.1% (the end of course) and for MPC from 50.1% (the beginning) to 59.9% (the end of the course). The applied MPC with 13 reference trajectories (LQT) of power machines of the series-parallel HEV allowed for fuel savings on the level of 4%.

5

Model predictive ship trajectory tracking system based on line of sight method

Miller Anna

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2023

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Vol. 71, nr 5

art. no. e145763

EN

Maritime Autonomous Surface Ships (MASS) perfectly fit into the future vision of merchant fleet. MASS autonomous navigation system combines automatic trajectory tracking and supervisor safe trajectory generation subsystems. Automatic trajectory tracking method, using line-of-sight (LOS) reference course generation algorithm, is combined with model predictive control (MPC). Algorithm for MASS trajectory tracking, including cooperation with the dynamic system of safe trajectory generation is described. It allows for better ship control with steady state cross-track error limitation to the ship hull breadth and limited overshoot after turns. In real MASS ships path is defined as set of straight line segments, so transition between trajectory sections when passing waypoint is unavoidable. In the proposed control algorithm LOS trajectory reference course is mapped to the rotational speed reference value, which is dynamically constrained in MPC controller due to dynamically changing reference trajectory in real MASS system. Also maneuver path advance dependent on the path tangential angle difference, to ensure trajectory tracking for turns from 0 to 90 degrees, without overshoot is used. All results were obtained with the use of training ship in real–time conditions.

6

Research on low frequency ripple suppression technology of inverter based on model prediction

Liu Haiyang, Chen Yiwen, Luo Sixu, Jiang Jiahui, Jian Haojun

Archives of Electrical Engineering

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2023

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Vol. 72, nr 2

443--460

EN

The low frequency ripple of the input side current of the single-phase inverter will reduce the efficiency of the power generation system and affect the overall performance of the system. Aiming at this problem, this paper proposes a two-modal modulation method and its MPC multi-loop composite control strategy on the circuit topology of a single-stage boost inverter with a buffer unit. The control strategy achieves the balance of active power on both sides of AC and DC by controlling the stable average value of the buffer capacitor voltage, and provides a current reference for inductance current of the DC input side. At the same time, the MPC controller uses the minimum inductor current error as the cost function to control inductor current to track its reference to achieve low frequency ripple suppression of the input current. In principle, it is expounded that the inverter using the proposed control strategy has better low frequency ripple suppression effect than the multi-loop PI control strategy, and the conclusion is proved by the simulation data. Finally, an experimental device of a single-stage boost inverter using MPC multi-loop composite control strategy is designed and fabricated, and the experimental results show that the proposed research scheme has good low frequency ripple suppression effect and strong adaptability to different types of loads.

7

Supervisory optimal control using machine learning for building thermal comfort

Abdufattokhov Shokhjakhon, Mahamatov Nurilla, Ibragimova Kamila, Gulyamova Dilfuza, Yuldashev Dilyorjon

Operations Research and Decisions

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2022

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Vol. 32, No. 4

1--15

EN

For the past few decades, control and building engineering communities have been focusing on thermal comfort as a key factor in designing sustainable building evaluation methods and tools. However, estimating the indoor air temperature of buildings is a complicated task due to the nonlinear and complex building dynamics characterised by the time-varying environment with disturbances. The primary focus of this paper is designing a predictive and probabilistic room temperature model of buildings using Gaussian processes (GPs) and incorporating it into model predictive control (MPC) to minimise energy consumption and provide thermal comfort satisfaction. The full probabilistic capabilities of GPs are exploited from two perspectives: the mean prediction is used for the room temperature model, while the uncertainty is involved in the MPC objective not to lose the desired performance and design a robust controller. We illustrated the potential of the proposed method in a numerical example with simulation results.

8

A simplified model predictive control for shunt active power filter using modified instantaneous power theory under polluted grid conditions

Bouchikha Hocine, Mesbahi Nadhir, Heguig Larouci, Ouari Ahmed

Journal of Power Technologies

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2022

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Vol. 102, nr 1

14--24

EN

This paper proposes a simplified finite control set model predictive control (FCS-MPC) strategy for a three-phase shunt active power filter (SAPF), which is based on a vector operation technique (VOT). In the conventional FCS-MPC, the optimal switching state is selected based on the evaluation and minimization of a cost function for all possible voltage vectors of the voltage source inverter (eight different vectors). The proposed FCS-MPC performs like a conventional FCS-MPC where the selection and evaluation of the possible voltage vectors are reduced by half (four vectors). The reduction in the computational burden is evident. In this study, the modified version of the instantaneous power theory based on a high selectivity filter is used to extract reference current components which increase the selectivity and the dynamic performance of SAPF. Simulation results demonstrate the effectiveness and reliability of the SAPF with the proposed control strategy under polluted grid conditions.

9

Cascade tanks system identification for robust predictive control

Jakowluk Wiktor, Jaszczak Sławomir

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2022

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Vol. 70, nr 6

art. no. e143646

EN

The main goal of estimating models for industrial applications is to guarantee the cheapest system identification. The requirements for the identification experiment should not be allowed to affect product quality under normal operating conditions. This paper deals with ensuring the required liquid levels of the cascade system tanks using the model predictive control (MPC) method. The MPC strategy was extended with the Kalman filter (KF) to predict the system’s succeeding states subject to a reference trajectory in the presence of both process and measurement noise covariances. The main contribution is to use the application-oriented input design to update the parameters of the model during system degradation. This framework delivers the least-costly identification experiment and guarantees high performance of the system with the updated model. The methods presented are evaluated both in the experiments on a real process and in the computer simulations. The results of the robust MPC application for cascade system water levels control are discussed.

10

Model predictive control of NPC three-level grid-tied converter based on reconstructed current

Li Yanyan, Xiao Han, Jin Nan, Yan Guanglu

Archives of Electrical Engineering

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2022

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Vol. 71, nr 2

363--377

EN

The neutral point clamped (NPC) three-level grid-tied converter is the key equipment connecting renewable energy and power grids. The current sensor fault caused by harsh environment may lead to the split of renewable energy. The existing sensor fault-tolerant methods will reduce the modulation ratio index of the converter system. To ensure continuous operation of the converter system and improve the modulation index, a model predictive control method based on reconstructed current is proposed in this paper. According to the relationship between fault phase current and a voltage vector, the original voltage vector is combined and classified. To maintain the stable operation of the converter and improve the utilization rate of DC voltage, two kinds of fault phase current are reconstructed with DC current, normal phase current and predicted current, respectively. Based on reconstructed three-phase current, a current predictive control model is designed, and a model predictive control method is proposed. The proposed method selects the optimal voltage vector with the cost function and reduces time delay with the current reconstruction sector. The simulation and experimental results show that the proposed strategy can keep the NPC converter running stably with one AC sensor, and the modulation index is increased from 57.7% to 100%.

11

Online continuous-time adaptive predictive control of the technological glass conditioning process

Drapała Michał, Byrski Witold

Archives of Control Sciences

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2022

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Vol. 32, No. 4

755--782

EN

Glass production has a great industrial importance and is associated with many technological challenges. Control related problems concern especially the last part of the process, so called glass conditioning. Molten glass is gradually cooled down in a long ceramic channels called forehearths during glass conditioning. The glass temperature in each zone of the forehearth should be precisely adjusted according to the assumed profile. Due to cross-couplings and unmeasured disturbances, traditional control systems based on PID controllers, often do not ensure sufficient control quality. This problem is the main motivation for the research presented in the paper. A Model Predictive Control algorithm is proposed for the analysed process. It is assumed the dynamic model for each zone of the forehearth is identified on-line with the Modulating Functions Method. These continuous-time linear models are subsequently used for two purposes: for the predictive controller tuning, measurable disturbances compensation and for a static set point optimisation. Proposed approach was tested using Partial Differential Equation model to simulate two adjacent zones of the forehearth. The experimental results proved that it can be successfully applied for the aforementioned model.

12

MPC controller of PV system based Three-Level NPC Inverter under different climatic conditions connected to the grid

Dennai Mohammed Yassine, Tedjini Hamza, Nasri Abdelfatah, Taibi Djamel

Przegląd Elektrotechniczny

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2021

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R. 97, nr 3

130--137

EN

In this paper, PV arrays are connected to the grid through a three-Level NPC Inverter. Both the current control and voltage balancing performance of the inverter are ensured via model predictive control (MPC) technique. This paper is comparing and presenting operational performance analysis of grid-connected three-Level NPC Inverter results using three techniques controllers namely: Self-tuning Fuzzy Logic PI controller (FLC), Neural Network controller (ANN), and PI classical controller, under different environmental conditions to optimally tune the reference current of the controller and following the maximum power point.

PL

Opisano system ze źródłem fotowoltaicznym gdzie stosuje się zarówno bieżące operacje kontroli, jak i równoważenie napięcia NPC z porównaniem trzech różnych strategii kontrolera. Skuteczność porównuje się między trzema strategiami kontrolnymi przy różnym natężeniu promieniowania i różnej temperaturze.

13

Optymalizacja wzmocnienia obserwatora Luenbergera w układzie predykcyjnego sterowania systemem aktywnego zawieszenia

Maślak Grzegorz, Orłowski Przemysław

Pomiary Automatyka Robotyka

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2021

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R. 25, nr 2

5--10

PL

Układy sterowania wykorzystujące regulatory predykcyjne bardzo często wymagają wprowadzenia do ich struktury mechanizmów umożliwiających estymację niedostępnego pomiarowo stanu obiektu. Zależnie od przypadku nieosiągalne mogą być informacje o różnej liczbie zmiennych stanu. Szeroko stosowanymi układami pozwalającymi na uzyskanie niezbędnych informacji o stanie obiektu są obserwator Luenbergera oraz różnego typu filtry Kalmana. Autorzy proponują metodę syntezy obserwatora Luenbergera opartą na optymalizacji wzmocnienia owego obserwatora, przy czym wyznacznik jakości uzyskanego wzmocnienia wykorzystywanego przez optymalizator stanowi ogólna jakość regulacji układu sterowania z regulatorem predykcyjnym. Opracowana metoda pozwala na uzyskanie, z punktu widzenia przyjętego kryterium, obserwatora o właściwościach lepszych niż analogiczny układ, którego syntezę przeprowadzono przy wykorzystaniu równania Sylvestera oraz klasycznego filtru Kalmana, mimo występowania zakłóceń. Metoda zaprezentowana zostanie na przykładzie układu predykcyjnego sterowania systemem aktywnego zawieszenia.

EN

MPC Driven control systems very often are requiring the introduction of a mechanism predicting the state of the object unavailable for measurements. Depending on the case, a different number of state variables will be unobtainable. Widely used systems to obtain essential data of the condition of an object are Luenberger state observer and different types of Kalman filters. The authors propose a new method of Luenberger observer synthesis based on Luenberger gain optimization using performance index corresponding to generalized system performance. The developed method allows us to obtain better-performing observer from the point of view of the adopted criterion, compared to similar estimators derived from the Sylvester equation and classic Kalman filters, even despite the occurrence of disturbances. The developed method will be presented on an example of an active suspension system with MPC.

14

A numerically efficient fuzzy MPC algorithm with fast generation of the control signal

Marusak Piotr M.

International Journal of Applied Mathematics and Computer Science

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2021

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Vol. 31, no. 1

59--71

EN

Model predictive control (MPC) algorithms are widely used in practical applications. They are usually formulated as optimization problems. If a model used for prediction is linear (or linearized on-line), then the optimization problem is a standard, i.e., quadratic, one. Otherwise, it is a nonlinear, in general, nonconvex optimization problem. In the latter case, numerical problems may occur during solving this problem, and the time needed to calculate control signals cannot be determined. Therefore, approaches based on linear or linearized models are preferred in practical applications. A novel, fuzzy, numerically efficient MPC algorithm is proposed in the paper. It can offer better performance than the algorithms based on linear models, and very close to that of the algorithms based on nonlinear optimization. Its main advantage is the short time needed to calculate the control value at each sampling instant compared with optimization-based numerical algorithms; it is a combination of analytical and numerical versions of MPC algorithms. The efficiency of the proposed approach is demonstrated using control systems of two nonlinear control plants: the first one is a chemical CSTR reactor with a van de Vusse reaction, and the second one is a pH reactor.

15

Research on hybrid modeling and predictive energy management for power split hybrid electric vehicle

Wang Shaohua, Zhang Sheng, Shi Dehua, Sun Xiaoqiang, Yang Tao

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2021

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Vol. 69, nr 3

art. no. e137064

EN

Due to the coexistence of continuity and discreteness, energy management of a multi-mode power split hybrid electric vehicle (HEV) can be considered a typical hybrid system. Therefore, the hybrid system theory is applied to investigate the optimum energy distribution strategy of a power split multi-mode HEV. In order to obtain a unified description of the continuous/discrete dynamics, including both the steady power distribution process and mode switching behaviors, mixed logical dynamical (MLD) modeling is adopted to build the control-oriented model. Moreover, linear piecewise affine (PWA) technology is applied to deal with nonlinear characteristics in MLD modeling. The MLD model is finally obtained through a high level modeling language, i.e. HYSDEL. Based on the MLD model, hybrid model predictive control (HMPC) strategy is proposed, where a mixed integer quadratic programming (MIQP) problem is constructed for optimum power distribution. Simulation studies under different driving cycles demonstrate that the proposed control strategy can have a superior control effect as compared with the rule-based control strategy.

16

Evacuation by leader-follower model with bounded confidence and predictive mechanisms

Almeida Ricardo, Girejko Ewa, Machado Luis, Malinowska Agnieszka B., Martins Natália

Archives of Control Sciences

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2021

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Vol. 31, No. 3

629--644

EN

This paper studies an evacuation problem described by a leader-follower model with bounded confidence under predictive mechanisms. We design a control strategy in such a way that agents are guided by a leader, which follows the evacuation path. The proposed evacuation algorithm is based on Model Predictive Control (MPC) that uses the current and the past information of the system to predict future agents’ behaviors. It can be observed that, with MPC method, the leader-following consensus is obtained faster in comparison to the conventional optimal control technique. The effectiveness of the developed MPC evacuation algorithm with respect to different parameters and different time domains is illustrated by numerical examples.

17

Effectiveness of Dynamic Matrix Control algorithm with Laguerre functions

Tatjewski Piotr

Archives of Control Sciences

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2021

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Vol. 31, No. 4

795--814

EN

The paper is concerned with the presentation and analysis of the Dynamic Matrix Control (DMC) model predictive control algorithm with the representation of the process input trajectories by parametrised sums of Laguerre functions. First the formulation of the DMCL (DMC with Laguerre functions) algorithm is presented. The algorithm differs from the standard DMC one in the formulation of the decision variables of the optimization problem - coefficients of approximations by the Laguerre functions instead of control input values are these variables. Then the DMCL algorithm is applied to two multivariable benchmark problems to investigate properties of the algorithm and to provide a concise comparison with the standard DMC one. The problems with difficult dynamics are selected, which usually leads to longer prediction and control horizons. Benefits from using Laguerre functions were shown, especially evident for smaller sampling intervals.

18

Simple Technique of Initial Speed Identification for Speed-Sensorless Predictive Controlled Induction Motor Drive

Stando Dariusz, Kazmierkowski Marian P.

Power Electronics and Drives

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2020

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Vol. 5 (40)

189--197

EN

This article presents a simple technique of identifying the initial speed that allows for restarting a sensorless induction motor (IM) drive controlled by a model predictive flux control (MPFC). Initial speed identification is required because, according to the research, the applied current-model reference adaptive system (C-MRAS) can restart the IM after failure only if the error of the initial speed set in the estimator is < 25%. The proposed technique is based on short periods of flux generation for the certain initial speed and observation of the estimated torque respond. The direction of the estimated torque determines whether the real speed is higher or lower than the initial one set in the estimator. In two steps, the algorithm identifies the initial speed with an accuracy of 25%. This allows for a quick restart of the IM from any speed, eliminating the disadvantage of the sensorless drive control system with the C-MRAS speed estimator. The experimental results measured on a 50 kW drive which illustrates the operation and performances of the system are presented.

19

Model Predictive Control application in the energy saving technology of basic oxygen furnace

Stepanets Oleksandr, Mariiash Yurii

Informatyka, Automatyka, Pomiary w Gospodarce i Ochronie Środowiska

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2020

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T. 10, nr 2

70--74

EN

The fulfilment of the condition for the simultaneous achievement of the desired chemical composition and temperature of the metal is ensured by controlling the oxygen consumption and the position of the oxygen impeller lance. The method for solving Model Predictive Control with quadratic functionality in the presence of constraints is given. Implementation of the described solutions will contribute to increasing the proportion of scrap and reducing the melting period without changing of technological process.

PL

Spełnienie warunku jednoczesnego osiągnięcia pożądanego składu chemicznego i temperatury metalu jest zapewnione poprzez kontrolę zużycia tlenu i położenia palnika tlenowego. Zaprezentowano metodę rozwiązania Modelu Sterowania Predykcyjnego z funkcjonalnością kwadratową w obecności ograniczeń. Wdrożenie opisanego rozwiązania przyczyni się do zwiększenia udziału złomu i skrócenia czasu topnienia bez zmiany procesu technologicznego.

20

Properties of active rectifier with LCL filter in the selection process of the weighting factors in finite control set-MPC

Falkowski P., Sikorski A., Kulikowski K., Korzeniewski M.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2020

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Vol. 68, nr 1

51--60

EN

One of the main problems of multivariable cost functions in model predictive control is the choice of weighting factors. Two finite control set model predictive control algorithms, applied to the three-phase active rectifier with an LCL filter, are described in the paper. The investigated algorithms, i.e. PCicuc and PCigicuc, implement multivariable approaches applying line (grid) current, capacitor voltage and converter current. The main problem dealt with in the paper is the choice of optimum values of the cost function weighting factors. The values of the factors calculated using the method proposed in the paper are very close to the values represented by the lowest THDi of the line current. Moreover, simulations verifying the equations used in the prediction of controlled values, i.e. line current, capacitor voltage and converter current, are presented. Both simulation and experimental results are presented to verify effectiveness of the investigated control strategies under change of the load (P = 5 kW and 2.5 kW), during transient states, under unbalanced and balanced line voltage.