2007 10 9
PRIUS LS460
Direct Injection In E VVT-i 9 17 5 6 12 18 7 11 24 10 27 16 15 4 16 25 25 16 4 15 4 16 19 4 26 14 13 19 20 20 8 22 21 3 1 23 21 2 ECU 200 V6 3.0L 3GR-FSE
(MIPS) CPU speed 400 100 10 ROM size (Bytes) 1M 500 V8 Engine L4 Engine 200 00 02 04 06 08 year
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Wikipedia Reductionism Reduktionismus
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group theory
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Model Architecture Analysis & Methodologies Model Eecution Control Design Requirement Management Model/Data Management Calibration Process Management Database Model/Data/Process/ Architecture/Schedule / Verification & Validation Plant Modeling
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d n = A B u R J = ( T T y Q y u R u)dt dt m 0 u R y = C Q 0, R > 0 p y R J H d dt 1 = λ 2 ( T T T ) T C Q C u R u ( A B u) T H dλ H H =, =, = 0, λ = P, P > T λ dt u 0 A T P P A C T Q C P B R 1 B T P = 0 u = R 1 B T P LQ
y 2.0 1.5 1.0 0.5 0 d dt J = = LQ 0 1 0 1 1 T 1 1000 1 1 u, 0 y = [ 1 1], T [ 1 1] u u dt LQ, Q=1000, R=1-0.5 0 2 4 6 8 10 time (s)
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Inverse problem Direct problem
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1. 2. 3. 4.
J = ( T T y Q y u R u)dt 0 Q 0, R > 0 Q 0 R 1. 2. 3. 4. 5.
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y 2.0 1.5 1.0 0.5 0 Q =1/ 5 Q =1 Q = 5 Q = 25 Q =125-0.5 0 2 4 6 8 10 time (s)
1.5 1.0 0.5 0 PID100km/h 2.0 y k p = k p 100 = 10 k p = k 1 p 0.1-0.5 0 2 4 6 8 10 = time (s)
0
2.0 1.5 LQ, y 1.0 0.5 LQ LQ,, 0.2s 0-0.5 0 2 4 6 8 10 time (s)
LQ y 2.0 1.5 1.0 0.5 0 Q = 1/ 5 Q = 1 200ms Q = 5 Q = 25 Q = 125-0.5 0 2 4 6 8 10 time (s)
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( ) ( ) g y u f dt d = =, ( ) ( ) y u u u u u m m e g e e u f e f u f u f dt de 0 0 0 0 0,, = = = = = = ( ) ( ) m m m m m g y u f dt d = =, m y m u m y y e u u e e = = =,, y u C e e B e Ae dt de = = 0 0 0,, u u g C u f B f A = = = = = =
de = Ae dt e = C e y B e u A = f 0 0, B = f = = u u= u u= u 0 0, C = g = 0 y r u m u y e u e y y m
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C FF C
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ym um δu y C y m um δu C y y m
1. 2. 3. 4. 5. ( Internal Model Control
y m FF C y ym um δu C y y m um δu C y y m
G e G m sl : : G L C G e 1 G e C C d s L s L Cd C d C = 1 G C G e d = 1 G C G C s L C e s L C s L G e G m G m e s L
C s L G e G m G m e s L C s L G e G m Gm e s L
C C G m = G m 1 G Q m *1 G m C 2 C 1 G m
(2) C G e s L G m G m e s L C s L G e G m G m e s L C G m
(3) *1 G m s L G e G m e s *1 G m L *1 G m s L G e *1 G m G m e s L
(4) *1 G m s L G e *1 G m G m e s L *1 G m s L G e *1 G m G m e s L G m e s L
(5) *1 G m s L G e *1 G m G m e s L G m e s L *1 G m G s L G e * m 1 G m e s L G m e s L
C1 C2 C1 C2
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