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Modeling and Optimization of Hybrid Systems

Bengt Lennartson (Institutionen för signaler och system, Automation) ; Oskar Wigström (Institutionen för signaler och system, Automation) ; Sarmad Riazi (Institutionen för signaler och system, Automation) ; Kristofer Bengtsson (Institutionen för signaler och system, Automation)
Proc. 5th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS’15), Atlanta, October 14-16, IFAC-PapersOnLine Vol. 48 (2015), 27, p. 351-357.
[Konferensbidrag, refereegranskat]

In this paper a predicate transition model for discrete event systems is generalized to include continuous dynamics, and the result is a modular hybrid predicate transition model. Based on this model a hybrid Petri net, including explicit differential equations and shared variables, is also proposed. It is then shown how this hybrid Petri net model can be optimized based on a simple and robust nonlinear programming formulation. The procedure only assumes that desired sampled paths for a number of interacting moving devices are given, while originally equidistant time instances are adjusted to minimize a given criterion. This optimization of hybrid systems is also applied to a real robot station with interacting devices, which results in about 30\% reduction in energy consumption.



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Denna post skapades 2016-04-20. Senast ändrad 2016-09-14.
CPL Pubid: 234942

 

Institutioner (Chalmers)

Institutionen för signaler och system, Automation

Ämnesområden

Produktion
Hållbar utveckling
Robotteknik och automation

Chalmers infrastruktur