Abstract
In this paper, a real-time distributed economic model predictive control approach for complete vehicle energy management (CVEM) is presented using a receding control horizon in combination with a dual decomposition. The dual decomposition allows the CVEM optimization problem to be solved by solving several smaller optimization problems. The receding horizon control problem is formulated with variable sample intervals, allowing for large prediction horizons with only a limited number of decision variables and constraints in the optimization problem. Furthermore, a novel on/off control concept for the control of the refrigerated semi-trailer, the air supply system and the climate control system is introduced. Simulation results on a low-fidelity vehicle model show that close to optimal fuel reduction performance can be achieved. The fuel reduction for the on/off controlled subsystems strongly depends on the number of switches allowed. By allowing up to 15-times more switches, a fuel reduction of 1.3% can be achieved. The approach is also validated on a high-fidelity vehicle model, for which the road slope is predicted by an e-horizon sensor, leading to a prediction of the propulsion power and engine speed. The prediction algorithm is demonstrated with measured ADASIS information on a public road around Eindhoven, which shows that accurate prediction of the propulsion power and engine speed is feasible when the vehicle follows the most probable path. A fuel reduction of up to 0.63% is achieved for the high-fidelity vehicle model.
Highlights
The need for fuel-efficient road transport has largely driven the development of new automotive technology and research over the last decades
As prediction information is a key element in the proposed approach, the second step demonstrates the approach by using a high-fidelity vehicle model, where the power request and engine speed are predicted as in Algorithm 1
To analyze the fuel reduction contribution of each of the subsystems, the results of various simulations are shown for which only one subsystem is being controlled with the distributed economic model predictive control (DEMPC) approach
Summary
The need for fuel-efficient road transport has largely driven the development of new automotive technology and research over the last decades. Examples of online solution strategies that are real-time implementable are rule-based strategies (see, e.g., [13,14]), equivalent consumption minimization strategies (ECMS; see, e.g., [15,16,17]) and solution strategies based on model predictive control (MPC; see, e.g., [18,19,20]). In [29], flexibility is obtained by using the Alternating Direction Method of Multipliers (ADMM), while ideas based on ECMS are used to provide the equivalent costs at a supervisory level While each of these solution strategies is interesting and provides a certain degree of flexibility, they require still a significant amount of tuning, while real-time implementability is not guaranteed. Contrary to [33], in this paper, we present the general CVEM problem as a quadratically-constrained linear program (QCLP) This allows the method to be applied to various vehicle configurations.
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