Optimal Co-Design of Controlled Systems and their Controllers

摘要利用最优性条件，提出了设计人工产物(即“被控对象”)和设计其控制器之间的耦合关系。第一次，这种耦合的量化将被用来理解何时可以顺序地解决这两个问题(即，首先设计人工制品，然后设计其控制器)，以简化设计过程(即，学科分离，并通过并行设计减少产品开发时间)，以及何时需要同时解决它们(即，人工制品及其控制器的组合设计)以获得最优性能。再次，这种耦合的量化将第一次被用来研究几个重要的猜想：(1)收紧性能规范增加耦合；(2)对象的可控性与耦合有关；(3)不确定性增加增加耦合，人工制品设计、建模和控制问题之间存在三向耦合。研究结果将应用于引人注目的应用，如燃料电池汽车和MEMS。这项研究的结果有望产生，不仅是一种量化对象和控制器设计之间的耦合的方法，而且还提供了基于更复杂的联合设计方法的便利性和最佳系统性能之间的权衡的一般设计方法和原则。机械、电气、电子、计算机、光学和控制学科的协同集成已经成为现代工程系统设计的特征。成熟的技术，如汽车，正在逐步但根本地改变，通过加强对动力系统(例如，对怠速、空燃比、点火正时、废气再循环、配气正时、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、线控驾驶)和主动安全(例如，安全气囊、电子稳定控制、前进控制)的控制。燃料电池等新能源技术的有效和实际引入，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整合，就不可能将MEMS和生物技术等突破性技术应用于真正的产品。术语“联合设计”(组合设计)指的是控制术语中的“对象”(或“受控系统”)和“控制器”的设计必须以组合、整体的方式进行。该项目旨在为这种合作设计提供一个重要的理论基础：基于优化系统整体性能的基础上，量化设计和控制功能之间的耦合。这项研究的成功成果将对各种机电系统(如汽车控制、燃料电池、MEMS)的设计产生广泛影响。

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).