ADVANCED-ECMS (Real-Time processing by ROS)

• Author : Byung-Kwan Lee ([email protected]) M.S. Candidate
• Support : Kyungjae Nam ([email protected]) M.S. Candidate

Requirements

• ROS kinetic version
• C++14

Topic Message

• publisher : /geometry_msgs/Twist.msg
  
• subscriber : std_msgs/Float32.msg, std_msgs/Int32.msg
  

Topic name of system variable

• accel : /joy_teleop/cmd_vel
  (Twist.msg) --(ROS APP joystick)
• velocity : /velocity
  (Float32.msg)
• soc : /soc
  (Float32.msg)
• gear : /gear
  (Int32.msg)
• mass : /mass
  (Float32.msg)
• mode : /mode
  (Int32.msg)
• lambda : /lambda
  (Float32.msg)
• mu : /mu
  (Float32.msg)
• rho : /rho
  (Float32.msg)

Guide for Starting to Advanced_ECMS

• [1] ROS workspace and build work (catkin_make, source devel/setup.bash)
• [2] Access cfg folder, for editing ecms.yaml file
• [2-Example] ecms/ECMS_mode = "performance" or "realtime"
• [2-Example] ecms/method = "L" or "ADMM"
• [2-Example] ecms/iter is maximum iteration number
• [3] rosparam load ecms.yaml && cd ../../../ && rosrun ecms ecms, In terminal
• [4] If you want to change specification of Engine, Motor and, Battery, then you must change files in data folder, and edit in src/ICEMG.cpp
• [5] If you want to change driving cycle, then you must change files in data folder, and edit in src/performance.cpp
• [6] After performance ECMS_mode, driving cycle information csv files are saved in output folder. And, in iter folder inside output folder, driving cycle information when changing iteration from 1 to ecms/iter

Method

• Iterative Lagrangian method
• Alternating Direction Method of Multipliers

Reference

• [1] S. Boyd, “Distributed Optimization and Statistical Learning via the Alternating Direction Method of Multipliers,” Found. Trends® Mach. Learn., vol. 3, no. 1, pp. 1–122, 2010.
• [2] A. Sciarretta and L. Guzzella, “Control of Hybrid Electric Vehicles,” IEEE Control Syst. Mag., vol. 27, no. 2, pp. 60–70, 2007.