Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Düren
Shaker Verlag
2023
|
| Edition: | 1. Auflage |
| Series: | Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart
Band 81/2023 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XIV, 230 Seiten 60 Illustrationen 21 cm x 14.8 cm, 366 g |
| ISBN: | 9783844092905 3844092900 |
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MARC
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| 100 | 1 | |a Schmid, Patrick |e Verfasser |0 (DE-588)1317784189 |4 aut | |
| 245 | 1 | 0 | |a Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation |c Patrick Schmid |
| 250 | |a 1. Auflage | ||
| 264 | 1 | |a Düren |b Shaker Verlag |c 2023 | |
| 300 | |a XIV, 230 Seiten |b 60 Illustrationen |c 21 cm x 14.8 cm, 366 g | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart |v Band 81/2023 | |
| 502 | |b Dissertation |c Universität Stuttgart |d 2023 | ||
| 650 | 0 | 7 | |a Optimalwertregelung |0 (DE-588)4331044-8 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Modellprädiktive Regelung |0 (DE-588)1135937567 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Magnetschwebebahn |0 (DE-588)4036988-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Hochgeschwindigkeitszug |0 (DE-588)4113934-3 |2 gnd |9 rswk-swf |
| 653 | |a magnetic levitation | ||
| 653 | |a maglev | ||
| 653 | |a high-speed maglev vehicles | ||
| 653 | |a maglev vehicles | ||
| 653 | |a Transrapid | ||
| 653 | |a model predictive control | ||
| 653 | |a MPC | ||
| 653 | |a sMPC | ||
| 653 | |a electromagnet modeling | ||
| 653 | |a offset-free control | ||
| 653 | |a real-time control | ||
| 653 | |a processor-in-the-loop | ||
| 653 | |a hardware-in-the-loop | ||
| 653 | |a dependability | ||
| 653 | |a simulati | ||
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
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| 689 | 1 | |5 DE-604 | |
| 689 | 2 | 0 | |a Magnetschwebebahn |0 (DE-588)4036988-2 |D s |
| 689 | 2 | 1 | |a Hochgeschwindigkeitszug |0 (DE-588)4113934-3 |D s |
| 689 | 2 | 2 | |a Modellprädiktive Regelung |0 (DE-588)1135937567 |D s |
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Record in the Search Index
| _version_ | 1806051261844291584 |
|---|---|
| adam_text |
CONTENTS
ZUSAMMENFASSUNG
.
XI
ABSTRACT
.
XIII
1
INTRODUCTION
1
1.1
SETUP
OF
THE
TRANSRAPID
MAGLEV
SYSTEM
.
2
1.2
MAGLEV
CONTROL
AND
MPC
-
PIPE
DREAM
OR
PRACTICALLY
REALIZABLE?
.
8
1.3
CONTENT
OF
THE
THESIS
.
11
2
FUNDAMENTALS
FROM
MODELING,
OPTIMIZATION,
AND
CONTROL
13
2.1
MULTIBODY
SYSTEMS
.
13
2.2
OPTIMIZATION
.
15
2.2.1
PROBLEM
FORMULATION
AND
OPTIMALITY
CONDITIONS
.
15
2.2.2
NUMERICAL
OPTIMIZATION
.
18
2.3
MODEL
PREDICTIVE
CONTROL
.
21
2.3.1
GENERAL
IDEA
AND
PROBLEM
FORMULATION
.
22
2.3.2
STABILITY
.
23
2.3.3
NUMERICAL
SOLUTION
OF
OPTIMAL
CONTROL
PROBLEM
.
26
3
MODELS
FOR
CONTROL
SYNTHESIS
AND
ANALYSIS
31
3.1
MECHANICS
.
32
3.1.1
SINGLE
POINT
MASS
MODEL
.
34
3.1.2
TRACK
CENTER
GUIDANCE
MODEL
.
35
3.2
ELECTROMAGNETICS
.
37
3.2.1
FLUX-BASED
DAE-MODEL
.
40
VIII
CONTENTS
3.2.2
PARAMETERIZATION,
ANALYSIS,
AND
VALIDATION
.
50
3.2.3
CURRENT-BASED
ODE-MODEL
.
53
3.3
COUPLED
STATE-SPACE
MODELS
.
60
3.3.1
SINGLE
POINT
MASS
MODEL
.
60
3.3.2
TRACK
CENTER
GUIDANCE
MODEL
.
61
3.3.3
SYSTEM
PROPERTIES
.
62
3.4
FILTER
DESIGN
.
63
3.5
GUIDEWAY
MODEL
.
66
3.5.1
MODELING
OF
GUIDEWAY
IRREGULARITIES
FROM
SPECIFICATION
.
66
3.5.2
VALIDATION
OF
GUIDEWAY
IRREGULARITIES
FROM
MEASUREMENTS
.
68
4
MPC
DESIGN
71
4.1
DEMANDS
ON
CLOSED
LOOP
AND
CONTROL
GOALS
.
71
4.2
DESIGN
OF
OCP
AND
PARAMETERIZATION
.
73
4.2.1
COST
FUNCTION
AND
PREDICTION
HORIZON
.
74
4.2.2
SYSTEM
DYNAMICS
.
79
4.2.3
PATH
AND
TERMINAL
CONSTRAINTS
.
79
4.3
OFFSET-FREE
MPC
DESIGN
.
81
4.3.1
LITERATURE
REVIEW
AND
CONTRIBUTION
.
84
4.3.2
PROBLEM
FORMULATION
.
85
4.3.3
OBSERVER-BASED
OFFSET-FREE
MPC
.
86
4.3.4
INTEGRAL-ERROR
APPROACHES
.
92
4.3.5
APPLICATION
OF
STRATEGIES
TO
MAGLEV
SYSTEM
.
94
4.3.6
ANALYSIS
AND
SIMULATION
.
98
4.4
DISCUSSION
AND
FURTHER
PRELIMINARY
ANALYSES
.
104
4.4.1
CHALLENGES
OF
STABILIZING
SCHEMES
WITH
OFFSET-FREE
SETUPS
.
104
4.4.2
BENEFITS
OF
NONLINEAR
MPC
OVER
LINEAR
APPROACHES
.
105
5
REAL-TIME
MPC
AND
IMPLEMENTATION
109
5.1
PROBLEM
FORMULATION
.
110
5.2
DISCUSSION
OF
REAL-TIME
MPC
STRATEGIES
.
111
CONTENTS
.
IX
5.2.1
REAL-TIME
ITERATION
SCHEME
.
113
5.2.2
GRADIENT
PROJECTION
METHOD
.
117
5.2.3
APPROXIMATE
EXPLICIT
MPC
.
121
5.3
EMBEDDED
REALIZATION
.
129
5.3.1
PROCESSOR-IN-THE-LOOP
SIMULATIONS
.
130
5.3.2
HARDWARE-IN-THE-LOOP
SETUP
.
139
6
DEPENDABLE
EMBEDDED
CONTROL
141
6.1
PROBLEM
STATEMENT
.
143
6.2
PROPOSED
APPROACH
FOR
DEPENDABLE
DESIGN
.
143
6.3
EMBEDDED
ONLINE
CLASSIFICATION
OF
OFFLINE
SAMPLED
DATA
.
145
6.3.1
DECOMPOSITION
OF
NON-CONVEX
SETS
.
145
6.3.2
EFFICIENT
INNER
APPROXIMATION
.
148
6.3.3
EFFICIENT
OUTER
APPROXIMATION
.
150
6.3.4
DISCUSSION
AND
APPLICATION
TO
DEPENDABLE
CONTROL
DESIGN
.
153
6.4
EXAMPLE
.
153
6.4.1
DESIGN
OF
BINARY
TREE
CLASSIFICATION
FUNCTION
.
154
6.4.2
EMBEDDED
REALIZATION
ON
HARDWARE
.
156
6.4.3
APPLICATION
DURING
OPERATION
.
156
6.5
CONCLUSION
.
158
7
SIMULATIVE
PROOF
OF
CONCEPT
AND
ANALYSES
159
7.1
TWO-DIMENSIONAL
LONGITUDINAL-SECTION
MODEL
.
161
7.1.1
NOMINAL
RIDE
.
163
7.1.2
LONGITUDINAL
UNIFORMLY
ACCELERATED
TRAVEL
.
166
7.1.3
VALIDITY
OF
THE
MAGNETIC
WHEEL
CONCEPT
.
167
7.2
THREE-DIMENSIONAL
MODEL
.
171
7.2.1
VEHICLE
LIFTING
AND
LOWERING
.
175
7.2.2
DRIVING
ALONG
A
BANKED
CURVE
.
177
8
CONCLUSION
AND
OUTLOOK
189
X
CONTENTS
APPENDIX
193
A.1
EQUIVALENT
CIRCUITS
OF
A
TR09
GUIDANCE
MAGNET
.
193
A.
2
ALGORITHMS
FOR
CLASSIFICATION
OF
SAMPLED
DATA
.
194
A.
2.1
CREATE
OVERLAPPING
CONVEX
HULLS
.
194
A.
2.2
DECOMPOSE
DISCRETE
SET
.
195
A.
2.3
GREEDY
APPROACH
FOR
INNER
APPROXIMATION
.
196
A.
2.4
SHRINKING
OF
CONVEX
HULL
.
196
A.
2.5
OUTER
APPROXIMATION
OF
CONVEX
HULL
.
198
A.
3
COMPUTATION
TIMES
OF
AEMPC
FOR
TRACK
CENTER
GUIDANCE
MODEL
.
199
ABBREVIATIONS,
SYMBOLS,
AND
NOTATION
201
BIBLIOGRAPHY
209 |
| adam_txt |
CONTENTS
ZUSAMMENFASSUNG
.
XI
ABSTRACT
.
XIII
1
INTRODUCTION
1
1.1
SETUP
OF
THE
TRANSRAPID
MAGLEV
SYSTEM
.
2
1.2
MAGLEV
CONTROL
AND
MPC
-
PIPE
DREAM
OR
PRACTICALLY
REALIZABLE?
.
8
1.3
CONTENT
OF
THE
THESIS
.
11
2
FUNDAMENTALS
FROM
MODELING,
OPTIMIZATION,
AND
CONTROL
13
2.1
MULTIBODY
SYSTEMS
.
13
2.2
OPTIMIZATION
.
15
2.2.1
PROBLEM
FORMULATION
AND
OPTIMALITY
CONDITIONS
.
15
2.2.2
NUMERICAL
OPTIMIZATION
.
18
2.3
MODEL
PREDICTIVE
CONTROL
.
21
2.3.1
GENERAL
IDEA
AND
PROBLEM
FORMULATION
.
22
2.3.2
STABILITY
.
23
2.3.3
NUMERICAL
SOLUTION
OF
OPTIMAL
CONTROL
PROBLEM
.
26
3
MODELS
FOR
CONTROL
SYNTHESIS
AND
ANALYSIS
31
3.1
MECHANICS
.
32
3.1.1
SINGLE
POINT
MASS
MODEL
.
34
3.1.2
TRACK
CENTER
GUIDANCE
MODEL
.
35
3.2
ELECTROMAGNETICS
.
37
3.2.1
FLUX-BASED
DAE-MODEL
.
40
VIII
CONTENTS
3.2.2
PARAMETERIZATION,
ANALYSIS,
AND
VALIDATION
.
50
3.2.3
CURRENT-BASED
ODE-MODEL
.
53
3.3
COUPLED
STATE-SPACE
MODELS
.
60
3.3.1
SINGLE
POINT
MASS
MODEL
.
60
3.3.2
TRACK
CENTER
GUIDANCE
MODEL
.
61
3.3.3
SYSTEM
PROPERTIES
.
62
3.4
FILTER
DESIGN
.
63
3.5
GUIDEWAY
MODEL
.
66
3.5.1
MODELING
OF
GUIDEWAY
IRREGULARITIES
FROM
SPECIFICATION
.
66
3.5.2
VALIDATION
OF
GUIDEWAY
IRREGULARITIES
FROM
MEASUREMENTS
.
68
4
MPC
DESIGN
71
4.1
DEMANDS
ON
CLOSED
LOOP
AND
CONTROL
GOALS
.
71
4.2
DESIGN
OF
OCP
AND
PARAMETERIZATION
.
73
4.2.1
COST
FUNCTION
AND
PREDICTION
HORIZON
.
74
4.2.2
SYSTEM
DYNAMICS
.
79
4.2.3
PATH
AND
TERMINAL
CONSTRAINTS
.
79
4.3
OFFSET-FREE
MPC
DESIGN
.
81
4.3.1
LITERATURE
REVIEW
AND
CONTRIBUTION
.
84
4.3.2
PROBLEM
FORMULATION
.
85
4.3.3
OBSERVER-BASED
OFFSET-FREE
MPC
.
86
4.3.4
INTEGRAL-ERROR
APPROACHES
.
92
4.3.5
APPLICATION
OF
STRATEGIES
TO
MAGLEV
SYSTEM
.
94
4.3.6
ANALYSIS
AND
SIMULATION
.
98
4.4
DISCUSSION
AND
FURTHER
PRELIMINARY
ANALYSES
.
104
4.4.1
CHALLENGES
OF
STABILIZING
SCHEMES
WITH
OFFSET-FREE
SETUPS
.
104
4.4.2
BENEFITS
OF
NONLINEAR
MPC
OVER
LINEAR
APPROACHES
.
105
5
REAL-TIME
MPC
AND
IMPLEMENTATION
109
5.1
PROBLEM
FORMULATION
.
110
5.2
DISCUSSION
OF
REAL-TIME
MPC
STRATEGIES
.
111
CONTENTS
.
IX
5.2.1
REAL-TIME
ITERATION
SCHEME
.
113
5.2.2
GRADIENT
PROJECTION
METHOD
.
117
5.2.3
APPROXIMATE
EXPLICIT
MPC
.
121
5.3
EMBEDDED
REALIZATION
.
129
5.3.1
PROCESSOR-IN-THE-LOOP
SIMULATIONS
.
130
5.3.2
HARDWARE-IN-THE-LOOP
SETUP
.
139
6
DEPENDABLE
EMBEDDED
CONTROL
141
6.1
PROBLEM
STATEMENT
.
143
6.2
PROPOSED
APPROACH
FOR
DEPENDABLE
DESIGN
.
143
6.3
EMBEDDED
ONLINE
CLASSIFICATION
OF
OFFLINE
SAMPLED
DATA
.
145
6.3.1
DECOMPOSITION
OF
NON-CONVEX
SETS
.
145
6.3.2
EFFICIENT
INNER
APPROXIMATION
.
148
6.3.3
EFFICIENT
OUTER
APPROXIMATION
.
150
6.3.4
DISCUSSION
AND
APPLICATION
TO
DEPENDABLE
CONTROL
DESIGN
.
153
6.4
EXAMPLE
.
153
6.4.1
DESIGN
OF
BINARY
TREE
CLASSIFICATION
FUNCTION
.
154
6.4.2
EMBEDDED
REALIZATION
ON
HARDWARE
.
156
6.4.3
APPLICATION
DURING
OPERATION
.
156
6.5
CONCLUSION
.
158
7
SIMULATIVE
PROOF
OF
CONCEPT
AND
ANALYSES
159
7.1
TWO-DIMENSIONAL
LONGITUDINAL-SECTION
MODEL
.
161
7.1.1
NOMINAL
RIDE
.
163
7.1.2
LONGITUDINAL
UNIFORMLY
ACCELERATED
TRAVEL
.
166
7.1.3
VALIDITY
OF
THE
MAGNETIC
WHEEL
CONCEPT
.
167
7.2
THREE-DIMENSIONAL
MODEL
.
171
7.2.1
VEHICLE
LIFTING
AND
LOWERING
.
175
7.2.2
DRIVING
ALONG
A
BANKED
CURVE
.
177
8
CONCLUSION
AND
OUTLOOK
189
X
CONTENTS
APPENDIX
193
A.1
EQUIVALENT
CIRCUITS
OF
A
TR09
GUIDANCE
MAGNET
.
193
A.
2
ALGORITHMS
FOR
CLASSIFICATION
OF
SAMPLED
DATA
.
194
A.
2.1
CREATE
OVERLAPPING
CONVEX
HULLS
.
194
A.
2.2
DECOMPOSE
DISCRETE
SET
.
195
A.
2.3
GREEDY
APPROACH
FOR
INNER
APPROXIMATION
.
196
A.
2.4
SHRINKING
OF
CONVEX
HULL
.
196
A.
2.5
OUTER
APPROXIMATION
OF
CONVEX
HULL
.
198
A.
3
COMPUTATION
TIMES
OF
AEMPC
FOR
TRACK
CENTER
GUIDANCE
MODEL
.
199
ABBREVIATIONS,
SYMBOLS,
AND
NOTATION
201
BIBLIOGRAPHY
209 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Schmid, Patrick |
| author_GND | (DE-588)1317784189 |
| author_facet | Schmid, Patrick |
| author_role | aut |
| author_sort | Schmid, Patrick |
| author_variant | p s ps |
| building | Verbundindex |
| bvnumber | BV049564837 |
| classification_rvk | ZN 8260 ZO 5480 |
| classification_tum | VER 272 |
| ctrlnum | (OCoLC)1407054852 (DE-599)DNB1307081169 |
| discipline | Elektrotechnik / Elektronik / Nachrichtentechnik Verkehrstechnik Verkehr / Transport |
| discipline_str_mv | Elektrotechnik / Elektronik / Nachrichtentechnik Verkehrstechnik Verkehr / Transport |
| edition | 1. Auflage |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV049564837 |
| illustrated | Illustrated |
| index_date | 2024-07-03T23:29:12Z |
| indexdate | 2024-07-31T00:11:41Z |
| institution | BVB |
| institution_GND | (DE-588)1064118135 |
| isbn | 9783844092905 3844092900 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-034910163 |
| oclc_num | 1407054852 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-83 DE-1050 |
| owner_facet | DE-91G DE-BY-TUM DE-83 DE-1050 |
| physical | XIV, 230 Seiten 60 Illustrationen 21 cm x 14.8 cm, 366 g |
| publishDate | 2023 |
| publishDateSearch | 2023 |
| publishDateSort | 2023 |
| publisher | Shaker Verlag |
| record_format | marc |
| series | Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart |
| series2 | Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart |
| spelling | Schmid, Patrick Verfasser (DE-588)1317784189 aut Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation Patrick Schmid 1. Auflage Düren Shaker Verlag 2023 XIV, 230 Seiten 60 Illustrationen 21 cm x 14.8 cm, 366 g txt rdacontent n rdamedia nc rdacarrier Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart Band 81/2023 Dissertation Universität Stuttgart 2023 Optimalwertregelung (DE-588)4331044-8 gnd rswk-swf Modellprädiktive Regelung (DE-588)1135937567 gnd rswk-swf Magnetschwebebahn (DE-588)4036988-2 gnd rswk-swf Hochgeschwindigkeitszug (DE-588)4113934-3 gnd rswk-swf magnetic levitation maglev high-speed maglev vehicles maglev vehicles Transrapid model predictive control MPC sMPC electromagnet modeling offset-free control real-time control processor-in-the-loop hardware-in-the-loop dependability simulati (DE-588)4113937-9 Hochschulschrift gnd-content Magnetschwebebahn (DE-588)4036988-2 s DE-604 Modellprädiktive Regelung (DE-588)1135937567 s Hochgeschwindigkeitszug (DE-588)4113934-3 s Optimalwertregelung (DE-588)4331044-8 s Shaker Verlag (DE-588)1064118135 pbl Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart Band 81/2023 (DE-604)BV021301685 2023.81 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=034910163&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p vlb 20231024 DE-101 https://d-nb.info/provenance/plan#vlb |
| spellingShingle | Schmid, Patrick Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart Optimalwertregelung (DE-588)4331044-8 gnd Modellprädiktive Regelung (DE-588)1135937567 gnd Magnetschwebebahn (DE-588)4036988-2 gnd Hochgeschwindigkeitszug (DE-588)4113934-3 gnd |
| subject_GND | (DE-588)4331044-8 (DE-588)1135937567 (DE-588)4036988-2 (DE-588)4113934-3 (DE-588)4113937-9 |
| title | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation |
| title_auth | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation |
| title_exact_search | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation |
| title_exact_search_txtP | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation |
| title_full | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation Patrick Schmid |
| title_fullStr | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation Patrick Schmid |
| title_full_unstemmed | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation Patrick Schmid |
| title_short | Model predictive control for high-speed maglev vehicles: modeling, design, implementation, and simulation |
| title_sort | model predictive control for high speed maglev vehicles modeling design implementation and simulation |
| topic | Optimalwertregelung (DE-588)4331044-8 gnd Modellprädiktive Regelung (DE-588)1135937567 gnd Magnetschwebebahn (DE-588)4036988-2 gnd Hochgeschwindigkeitszug (DE-588)4113934-3 gnd |
| topic_facet | Optimalwertregelung Modellprädiktive Regelung Magnetschwebebahn Hochgeschwindigkeitszug Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=034910163&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV021301685 |
| work_keys_str_mv | AT schmidpatrick modelpredictivecontrolforhighspeedmaglevvehiclesmodelingdesignimplementationandsimulation AT shakerverlag modelpredictivecontrolforhighspeedmaglevvehiclesmodelingdesignimplementationandsimulation |