WO2000002174A2 - Verfahren und anordnung zur bestimmung einer regelgrösse eines technischen systems - Google Patents
Verfahren und anordnung zur bestimmung einer regelgrösse eines technischen systems Download PDFInfo
- Publication number
- WO2000002174A2 WO2000002174A2 PCT/DE1999/001978 DE9901978W WO0002174A2 WO 2000002174 A2 WO2000002174 A2 WO 2000002174A2 DE 9901978 W DE9901978 W DE 9901978W WO 0002174 A2 WO0002174 A2 WO 0002174A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- equation
- model description
- variable
- processor
- traffic
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Definitions
- the invention relates to the computer-aided determination of a controlled variable of a technical system, which is described with a given model description in a given room.
- a means for example a conductor loop incorporated into a roadway, which is coupled to a counter and an evaluation unit, with which the state variables (v, p, q) of the system of the traffic flow can be measured.
- Veq (p) (equation 1) with: wi or pi freely selectable mapping parameters li or m freely selectable mapping parameters i run variable
- Equation 3 describes the dynamics of the traffic flow outside the equilibrium state given by the static equilibrium speed according to equation 1 by the following relationship: Cgdp ⁇ 0 d 2 v
- a stability analysis of the model provides characteristic properties of the traffic flow described by the model.
- a local stability analysis of the model shown above by linearization around a stationary working point (vo, po) shows that the unregulated traffic flow according to the model for a vehicle density p in a range [approx. 20 vehicles / km - approx. 50 vehicles / km] exhibits unstable behavior.
- a disturbance in the flow of traffic increases and leads to conditions that can be observed in real traffic situations, such as, for example, a sudden stoppage of the traffic flow (traffic jam) or a “stop-and-go wave”.
- the system exhibits stable behavior in the area of the vehicle density p [p ⁇ 20 vehicle / km] and in the area of the vehicle density p [p> 50 vehicle / km].
- a regulated traffic flow model can be used to regulate the real traffic flow. State variables of a real traffic situation are measure up. These status variables are applied to the control system, the control system determining a control variable, such as the traffic flow velocity v so i] _. Using a display device, such as an alternating traffic sign of a traffic control system, this controlled variable, in accordance with the above example a target speed, is given to the traffic flow.
- the invention is based on the problem of specifying a computer-aided method for determining a controlled variable of a technical system, in which the controlled technical system stabilizes the technical system and in which the controlled variable can be applied to the technical system.
- a controlled variable of a technical system which is described with a predetermined model description in a predetermined space, is determined.
- the model description is transformed into a subspace of the room.
- a controller model description is determined from the transformed model description using a non-linear controller model.
- This controller model description is transformed back into the original space of the model description.
- the controlled variable is determined using the back-transformed controller model description.
- the arrangement according to claim 13 for determining a controlled variable of a technical system, which is described with a given model description in a given room comprises a processor which is set up in such a way that the following steps can be carried out: - transformation of the model description into a subspace of the room; - Determination of a controller model description from the transformed model description using a predefinable non-linear controller model;
- the method and the arrangement ensure that a controlled variable of a technical system is determined, the controlled technical system stabilizing a fault, and that the controlled variable takes on such a value that the
- Controlled variable is applicable to the real system on which the technical system is based.
- the technical system is a traffic flow. This makes it possible to regulate the flow of traffic so that a homogeneous and trouble-free state of the flow of traffic is achieved.
- the relationship shown above is a suitable model of the real system of homogeneous traffic flow and is therefore particularly suitable for regulating the system.
- a particularly simple method results in a further development of the invention if the transformation into the subspace of the room is carried out by tracing several dimensions of the room of the room of the technical system back to one dimension of the subspace.
- non-linear controller model by means of a non-linear, structure-variable controller. This increases the robustness against a malfunction and ensures good control behavior.
- the controlled variable and / or a variable which can be determined from the controlled variable can be displayed to a road user with the aid of a display means.
- FIGS. 1 to 3 Exemplary embodiments of the invention are shown in FIGS. 1 to 3 and are explained in more detail below. Show it:
- Figure 1 Schematic representation of a real system of a traffic flow
- FIG. 2 Schematic representation of the development of a non-linear control system for the traffic flow system
- FIG. 1 A real system of a traffic flow is shown schematically in FIG.
- vehicles 102 are moved in their direction of travel 106 by their respective drivers 103.
- State variables of the system are measured at a predetermined location, a measuring point 104, within the observed route section 101.
- a conductor loop 105 is incorporated into a roadway 109, the number i ⁇ z of the vehicles 102 that cross the measuring point 104 within a predetermined time period ⁇ t and the respective speed vip z of the vehicle 102 that crosses the measuring point 104, measures.
- the measured values (iFz ' v iFz) are transmitted to an evaluation unit 107 coupled to the conductor loops 105.
- the evaluation unit 107 determines a target speed vgoll 108 as a function of the transmitted variables, which is displayed to the road users using a traffic control system 110 which is coupled to the evaluation unit 107.
- a traffic control system 110 which is coupled to the evaluation unit 107.
- step 201 of the traffic flow system in the state space is carried out by:
- v s indicates the speed of a solitary wave.
- This solitary wave is an asymptotic solution of model equations 1, 2 and 3, which waves have a constant profile and propagate at a constant speed v s .
- step 204 Determination of the controller model description using a nonlinear structure-variable controller (step 204) Due to the control properties, a non-linear, structure-variable controller is used to control the transformed model description [5].
- Equation 6 the transformed model description (equation 6) is shown taking equation 4 into account as follows:
- mapping rules f (v, dv / dz) or b (v, dv / dz): mapping rules
- the design of the nonlinear structure variable controller is carried out using the equivalent control method [5].
- controller output variable u e , u n equivalent or non-continuous part of the controller output variable
- the controller output variable u is determined in such a way that the derivative of the Lyapunow-like function VL according to the collective coordinate z is negative:
- the non-continuous part of the controller output variable u n is shown as follows: ⁇ 0 (v - v £
- This provides a controlled system in the subspace (step 205).
- step 206 For the inverse transformation (step 206), the non-continuous part of the controller output variable u n is neglected.
- a local stability analysis of the controlled system in the original room shows the following properties of the controlled system:
- the controlled system exhibits stable behavior with regard to any faults.
- the homogeneous and stable state of the controlled system (Pho ⁇ w hoir v hom)> which arises due to the non-linear and structure-variable control corresponds to the spatially averaged initial conditions of the system variables (p, q, v).
- the controlled variable supplies maximum values (maximum control interventions approx. 25 km / h) that can be applied to the real traffic flow system.
- FIG. 3 shows schematically how the real traffic flow system is homogenized using the regulated model of the traffic flow system.
- the measured output state variables of the real system are PStart 'start' v Start
- the measured state variables (p, q, " v) are applied to the regulated model of the system. If a fault occurs in the real system, the measured state variables ( PStör / stör v Stör ) change •
- the controlled model determines the controlled variable vgoll- depending on the currently supplied state variables of the system (pstör ⁇ ⁇ 3stör ' v S tör) and the initial state variables (pstart / qstart' v S tart).
- V eq (p) V 0 ((1 + exp (( P - 0.25) / 0.06)) _1 - (1 + exp (-0.25 / 0.06)) _1 )
- the acceleration equation can also be replaced by another approach, provided that the characteristic properties such as instability in the medium density range and the occurrence of a solitary wave as an asymptotic solution are guaranteed.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Feedback Control In General (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP99944247A EP1095360A2 (de) | 1998-07-06 | 1999-07-01 | Verfahren und anordnung zur bestimmung einer regelgrösse eines teschnischen systems |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1998130156 DE19830156A1 (de) | 1998-07-06 | 1998-07-06 | Verfahren und Anordnung zur Bestimmung einer Regelgröße eines technischen Systems, welches mit einer vorgegebenen Modellbeschreibung in einem vorgegebenen Raum beschrieben wird |
DE19830156.1 | 1998-07-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2000002174A2 true WO2000002174A2 (de) | 2000-01-13 |
WO2000002174A3 WO2000002174A3 (de) | 2000-06-08 |
Family
ID=7873129
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1999/001978 WO2000002174A2 (de) | 1998-07-06 | 1999-07-01 | Verfahren und anordnung zur bestimmung einer regelgrösse eines technischen systems |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1095360A2 (de) |
DE (1) | DE19830156A1 (de) |
WO (1) | WO2000002174A2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006108256A1 (en) | 2005-04-13 | 2006-10-19 | Ford Motor Company Brasil Ltda. | Material to be injection molded, process thereof, and use therefore |
-
1998
- 1998-07-06 DE DE1998130156 patent/DE19830156A1/de not_active Withdrawn
-
1999
- 1999-07-01 WO PCT/DE1999/001978 patent/WO2000002174A2/de not_active Application Discontinuation
- 1999-07-01 EP EP99944247A patent/EP1095360A2/de not_active Withdrawn
Non-Patent Citations (6)
Title |
---|
CHEREMISINOFF N. P. (ED.): "Dynamics of Single Fluid Flows and Mixing (Encyclopedia of Fluid Mechanics, vol. 2)" 1985 , GULF PUBLISHING COMPANY , HOUSTON, US XP002129897 Seite 3 -Seite 25 * |
CHRONOPOULOS A T ET AL: "A real-time traffic simulation system" IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, FEB. 1998, IEEE, USA, Bd. 47, Nr. 1, Seiten 321-331, XP002129896 ISSN: 0018-9545 * |
GOZ M F: "Small Froude number asymptotics in two-dimensional two-phase flows" PHYSICAL REVIEW E (STATISTICAL PHYSICS, PLASMAS, FLUIDS, AND RELATED INTERDISCIPLINARY TOPICS), OCT. 1995, USA, Bd. 52, Nr. 4, pt.A, Seiten 3697-3710, XP000874463 ISSN: 1063-651X * |
HELBING D: "Gas-kinetic derivation of Navier-Stokes-like traffic equations" PHYSICAL REVIEW E (STATISTICAL PHYSICS, PLASMAS, FLUIDS, AND RELATED INTERDISCIPLINARY TOPICS), MARCH 1996, APS THROUGH AIP, USA, Bd. 53, Nr. 3, Seiten 2366-2381, XP000874462 ISSN: 1063-651X * |
KERNER B S ET AL: "Structure and parameters of clusters in traffic flow" PHYSICAL REVIEW E (STATISTICAL PHYSICS, PLASMAS, FLUIDS, AND RELATED INTERDISCIPLINARY TOPICS), JULY 1994, USA, Bd. 50, Nr. 1, Seiten 54-83, XP000874333 ISSN: 1063-651X in der Anmeldung erw{hnt * |
TONDEUR D: "Unifying concepts in non-linear unsteady processes. I. Solitary travelling waves" CHEMICAL ENGINEERING AND PROCESSING, MAY-JUNE 1987, SWITZERLAND, Bd. 21, Nr. 4, Seiten 167-178, XP000874455 ISSN: 0255-2701 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006108256A1 (en) | 2005-04-13 | 2006-10-19 | Ford Motor Company Brasil Ltda. | Material to be injection molded, process thereof, and use therefore |
Also Published As
Publication number | Publication date |
---|---|
EP1095360A2 (de) | 2001-05-02 |
DE19830156A1 (de) | 2000-01-20 |
WO2000002174A3 (de) | 2000-06-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2106576B1 (de) | Verfahren zur rechnergestützten steuerung und/oder regelung eines technischen systems | |
DE4416364B4 (de) | Verfahren und Regeleinrichtung zur Regelung eines Prozesses | |
AT512251B1 (de) | Verfahren zum Entwerfen eines nichtlinearen Reglers für nichtlineare Prozesse | |
DE19934171A1 (de) | Filtersystem und -verfahren | |
EP2296062A1 (de) | Verfahren zum rechnergestützten Lernen einer Steuerung und/oder Regelung eines technischen Systems | |
EP0663632A1 (de) | Verfahren und Vorrichtung zur Führung eines Prozesses | |
EP3662418A1 (de) | Verfahren und vorrichtung für maschinelles lernen in einer recheneinheit | |
EP0258333B1 (de) | Adaptive regeleinrichtung hoher genauigkeit und geringen stellenenergieverbrauchs | |
DE19606480C2 (de) | Verfahren und Anordnung zur Adaption eines Fuzzy-Reglers | |
DE19531692A1 (de) | Verfahren zum Entwurf lernfähiger, nichtlinearer Beobachter mit neuronalen Netzen | |
WO2000002174A2 (de) | Verfahren und anordnung zur bestimmung einer regelgrösse eines technischen systems | |
DE102012202463A1 (de) | Verfahren zu einem Modellaufbau für eine Reisezeitendatenbank | |
EP0707719B1 (de) | Verfahren zur bestimmung optimaler werte für stellgrössen eines technischen systems | |
DE102018217661A1 (de) | Verfahren zum Bestimmen eines Schaltzustands eines Ventils und Elektromagnetventilanordnung | |
DE102020116218A1 (de) | Verfahren und Vorrichtung zum Betreiben eines technischen Systems | |
EP1276085B1 (de) | Verfahren zur Bestimmung einer Staukennzahl und zur Ermittlung von Rückstaulängen | |
DE102013206276A1 (de) | Verfahren und Vorrichtung zum Erstellen eines Funktionsmodells für ein Steuergerät eines Motorsystems | |
DE19528426C2 (de) | Verfahren zur Ermittlung von Zustandsparametern eines chemischen Reaktors unter Verwendung künstlicher neuronaler Netze | |
DE10021929A1 (de) | Verfahren und Fuzzy-Steuervorrichtung zum rechnergestützten Ermitteln einer Steuerungsstrategie für ein technisches System, Computerlesbares Speichermedium und Computerprogramm-Element | |
Bray | Defect relaxation and coarsening exponents | |
DE112021004158T5 (de) | Steuerungsunterstützungsvorrichtung, Steuerungssystem und Steuerungsunterstützungsverfahren | |
DE4319926C2 (de) | Verfahren zur Regelung eines kontinuierlichen Prozesses mit einer Optimier- und einer Regelphase | |
DE102010064063B4 (de) | Verfahren und Vorrichtung zur rechnergestützten Prognose eine Fahrtdauer eines Fahrzeugs auf einer Route aus einem oder mehreren Routensegmenten | |
EP2517348B1 (de) | Verfahren zur regelung eines zeitvarianten systems | |
DE4229280A1 (de) | Fuzzy-rueckkopplungs-regeleinrichtung |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A2 Designated state(s): US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A2 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
AK | Designated states |
Kind code of ref document: A3 Designated state(s): US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A3 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1999944247 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 09743186 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 1999944247 Country of ref document: EP |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 1999944247 Country of ref document: EP |