Modeling and Optimization of Hybrid Systems
Paper i proceeding, 2015

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.

Författare

Bengt Lennartson

Signaler och system, System- och reglerteknik, Automation

Oskar Wigström

Signaler och system, System- och reglerteknik, Automation

Sarmad Riazi

Signaler och system, System- och reglerteknik, Automation

Kristofer Bengtsson

Signaler och system, System- och reglerteknik, Automation

Proc. 5th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS’15), Atlanta, October 14-16, IFAC-PapersOnLine

Vol. 48 351-357

Drivkrafter

Hållbar utveckling

Styrkeområden

Produktion

Ämneskategorier

Robotteknik och automation