O presente trabalho apresenta a identificação de parâmetros de motor de indução linear tubular para a extração de petróleo, denominado de MATÆOS -- Motor Assíncrono Tubular para Aplicação na Extração de Óleo Subterrâneo. O primeiro passo para a identificação de parâmetros do motor foi a implementação da bancada de testes com o seu sistema de controle e supervisório. O modelo adotado corresponde à situação de operação em regime estacionário e consiste no circuito contendo resistores e indutores tradicionalmente utilizado para representar motores de indução. A identificação dos parâmetros foi realizada por meio de um procedimento de otimização tomando por base o balanço de potência do motor. Para isso, em função dos parâmetros do modelo, definiu-se e minimizou-se uma medida de erro entre as potências medidas e as calculadas pelo modelo para um conjunto pré-fixado de escorregamentos. A solução desse problema de otimização foi obtida por meio de uma busca exaustiva, uma vez que o número de variáveis independentes do problema é pequeno e uma região contendo o ponto de mínimo é conhecida com razoável confiança. Os resultados obtidos indicam que os valores dos parâmetros nominais a quente apresentam algumas diferenças em relação àqueles produzidos pelo método de identificação. Essas diferenças se devem possivelmente a variações nas características térmicas do motor e a erros introduzidos pelos instrumentos de medida. O modelo identificado apresentou uma menor disponibilidade de força e um pior rendimento quando comparado com os valores de projeto do modelo nominal a quente. Apesar disto, verificou-se uma boa proximidade entre a curva característica do modelo e as obtidas experimentalmente. / This work presents the identification of parameters of the tubular linear induction motor for the extraction of oil, called MATÆOS - which is the Portuguese acronym for Asynchronous Tubular Motor for Application to Subterranean Oil Extraction. The first step to the identification of the motor parameters was the implementation of the supervisory and control system for the test bench. The model, which is the usual one containing resistors and inductors, represents the motor operating in steady-state. The parameter identification problem was written as an optimization problem based on the motor power balance. An error between the measured power and the one given by the model was defined and minimized with respect to the model parameters in correspondence to a given set of slipping frequencies. The numerical solution to this problem was obtained by an exhaustive search algorithm. This choice was made because the number of independent variables is small and a region containing the solution is known with a significant degree of confidence. The results obtained show that the nominal values of the model parameters differ slightly from those produced by the identification method. Possibly, such differences are due to the variations in the model caused by temperature changes and to the measurement errors. The identified model presented both a lower available force and a worst efficiency when compared to the nominal design values for the warm motor. Despite this the characteristic curve of the model was quite close to the nominal design one.

Made available in DSpace on 2014-12-17T14:08:33Z (GMT). No. of bitstreams: 1 PauloSS.pdf: 794414 bytes, checksum: 7999790922c4cf74528e43d38c370e58 (MD5) Previous issue date: 2009-11-28 / This document aims to improve the quality of the production test in vertical tanks with free water drain pipes, through a device to control the draining system. This proposal consists of an interface detector close to the tank bottle and a control valve on the pipe-drain; they are attached to a remote supervisor system, which will be minimizing the human influence in the conclusion of the test result. And for more consciousness the work shows the importance of the wells production test in the attendance and diagnosis of the productive process, informing the large number of tests executed and problems of the procedure adopted in the field today. There are many possible sources of uncertainty in this kind of test as shown in the experiments realized in the field; the object prototype of this dissertation will be made in the field, based upon the definition of parameters and characteristics of the devices proposal. For a better definition of the draining process the action results of the assessment test are shown, especially changed some for the understand ing of the real process. It shows the proposal details and the configuration that will be used in the tank of Monte Alegre s field Production Station, explaining the interface detector kind and the control system. It is the base to a pilot project now in development, named as the new project classified in the status of the new technology and production improvement of PETROBRAS in Rio Grande do Norte and Cear?. This dissertation concludes that the automation of the conventional test with the draining system will bring benefits both economically as metrologically, because it reduces the uncertainty of the test procedures with free water draining, and also decreases the number of tests with problems / Este trabalho tem por objetivo melhorar a qualidade dos testes de produ??o em tanques verticais com drenagem da ?gua livre, atrav?s da instala??o de dispositivos para controle autom?tico do sistema de drenagem do tanque. Esta proposta de melhoria consiste na montagem de um detector de interface pr?ximo do fundo do tanque e uma v?lvula de controle no dreno, interligados a um sistema de supervis?o remota, reduzindo a influ?ncia humana na finaliza??o e resultados do teste. O trabalho mostra a import?ncia do teste de produ??o dos po?os para o acompanhamento e diagn?stico do processo produtivo, atrav?s da cita??o da grande quantidade de testes realizados e das dificuldades do procedimento atualmente adotado. Existem muitas poss?veis fontes de incerteza neste tipo de teste, que foram constatadas por experimentos realizados no campo. O prot?tipo do objeto desta disserta??o ser? montado no campo, tendo como base a defini??o dos par?metros e caracter?sticas dos dispositivos desta proposta. Para melhor definir o processo de drenagem s?o mostrados os resultados das a??es de acompanhamento de testes, especialmente modificados para entendimento da problem?tica do processo atual. Com base nos resultados das pesquisas foi poss?vel detalhar a proposi??o de melhoria, e definir a configura??o a ser montada no tanque de teste da Esta??o Coletora do campo de Monte Alegre, inclusive o tipo de detector de interface e o sistema de controle a ser adotado. O resultado deste trabalho serviu de base para o projeto do piloto atualmente em implanta??o, com conclus?o prevista para abril/2009. Este piloto est? registrado como o projeto classificado na categoria de novas tecnologias e melhoria da produ??o da PETROBRAS, Unidade de Neg?cios do Rio Grande do Norte e Cear?. Esta disserta??o conclui que a automa??o do sistema de drenagem do teste convencional trar? benef?cios tanto econ?micos como metrol?gicos ao minimizar a incerteza do procedimento de teste com drenagem da ?gua livre e conseq?ente redu??o do n?mero de testes falhos

O presente trabalho apresenta a identificação de parâmetros de motor de indução linear tubular para a extração de petróleo, denominado de MATÆOS -- Motor Assíncrono Tubular para Aplicação na Extração de Óleo Subterrâneo. O primeiro passo para a identificação de parâmetros do motor foi a implementação da bancada de testes com o seu sistema de controle e supervisório. O modelo adotado corresponde à situação de operação em regime estacionário e consiste no circuito contendo resistores e indutores tradicionalmente utilizado para representar motores de indução. A identificação dos parâmetros foi realizada por meio de um procedimento de otimização tomando por base o balanço de potência do motor. Para isso, em função dos parâmetros do modelo, definiu-se e minimizou-se uma medida de erro entre as potências medidas e as calculadas pelo modelo para um conjunto pré-fixado de escorregamentos. A solução desse problema de otimização foi obtida por meio de uma busca exaustiva, uma vez que o número de variáveis independentes do problema é pequeno e uma região contendo o ponto de mínimo é conhecida com razoável confiança. Os resultados obtidos indicam que os valores dos parâmetros nominais a quente apresentam algumas diferenças em relação àqueles produzidos pelo método de identificação. Essas diferenças se devem possivelmente a variações nas características térmicas do motor e a erros introduzidos pelos instrumentos de medida. O modelo identificado apresentou uma menor disponibilidade de força e um pior rendimento quando comparado com os valores de projeto do modelo nominal a quente. Apesar disto, verificou-se uma boa proximidade entre a curva característica do modelo e as obtidas experimentalmente. / This work presents the identification of parameters of the tubular linear induction motor for the extraction of oil, called MATÆOS - which is the Portuguese acronym for Asynchronous Tubular Motor for Application to Subterranean Oil Extraction. The first step to the identification of the motor parameters was the implementation of the supervisory and control system for the test bench. The model, which is the usual one containing resistors and inductors, represents the motor operating in steady-state. The parameter identification problem was written as an optimization problem based on the motor power balance. An error between the measured power and the one given by the model was defined and minimized with respect to the model parameters in correspondence to a given set of slipping frequencies. The numerical solution to this problem was obtained by an exhaustive search algorithm. This choice was made because the number of independent variables is small and a region containing the solution is known with a significant degree of confidence. The results obtained show that the nominal values of the model parameters differ slightly from those produced by the identification method. Possibly, such differences are due to the variations in the model caused by temperature changes and to the measurement errors. The identified model presented both a lower available force and a worst efficiency when compared to the nominal design values for the warm motor. Despite this the characteristic curve of the model was quite close to the nominal design one.

<div>In this thesis work, a novel approach for the design of a fractional order proportional integral</div><div>derivative (FOPID) controller is proposed. This design introduces a new time-varying FOPID controller</div><div>to mitigate a voltage spike at the controller output whenever a sudden change to the setpoint occurs. The</div><div>voltage spike exists at the output of the proportional integral derivative (PID) and FOPID controllers when a</div><div>derivative control element is involved. Such a voltage spike may cause a serious damage to the plant if it is</div><div>left uncontrolled. The proposed new FOPID controller applies a time function to force the derivative gain to</div><div>take effect gradually, leading to a time-varying derivative FOPID (TVD-FOPID) controller, which maintains</div><div>a fast system response and signi?cantly reduces the voltage spike at the controller output. The time-varying</div><div>FOPID controller is optimally designed using the particle swarm optimization (PSO) or genetic algorithm</div><div>(GA) to ?nd the optimum constants and time-varying parameters. The improved control performance is</div><div>validated through controlling the closed-loop DC motor speed via comparisons between the TVD-FOPID</div><div>controller, traditional FOPID controller, and time-varying FOPID (TV-FOPID) controller which is created</div><div>for comparison with all three PID gain constants replaced by the optimized time functions. The simulation</div><div>results demonstrate that the proposed TVD-FOPID controller not only can achieve 80% reduction of voltage</div><div>spike at the controller output but also is also able to keep approximately the same characteristics of the system</div><div>response in comparison with the regular FOPID controller. The TVD-FOPID controller using a saturation</div><div>block between the controller output and the plant still performs best according to system overshoot, rise time,</div><div>and settling time.</div>

<div>In this thesis, we explore different methods to enhance the safety and robustness for autonomous systems. We achieve this goal using concepts and tools from reachability analysis and control barrier functions. We first take on a multi-player reach-avoid game that involves two teams of players with competing objectives, namely the attackers and the defenders. We analyze the problem and solve the game from the attackers' perspectives via a moving horizon approach. The resulting solution provides a safety guarantee that allows attackers to reach their goals while avoiding all defenders. </div><div><br></div><div>Next, we approach the problem of target re-association after long-term occlusion using concepts from reachability as well as Bayesian inference. Here, we set out to find the probability identity matrix that associates the identities of targets before and after an occlusion. The solution of this problem can be used in conjunction with existing state-of-the-art trackers to enhance their robustness.</div><div><br></div><div>Finally, we turn our attention to a different method for providing safety guarantees, namely control barrier functions. Since the existence of a control barrier function implies the safety of a control system, we propose a framework to learn such function from a given user-specified safety requirement. The learned CBF can be applied on top of an existing nominal controller to provide safety guarantees for systems.</div>

The goal of this project is to develop a system of supervision, communication and control, implemented in a free supervisory software the SCADABR for installed wind farms and/or to be installed in Brazil, from the considerations and recommendations of IEC 61400 - 25. The construction of complete wind farms with full automation, has led entrepreneurs to focus their efforts not only on profit and productivity, but also in: human capital, concerned with the management system, technological mastery and communication at all levels. Information processing with communication, opened borders with new forms of relationship and growing trend in the industrial automation field, which favors different devices to communicate with others in a cooperative way. However, the largest manufacturers of wind generation plants still offer proprietary solutions "black boxes" for the networks field, which results in a variety of protocols of systems, causing the client the full dependence on these suppliers. Aiming interoperability and flexibility of operation, groups of researchers advocate standards of open model, as the solution of networks and protocols for all, leaving customers free. In this struggle, the best-known organization in the field of wind energy is IEC 61400-25, specifically for the monitoring system and free communication among different equipment vendors, nevertheless internal communication of the components of wind power plant is not within the standard. The application range of the standard covers the operation of this kind of wind farm, including wind turbine, meteorological measurement system, electrical system and management system, but does not include the relevant line of the substation feeding and information. Hence, the interaction with the supervisory system SCADABR developed in "open-source" model of free license. It is proposed the application of a multi-platform Java-based, from an application server, like Apache Tomcat the standard choice. Considering the requirements of the present communication model in IEC 61400-25-2 it is defined a model of information for monitoring and control of wind power plants, to this end, part-data simulator MatrikonOPC through customer / OPC DA server interaction (Object Linking and Embedding for Process Control Data Access), with ScadaBR software. / O objetivo da pesquisa é desenvolver um sistema de supervisão, comunicação e controle, implementado em um software de supervisão livre o ScadaBR, para parques eólicos instalados e/ou a serem instalados no Brasil, a partir das considerações e recomendações da norma IEC 61400-25. A construção de parques eólicos completos, com automação total, tem levado os empreendedores a focalizar seus esforços não só no lucro e produtividade, mas também no: capital humano, preocupando-se com o sistema de gestão, domínio tecnológico e comunicação em todos os níveis. O processamento da informação com a comunicação, abriu fronteiras com as novas formas de relacionamento e a crescente tendência na área de automação industrial, favorece que diferentes dispositivos comuniquem-se com outros de uma maneira cooperativa. No entanto, os maiores fabricantes de usinas de geração eólica ainda oferecem soluções proprietárias caixas pretas para as redes de campo, o que resulta numa diversidade de protocolos de sistemas, levando dependência desses fornecedores. Visando a interoperabilidade e flexibilidade de operação, grupos de pesquisadores defendem normas de padrão aberto, como a solução de redes e protocolos para todos, deixando os clientes livres. Nesta luta, a organização mais conhecida na área de energia eólica é a norma IEC 61400-25, especificamente para o sistema de monitoramento e comunicação livre entre diferentes fornecedores de equipamentos, porém a comunicação interna dos componentes da usina de energia eólica não está no âmbito desta norma. A faixa de aplicação da norma abrange parte da operação desse tipo de usina, incluindo turbina de vento, sistema de medição meteorológica, sistema elétrico e sistema de gestão, mas não inclui a linha relevante de alimentação e informação da subestação. Daí a interação com o sistema supervisório ScadaBR, desenvolvido em modelo open-source de licença gratuita. Propõe-se a aplicação de uma multi-plataforma baseada em Java, a partir de um servidor de aplicações, com o Apache Tomcat a escolha padrão. Considerando as exigências do modelo de comunicação presentes na Norma IEC 61400-25-2, define-se um modelo de informação para monitoramento e controle de usinas eólicas, para tal, parte-se do simulador de dados MatrikonOPC, por meio da interação cliente / servidor OPC DA (Object Linkingand Embedding for Process Control Data Access), com o software ScadaBR.

The goal of this project is to develop a system of supervision, communication and control, implemented in a free supervisory software the SCADABR for installed wind farms and/or to be installed in Brazil, from the considerations and recommendations of IEC 61400 - 25. The construction of complete wind farms with full automation, has led entrepreneurs to focus their efforts not only on profit and productivity, but also in: human capital, concerned with the management system, technological mastery and communication at all levels. Information processing with communication, opened borders with new forms of relationship and growing trend in the industrial automation field, which favors different devices to communicate with others in a cooperative way. However, the largest manufacturers of wind generation plants still offer proprietary solutions "black boxes" for the networks field, which results in a variety of protocols of systems, causing the client the full dependence on these suppliers. Aiming interoperability and flexibility of operation, groups of researchers advocate standards of open model, as the solution of networks and protocols for all, leaving customers free. In this struggle, the best-known organization in the field of wind energy is IEC 61400-25, specifically for the monitoring system and free communication among different equipment vendors, nevertheless internal communication of the components of wind power plant is not within the standard. The application range of the standard covers the operation of this kind of wind farm, including wind turbine, meteorological measurement system, electrical system and management system, but does not include the relevant line of the substation feeding and information. Hence, the interaction with the supervisory system SCADABR developed in "open-source" model of free license. It is proposed the application of a multi-platform Java-based, from an application server, like Apache Tomcat the standard choice. Considering the requirements of the present communication model in IEC 61400-25-2 it is defined a model of information for monitoring and control of wind power plants, to this end, part-data simulator MatrikonOPC through customer / OPC DA server interaction (Object Linking and Embedding for Process Control Data Access), with ScadaBR software. / O objetivo da pesquisa é desenvolver um sistema de supervisão, comunicação e controle, implementado em um software de supervisão livre o ScadaBR, para parques eólicos instalados e/ou a serem instalados no Brasil, a partir das considerações e recomendações da norma IEC 61400-25. A construção de parques eólicos completos, com automação total, tem levado os empreendedores a focalizar seus esforços não só no lucro e produtividade, mas também no: capital humano, preocupando-se com o sistema de gestão, domínio tecnológico e comunicação em todos os níveis. O processamento da informação com a comunicação, abriu fronteiras com as novas formas de relacionamento e a crescente tendência na área de automação industrial, favorece que diferentes dispositivos comuniquem-se com outros de uma maneira cooperativa. No entanto, os maiores fabricantes de usinas de geração eólica ainda oferecem soluções proprietárias caixas pretas para as redes de campo, o que resulta numa diversidade de protocolos de sistemas, levando dependência desses fornecedores. Visando a interoperabilidade e flexibilidade de operação, grupos de pesquisadores defendem normas de padrão aberto, como a solução de redes e protocolos para todos, deixando os clientes livres. Nesta luta, a organização mais conhecida na área de energia eólica é a norma IEC 61400-25, especificamente para o sistema de monitoramento e comunicação livre entre diferentes fornecedores de equipamentos, porém a comunicação interna dos componentes da usina de energia eólica não está no âmbito desta norma. A faixa de aplicação da norma abrange parte da operação desse tipo de usina, incluindo turbina de vento, sistema de medição meteorológica, sistema elétrico e sistema de gestão, mas não inclui a linha relevante de alimentação e informação da subestação. Daí a interação com o sistema supervisório ScadaBR, desenvolvido em modelo open-source de licença gratuita. Propõe-se a aplicação de uma multi-plataforma baseada em Java, a partir de um servidor de aplicações, com o Apache Tomcat a escolha padrão. Considerando as exigências do modelo de comunicação presentes na Norma IEC 61400-25-2, define-se um modelo de informação para monitoramento e controle de usinas eólicas, para tal, parte-se do simulador de dados MatrikonOPC, por meio da interação cliente / servidor OPC DA (Object Linkingand Embedding for Process Control Data Access), com o software ScadaBR.

The goal of this thesis is a building automation in which the circuits are controlled by a single-board computer Arduino and the entire system is operated by a mobile phone. The theoretical part describes a single-board computer Arduino, its parts, functions, capabilities and communication with it. In the practical part, the controlled circuits are described, implemented and a functional model of a house is created. The model of the house practically demonstrates behavior of the controlled circuits simultaneously with a possibility to manage and influence the system using a mobile phone.

<div>Stoichiometric air-fuel ratio (AFR) and air/EGR flow control are essential control problems in today’s advanced spark-ignited (SI) engines to enable effective application of the three-way-catalyst (TWC) and generation of required torque. External exhaust gas recirculation (EGR) can be used in SI engines to help mitigate knock, reduce enrichment and improve efficiency[1 ]. However, the introduction of the EGR system increases the complexity of stoichiometric engine-out lambda and torque management, particularly for high BMEP commercial vehicle applications. This thesis develops advanced frameworks for sensing and control architecture designs to enable robust air handling system management, stoichiometric cylinder air-fuel ratio (AFR) control and three-way-catalyst emission control.</div><div><br></div><div><div>The first work in this thesis derives a physically-based, control-oriented model for turbocharged SI engines utilizing cooled EGR and flexible VVA systems. The model includes the impacts of modulation to any combination of 11 actuators, including the throttle valve, bypass valve, fuel injection rate, waste-gate, high-pressure (HP) EGR, low-pressure (LP) EGR, number of firing cylinders, intake and exhaust valve opening and closing timings. A new cylinder-out gas composition estimation method, based on the inputs’ information of cylinder charge flow, injected fuel amount, residual gas mass and intake gas compositions, is proposed in this model. This method can be implemented in the control-oriented model as a critical input for estimating the exhaust manifold gas compositions. A new flow-based turbine-out pressure modeling strategy is also proposed in this thesis as a necessary input to estimate the LP EGR flow rate. Incorporated with these two sub-models, the control-oriented model is capable to capture the dynamics of pressure, temperature and gas compositions in manifolds and the cylinder. Thirteen physical parameters, including intake, boost and exhaust manifolds’ pressures, temperatures, unburnt and burnt mass fractions as well as the turbocharger speed, are defined as state variables. The outputs such as flow rates and AFR are modeled as functions of selected states and inputs. The control-oriented model is validated with a high fidelity SI engine GT-Power model for different operating conditions. The novelty in this physical modeling work includes the development and incorporation of the cylinder-out gas composition estimation method and the turbine-out pressure model in the control-oriented model.</div></div><div><br></div><div><div>The second part of the work outlines a novel sensor selection and observer design algorithm for linear time-invariant systems with both process and measurement noise based on <i>H</i>2 optimization to optimize the tradeoff between the observer error and the number of required sensors. The optimization problem is relaxed to a sequence of convex optimization problems that minimize the cost function consisting of the <i>H</i>2 norm of the observer error and the weighted <i>l</i>1 norm of the observer gain. An LMI formulation allows for efficient solution via semi-definite programing. The approach is applied here, for the first time, to a turbo-charged spark-ignited (SI) engine using exhaust gas recirculation to determine the optimal sensor sets for real-time intake manifold burnt gas mass fraction estimation. Simulation with the candidate estimator embedded in a high fidelity engine GT-Power model demonstrates that the optimal sensor sets selected using this algorithm have the best <i>H</i>2 estimation performance. Sensor redundancy is also analyzed based on the algorithm results. This algorithm is applicable for any type of modern internal combustion engines to reduce system design time and experimental efforts typically required for selecting optimal sensor sets.</div></div><div><br></div><div><div>The third study develops a model-based sensor selection and controller design framework for robust control of air-fuel-ratio (AFR), air flow and EGR flow for turbocharged stoichiometric engines using low pressure EGR, waste-gate turbo-charging, intake throttling and variable valve timing. Model uncertainties, disturbances, transport delays, sensor and actuator characteristics are considered in this framework. Based on the required control performance and candidate sensor sets, the framework synthesizes an H1 feedback controller and evaluates the viability of the candidate sensor set through analysis of the structured</div><div>singular value μ of the closed-loop system in the frequency domain. The framework can also be used to understand if relaxing the controller performance requirements enables the use of a simpler (less costly) sensor set. The sensor selection and controller co-design approach is applied here, for the first time, to turbo-charged engines using exhaust gas circulation. High fidelity GT-Power simulations are used to validate the approach. The novelty of the work in this part can be summarized as follows: (1) A novel control strategy is proposed for the stoichiometric SI engines using low pressure EGR to simultaneously satisfy both the AFR and air/EGR-path control performance requirements; (2) A parametrical method to simultaneously select the sensors and design the controller is first proposed for the internal combustion engines.</div></div><div><br></div><div><div>In the fourth part of the work, a novel two-loop estimation and control strategy is proposed to reduce the emission of the three-way-catalyst (TWC). In the outer loop, an FOS estimator consisting of a TWC model and an extended Kalman-filter is used to estimate the current TWC fractional oxygen state (FOS) and a robust controller is used to control the TWC FOS by manipulating the desired engine λ. The outer loop estimator and controller are combined with an existing inner loop controller. The inner loop controller controls the engine λ based on the desired λ value and the control inaccuracies are considered and compensated by the outer loop robust controller. This control strategy achieves good emission reduction performance and has advantages over the constant λ control strategy and the conventional two-loop switch-type control strategy.</div></div>

<div> <div> <div> <p>Commercial vehicles in the United States account for a significant fraction of greenhouse gas emissions and NOx emissions. The objectives of this work are reduction in commercial vehicle NOx emissions through enhanced aftertreatment thermal management via diesel engine variable valve actuation and the reduction of commercial vehicle fuel consumption/GHG emissions by enabling more effective class 8 truck platooning. </p> <p><br></p><p>First, a novel diesel engine aftertreatment thermal management strategy is proposed which utilizes a 2-stroke breathing variable value actuation strategy to increase the mass flow rate of exhaust gas. Experiments showed that when allowed to operate with modestly higher engine-out emissions, temperatures comparable to baseline could be achieved with a 1.75x exhaust mass flow rate, which could be beneficial for heating the SCR catalyst in a cold-start scenario. </p> <p><br></p><p>Second, a methodology is presented for characterizing aerodynamic drag coefficients of platooning trucks using experimental track-test data, which allowed for the development of high-fidelity platoon simulations and thereby enabled rapid development of advanced platoon controllers. Single truck and platoon drag coefficients were calculated for late model year Peterbilt 579’s based on experimental data collected during J1321 fuel economy tests for a two-truck platoon at 65 mph with a 55’ truck gap. Results show drag coefficients of 0.53, 0.50, and 0.45 for a single truck, a platoon front truck, and a platoon rear truck, respectively. </p> <p><br></p><p>Finally, a PID-based platoon controller is presented for maximizing fuel savings and gap control on hilly terrain using a dynamically-variable platoon gap. The controller was vetted in simulation and demonstrated on a vehicle in closed-course functionality testing. Simulations show that the controller is capable of 6-9% rear truck fuel savings on a heavily-graded route compared to a production-intent platoon controller, while increasing control over the truck gap to discourage other vehicles from cutting in. </p></div></div></div>