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Adaptive Dynamic Surface Guidance Law with Input Saturation Constraint and Autopilot Dynamics

JOURNAL OF GUIDANCE control AND DYNAMICS 2016年第5期39卷 1152-1159页

作者： Zhou, Di Xu, Biao Harbin Inst Technol Dept Control Sci & Engn Mailbox 327 Harbin 150001 Peoples R China

A novel guidance law with input saturation constraint and autopilot dynamics is designed using block dynamic surface control. Different from conventional dynamic surface control, which employs n-1 low-pass filters to avoid the complexity arising from the explosion of terms, in the designing process of the guidance law, n low-pass filters have been used, where the extra auxiliary low-pass filter is able to compensate for the effect of input saturation. The guidance command is derived by regarding the target maneuvers as bounded disturbance inputs whose upper bound can be estimated online by an adaptation law. The guidance law is able to provide a high guidance precision on intercepting either a non-maneuvering target or a maneuvering target because it is robust against disturbances. Numerical simulations show that the proposed guidance law offers better performance than some other advanced guidance laws, which have not taken autopilot dynamics into account.

关键词： Guidance System Autopilot Terminal Guidance Lyapunov Stability Theory Interceptor Missile Proportional Navigation Heading Angle Numerical Simulation control algorithm Interceptor Guidance

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Electric vehicles charging using photovoltaic: Status and technological review

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RENEWABLE & SUSTAINABLE ENERGY REVIEWS 2016年 54卷 34-47页

作者： Bhatti, Abdul Rauf Salam, Zainal Aziz, Mohd Junaidi Bin Abdul Yee, Kong Pui Ashique, Ratil H. Univ Teknol Malaysia Ctr Elect Energy Syst Johor Baharu 81310 Johor Malaysia Univ Teknol Malaysia Power Elect & Drives Res Grp Johor Baharu 81310 Johor Malaysia Univ Teknol Malaysia Insitute Future Energy Johor Baharu 81310 Johor Malaysia Govt Coll Univ Faisalabad Dept Elect Engn Faisalabad Pakistan

The integration of solar photovoltaic (PV) into the electric vehicle (EV) charging system has been on the rise due to several factors, namely continuous reduction in the price of PV modules, rapid growth in EV and concerns over the effects of greenhouse gases. Despite the numerous review articles published on EV charging using the utility (grid) electrical supply, so far, none has given sufficient emphasis on the PV charger. With the growing interest in this subject, this review paper summarizes and update all the related aspects on PV-EV charging, which include the power converter topologies, charging mechanisms and control for both PV-grid and PV-standalone/hybrid systems. In addition, the future outlook and the challenges that face this technology are highlighted. It is envisaged that the information gathered in this paper will be a valuable one-stop source of information for researchers working in this topic. (c) 2015 Elsevier Ltd. All rights reserved.

关键词： Photovoltaic (PV) system Electric vehicle (EV) charging system State of charge (SOC) Maximum power point tracking (MPPT) MPPT dc-dc converter Bi-directional Inverter Bi-directional dc-dc charger control algorithm EV charging algorithm Prediction models Optimization techniques

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Space curved fillet weld joints tracking by robots based on rotational arc sensors in gas metal arc welding

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INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 2016年第6期43卷 636-646页

作者： Le, Jian Zhang, Hua Li, Jin-wen Nanchang Univ Nanchang Peoples R China

Purpose - This study aims to improve the welding quality and efficiency, and an algorithm should be designed to realize tracking space-curved fillet weld joints. Design/methodology/approach - Fillet weld joints tracking based on the two wheels and the horizontal slider coordinated movement has been studied. The method of pattern recognition is used to identify the height deviation, and the analysis of the accuracy corresponding to recognizing height deviations has been researched. The proportional control algorithm is used to control the vertical and horizontal sliders movement, so fillet weld joints tracking in the height direction has been achieved. Based on wheels and vertical and horizontal sliders coordinated movement, the algorithm of space-curved fillet weld joints tracking has been researched. Findings - Some experiments have been done, and experimental results show that the welding robot can track space-curved fillet weld joints with high accuracy and good reliability. Research limitations/implications - The welding robot can improve the welding quality and efficiency. Practical implications - The welding robot can track fillet weld joints in ship panels, and it was shown that the welding robot could track space-curved fillet weld joints with high accuracy and good reliability. Social implications - The welding robot has many industrial and social applications. Originality/value - There are various forms of fillet weld joints in the industry, and the fillet weld is curved in the space. Experimental results show that the welding robot can track space-curved fillet weld joints with good stability and high precision.

关键词： control algorithm Deviation identification Fillet weld joints tracking Rotational arc sensor Welding robot

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Spacecraft Attitude Stabilization with Piecewise-Constant Magnetic Dipole Moment

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JOURNAL OF GUIDANCE control AND DYNAMICS 2016年第5期39卷 1137-1143页

作者： Celani, Fabio Univ Roma La Sapienza Sch Aerosp Engn Via Salaria 851 I-00138 Rome Italy

A magnetic control law was proposed for spacecraft attitude stabilization that possesses the feature of generating piecewise constant magnetic dipole moment;the latter aspect makes the law easier to implement than continuous-time ones. It was shown that the proposed approach leads to a systematic selection of the sampling interval;the latter aspect represents an advantage with respect to discretization of continuous-time control laws where the sampling interval is usually determined by trial and error.

关键词： Attitude control System Magnetic Dipoles Earth's Magnetic Field Feedback control Sampled Data Systems Earth Satellites control algorithm Closed Loop System Polar Orbit

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Urban Wake-Field Generation Using Large-Eddy Simulation for Application to Quadrotor Flight

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JOURNAL OF AIRCRAFT 2016年第5期53卷 1224-1236页

作者： Sutherland, M. Etele, J. Fusina, G. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada Def Res & Dev Canada Human Factors Res Grp Toronto ON M3K 2B6 Canada AIAA Reston VA USA

A method is presented for using large-eddy simulation to generate urban wake fields for use in studying the effects on the autonomous flight performance of a small quadrotor. The flowfield is solved around a single square building using OpenFOAM and stored in a database accessed by a MATLAB/Simulink flight simulator. Four flight missions are evaluated to compare the difference in performance between wake fields generated by Reynolds-averaged Navier-Stokes and large-eddy simulation solutions. The results of the holding position in a constant freestream wind show both methods produce similar results and can hold position in all three directions within approximately +/- 1.5 body lengths. When the quadrotor is in or on the boundary of the building wake, the maximum deviation volumes, as calculated when using a Reynolds-averaged Navier-Stokes or large-eddy simulation air wake, can differ by two orders of magnitude. Additionally, the large-eddy simulation air wakes can cause skewed deviations by as much as five to one in a given direction for both holding position and moving along a desired flight path. Since the turbulent large-eddy simulation wake field more accurately reflects the flow physics present within the wake of real-world structures, it is recommended that large-eddy-simulation-generated wake fields be used when designing and testing autonomous control algorithms for multirotor unmanned aerial vehicles on the order of 0.5m in size and 2kg in mass.

关键词： Quadrotor Large Eddy Simulation Reynolds Averaged Navier Stokes Drag Coefficient UAV Flight Simulation Flight Performance control algorithm Hold Position Multirotor

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Experimental Characterization of Inverse Dynamics Guidance in Docking with a Rotating Target

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JOURNAL OF GUIDANCE control AND DYNAMICS 2016年第6期39卷 1173-1187页

作者： Wilde, Markus Ciarcia, Marco Grompone, Alessio Romano, Marcello Naval Postgrad Sch Monterey CA 93940 USA Florida Inst Technol Dept Mech & Aerosp Engn Melbourne FL 32904 USA Naval Postgrad Sch Mech & Aerosp Engn Dept Monterey CA 93940 USA

The performance of an inverse dynamics guidance and control strategy is experimentally evaluated for the planar maneuver of a "chaser" spacecraft docking with a rotating "target." The experiments were conducted on an airbearing proximity maneuver testbed. The chaser spacecraft simulator consists of a three-degree-of-freedom autonomous vehicle floating via air pads on a granite table and actuated by thrusters. The target consists of a docking interface mounted on a rotational stage with the rotation axis perpendicular to the plane of motion. Given a preassigned trajectory, the guidance and control strategy computes the required maneuver control forces and torque via an inverse dynamics operation. The recorded data of 150 experimental test runs were analyzed using two-way analysis of variance and post hoc Tukey tests. The metrics were maneuver success, vehicle mass change, maneuver duration, thruster duty cycle, and maneuver work. The results showed that the guidance and control algorithm provided robust performance over a range of target rotation rates from 1 to 4 deg /s. The effects of the rate estimation errors are measurable but not dominant.

关键词： Analysis of Variance control algorithm Three Degrees of Freedom Spacecraft Docking Flight Phases Propellant Predictive control Method Rendezvous and Docking algorithms Statistical Analysis Numerical Simulation

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Implementation of smart-passive dampers combined with double concave friction pendulum devices to retrofit an existing highway viaduct exploiting the seismic early warning information

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ENGINEERING STRUCTURES 2016年 120卷 58-74页

作者： Nestovito, Gianluca Occhiuzzi, Antonio Univ Naples Parthenope Ctr Direz Dept Engn Isola C4 I-80143 Naples Italy CNR Natl Res Council Construct Technol Inst I-20133 Milan Italy

The seismic events occurred in recent years have highlighted the extreme vulnerability of a large part of existing Italian highway infrastructure. The principal skeleton of Italian highway network was built during the mid-century, where the knowledge of seismic engineering was still limited. Also, the old age of structures with the need of seismic assessment, is forcing highway stakeholders to give an answer to a strategic query: should thousands of highway bridges be destroyed and re-built with in force regulations, or do they just need a retrofit? The objective of this work is to reply concretely to that issue, investigating the combined use of a dissipative smart-passive control strategy and an innovative isolation system to protect seismically excited structures. It is based on the use of seismic early warning information (SEWI) to optimally calibrate variable dampers for a higher reduction of the structural response. In particular, the adoption of dissipative magnetorheological (MR) dampers calibrated according to the forecasted value of the seismic peak ground acceleration, and a new adaptive control algorithm, are herein proposed. Moreover, to reduce the influence of support devices in the global viaduct behavior, a prototype of double concave friction pendulum (DCFP), with a very low value of friction coefficient, is implemented. The effectiveness and robustness of the DCFPs system with smart-passive MR dampers driven by the SEWI, are demonstrated with reference to an existing Italian highway viaduct for the first time. The results of non-linear time history analysis using seismic registrations of natural events are then compared with a consolidate passive technique characterized by lead rubber bearings (LRB), applied to the same structure. The control technique results were promising for the ease of implementation for structures, effectiveness, even compared with a widespread passive system and robustness, given an estimate of the incoming earthquake by a s

关键词： Smart passive control Early warning Magnetorheological dampers Double concave friction pendulums control algorithm

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SMES/Battery Hybrid Energy Storage System for Electric Buses

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IEEE TRANSACTIONS ON APPLIED SUPERCONDUCTIVITY 2016年第4期26卷 1-5页

作者： Li, Jianwei Zhang, Min Yang, Qingqing Zhang, Zhenyu Yuan, Weijia Univ Bath Dept Elect & Elect Engn Bath BA2 7AY Avon England

This paper proposes a novel use of superconducting magnetic energy storage (SMES) hybridized with the battery into the electric bus (EB) with the benefit of extending battery lifetime. A new power control algorithm, which integrates a power grading strategy with the filtration control method, is introduced in this paper, achieving further improvement of battery lifetime. To demonstrate the performance of the SMES/battery hybrid energy storage system (HESS), a dynamic EB system is described with the advantage of considering more factors into the driving patterns. Simulation results show that the proposed HESS has successfully combined the SMES with the battery forming an optimal system that has the advantages of primary energy storage systems while complementing the disadvantages of each system. This paper also does the quantitative analysis of battery lifetime extension in the battery-only system, the filtration-based HESS, and the novel control-based HESS.

关键词： Battery lifetime control algorithm electric bus hybrid energy storage system SMES

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Optimized Torque Allocation Strategy on Multi-wheel Vehicles

Optimized Torque Allocation Strategy on Multi-wheel Vehicles

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Hongjie Liang Yue Ma Jinning Zhi Yi Li Yifan Peng the School of Mechanical Engineering Beijing Institute of Technology

Multi-wheel vehicles are extensively utilized in civil and military fields,since they are powerful in complex environment,originating from over-actuated multi-wheel driven *** is necessary that the kinematics and dynamics of all wheels have to be coordinated *** this paper,the optimized torque allocation strategy on skid steering multi-wheel vehicle driven by independent in-wheel motors has been proposed based on vehicle dynamical model and wheel torque distribution ***,weighting control allocation error and control energy as the optimization target,wheel torque control allocation was solved using quadratic programming *** with wheel slip control and actuator fault redundancy control schemes,the optimization algorithm is correspondingly implemented,which improved the dynamic performance and safety of steering *** effectiveness of wheel torque distribution strategy was validated in Matlab/Simulink which demonstrated that torque can be redistributed among the effective motors when one wheel motor fails.

关键词： control algorithm dynamic distribution QP torque optimization

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Closing the Loop: Optimal Stimulation of Neuronal Networks via Adaptive control algorithms

Closing the Loop: Optimal Stimulation of Neuronal Networks v...

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作者： Santos, Julia Ann University of Washington

学位级别：master

The Caenorhabditis elegans (C. elegans) worm is a well-studied biological organism model. The nervous system of C. elegans is particularly appealing to study, since it is a tractable fully functional neuronal network for which electro-physical connectivity map (connectome) is fully resolved [1,2]. In this work, we use a recently established computational dynamical model of the C. elegans nervous system, which incorporated the static connectome data with intrinsic properties of neurons and their interactions. With this model, it has been demonstrated that robust oscillatory movements in motor neurons along the body can be invoked by constant current excitation of command sensory neurons (e.g., PLM neurons associated with forward crawling), and that their activation corresponds to low-dimensional Hopf bifurcation [3]. While these first results validated the model, it is exciting to learn and visualize how the nervous system transforms its oscillatory dynamics to the muscles to support robust full body movements (e.g., forward crawling) [4]. Moreover, it is intriguing to understand the optimal sensory stimulations that cause these movements to persist. We explore these questions by developing methods to visualize network activity in a physical space and creating a model for C. elegans musculature as a viscoelastic rod with discrete rigid segments [5]. We map the neuronal dynamics such that they activate the muscles and deform the rod. When motor neuron activity stimulates muscles [2], this activation is translated into force applied to the rod, which moves in accordance with the physical properties of C. elegans. By stimulating the command PLM neurons, we establish for the first time that motor neuron dynamics are indeed producing coherent oscillatory full body movements that resemble forward crawling. We utilize our computational full body model to determine the appropriate sensory input for behavior, such as crawling, to persist after explicit external stimulation (

关键词： c. elegans control algorithm dynamics network neural visualization Applied mathematics

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