4 . Comparison between continuous and discrete-time backstepping design applied to position tracking control of an electro-pneumatic actuator (Trond-Willi Isaksen)
Backstepping has become a popular control strategy for industrial nonlinear
control systems. In this project, backstepping is used to control an electro-pneumatic
clutch actuator for use in heavy duty trucks. Because of the low sample rates
often found in automotive industry, we would like to learn more about differences
between discrete and continuous backstepping designs. During this project, the
student will design, test and compare controllers based on continuous and discrete
backstepping.
Some topics that can be addressed are:
- Literature study on available theory for discrete-time backstepping
- Full-state feedback backstepping design in continuous-time
- Full-state feedback backstepping design in discrete-time
- Output-feedback observer backstepping design
The autumn 2006 will mainly be a literature study and a preparation for the master work next spring. The project and master work is done in cooperation with Kongsberg Automotive. Co-supervisors are Sten Roar Snare andChristian Bratli, KA.
5 . Robustness tests and analysis of control strategies on an electro-pneumatic
actuator (Kristoffer Gjone Johansen)
Robustness is very important in safety critical automotive applications, such as clutch actuation. We must thus choose the control strategy giving the best tradeoff between accuracy and robustness. In this project, the student is invited to design and test a sliding mode controller and compare its performance to that of a simple PD controller and an observer backstepping controller. Sliding mode control is interesting because of its robustness when faced with bounded modelling errors. Sliding mode control is also likely to be well suited for the on/off type of control we see when using on/off pneumatic valves to control the actuator.
Some topics to address are:
-Literature study on sliding mode control used in high precision control applications
-Design, implementation and experimental analysis (chattering, accuracy) of
a sliding mode controller for use in electro-pneumatic clutch actuator
-Discrete design/implementation of the sliding mode controller
-Modeling/Performance tradeoffs
-Comparison with a PD controller and a backstepping controller
The autumn 2006 will mainly be a literature study and a preparation for the master work next spring. The project and master work is done in cooperation with Kongsberg Automotive. Co-supervisors are Sten Roar Snare andChristian Bratli, KA.
6 . Nonlinear observers and controllers for automotive vehicles (Stian
Nerbråten)
Flere prosjektoppgaver kan være aktuelle. Prosjektet gjennomføres i samarbeide med DaimlerChrysler. Veileder er Lars Imsland, SINTEF.
7 . Estimering av usikkerhet i en produksjonsmodell (Sverre Oliver Halvorsrød)
Å kunne anslå usikkerheten i en modell som er tunet mot driftsdata
er viktig, både når modellen skal stå for seg selv og når
den skal brukes i online applikasjoner som monitorering og MPC. ABB, avdeling
Enhanced Operations & Production(EOP), utvikler systemer for monitorering,optimalisering
og regulering av produksjon av oil og gass.
Oppgaven vil omfatte å sette seg inn i en modell ABB har utviklet og å
foreslå hvordan man kan gi et kvantitativ prediksjon av usikkerheten i
modellen. Studenten vil få anledning til å demonstrere forslagene
på produksjonsdata fra virkelige felt. Detaljering av innholdet i oppgaven
vil gjøres sammen med ABBs eksperter på området.
Veileder: stipendiat Steinar Elgsæter, NTNU/ABB
Bi-veileder:dr.ing. Olav Slupphaug, ABB EOP
Faglærer: Professor Tor Arne Johansen, NTNU