Optimal Co-Design of Controlled Systems and their Controllers

使用最优性条件，提出了量化设计工件（即，“工厂”）并设计其控制器。 这是第一次，这种耦合的量化将被用来理解这两个问题何时可以顺序解决（即，首先设计人工制品，然后设计其控制器）以便简化设计过程（即，学科脱钩，并通过并行设计减少产品开发时间）以及需要同时解决这些问题时（即，人工制品及其控制器的组合设计）以达到上级性能。 再次，第一次，这种耦合的量化将被用来研究几个重要的问题：（1）收紧性能规格增加耦合;（2）可控性的工厂是相关的耦合;（3）增加不确定性增加耦合，存在一个三边之间的工件设计，建模和控制问题的耦合。 研究结果将应用于引人注目的应用，如燃料电池汽车和MEMS。 本研究的结果预期不仅产生用于量化对象与控制器设计之间的耦合的方法，而且还提供基于解耦便利性与通过更复杂的协同设计方法可实现的最佳系统性能之间的权衡的设计的一般方法和原则。现代工程系统的设计以机电一体化为特征。 成熟的技术，例如汽车，通过增加对动力系统的控制（例如，怠速、空燃比、火花正时、废气再循环、气门正时、气缸排量和自动变速器的控制），车辆动力学（例如，防抱死制动和牵引力控制、巡航控制、四轮转向、主动悬架、线控驱动）和主动安全（例如，安全气囊、电子稳定控制系统、车头时距控制系统）。 有效和实际地引进新能源技术，如燃料电池，关键取决于具有适当控制功能的设计。 如果没有设计和控制功能的和谐集成，将突破性技术（如MEMS和生物技术）应用于真实的产品可能是不可能的。 术语“协同设计”（组合设计）指的是这样一个事实，即控制术语中的“设备”（或“受控系统”）和“控制器”的设计必须以组合的、整体的方式完成。该项目旨在为这种协同设计提供一个重要的理论基础：基于优化整体系统性能的设计和控制功能之间的耦合的量化。这项研究的成功结果将对各种机电系统的设计产生广泛的影响（例如，汽车控制、燃料电池、MEMS）。

AbstractUsing optimality conditions, it is proposed to quantify the coupling between designing an artifact (i.e., the "plant") and designing its controller. For the first time, this quantification of coupling will be used to understand when the two problems can be solved sequentially (i.e., design the artifact first, then its controller) so as to simplify the design process (i.e., disciplinary decoupling, and reduced product development times via parallel design) and when they need to be solved simultaneously (i.e., combined design of the artifact and its controller) to arrive at superior performance. Again, for the first time, the quantification of this coupling will be used to investigate several important conjectures: (1) tightening performance specifications increases coupling; (2) controllability of the plant is related to coupling; (3) increased uncertainty increases coupling, and there exists a tri-lateral coupling between the artifact design, modeling and control problems. The results of the research will be applied to compelling applications, such as fuel cell vehicles and MEMS. The results of this research are expected to yield, not only a method for quantifying coupling between plant and controller design, but also to provide general methods and principles of design based upon the trade-off between convenience of decoupling versus best system performance achievable with a more complex co-design approach.The synergistic integration of mechanical, electrical, electronic, computer, optical, and control disciplines what has become known as mechatronics characterizes the design of modern engineered systems. Mature technologies, such as automobiles, are gradually yet radically changing through increased controls in powertrain (e.g., controls for idle speed, air/fuel ratio, spark timing, exhaust gas recirculation, valve timing, cylinder displacement and automatic transmissions), vehicle dynamics (e.g., anti-lock braking and traction control, cruise control, four wheel steering, active suspensions, drive-by-wire) and active safety (e.g., airbags, electronic stability control, headway control). Effective and practical introduction of new energy technologies, such as fuel cells, depends critically on designs with proper control functions. Applications of breakthrough technologies, such as MEMS and biotechnologies, to real products may not be possible without a harmonious integration of the design and control functions. The term "co-design" (combined design) refers to the fact that the design of the "plant" (or "controlled system") in the controls jargon and of the "controller" must be done in a combined, integral manner. This project aims to provide an important theoretical foundation for such co-design: a quantification of the coupling between the design and control functionality based on optimizing the overall system performance. Successful results of this research will have widespread impact on the design of a variety of mechatronic systems (e.g., automotive controls, fuel cells, MEMS).