synthesis of state estimation and h predictive control for...
TRANSCRIPT
1
Synthesis of State Estimation and H∞
Predictive Control for Networked Control Systems in automotive
applications
Yiming ZHANG, Vincent SIRCOULOMB, Nicolas LANGLOIS
EA 4353
Brighton, the 6th of March, 2015
Introduction
Robust estimation for networked control systems: • Application to battery state of charge estimation through a CAN bus
H∞ predictive control for networked control systems: • Application to electromagnetic valve control through a CAN bus
Conclusions and prospects
Outline
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Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Industrial background
• Connect cyberspace to physical space
• Economical investments (unnecessary wiring)
• Data sharing, exchange
• Battery Management Unit (Battery state-of-charge estimation)
3
Network
• Engine Management Unit (electromagnetic valve control)
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
State estimator
Controller
Estimated state
Overview of main issues
Process
(State) Transmitted Measurements
Sensors
Measurement noise
Dynamic model of the process
Desired output
Network
Actuators
Control signal
Received measurements
State constraints
4
Process noise Parameter
uncertainties
Network-induced
issues
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
skT
…3ky 1ky 2ky
1 sk T
…3ky 1ky
2 sk T
…3ky
3 sk T
…3ky
…
Buffer
Network-induced issues
5
𝑦𝑘
𝑦𝑘−3
𝑦𝑘−2
𝑦𝑘−1
Network Process Sensors Estimator 𝑦𝑘 𝑦𝑘−𝜏
(𝑘 − 3)𝑇𝑠 :
(𝑘 − 2)𝑇𝑠 :
(𝑘 − 1)𝑇𝑠 :
𝑘𝑇𝑠 : • Packet dropouts
𝑦𝑘−3
𝑦𝑘−2
𝑦𝑘−1
𝑦𝑘
• Network-induced delay
• Packet disordering
Model of a networked system
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Modeling of network characteristics
6
N
E
T
W
O
R
K
Actuator System
Sensor
System
output
Observer
Controller
Estimated
state
Desired
input
Uncertain link
(network uncertainties)
Uncertain link
Measurement sequence over networks:
1, , kkY y y
1 1, , k krY y y
Incomplete and intermittent
Measurements :
r kY Y
1kE
Packet arrival probability [Sinopoli, 2004]
1, , , 1 or 0k i Bernoulli process :
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Full measurement sequence
Robust state estimation for LTI system
controlled over a network
Application to battery state of charge
estimation
7
the a priori error-covariance
process noise covariance
measurement noise
covariance
the filtering gain
The estimator design
1k k k
k k
k
k
x x u
y cx
1 11ˆ
kk k kxx u
11ˆ ˆ ˆk k k kk k k k kx x K y Cx Du
1
11
T Tk kk k k
K P C CP C R
11 1ˆ
k
T TkTx F Fx F l
Kalman filter :
11 kk k c
TP P Q
Prediction :
Update :
Projection :
8
• State constraints • Varying process noise covariance • Packet arrival probability • Measurement noise covariance
Dynamic model of the process :
The estimation error affected by :
1k kP
kK
cQ
R
T = I when , it is the state-unconstrained system
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
A critical value [Zhang et al., 2013a, 2013b]
c c we can find a critical value so that for
1 : , , , , , , , ,
0 : , , , , , , , ,
c cc
c cc
p Q p Q p p Q p Q p
p Q p Q p p Q p Q p
For , 0cQ Q Q 0, , , , , ,cp p pQ QpQ
0, , , , , ,cp p pQ QpQ
1 2 If , 1 2, , , ,c cp Q p Q 1 2, , , ,c cp Q p Q
• The existence of a critical packet arrival probability
• The existence of upper bound of admitted process noise covariance
9
1
, ,T T T T TTp Tp T Tp C Cp C R CpQ TQ
1
, ,T T T T TT T T T T T Tp T p T TQT T Tp T C C Tp T C R C TpQ Q Q QT T
• Stability : Riccati equations with packet arrival probability
Stability
Unstability
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
HEV motorization management system
• HEV motorization management. • What is the battery state-of-charge? (0%~100%) • Internal variable in battery pack : SOC
Internal Combustion Engine
Electric Motor
10
Supervision unit
Driver intention (torque)
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Battery model and contraints
The battery electrical equivalent model [Banghu et al., 2005]:
i tLead-acid
Battery
tR( )i t
( )tV t
( )CsV t
sRenR
( )CbV t
bC sC
( )bi t ( )si t
( )tV t
1 1
( ) ( ) ( )
1 1
( ) ( ) ( )
s
b en s b en s b en s
Cs enCs
s en s s en s s en s
s en en st
Csen s en
Cb
Cb
Cb
s en s
R
C R R C R R C R Ri t
V RdV
C R R C R R C R Rdt
R R R RV R
VR R R R R
dV t
V tdt
V t
t R
tt
t
i t
Cb SOC bV a n
Known parameters Estimating the state of the battery model
White noise
Uncertainties
11
The relationship between the bulk voltage and the SOC:
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Input current and output voltage: experimental data
• Low and limited input current
12
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Algorithm results for the unconstrained-state system
The SOC estimation problem:
13
• the nominal value of process noise covariance Q0 ( ) 0 0.005*Q I
,
2.1662 6,
0.0018
[0.5 0.5], 0
0.999
.
7 3.19 4
0.4126 0.58
41
74
00
e
C
e
D
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Algorithm results for the unconstrained-state system
A priori form
(Point A)
A posteriori form
(Point B)
0.0117pritrace Q
0.7533post
• the upper value of uncertainty covariance Qu ( ) when 0.01*uQ I 1
14
0.5954pri
0.0119posttrace Q
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Estimation performance for the unconstrained-state system
0.0934 0.9761
0.0049 0.8876
1 0.6016 2 0.1851
priAve
postAve
Comparison of mean absolute estimation Errors
15
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
The augmented model with state constraints
Coulomb counting equation [Ng et al., 2009]:
13600
sk k k
Ah
Tu
CSOC SOC
Augmented system model:
, 1
1 , 1
1
0
03600
0
cb k
k
k cs k k ks s
k
Ahk
k k k k
V
x V x uTI
C
y C x D
SOC
u
Cb a C bV SO
Linear hard equality constraint equation:
16
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
The robust results for the constrained-state system
The SOC estimation problem:
• the nominal value of process noise covariance Q0 ( ) 0 30.005*Q I
0.0682 0.0749 0.2042
0.0472 0.0682 0.1969
1 0.55 3 0.1851
priAve
postAve
2 0.5
Comparison of mean absolute estimation errors
17
A priori form
(Point A)
A posteriori form
(Point B)
0.0213pritrace Q 0.0212posttrace Q
0.505pri 0.6561post
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Comparison of constrained and unconstrained approaches
The state unconstrained approach The state constrained approach
0.0934 0.013
0.0049 0.0045
0.6016
priAve
postAve
Comparison of mean absolute estimation errors
The a priori model form: The a posteriori model form :
18
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Controller
Estimated state
Process
(State) Sensors
Dynamic model of the process
Desired output
Network
Actuators
Control signal
19
State estimator
From robust estimation to robust control
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Control for LTI system controlled over a
network
Application to electromagnetic valve
control
20
Design of a predictive controller
• The cost function:
1 2, , ...,T
T T Tk m k m k NkR
1 0 0
0 0
0 0uN
2 2
11 1
,uNN
k k j k k j j k j kj m j
J k U Exp y u
• The future reference sequence:
ˆ ˆ,T T
k k k k k k kJ k U Y R Y R U U
• Vector form of the cost function:
1 1, ,...,
u
TT T T
k k k k k k N kU u u u
1 2ˆ ˆ ˆ ˆ, , ...,
TT T T
k k m k k m k k N kY y y y
• The predicted output sequence: • The predicted control sequence:
N m uN
21
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Considered state-space model
.
The state-space model:
1k k k
k
m
k k k k
kx x u E
y z Cx
1 1k k k k m k
k k k k k
x I x x u E
y z Cx
1 1 1
1
1
k k k m k
k k k
k m k m k m
x x u E
u u u
Incremental state-space model:
22
• Proposal of a deterministic approach to compute incremental control signal in the case of parameter and process noise uncertainties
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
H∞ design for uncertainties in parameter and process noise
• The state-space model after introducing incremental control signal:
r
2 2
1k kCx r
2[0, )k
1 1 1 21 1T T
b b b bk k k kx I I G I x I G I x E
2
00T T T
k k k kk
x C Cx r
• We define H∞ control performance index with a positive scalar so that the system under the incremental control law should satisfy: if (1) is satisfied for , the system is H∞ norm stabilizable.
min ( )kU
J N
1 2 1ˆ ˆT
b a k b k m k b k m kkU H I G I x I x
• Control law computation from :
23
1
H T
b bI G I G I
1 1* 21 0
uN
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Proposed theorem [Zhang et al., 2013]
.
0r P QFor a given , if there are symmetric positive definite matrices and so that the LMI is solvable, then the system is H∞ norm stable.
where ,
2
1 2
0 0
0 00
0 0
T
T Tb b b b
Q P C C
Q
r I
P P X I A G I A X I A G I A P PE P
1X P 1K P X
• Computation of the control-weighting parameter:
11
1 T T T T Tb bT T
K K I G I GKKK
……
……
1 2 n
1 2 n
• Parameter tuning :
24
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○ ○
Electromagnetic valve
• Electromagnetic valve : the mechanical and the electrical parts [Zhao, 2010]. • What does the electromagnetic valve do? • The displacement of the valve A valve lift (from -4mm to 4mm) A valve drop (from 4mm to -4mm)
Opening Spring
positionMass
Closing Spring
The kinetic model of the mechanical part of an solenoid valve :
eL
eI
u
R
d
d t
+-
cI eR
The equivalent circuit of the electrical part of an solenoid valve :
min max, 4 , 4mm mm
the coil current
the eddy current
25
plunger
M: the mass weight
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○ ○
Modelling and contraints
The linearized state-space valve model:
• State : • Uncertainties: process noise parameter
26
max max max
maxmax
max m
max
axmax
0 1 0 00
3 20 0
202 2
1
0 0
f
c
e
ee
e
c
e
e
k k d kf
R RkI
IR R R LL
I
L
I
0
1
0
0
u
the displacement of the mass the velocity of the mass
the coil current
the eddy current
0P
Line B
Line AP
ress
ure
Position max
0P
min
max
0P
the relation between the combustion pressure and the valve position
parameter
Friction factor Displacement factor Spring factor Coil current factor
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○ ○
Model Parameters of the EM-driven Valve
27
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○ ○
Electromagnetic valve control system
Engine
Management
Unit
m size buffer
Desired
Torque from
the Driver
CAN Bus
Electronic
Control Unit
Valve
Position
Reference
Control signal
Valve
Valve
Position
Valve Position
Feedback
k m ku
k ku
Control signal
r
k m
Engine ECU
Measurements
(pressure, temperature...)
References for other
local control units
Sensor
28
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○ ○
Reference setting
29
Valve lift Valve drop
Time interval between two complete valve motions
• A complete valve motion Discretization : 10 microseconds • Time interval determines the engine
speed (from 18000rpm to 12000rpm) 18000rpm : 0.00667s 12000rpm : 0.01s
Driver-desired reference of valve position
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○ ○
Predictive reference strategy and controller setting Zoom-in figure
30
5 1 4 9
10 1 4 14
20 1 4 24
m uN N
Parameters setting for GPC
5.5e-20 2e-20 0.78e-20
8.7e-20 3e-20 1e-20
10e-20 5.45e-20 2.45e-20
0.2 0.5 0.7
with 5m
with 10m
with 20m
Setting for parameter tuning smT
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○ ○
Valve position error-covariance for the whole simulation.
System output, error and valve velocity Zoom-in between 103.5ms and 106ms
31
Tracking error
Zero valve velocity
0.014026e-4 0.017219e-4 0.018528e-4
2.3731e-4 3.1546e-4 3.8832e-4
563e-4 572e-4 577e-4
cov
5m
10m
20m
0.2 0.5 0.7
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○ ○
sec landing opening landing opening landing opening
2.1e-4 2.1e-4 2.11e-4 2.11e-4 2.13e-4 2.13e-4
2.1e-4 2.1e-4 2.11e-4 2.11e-4 2.13e-4 2.13e-4
2.1e-4 2.1e-4 2.11e-4 2.11e-4 2.13e-4 2.13e-4
Features : valve motion and control response
32
The valve opening/landing velocity (18000rpm)
10m
20m
5m
0.2 0.5 0.7
• The expected zero overshoot
• A short rise time (t2–t1 and t4–t3)
2 1t t s 4 3t t s 2 1t t s 2 1t t s 4 3t t s 4 3t t s
mm landing opening landing opening landing opening
0.0205 -0.0205 0.0171 -0.0171 0.017 -0.017
0.5125% 0.5125% 0.4275% 0.4275% 0.425% 0.425%
0.02 -0.02 0.0193 -0.0193 0.0166 -0.0166
0.5% 0.5% 0.4825% 0.4825% 0.415% 0.415%
0.0201 -0.0201 0.0184 -0.0184 0.0177 -0.0177
0.5025% 0.5025% 0.46% 0.46% 0.4425% 0.4425%
0.2 0.5 0.7
10m
20m
5m
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○ ○
Features : valve motion and control response
33
The valve opening/landing velocity (18000rpm)
landing opening
7.4674 4.1488 -7.6841 -4.1463
6.7163 4.7286 -6.7853 -4.7363
6.5229 4.8937 -6.5421 -4.9001
m saV m sbV m scV m sdV
5m
10m
20m
0.2
landing opening
7.4674 4.1488 -7.6841 -4.1463
8.4944 3.426 -8.6696 -3.4305
8.8851 3.1824 -8.8915 -3.1918
m saV m sbV m scV m sdV5m
0.2
0.5
0.7
• A large starting valve velocity (Va and Vc)
• A small arrival valve velocity (Vb and Vd)
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ● ○
Conclusion and prospects
1) Design of a network-faced state-constrained estimator robust to varying uncertainties in both parameters and process noise
• Application to battery state-of-charge estimation problem
2) Proposal of a deterministic control law from a H∞ predictive controller
• Application to electromagnetic valve control problem
1) Relax the strong assumption for noise
2) Consider nonlinear systems
3) Consider a variable sampling period method
Conclusion :
Prospects :
34
Outline Introduction Battery SOC estimation Electromagnetic valve control Con.&Pros. ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ●
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