トヨタ自動車株式会社東京本社3F応接302
第1回MBD調査研究会運営委員会
2008年1月7日
大畠 明
トヨタ自動車株式会社
第1回運営委員会アジェンダ1.日時:2008年1月7日、13:00~17:002.場所:トヨタ自動車株式会社,東京本社
3F 応接室3.議事:
(1) 主査挨拶(2) MBD調査研究会の設立状況(大畠)
-設立趣意書の確認-制御部門、部門協議会、理事会承認
(3) 部門協議会新体制について(大畠)-部門協議会規程改定-部門連携・活性化専門委員会規程-部門協議会技術委員会規程-部門協議会下の技術委員会について・ライフサイエンス・ES (Embedded System)
(4) ES技術委員会の説明(船橋)(5) ES技術委員会とMBD調査研究会との関係(6) MBD調査研究会委員登録の確認
(7) MBD調査研究会ホームページ,-掲載内容- JMAABホームページとのリンク
- その他(8) 運営基本方針
-委員募集について(各自募集、名簿公開可否確認)-活動計画について・研究会活動・OSへの参加・Conferenceなど・ES技術委員会との連携・先進パワトレ制御研究会・IFAC & SICE Symposium on Theory and Technology
for Automotive Controlについて・その他の連携
-自動車技術会との連携について(9) その他
経緯
2007年 9月7日:制御部門運営委員会で設置承認(調査研究会規程により正式決定)
2007年11月9日:部門協議会で設置報告2007年12月7日:理事会にて設置報告
2007年11月1日:JMAAB Open Conferenceにて報告(参加者500名以上)
2007年12月1日:JMAAB Core Member会議で報告(参加会社自動車OEM, Tire1 ECUSuppliers15社、TMW, CSC)
JMAAB Core Member Meeting
Collaboration withSICE Research Committees
November 29th, 2007Alex Ohata
TOYOTA MOTR CORPORATION
Background 1. JMAAB is a voluntary user group of Matlab.
2. The JMAAB core members were limited to OEMs and tire 1 ECU suppliers. (Recently, the policy has been changed to ease the condition.)
3. The operation and administration may be getting troublesome when many members participate in JMAAB.
4. JMAAB isn’t a corporate organization and doesn’t have the chair.
5. The activities which need a payment and a contract are difficult.
Confliction1. JMAAB wants to deploy MBD widely. However, many
members may make the management difficult.
2. JMAAB thinks the tool chain is important. However, discussions with other tool suppliers may be restricted.
3. Supports from academic parties may be helpful but it is difficult to get them because of the confidentiality.
A different party could be necessary.
Purpose of Collaboration with Academic Parties
To deploy MBD technologies more widely
1. Collaboration with academic parties
2. To deploy MBD to more widely
3. Activities to need cost and contracts
Collaboration with SICE Research Committee on Model-Based Development for Embedded Control Systems
Why SICE?
1. SICE leads “the Trasdisciplinary Federation of Society and Technology” consisting of 47 academic societies.
2. The major academic party in control system design area.
3. The most internationalized party.(Official Language of Annual Conference is English.)(Strong collaboration with IFAC and IEEE.)
4. They understand Matlab very well.
5. Cybernet and almost JMAAB member companies are members supporting SICE.
Organization of Control Dept.
Operational Committee
Control Theory Committee
Control Engineering Committee
Research Committee on Advanced Powertrain Control
Research Committee on Model-Based Development for Embedded control systems
Control Dept.
The competition of control design with an V6 engine model written with Simulink provider from TMC.
MBD will be redefined from the academic point of view and make the collaboration network.
Purpose of MBD Research Committee
The purpose of this committee is to define :
1. MBD Process consisting of plant modeling, control design, implementation, verification & validation and calibration environments
2. the collaborations between academic parties and industries
3. The integration of advanced methodologies, including modeling, simulation technologies, Identification, control theories, verification, data management, project management and software engineering
4. How to apply it to the processes from planning to production and maintenance phases.
Term, Organization and ActivitiesTerm: January/2008 ~ December/2009Organization:
Chair Seiichi Shin (UEC)Co-chair Shigeru Oho(Hitachi Laboratory)Secretary Kazushi Nakano(UEC)
Alex Ohata (Toyota)Activity:To redefine MBD based on the one defined by JMAAB MBD Promotion WG
To get a big amount of budget from the government
To make the collaboration network with other academic parties.
Support from JMAAB
1. Announcement of MBD research committee’s activities within JMAAB
2. Linkage with each home page
3. JMAAB member’s presentation in the committee.
JMAAB members will be given preference to be a member of the MBD research committee.
Summary
1. SICE research committee will be established in the next January.
2. That is a voluntary activity to deploy MBD to suppliers widely.
3. The major activity is to make the collaboration network to realize MBD.
4. Matlab will be the central tool to construct the MBD tool chain.
5. “The 1st Symposium on Theory and Technology for Automotive Control Systems” will be held.
先進パワートレーン制御調査研究会
1.TMC提供モデルによるエンジン始動問題(6チャレンジャーが07年制御理論シンポジュームで報告)(IFAC2008にて、OS)
2.2008年度延長(トルク制御問題を新設定)
3.エンジンモデルと始動問題に関する出版を計画中
4.IFACとの共催シンポジュームを計画中1st Symposium on Theory and Technology
for Powertrain Control
SICE Annual Conference 2007 in KagawaSICE Annual Conference 2007 in Kagawa
Benchmark Problemfor Automotive Engine Control
September 19th, 2007
Akira OHATA (Toyota Motor Corporation)Junichi KAKO (Toyota Motor Corporation)Tielong SHEN (Sophia University)Kazuhisa ITOH (Tottori University)
The SICE Technical Committee on Advanced Powertrain Control
Contents
1. Motivation and purpose
2. Provided engine model
3. Benchmark problem
4. Overview of intermediate results
5. Summary
Contents
1. Motivation and purpose
2. Provided engine model
3. Benchmark problem
4. Overview of intermediate results
5. Summary
MotivationsAn advanced control hasn’t been continuously used even if it is put into the market once
Possible reasons
Academic side problems Industry side problems
difficult to catchrequirements from industryno engine test facility
difficult to know the advantagesfew mature controlengineers
Purpose
SICE Technical Committee on Advanced Powertrain Controlwas established in June, 2006.
( It provides a V6 engine model and a control problem. )Problem: Start the engine model!
1. To identify the gaps between academic and industrial sides
2. To find the way removing gaps if necessary
3. To improve the communication between both at least
Contents
1. Motivation and purpose
2. Provided engine model
3. Benchmark problem
4. Overview of intermediate results
5. Summary
Targeted Engine
1pc_L
6Conn10
5Conn8
4Conn7
3Conn5
2Conn3
1Conn1
cyl5
cyl3
cyl1
Mux
Atomspher
Atomspher
Atomspher
1pc_L
6Conn10
5Conn8
4Conn7
3Conn5
2Conn3
1Conn1
cyl5
cyl3
cyl1
Mux
Atomspher
Atomspher
Atomspher
V6 spark ignition engine model
4
mt
3
st
2
pr
1
rps
1
Startor
pcRConn1
Conn4
Conn7
Conn3
Conn6
Conn9
right_bank
pc_LConn1
Conn5
Conn8
Conn3
Conn7
Conn10
left_bank
darea TH_fld
U_st TH_fl
Throttle_valve
st pr
Pres_sensor
Piston_Crankshaft
V_state
IN_ch
IN_port1
IN_port3
IN_port5
IN_port2
IN_port4
IN_port6
Intake_chamber
[pc_R]
[pc_L]
Atomspher
fl flow
Air_flow_sensor
1
darea
Atmosphere
Top Layer of the Engine Model
mt
st_rad
Pa_pm
rps
rpm
kPa_pm
mt_mg/s
st_deg
monitor
Spark advance
Injected fuel
Throttle angle
Torque
mt
st
pr
rps
engine
rpm
Crank angle
Air flow rate
ECU_dth
ECU_fi
ECU_sa
controller
STOP
ECU_rps torqe
Starter Scope
>
An Example of Simulation Results
0 1 2 3 4 5 6 7 8 9 100
500100015002000
0 1 2 3 4 5 6 7 8 9 1002468
Engi
ne sp
eed
(rpm
)C
ylin
der p
ress
ure
(MPa
)
reference
Air fuel ratio = stoichiometric, Spark Advance = constantAir fuel ratio = stoichiometric, Spark Advance = constant
Time (s)
Contents
1. Motivation and purpose
2. Provided engine model
3. Benchmark problem
4. Overview of intermediate results
5. Summary
Requirements for the Control Design
The engine speed must be confined in this area!
rpm50±
Requirements for steady state performance (evaluation)1. Closed loop must be stable. OK2. Regulate mean rpm at 650rpm OK
Requirements for transient performance1. Control the engine speed at within 1.5s NG2. The overshoot must be sufficiently suppressed. NG3. Hunting must not occur. OK
Requirements for robustness1. Initial crank angle 2. friction torque 3. fuel evaporation characteristic
rpm50650
0 2 4 6 8 100
500
1000
1500
2000
0 2 4 6 8 100
500
1000
1500
2000
Engi
ne sp
eed
(rpm
)
Time (s)
±
Key Feature of the Engine Behavior
massFuelmassAir
AF = limitlowerLL : limitupperUL :
The rpm increases.
Fire&
Motor inactive
Misfire&
Motor inactive
Misfire&
Motor active
400≥rpm
Key ON
Fire&
Motor active
250=rpm
ULAFLL ≤≤
ULAFLL ≤≤
AFULLLAF
<<
AFULLLAF
<<
The rpm decreases.
Control Strategy
0 2 4 6 8 100
500
1000
1500
2000
Regulate rpm with throttle and spark advance
Robust start with fuel injection
Suppress the over shoot with throttle and spark advance
Engi
ne sp
eed
(rpm
)
time (s)
Complexity of the Control Design1. Change of characteristic
Firing : stable but strongly nonlinearMisfiring : unstable and slightly nonlinear
2. Redundancy of manipulations Throttle angle, fuel injection, spark advance
3. Time variant control strategy
4. Combination of feedback and feedforward
5. Hybrid control design
Contents
1. Motivation and purpose
2. Provided engine model
3. Benchmark problem
4. Overview of intermediate results
5. Summary
Challengers
1. Currently, 9 challengers mainly from universities are grappling with the benchmark problem.
2. 6 challengers reported their intermediate results in the 36th SICE Symposium on Control Theory in Sapporo on September 7th, 2007.
Approaches1. The model blocks of the intake and the fuel are used in
the control without the simplification.
2. Deriving a simple model by the physical consideration and the control is designed with advanced control theory.
(similar to the existing approach in the industry)
3. Simulation data based approach
4. Deriving optimal time series of the manipulations with a numerical optimization and combining an advanced control, for example MPC
5. Eccentric approach by using misfire
An Example of Design Results
time (s)0 1 2 3 4 5
0
200
400
600
800reference
Engi
ne S
peed
(rpm
)
A Key for Success The succeeded control designs have the below architecture.
Engine speed*/
Reference air fuel ratio
Inverse fuel model
Fuel injection
Crank angle
Reference engine speed Spark advance
Throttle angle
*/
Advancedcontrol
Air charge
estimationAir flow rate
Desired cylinder fuel
Contents
1. Motivation and purpose
2. Provided engine model
3. Benchmark problem
4. Overview of intermediate results
5. Summary
Summary
1. Only a single framework didn’t solve the problem.
2. A carefully worked-out plan was essential to succeed.
3. The control architecture would be a key to succeed.
Observations
Intermediate results were reported by six challengers in the SICE symposium on control theory on September 7th.
Almost all could succeed starting the engine model but the robustness of the designed controls weren’t validated yet.
新体制と部門間連携
技術専門委員会(ES)
システムインテグ
レーション部門
部門協議会
技術専門委員会(ライフサイエンス)
部門連携・活性化専門委員会
計測部門
制御部門
システム情報部門
産業部門
先端融合部門
委員選出
連携の可能性
2008年度予算案
0.本年度活動費 \200,000
1.会議費 会議費(\2,500×4回) \10,000
2.研究会 講師謝礼(1名×\40,000×3回) \120,000
参加費(\3,000×50名) \150,000 講演会小計 \185,000会場費 \40,000アルバイト \25,000講師謝礼(3名×\40,000) \120,000
参加費(\3,000×50名) \150,000 講演会小計 \185,000会場費 \40,000アルバイト \25,000講師謝礼(3名×\40,000) \120,000
収入合計 \500,000 支出合計 \500,000
3.第1回MBD技術講演会 (H20.5)
4.第2回MBD技術講演会(H20.12)
H20年度(活動1年目〕予算案2007年11月24日
制御部門:組み込み制御システムのモデルベース調査
収入 支出
MBD会議計画1.会議開催計画: 1月7日
2月(合宿強羅レベル合せ、組織と運営方法承認など)5月(MBD定義と目標):8月(MBD定義と目標決定):11月(研究領域と各種連携定義):
2.研究会計画:年3回JMAAB嶋田氏, IAV, A&D,未定3月:UEC、9月、12月
3.MBDフォーラム:年2回5月,8月,12月(参加者80名程度を予定)1回目UEC会告(1.5hr×2レクチャー)
4.開催形態:調査研究会委員のよる議論5.開催場所:運営委員の大学、会社会議室など6.SICE Annual Conference MBD-OS, Tutorial
MBD調査研究会ホームページ1.早稲田大学大貝先生がサイト提供とメンテナンスを了承2.ホームページ掲載項目案① 趣意書(目的、背景など)② 組織③ 委員名簿④ MBDの定義⑤ 用語集⑥ 主査挨拶⑦ 活動計画(イベント)⑧ 関連リンク(SICE HP, JMAAB HP, EHS,
先進パワトレ調査研究会, Maplesoft, TMW, dSPACE, ADT,ETS, tool venders, CATS, ニッキ,サンリツ,GAIO, VAST, etc)
ツールベンダー連合会としての位置づけ!
Top Related