You are on page 1of 5

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

$5HDO7LPH+HDUW5DWH0RQLWRU 8VLQJ1RQ&RQWDFW
(OHFWURFDUGLRJUDP IRU$XWRPRWLYH'ULYHUV
5DKXO .XPDU 6LQJK$UFKLVPDQ6DUNDU5XSDN.XPDU7KDNXU 6WXGHQW0HPEHU,((( $QRRS&6 0HPEHU,(((
'HSDUWPHQWRI(OHFWULFDO(QJLQHHULQJ ,QGLDQ,QVWLWXWHRI 7HFKQRORJ\ .KDUDJSXU ,QGLD
(PDLODQRRS#HHLLWNJSHUQHWLQ

$EVWUDFW² $ODUJHQXPEHURIYHKLFOHDFFLGHQWVDQG LWV DVVRFLDWHG FDSDELOLW\RIWKHVHVLJQDOVIRUGURZVLQHVVKHDOWKPRQLWRULQJ LQ


KXPDQIDWDOLWLHVRFFXUWKURXJKRXWWKHZRUOGGXHWRGURZVLQHVVRU DQ DXWRPRWLYH >@>@ +RZHYHU 33* EDVHG V\VWHPV >@
KHDOWKUHODWHG LVVXHV RI WKH GULYHU 6XFK PLVKDSSHQLQJV FDQ EH UHTXLUH GLUHFW RSWLFDOFRQWDFW ZLWKWKHERG\RIWKHGULYHUZKLFK
UHGXFHG E\ LQWHJUDWLQJ D GULYHUKHDOWK PRQLWRU LQWR WKH FDQEHYHU\FXPEHUVRPH /HH>@KDV UHSRUWHGWKH XVHRI33*
DXWRPRWLYH 'LIIHUHQW WHFKQLTXHV VXFK DV FDPHUDEDVHG LPDJH VHQVRUV LQ FRQMXQFWLRQ ZLWK FDPHUD EDVHG WHFKQLTXHV IRU
SURFHVVLQJ SKRWRSOHWK\VPRJUDSK HOHFWURHQFHSKDORJUDSK HWF GURZVLQHVV GHWHFWLRQ ((* V\VWHPV >@ UHTXLUH D PXOWL
KDYH EHHQ HPSOR\HG WR GHYHORS GULYHUVWDWH PRQLWRUV 7KH\ XVH HOHFWURGHFDSZKLFKQHHGVWREHSODFHGRQGULYHU¶VKHDG DVZHOO
HLWKHU PXOWLSOH HOHFWURGHV RU UHTXLUH GLUHFW RSWLFDO FRQWDFW ZLWK DVFRPSOH[VLJQDOSURFHVVLQJVWDJHV
WKH KXPDQ ERG\ RUQHHGFRPSOH[VLJQDOFRQGLWLRQLQJDOJRULWKPV
,Q WKLV SDSHU ZH GHYHORS D EDVLF IUDPHZRUN LQ WKH GLUHFWLRQ RI 1RQFRQWDFW FDSDFLWLYH (&* SULQFLSOH >@ >@ SURYLGHV
GHYHORSLQJD VLPSOH UHDOWLPHKHDUWUDWH +5 PRQLWRULQJ V\VWHP DOWHUQDWLYHO\ VLPSOH V\VWHPV IRU +HDUW 5DWH +5 PRQLWRUV
XVLQJ QRQFRQWDFW FDSDFLWLYH HOHFWURFDUGLRJUDSK (&*  7KH +RZHYHUVRPHRIWKHVHZRUNV>@ UHTXLUHWKHHOHFWURGHVWREH
V\VWHP XVHV RI DQ HOHFWURGH VWUXFWXUH ZKLFK FDQ EH LQWHJUDWHG SODFHGRQWKHVHDWVRIWKHGULYHU,WSRVHVORWVRIFKDOOHQJHVLQ
ZLWKLQ D VWHHULQJ ZKHHO DQG VLPSOH ORZFRVW VLJQDO SURFHVVLQJ UHDO ZRUOG LPSOHPHQWDWLRQ DV WKH VWUHQJWK RI WKH VLJQDO YDULHV
EORFNV7KHV\VWHPHIILFLHQF\LVYHULILHGWKURXJKH[WHQVLYHWHVWLQJ ZLWKWKHKHLJKWRIWKHHOHFWURGH DQG WKHGULYHU +HQFHWKHUHLV D
RQ D QXPEHU RI YROXQWHHUV LQ PXOWLSOH VFHQDULRV DQG PXOWLSOH QHHG RI D VLPSOH EXW UREXVW V\VWHP ZKLFK FDQ EH HDVLO\
HOHFWURGHFRQILJXUDWLRQVZLWKUHVSHFWWRWKHVWHHULQJZKHHO 7KHVH
LQWHJUDWHG RQDQ\YHKLFOH
WHVWV VKRZ WKDW WKH SURSRVHG V\VWHP JLYHV JRRG TXDOLW\ (&*
VLJQDOV DQG HVWLPDWHV +5 ZLWK JRRG DFFXUDF\ 7KH FDSDELOLW\ RI 7KH SDSHU SURSRVHV D GHYHORSPHQW RI UHDOWLPH KHDUW UDWH
WKH V\VWHP DV D UHOLDEOH GURZVLQHVV PRQLWRU LV DOVR WHVWHG DQG PRQLWRULQJ V\VWHP IRU DXWRPRWLYH GULYHUV 7KH SURSRVHG
HQFRXUDJLQJUHVXOWVDUHREWDLQHG V\VWHP XVHV D VLPSOH DQG HDV\WRLQWHJUDWH FRQILJXUDWLRQ IRU
QRQFRQWDFW (&* VLJQDO DFTXLVLWLRQ RQ D VWHHULQJ ZKHHO
.H\ZRUGV'URZVLQHVV 'HWHFWLRQ +HDUW 5DWH 0RQLWRU 1RQ IROORZHG E\ VLPSOH DQDORJ IURQWHQG DQG +5 HVWLPDWRUV IRU
&RQWDFW (OHFWURFDUGLRJUDP $XWRPRWLYH (OHFWURQLFV %LRPHGLFDO HVWLPDWLRQ RI +5 DQG LWV YDULDELOLW\ 7KH VLPLODU VHQVRU
,QVWUXPHQWDWLRQ 6WHHULQJ:KHHO
FRQILJXUDWLRQFDQDOVREH XVHGLQ WKHFDVHRIWZRZKHHOHUV 7KH
, ,1752'8&7,21 VHQVRUV DUH VXFK D ZD\ SODFHG WKDW WKH JURXQG HOHFWURGHV DUH
SODFHG QHDU WKH VHQVLQJ HOHFWURGHV UDWKHU WKDQ DW ULJKW OHJ 
5LVH LQ SRSXODWLRQ DQG LQFUHDVH LQ SURGXFWLRQ RI YHKLFOHV $SDUW IURP WKDW WKH V\VWHP XVHV D ELW SURFHVVRU IRU WKH
KDYH OHG WR DGUDVWLFLQFUHDVHRI GULYHUVRIGLIIHUHQWDJHJURXSV GLJLWDOSURFHVVLQJRIWKHVDPSOHGDQDORJGDWD7KHFKRLFHRIWKH
FRPLQJ WR URDGV $ GULYHU¶V KHDOWK DQG VWDWH RI PLQG DUH WZR FRPSRQHQWVIRUWKHV\VWHPZDVPDGHLQDFFRUGDQFHWRV\VWHP
YHU\ FULWLFDOIDFWRUVLQ HQVXULQJ WKH VDIHW\ RI GULYHU DVZHOODV SRUWDELOLW\ )RU HYDOXDWLQJ WKH SHUIRUPDQFH RI WKH ZKROH
RWKHU SHRSOH ZKR DUH DFFRPSDQ\LQJ WKH GULYHU RU DUH QHDUE\ V\VWHP $50 &RUWH[ 0 0LFURFRQWUROOHU ZLWK )ORDWLQJ3RLQW
2QH RI WKH PDMRU FDXVHV RI URDG DFFLGHQWV DUH KHDUW GLVHDVHV 8QLW ZDV XVHG WR SHUIRUP GLJLWDO SURFHVVLQJ RI WKH DFTXLUHG
DQG GURZVLQHVVIDWLJXH ZKLFK LV D UHVXOW RI VOHHS GLVRUGHUV VLJQDO 1H[W VHFWLRQ H[SODLQV WKH SULQFLSOH RI RSHUDWLRQ RI WKH
H[FHVVLYHZRUNORDGDQGODFNRIPHQWDOUHVW >@ >@ 1XPHURXV
UHVHDUFK ZRUNV >@>@ KDYH UHSRUWHG QHZ PXOWLSOH DVVLVWLYH
PHWKRGVRI SURYLGLQJ D EHIRUHKDQG VDIHW\DODUPWRWKHGULYHU
EHIRUH KHVKH ORVHV FRQWURORIWKHYHKLFOH
7KH PRVW ZLGHO\ HPSOR\HG DQG VWXGLHG WHFKQLTXH IRU
HVWLPDWLQJ GULYHU EHKDYLRU LV EDVHG RQ LPDJH SURFHVVLQJ
VFKHPHV >@>@ 7KHVH VFKHPHV UHO\ RQ SK\VLFDO FKDQJHV LQ
EHKDYLRU RI WKH GULYHU VXFK DV H\H EOLQNLQJ >@ H\H JD]H >@
DQG KHDG QRGGLQJ >@ DQG \DZQLQJ 7KH PDMRU SUREOHP
DVVRFLDWHGZLWKWKHVH YLVLRQEDVHGWHFKQLTXHVLVWKDWLW QHHGVWR
LQFRUSRUDWH FRPSOH[ VLJQDO SURFHVVLQJ VWDJHV WR VXSSUHVV
SDUDPHWHUV OLNH KDUVK HQYLURQPHQWDO FRQGLWLRQV GULYHU
PRYHPHQWV DQG WKH GULYLQJ FRQGLWLRQV %LRVLJQDOV OLNH 33*
(&* ((* DUH ZLGHO\ HPSOR\HG IRU KHDOWK PRQLWRULQJ >@ )LJXUH  &RQFHSWXDOVFKHPDWLFRIWKHSURSRVHGV\VWHP(6(6
>@ /RZFRVW SURGXFWV >@>@ EDVHG RQ WKH DERYH ELR 6HQVLQJ(OHFWURGHV(* ± *URXQG(OHFWURGH6LJQDOVIURP(6 DQG(6
VLJQDOV DUH UHSRUWHG 6RPH SDSHUV KDYH DOVR GHPRQVWUDWHG WKH DUHSURFHVVHGIXUWKHUWRREWDLQDJRRGTXDOLW\(&*DQG+HDUWUDWH
LQGLFDWLRQ3RVVLEOHSRVLWLRQRIVLJQDOSURFHVVLQJEORFNLVLQGLFDWHG

978-1-4799-1769-3/16/$31.00 ©2016 IEEE 484


2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

)LJXUH  &LUFXLW'LDJUDP RIDQDORJIURQWHQGXVHGWRREWDLQTXDOLW\(&*IURPWKHUDZVLJQDOVIURPWKHHOHFWURGHV

SURSRVHG V\VWHP 7KLV LV IROORZHG E\ 6HFWLRQ ,,, ZKLFK %DVHOLQHRIWKHVLJQDO Y,$ LVVWDELOL]HGZLWKWKHKHOSRIDQ
GHVFULEHV WKH H[SHULPHQWDO VHWXS DQG GHWDLOHG WHVWUHVXOWV LQWHJUDWRU UHDOL]HG XVLQJ WKH RSDPS 23 , VHH )LJ   7KH
REWDLQHGZLWKWKHSURWRW\SHRIWKHGHYHORSHGV\VWHP RXWSXWRI23, ZLOOEHWKHQHJDWLYH VD\9%,$ RIWKH '& OHYHO
RI Y,$ 7KLV'&YROWDJH9%,$ LVDGGHGZLWKWKHVLJQDO Y,$ XVLQJ
,, 6<67(0 '(6&5,37,21 WKH UHIHUHQFH SLQ RI ,$ 7KLV FRUUHFWLYH ORRS HQVXUHV WKDW Y,$
$ VLPSOH EORFN VFKHPDWLF RI WKH SURSRVHG VWHHULQJ ZKHHO ZLOOEH DOPRVW LQGHSHQGHQWRIEDVHOLQHZDQGHULQJHIIHFWV
EDVHG KHDUW PRQLWRU LV GHSLFWHG LQ )LJ  $V LQ )LJ  WKH )XUWKHU WKH GRPLQDQW SRZHU OLQH LQWHUIHUHQFHV DUH
V\VWHPFRPSULVHVWKHIROORZLQJPDLQSDUWV L HOHFWURGHV (6 DWWHQXDWHG E\XVLQJ DIRXUWKRUGHUORZSDVVILOWHU /3) RIFXW
(6 (*  RQ WKH VWHHULQJ ZKHHO LL  DQDORJ IURQWHQG RII IUHTXHQF\  +] 7KLV ILOWHU LV LPSOHPHQWHG XVLQJ WZR
HOHFWURQLFV LLL  KHDUW UDWH HVWLPDWLRQ XQLW DQG GLVSOD\ FDVFDGHGVHFRQGRUGHU6DOOHQ.H\/3) YLGHWKHRSDPSV23/
2SWLPXP ORFDWLRQ IRU SODFHPHQW RI WKH VLJQDO SURFHVVLQJ LQ )LJ   5HVSLUDWRU\ DUWLIDFWV RI ORZ PDJQLWXGH DUH WKHQ
VWDJHV L H SDUWV LL  DQG LLL  DUH VKRZQ LQ )LJ  7KH VXSSUHVVHG XVLQJ D VHFRQGRUGHU KLJKSDVV ILOWHU UHDOL]HG
SULQFLSOHRIRSHUDWLRQRIWKHVHSDUWVLV GHVFULEHGEHORZ XVLQJ WKH RSDPS 23+ 7KH RXWSXW Y(&* RI 23+ ZLOO
SUHGRPLQDWHO\FRQVLVWRIGHVLUHGIUHTXHQF\FRPSRQHQWV7KLV
$ 6LJQDO$FTXLVWLRQ(OHFWURGHV YROWDJH Y(&* LV DSSURSULDWHO\ VFDOHG GRZQ XVLQJ D SDVVLYH
$V VKRZQ LQ )LJ  DQG )LJ  WZR VXLWDEO\ SRVLWLRQHG YROWDJH VFDOLQJ FLUFXLW EXLOW XVLQJ UHVLVWRUV GLRGHV DQG
HOHFWURGHV (6 DQG (6 DUH HPSOR\HG WR DFTXLUH WKH (&* YROWDJHUHIHUHQFHV VRWKDWWKHILQDODQDORJ(&*VLJQDORXWSXW
VLJQDO*URXQGHOHFWURGHV (* DUHSODFHGLQFORVHSUR[LPLW\ WR Y(&*¶ LV FRPSDWLEOH ZLWK WKH PLFURFRQWUROOHU XVHG IRU
WKHVH VHQVLQJ HOHFWURGHV :KHQ D YHKLFOH GULYHU SODFHV KLV FRPSXWDWLRQ RIKHDUWUDWH
KDQGRQWKHHOHFWURGHVHWXS WRXFKLQJDOORIWKHHOHFWURGHV(6
(6(* RIWKHVWHHULQJZKHHODIHHEOH YROWDJHVLJQDOZLOOEH & +HDUW5DWH&RPSXWDWLRQ 8QLW
REVHUYHG DW WKH HOHFWURGH (6 ZLWKUHVSHFWWR (6 7KLV +HDUW 5DWH FRPSXWDWLRQDO EORFN GHVFULEHG EHORZ DFFHSWV
GLIIHUHQFHVLJQDO VD\9696 JLYHVUDZ /HDG(&* VLJQDO DQDORJ (&* VLJQDO IURP WKH VLJQDO FRQGLWLRQLQJ FLUFXLW
DQGLVSURFHVVHGIXUWKHUE\WKHVLJQDOSURFHVVLQJ EORFNV 7KLV GHVFULEHGLQWKHDERYHVHFWLRQDQGSURFHVVHVDQGHVWLPDWHV+5
HOHFWURGH DUUDQJHPHQW SRVVHVVHV WZR GLVWLQFW DGYDQWDJHV  $W ILUVW WKH (&* VLJQDO LV VDPSOHG DW  +] 7KH LQLWLDO
/RZ LQWHUIHUHQFH FRXSOLQJ >@ IURP SRZHU VRXUFHV  GLVSOD\ RI KHDUW UDWH UHTXLUHV DFTXLULQJ RI VLJQDO IRU  V
+]    (DVH RI LQWHJUDWLRQ ZLWK WKH VWHHULQJ ZKHHO ZKHQ
FRPSDUHGWRFRQYHQWLRQDO/HDG(&*V\VWHPZKLFKUHTXLUHV
RQH HOHFWURGHWREHSODFHGDW WKHULJKWOHJ :HKDYHGHYHORSHG
WZR GLIIHUHQW VHQVRU FRQILJXUDWLRQV ZKLFK LPSOHPHQW WKH
DERYHDUUDQJHPHQW'HWDLOVRIWKHVHGHYHORSHGFRQILJXUDWLRQV
ZLOOEHH[SODLQHGLQDODWHUVHFWLRQ1H[WVXEVHFWLRQH[SODLQV
DERXW WKH VLJQDO FRQGLWLRQLQJ VFKHPH HPSOR\HG WR REWDLQ D
FOHDQ(&*VLJQDOIURPWKHRXWSXWRIWKHUDZHOHFWURGHV
% $QDORJ )URQW(QG(OHFWURQLFV
7KH FLUFXLW GLDJUDP RI WKH DQDORJ FLUFXLW HPSOR\HG LV
VKRZQLQ)LJ7KHVLJQDOV LH9696 IURPWKHVHQVLQJ
HOHFWURGHV DUHILUVWSDVVHGWKURXJKDKLJKJDLQLQVWUXPHQWDWLRQ
DPSOLILHU,$ DVVKRZQLQ)LJ2XWSXWRI,$ QRGH Y,$ LQ)LJ
 LV D VLQJOHHQGHG UDZ (&* VLJQDO 7KLV VLJQDO DSDUW IURP
WKH GHVLUHG ELR VLJQDO FRQWDLQV PDQ\ XQGHVLUHG FRPSRQHQWV )LJXUH  %ORFN'LDJUDP RIWKHDOJRULWKPHPSOR\HGIRUKHDUWUDWH
VXFK DV EDVH OLQH VKLIWV GXH WR PRWLRQ DUWLIDFWV UHVSLUDWRU\ HVWLPDWLRQ$OJRULWKPKDVEHHQLPSOHPHQWHGDQGWHVWHGLQUHDOWLPHZLWK
WKHDFTXLUHG(&*VLJQDOVDQGDFFXUDWHUHVXOWVREWDLQHG
DUWLIDFWVSRZHUOLQH LQWHUIHUHQFHVHWF

485
2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

D E
)LJXUH 3KRWRJUDSKRIWKHGHYHORSHGHOHFWURGHVRQWKHVWHHULQJZKHHO
7ZR GLIIHUHQW FRQILJXUDWLRQV DUH VKRZQ LQ D  DQG E  &RQILJXUDWLRQ
$ LVPRUHFRPSDFWZKLOH % RIIHUVPRUH IOH[LELOLW\WRWKHGULYHUIRU
SODFLQJKLVKHUKDQG
/DWHUQHZUHDGLQJVDUHDGGHGWRWKHH[LVWLQJGDWDVHWZKLOH )LJXUH 6QDSVKRWRIWKHFRPSOHWHODERUDWRU\ H[SHULPHQWDOVHWXS7KH
VLPXOWDQHRXVO\ UHPRYLQJ HDUOLHU UHDGLQJV IRU HYHU\ QHZO\ GLVFUHWHVLJQDOFRQGLWLRQLQJEORFNVVKRZQLQILJXUHFDQEHPLQLDWXUL]HGDQG
DGGHGGDWD HPEHGGHGZLWKLQWKHZKHHO

6LJQDO VDPSOLQJ DQG SURFHVVLQJ LV LQWHUUXSW GULYHQ ZKLFK ,,, (;3(5,0(17$/ 6(783 5(68/76$1' ',6&866,21
HQVXUHVUHDOWLPHGLJLWDOVLJQDOSURFHVVLQJ '63  7KHVDPSOLQJ
WLPH PV LVFRQWUROOHGE\7LPHU,QWHUUXSWZKLFKWULJJHUVWKH $ 3URWRW\SH([SHULPHQWDO6HWXS
$QDORJ WR 'LJLWDO $'&  ,QWHUUXSW %HIRUH VLJQDO VDPSOLQJ D $SURWRW\SHRIWKHSURSRVHGV\VWHPZDVGHYHORSHG XVLQJ
VWDUWSRLQWHULVPDUNHGZKLFKLVXVHGIRUHUURUFKHFNLQJRIWKH UHDGLO\ DYDLODEOH DQG ORZ FRVW FRPSRQHQWV WR DVFHUWDLQ LWV
H[WUDFWHG VLJQDO VR DV WR DYRLG ZURQJ +5 FDOFXODWLRQ :URQJ SHUIRUPDQFH $ PRGHO RI WKH VWHHULQJ ZKHHO ZDV XVHG LQ WKLV
+5FDOFXODWLRQZLOOKDSSHQ LQDVLWXDWLRQ ZKHQWKHXVHUKDVQRW WHVWSKDVH7ZRGLIIHUHQWVHQVRUHOHFWURGHFRQILJXUDWLRQVZHUH
SODFHGKLVKHUKDQGRQWKHHOHFWURGHV SURSHUO\ ZKLFKZLOOUHVXOW PRXQWHGSODFHG RQ WKH ZKHHO DV VKRZQ LQ )LJ  D  DQG )LJ
LQHUURQHRXV(&*VLJQDO $IWHU HYHU\VLQWHUYDOQHZGDWD  E  7KH SULQFLSOH RI RSHUDWLRQ RI ERWK FRQILJXUDWLRQV DUH
VDPSOHVJHWV DGGHG ZKLFKDUHWKHQ SDVVHGWKURXJK(UURU&KHFN VDPH DV GHVFULEHG LQ 6HFWLRQ ,, DQG HLWKHU RQH RI WKHVH
%ORFN (&% ,IWKHUHLVQRHUURU LQGLFDWHGLQ)LJE\µ1R¶ FRQILJXUDWLRQV FDQ EH HPSOR\HG WR DFTXLUH KHDUW VLJQDOV ,Q
IRXQGLQWKHDFTXLUHGGDWD LWSDVVHVWKHVWRUHGGDWDLQGDWDVHW VHQVRU FRQILJXUDWLRQ $ VHQVLQJ HOHFWURGHV (6 DQG (6 DQG
WR D ' DUUD\ ,Q FDVHRI DQHUURU (&8 JLYHVLQIRUPDWLRQ WR WKHLU JURXQG HOHFWURGHV DUH SODFHG FORVH E\ DV LQ )LJ  7KLV
+50HDVXUHPHQW%ORFN LQGLFDWHGLQ)LJ QRWWR XSGDWHWKH RIIHUVDFRPSDFWVHQVRUVROXWLRQWRWKHDXWRPRELOHV,QVHQVRU
+5 YDOXH :KHQ WKH LQSXW VLJQDO LV HUURUIUHH D  SRLQW FRQILJXUDWLRQ%DV VKRZQ LQ )LJ E  VHQVLQJ HOHFWURGHVDUH
))7 LV HYDOXDWHGE\))7EORFN )RUWKHFDOFXODWLRQRI))7WKH SODFHG RQ WKH RXWHU FLUFXPIHUHQFH RI WKH ZKHHO ZKLOH JURXQG
'63 OLEUDU\ RI &RUWH[ 0LFURFRQWUROOHU 6RIWZDUH ,QWHUIDFH HOHFWURGH LV SODFHG RQ WKH LQQHU FLUFXPIHUHQFH 7KLV
6WDQGDUG &06,6 VRIWZDUHSDFNDJHZDV XVHG FRQILJXUDWLRQDOORZV PRUHIOH[LELOLW\DVWKHYHKLFOHGULYHUFDQ
0DJQLWXGH RI WKH UHDO DQG WKH FRPSOH[ SDUW LV WDNHQ WR SODFH KLV KDQG RQ DQ\ SRUWLRQ RI WKH ZLGH DUF  RI HOHFWURGHV
HYDOXDWH WKH PDJQLWXGH RI WKH ELQ QXPEHU 7KH ELQ QXPEHU (6 DQG (6 VHH )LJ  E  7KH HOHFWURGHV LQ WKHVH VHQVRU
KDYLQJ PD[LPXP DPSOLWXGH LQ WKH VHW +5 UDQJH  ±  DUUDQJHPHQWV ZHUH IDEULFDWHG XVLQJ &RSSHU &X  VWULSV RI
EHDWV  LV HYDOXDWHG E\ WKH ))7 %ORFN 7KH WKLUG EORFN +5  PPWKLFNQHVV
%ORFN WDNHV WKHPD[LPXP ELQQXPEHUDQGHYDOXDWHVWKH+5 7KHGHYHORSHGHOHFWURGHFRQILJXUDWLRQVZHUHWHVWHGZLWK D
,W DOVR DFWV DV D VHFRQGDU\ HUURU FKHFN E\ XVLQJ WKH GHOWD +5 SURWRW\SH RI VLJQDO FRQGLWLRQLQJ FLUFXLW DQG KHDUW UDWH
GLIIHUHQFHEHWZHHQFXUUHQWDQGSUHYLRXV+5V 7KHIROORZLQJ FRPSXWDWLRQ XQLW$VQDSVKRWRIWKHFRPSOHWHV\VWHPRIVHQVRU
IRUPXODLVDSSOLHGWRHYDOXDWHWKHKHDUWUDWH KDVEHHQVKRZQLQ)LJ7KHLQVWUXPHQWDWLRQDPSOLILHURIWKH
ൈ FLUFXLW KDV EHHQ LPSOHPHQWHG XVLQJ KLJK SUHFLVLRQ ,1$
ሾ ሿൌ
Ǥ
ൈ ሼ ሽ  IURP 7H[DV ,QVWUXPHQWV 7,  ,QF ZKLOH WKH ILOWHU FLUFXLWV DQG
$FFRUGLQJ WR D SUHYLRXV ZRUN >@ WKH JHQHUDO DYHUDJH LQWHJUDWRU 23, UHDOL]HG XVLQJ ORZ RIIVHW DQG KLJK SUHFLVLRQ
YDULDWLRQ LQ +5 LV  EHDWVSHUPLQXWH ESP ZLWK D 23 IURP 7, ,QF  7KH +5 FRPSXWDWLRQ XQLW XWLOL]HV
VWDQGDUG GHYLDWLRQ RI  ESP +HQFH LQ RUGHU WR UHPRYH 670)'LVFRYHU\ERDUGIRU670LFURHOHFWURQLFV >@7KH
DQ\IDXOW\+5PHDVXUHPHQWRFFXUUHGGXHWRQRLVH ZKLFKZDV GHYHORSPHQW ERDUG XVHV $50 &RUWH[ 0 ZKLFK LV D ELW
QRWGHWHFWHGE\ WKH (&% SUHVHQW LQ WKHLQSXW VLJQDO DFXWRII 0LFURFRQWUROOHU KDYLQJ KDUGZDUH )38 7KH KDUGZDUH )38
FULWHULDZDVVHW IRUGLVSOD\LQJWKHLQVWDQWDQHRXV+5 ,QVKRUWLI PDNHV LW YHU\ VXLWDEOH IRU 5HDO 7LPH 6LJQDO 3URFHVVLQJ )RU
WKHFXUUHQW+5YDULHGIURPWKHSUHYLRXV+5E\EHDWV WKHQ GLVSOD\LQJWKH +5 LQWKLVSURWRW\SHDORZFRVW;FKDUDFWHU
WKH PHDVXUHG UHDGLQJ ZDV QRW WDNHQ LQWR FRQVLGHUDWLRQ $SDUW /&'LVXVHGZKLFKXVHV+LWDFKL+'/&'FRQWUROOHU,Q
IURPGLVSOD\LQJLQVWDQWDQHRXV+5WKHSUHYLRXV+5UHDGLQJV WKHSURWRW\SHVHWXS GHYHORSHGHOHFWURQLF,&VDUH RXWVLGHRIWKH
ZHUH XVHG WR GLVSOD\ DQ DYHUDJH +5 7KH DYHUDJLQJ RI VWHHULQJ ZKHHO 7KH HQWLUH VLJQDO SURFHVVLQJ FKDLQ FDQ EH
LQVWDQWDQHRXV+5¶VJLYHV DPRUHVPRRWKDQGDFFXUDWH+5GDWD VXLWDEO\HPEHGGHGLQVLGHWKHVWHHULQJZKHHO DWWKH FHQWHU 
EHFDXVHLWGHSHQGVRQPDQ\ SUHYLRXV+5UHDGLQJV 'HWDLOVRI
WKHH[SHULPHQWDOVHWXSDQGUHVXOWVREWDLQHGDUHGLVFXVVHGQH[W

486
2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

D )LJXUH  (&*REWDLQHGZKHQDYROXQWHHUSODFHGKLVKDQGRQWKHVWHHULQJ
ZKHHOHOHFWURGHVHWXSFRYHUHGZLWKDFORWKRI PPWKLFNQHVV
REVHUYHGWKDWWKH+]QRLVHLQWKHVLJQDOLQFUHDVHGZLWKWKH
LQFUHDVH LQ WKLFNQHVV RI WKH FORWK $V FDQ EH LQIHUUHG IURP
)LJ  WKHQRLVHKDVLQFUHDVHGEXWWKHSDWWHUQRI(&*FDQVWLOO
EHVHHQFOHDUO\LQWKHSORWV VXFK+]RIQRLVHZLOOEHSUHVHQW
LQDXWRPRELOHVDVZHOO>@ 
& ([WHQVLYH 7HVWVZLWK+XPDQ9ROXQWHHUV
1H[W WHVWV ZHUH FRQGXFWHG RQ QXPHURXV YROXQWHHUV WR
FKHFNWKHDFFXUDF\RI+5 HVWLPDWLRQ PHWKRGRIWKHGHYHORSHG
V\VWHP%DUHKDQG ZDVSODFHG RQWKHHOHFWURGHV SDOPV DUH LQ
GLUHFW FRQWDFW ZLWK WKH HOHFWURGHV  7KH +5 UHVXOWV RI WKH
GHYHORSHG V\VWHP DQG WKH UHIHUHQFH PRQLWRU >@ ZDV
VLPXOWDQHRXVO\ PRQLWRUHG DQG QRWHG DQG WDEXODWHG LQ 7DEOH ,
7$%/(, 0($685('+($575$7(96 5()(5(1&(
0($685(0(176 :+(1+$1',6,1',5(&7&217$&7:,7+
(/(&752'(62167((5,1*:+((/
E
+HDUW5DWH ESP (VWLPDWHG
)LJXUH  5HVXOWVREWDLQHGRQWHVWLQJWKHHOHFWURGHVWUXFWXUH RQVWHHULQJ
ZKHHO ZLWKDQDORJIURQWHQGIRU D 6HQVRU&RQILJXUDWLRQ$ 9ROXQWHHU $JH 'HYHORSHG 55 3XOVH
E 6HQVRU&RQILJXUDWLRQ% 6\VWHP 0HWKRG 0HWHU
$    
% %DVLF 5HVXOWVDQG'LVFXVVLRQ %    
7KH VLJQDOV IURP WKH RXWSXW RI WKH HOHFWURQLF FLUFXLW ZHUH &    
REVHUYHG RQ 'LJLWDO 2VFLOORVFRSH '62 PRGHO *'6$ '    
6HULHVIURP*Z,QVWHN7KH&KRLFH00HG3XOVH2[LPHWHU>@ (    
ZDV SODFHG RQ WKH ILQJHU IRU UHIHUHQFH +5 PHDVXUHPHQWV )    
PHDVXUHG +5 FDOFXODWHG IURP WKH GHYHORSHG V\VWHP  ZHUH *    
GLVSOD\HGRQWKHFKDUDFWHU/&' +    
9ROXQWHHU WHVWV ZHUH FRQGXFWHG E\ UHTXHVWLQJ D KXPDQ 7$%/(,, 0($685('+($575$7(96 5()(5(1&(:+(1$
YROXQWHHU WRSODFHKLVKDQGRQWKHHOHFWURGHVRQWKHZKHHODQG )$%5,& ,635(6(17%(7:((17+(3$/0$1'67((5,1* :+((/
WKHZDYHIRUPVZHUHVLPXOWDQHRXVO\REVHUYHGRQWKH'627KH +HDUW5DWH ESP (VWLPDWHG
ZDYHIRUPV REVHUYHG ZLWK D YROXQWHHU XVLQJ VHQVRU 9ROXQWHHU $JH 'HYHORSHG 55 3XOVH
FRQILJXUDWLRQV $ DQG % DUH VKRZQ LQ )LJ  D  DQG E  6\VWHP 0HWKRG 0HWHU
UHVSHFWLYHO\ ,W FDQ EH LQIHUUHG WKDW UHOHYDQW PRUSKRORJLFDO $    
IHDWXUHVRI(&*VLJQDOLV GLVWLQFW LQWKHSORWV %    
,QSUDFWLFHVRPHLQVXODWRUPDWHULDO H J IDEULF PLJKWEH &    
SUHVHQWEHWZHHQWKH HOHFWURGHVDQGWKHKXPDQKDQG7HVWVKDYH '    
EHHQFRQGXFWHGWRHVWLPDWHWKHTXDOLW\RIWKHVLJQDODVZHOO DV (    
V\VWHP SHUIRUPDQFH RQ VXFK VFHQDULRV )RU WKLV SXUSRVH )    
YROXQWHHUV ZHUH UHTXHVWHG WR SODFH KDQGV RQ VWHHULQJ ZKHHO *    
ZKLFK ZDV FRYHUHG ZLWK FORWK RI  PP WKLFNQHVV ,W ZDV +    

487
2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

7KH GHYHORSHG V\VWHP HPSOR\HG WKH SULQFLSOH RI QRQFRQWDFW


(&* RQ D VWHHULQJ ZKHHO 7KH V\VWHP XVHG D VLPSOH DQDORJ
VLJQDO FRQGLWLRQLQJ FLUFXLW DQG D GLJLWDO FRPSXWDWLRQ XQLW WR
JLYH D UHDO WLPH +5 PRQLWRULQJ 7ZR GLIIHUHQW VHQVRU
SURWRW\SHV ZHUHGHYHORSHG EDVHGRQWKHVDPHSULQFLSOH DQG
WHVWHG ZLWK QXPHURXV YROXQWHHUV 7KH GHYHORSHG V\VWHP
SURGXFHG JRRG TXDOLW\ (&* VLJQDOV HYHQ ZKHQ WKH VXEMHFW
KHOG WKH VWHHULQJ ZKHHO WKURXJK DQ LQVXODWRU FORWK  (UURU LQ
+5 HVWLPDWHG LQ FRPSDULVRQ ZLWK VWDQGDUG +5 PHDVXULQJ
PHWKRGV ZDV ZLWKLQ WKH DGPLVVLEOH OLPLWV 7KLV VXJJHVWV WKDW
WKH GHYHORSHG V\VWHP FDQ EH VXFFHVVIXOO\ LQFRUSRUDWHG LQ
YHKLFOHVWRHQVXUHWKHVDIHW\RIDXWRPRWLYHGULYHUV

)LJXUH  +HDUWUDWH YDULDWLRQ UHFRUGHGZKHQYROXQWHHUWRRNDVKRUWQDS 5()(5(1&(6


7KH UHDGLQJV RI WKH V\VWHP ZHUH VHHQ WR PDWFK FORVHO\ ZLWK >@ 0 7 GH 0HOOR HW DO 6OHHS GLVRUGHUV DV D FDXVH RI PRWRU YHKLFOH
FROOLVLRQV ,QW-RXU3UHY 0HGYRO QR  SS  0DU 
WKDWRI UHIHUHQFHPHWHU $FFXUDF\RIUHIHUHQFHPHWHULVDURXQG
>@ 1DWLRQDO6OHHS)RXQGDWLRQ:DVKLQJWRQ'&86$ >2QOLQH@$YDLODEOH
“  EHDWV +HQFH WR IXUWKHU YHULI\ WKH SHUIRUPDQFH RI WKH KWWSGURZV\GULYLQJRUJDERXWIDFWVDQGVWDWV
DOJRULWKP DQG V\VWHP ZH FRPSXWHG DYHUDJH 55 LQWHUYDO >@ $ 3LFRW 6 &KDUERQQLHU $ &DSOLHU 'URZVLQHVV GHWHFWLRQ EDVHG RQ
PHDVXUHPHQWV RQ WKH DFTXLUHG (&* GDWD 7KLV LQIRUPDWLRQ LV YLVXDOVLJQVEOLQNLQJDQDO\VLVEDVHGRQKLJKIUDPHUDWHYLGHR LQ 3URF
DOVR VKRZQ 7DEOH , 7KH GHYHORSHG +5 PRQLWRU RXWSXW ,((( ,07&$XVWLQ7H[DV86$ 0D\ SS 
FRUURERUDWHV ZLWKWKH55LQWHUYDO PHDVXUHGUHVXOWDVZHOO >@ -* :DQJ DQG ( 6XQJ 6WXG\RQH\HJD]H HVWLPDWLRQ ,(((7UDQV
6\VW 0DQ&\EHUQ3DUW% &\EHUQHWLFV YRO QR  SS±-XQ
6LPLODUWHVWVZHUHGRQHRQWKHVWHHULQJZKHHOFRYHUHGZLWK 
FORWKRIWKLFNQHVVPPDQGWKHUHVXOWVDUHVKRZQLQ7DEOH ,, >@ 3 6PLWK 0 6KDK 1 GD 9LWRULD /RER 'HWHUPLQLQJ GULYHU YLVXDO
$JDLQ WKH +5 HVWLPDWHG E\ WKH V\VWHP LV LQ DJUHHPHQW ZLWK DWWHQWLRQ ZLWK RQH FDPHUD ,((( 7UDQV RQ ,QWHOOLJHQW 7UDQVS 6\VW
UHIHUHQFHPHDVXUHPHQW 7KHGHYHORSHGPHWKRG XVHVIUHTXHQF\ YRO  QR  SS±'HF 
GRPDLQ DQDO\VLV DQG KHQFH VWLOO ZRUNV ZHOO HYHQ WKRXJK WKH >@ 6 .ULVKQDPRRUWK\ &6 $QRRS% *HRUJH $UREXVWDQGQRQLQYDVLYH
VLJQDOWRQRLVH UDWLR KDV UHGXFHG DV LQ )LJ  IRU WKLV FDVH KHDUWUDWH PRQLWRULQJ V\VWHP LQ 3URF ,0(.2 7& 6\PSRVLXP
%DUFHORQD6SDLQ-XO\
7KHVHWHVWVVKRZWKHHIILFLHQF\RIWKHGHYHORSHGV\VWHPDVDQ
DFFXUDWH+5PRQLWRULQJV\VWHP >@ % /HH DQG : &KXQJ 'ULYHU $OHUWQHVV 0RQLWRULQJ 8VLQJ )XVLRQ RI
)DFLDO )HDWXUHV DQG %LR6LJQDOV ,((( 6HQV -RXU YRO  QR 
7KHDIRUHPHQWLRQHGWHVWUHVXOWVGHPRQVWUDWHGWKHXWLOLW\RIWKH SS 0DU 
GHYHORSHG V\VWHP IRU (&* DFTXLVLWLRQ DV ZHOO DV +5 >@ & /LQ HWDO ((*EDVHGGURZVLQHVVHVWLPDWLRQIRUVDIHW\GULYLQJXVLQJ
HVWLPDWLRQ )XUWKHU WHVWV ZHUH GRQH WR ILQG WKH YDULDELOLW\ RQ LQGHSHQGHQWFRPSRQHQWDQDO\VLV ,(((7UDQV&LUFXLWVDQG6\VWHPV,
5HJXODU3DSHUV YRO  QR SS 'HF
+5 RIWKHSURSRVHGV\VWHP ZKHQGULYHUEHFRPHVGURZV\DQG
>@ 50HKURWUD$ 0RKG$5DQMDQ'&KDGKD$ 6KDUPD (&*GHYLFH
WR HPXODWH WKH GULYHU D YROXQWHHU ZLWK SDOPV SODFHG RQ ZLWKLPSXOVHDQGFKDQQHOVZLWFKLQJ$'&QRLVHILOWHUDQGHUURUFRUUHFWRU
HOHFWURGHV  ZDV UHTXHVWHG WR WDNH D VKRUW QDS 7KH V\VWHP IRUGHULYHGOHDGV 863DWHQW   
FRQWLQXRXVO\UHFRUGHG+5GXULQJWKLVWHVWLQJSHULRG 1DWXUHRI >@ * $JUDZDO 06LQJK 95 6LQJK+56LQJK ³5HGXFWLRQRIDUWLIDFWV
YDULDWLRQRI+5UHFRUGHGE\WKHV\VWHPLVSORWWHGDQGVKRZQ LQ FKDQQHO (&* VLJQDOV XVLQJ )DVW,&$ DOJRULWKP´ 1,6&$,5 -RXU
LQ )LJ  $V FDQ EH VHHQ IURP )LJ  WKHUH LV D VLJQLILFDQW 6FLHQWLILF,QGXVWULDO5HVHDUFK YRO QR  SS  -DQ
GHFUHDVHLQ+5GXULQJWKHQDSSHULRG7KLVGHFUHDVHLQ+5 FDQ >@ &KRLFH00HG3XOVH2[LPHWHU>2QOLQH@$YDLODEOH
EHHDVLO\XVHGWRGHWHFW GULYHUIDWLJXH DQG FDQEHXVHGWR DOHUW VWRUHFKRLFHPPHGDPHULFDFRPFROOHFWLRQVSXOVHR[LPHWHUSURGXFWVF
WKH GULYHU H J LQ IRUP RI DQ DXGLR VLJQDO  7KH V\VWHP FDQ >@ % $:DONHU $ + .KDQGRNHU - %ODFN /RZ FRVW (&* PRQLWRU IRU
GHYHORSLQJ FRXQWULHV LQ 3URF ,((( ,661,3 0HOERXUQH $XVWUDOLD
DOVR EH GHVLJQHG WR VHQG WKH GDWD WR D FHQWUDO VHUYHU XVLQJ 'HF   SS
VXLWDEOH WUDQVPLVVLRQ SURWRFROV  ZKHUH QHFHVVDU\ PRQLWRULQJ
>@ 6 -XQJ + 6KLQ : &KXQJ +LJKO\ VHQVLWLYH GULYHU KHDOWK FRQGLWLRQ
DQG DFWLRQ FDQ EH WDNHQ E\ FRQFHUQHG DXWKRULWLHV ,W ZDV DOVR PRQLWRULQJ V\VWHP XVLQJ QRQLQWUXVLYH DFWLYH HOHFWURGHV 6HQVRUV DQG
REVHUYHGWKDWVZHDW\KDQGVLQFUHDVHGWKHUHODWLYHDPSOLWXGHVRI $FWXDWRUV%&KHPLFDO YRO SS 0D\ 
WKH SHDNV RI WKH REVHUYHG VLJQDO 7KH +5 HVWLPDWLRQ \LHOGHG >@ % /LQ: &KRX + :DQJ<+XDQJ-3DQ'HYHORSPHQWRI1RYHO
VDWLVIDFWRU\ UHVXOWV LQ WKLV FDVH DV ZHOO V\VWHP LV QRW PXFK 1RQ&RQWDFW (OHFWURGHV IRU 0RELOH (OHFWURFDUGLRJUDP 0RQLWRULQJ
GHSHQGHQW RQ DPSOLWXGH FKDQJHV  +RZHYHU FDUH VKRXOG EH 6\VWHP ,((( -RXU 7UDQVO (QJJ%LR0HGYRO SS-XQ
WDNHQ VR DVWRHQVXUH WKDWFKDQJHV LQ DPSOLWXGHRI WKH VLJQDOV >@ ' 'LD] 2 &DVDV 5 3DOOjV$UHQ\ ³,QWHUIHUHQFH 5HGXFWLRQ ,Q (FJ
ZLOO QRW VDWXUDWHDIIHFW WKH DQDORJ IURQWHQG FLUFXLWV DQG 5HFRUGLQJV%\ 8VLQJ D 'XDO *URXQG (OHFWURGH´ LQ 3URF ;,; ,0(.2
:RUOG&RQJUHVV /LVERQ3RUWXJDO6HSW íSS
SURFHVVRU XVHG ([WHQVLYH FKDUDFWHUL]DWLRQ RI WKH V\VWHP
>@ , 6FKQHOO HW DO 7KH HIIHFWV RI H[SRVXUH WR HQYLURQPHQWDO IDFWRUV RQ
SHUIRUPDQFHZLOOEHGRQHWRDVFHUWDLQWKHHIIHFWRIVZHDWKDQG KHDUW UDWH YDULDELOLW\ $Q HFRORJLFDO SHUVSHFWLYH (OVHYLHU
PRYHPHQWDQGRWKHUQRQLGHDOLWLHVLQIXWXUH (QYLURQPHQWDO3ROOXWLRQ YRO SS 'HF 
>@ 670)'LVFRYHU\%RDUG>2QOLQH@$YDLODEOH
,9 &21&/86,216 KWWSZZZVWFRPZHEFDWDORJWRROV)06&663)
$ VLPSOH DQG UHOLDEOH UHDO WLPH KHDUW UDWH PRQLWRULQJ V\VWHP >@ < /LX HW DO1RLVH7HVWDQG$QDO\VLVRI$XWRPRELOH(QJLQH $SSOLHG
VXLWDEOH IRU DXWRPRWLYH GULYHUV ZDV GHVLJQHG DQG GHYHORSHG 0HFKDQLFVDQG0DWHULDOV YRO SS)HE 

488

You might also like