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computing & control engineering JOURNAL 1999年第4期10卷 161-168页

作者： Farsi, M Ratcliff, K Barbosa, M Univ Newcastle Upon Tyne Dept Elect & Elect Engn Newcastle Upon Tyne NE1 7RU Tyne & Wear England

CANopen is a truly open protocol that has not been developed by one company alone. Several working groups, consisting of many different device manufacturers and end-users, have co-operated to produce the CANopen standards, now under the supervision of the CAN in Automation organisation. CANopen has been produced as a result of EU funding. This article gives an overview of some of the fundamental concepts of CANopen communication and of CANopen implementation.

关键词： Protocols control engineering computing protocols controller area networks ISO standards open protocol CAN in Automation organisation CANopen standards Instrumentation buses CANopen communication open systems Local area networks

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TRANSPUTER IMPLEMENTATION OF SYSTOLIC ARRAYS FOR MODEL-REDUCTION

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IEE PROCEEDINGS-E COMPUTERS AND DIGITAL TECHNIQUES 1990年第5期137卷 343-352页

作者： MEGSON, GM Computing Laboratory University of Newcastle upon Tyne Newcastle upon Tyne UK

In the paper the author develops a unified bidirectional linear systolic array for performing model reduction of a feedback control system using continued fractions. The array is capable of computing the 1st, 2nd and 3rd Cauer forms of the fraction and their associated inverses as well as the Routh stability criterion. Timing graphs are presented to indicate the speed-up obtained on five transputers for common problem ranges.

关键词： Logic circuits control engineering computing control system analysis and synthesis methods control system CAD Routh stability criterion timing graph cellular arrays systolic arrays feedback control system Cauer forms feedback unified bidirectional linear systolic array model reduction stability criteria Stability in control theory

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A sharing deep reinforcement learning method for efficient vehicle platooning control

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IET INTELLIGENT TRANSPORT SYSTEMS 2022年第12期16卷 1697-1709页

作者： Lu, Sikai Cai, Yingfeng Chen, Long Wang, Hai Sun, Xiaoqiang Jia, Yunyi Jiangsu Univ Automot Engn Res Inst Zhenjiang 212013 Jiangsu Peoples R China Jiangsu Univ Sch Automot & Traff Engn Zhenjiang Jiangsu Peoples R China Clemson Univ Int Ctr Automot Reseatch CU ICAR Dept Automot Engn Greenville SC USA Zhenjiang City Jiangsu Univ Engn Technol Res Inst Zhenjiang Jiangsu Peoples R China

The combination of reinforcement learning and platooning control has been widely studied, which has been considered to be altruistic on the basis of safety. However, the platooning control method based on reinforcement learning is not mature. This paper proposes a platoon sharing deep deterministic policy gradient algorithm (PSDDPG) for a multi-vehicle network which overcomes the problem of low efficiency of continuous action space exploration. On the basis of the noise of deep deterministic policy gradient (DDPG) algorithm, additional platoon noise is added to enhance the diversity of training samples during exploration and avoid using a single-vehicle data, which could weaken model robustness. The method of using the time sequence information as an input and replay buffer backup is proposed to prevent the problems of insufficient exploration and low sampling efficiency from deteriorating the training effect. The robustness of the proposed algorithm is verified by tests using the Carla simulator. Also, the platoon merging, overtaking, cruising following and obstacle avoidance control of a vehicle platoon is realized under typical traffic flow conditions. The experimental results show that the PSDDPG algorithm can provide an efficient control strategy and thus has the potential to reduce energy consumption and improve road efficiency.

关键词： obstacle avoidance control mobile robots replay buffer backup low sampling efficiency road vehicles efficient vehicle platooning control energy consumption deep learning (artificial intelligence) road efficiency control engineering computing learning (artificial intelligence) vehicle platoon deep deterministic policy gradient algorithm efficient control strategy training samples single-vehicle data platooning control method platoon merging PSDDPG algorithm road traffic sharing deep reinforcement learning method model robustness time sequence information additional platoon noise reinforcement learning insufficient exploration collision avoidance gradient methods multivehicle network traffic engineering computing continuous action space exploration

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STATE-SPACE APPROACH TO THE ANALYSIS AND DESIGN OF A SYNCHRONOUS PHASE-CONVERTER

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IEE PROCEEDINGS-B ELECTRIC POWER APPLICATIONS 1985年第3期132卷 164-170页

作者： LIU, CH LEE, YS TAIWAN PROVINCIAL TAO YUAN SENIOR VOCAT AGR & IND SCH TAO YUANTAIWAN

The state-space model of a synchronous phase convertor is formulated by using the nonlinear dynamic equations of both the pilot (synchronous) and the load (induction) motors. A design procedure is presented for computing the parameters of a linear controller for the field exciter of the synchronous motor. The controller parameters are updated according to the selected steady-state operating conditions. The proposed controller is suitable for microcomputer implementation. The validity of the controller design method is further verified by using computer simulation. Numerical experiments indicate that the synchronous phase convertor system can be operated stably under different load and fault conditions.

关键词： eigenvalues and eigenfunctions microcomputer implementation state-space methods Power convertors and power supplies to apparatus nonlinear dynamic equations Algebra Power engineering computing field exciter state-space model control of electric power systems fault conditions General circuit analysis and synthesis methods linear controller synchronous phase convertor control engineering computing steady-state operating conditions controller parameters controllers computerised control power convertors controllers digital simulation

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Digitally-controlled PWM inverter modulated by multi-random technique with fixed switching frequency

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IEE PROCEEDINGS-ELECTRIC POWER APPLICATIONS 2001年第1期148卷 62-68页

作者： Shyu, JL Liang, TJ Chen, JF Natl Cheng Kung Univ Dept Elect Engn Tainan 70101 Taiwan

A digitally controlled PWM inverter, modulated by a multi-random technique with a single fixed switching frequency, is proposed for uninterruptible power supplies. Multi-random pulsewidth modulation utilises a random phase-shift PWM scheme and a random pulse position PWM scheme, both driven at the same switching frequency. The multi-random technique reduces harmonics intensity, and thus reduces undesirable acoustic noise and mechanical vibration. The control scheme is based on instantaneous feedback signals of output voltage and capacitor current. The output voltage is therefore well regulated during sudden load disturbance, as confirmed by simulation results. An experimental prototype was built. When compared with the conventional sinusoidal PWM scheme, experimental results show better spectrum performance, very fast dynamic response, and a great reduction of acoustic noise.

关键词： digital control sudden load disturbance Acoustic noise, its effects and control digitally controlled PWM inverter power conversion harmonics control engineering computing random phase-shift PWM scheme Power convertors and power supplies to apparatus feedback switching circuits uninterruptible power supplies instantaneous feedback signals harmonics suppression capacitor current harmonics intensity reduction single fixed switching frequency Mechanical variables control undesirable acoustic noise reduction noise abatement multi-random technique random pulse position PWM scheme spectrum performance PWM invertors output voltage vibration control control of electric power systems acoustic noise very fast dynamic response mechanical vibration reduction

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Global asymptotic stability assessment of three-phase inverters with saturation

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IET POWER ELECTRONICS 2018年第9期11卷 1556-1565页

作者： Zhu, Shu Liu, Kaipei Qin, Liang Wang, Qing Li, Yuye Pu, Qingxin Wang, Siru Li, Gang Hu, Xianlai Wuhan Univ Sch Elect Engn Wuhan 430072 Hubei Peoples R China State Grid DC Project Construct Co Ltd Beijing 100005 Peoples R China Nari Relays Elect Co Ltd Nanjing 210003 Jiangsu Peoples R China

Saturation is reported to have a significant influence on the stability of the inverter. In this study, a direct Lyapunov function method to analyse the stability of a three-phase inverter with saturation is presented. The overall model of the three-phase inverter is established and the order of the original model is reduced based on the singular perturbation theory. Then the global asymptotic stability assessments of inverters are transformed into linear matrix inequalities problems that are easy to be solved numerically. Through the analysis of this study, it can be proved that the three-phase inverter based on conventional proportional-integral modulation can achieve global stabilisation. The proportional coefficients of the voltage loop have the greatest influence on the stability of the three-phase inverter. Besides, the saturation also has an important effect on the stability of the inverter. The proposed method has some advantages compared with the small-signal analysis. It can quantify the stability degree of the inverter and explain some non-linear phenomena caused by saturation. Simulation developed in PSCAD demonstrates the effectiveness of this method and the results are compared with the real-time digital simulation results implemented in RT-LAB and hardware results.

关键词： control system synthesis PI control perturbation theory asymptotic stability Lyapunov methods closed loop systems nonlinear control systems invertors linear matrix inequalities power system CAD digital simulation control engineering computing RT-LAB digital simulation results PSCAD small-signal analysis proportional-integral modulation linear matrix inequalities problems singular perturbation theory direct Lyapunov function method saturation stability degree three-phase inverter global asymptotic stability assessment

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NEW PWM SWITCHING STRATEGY FOR MICROPROCESSOR controlLED INVERTER DRIVES

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IEE PROCEEDINGS-B ELECTRIC POWER APPLICATIONS 1986年第4期133卷 237-254页

作者： BOWES, SR MIDOUN, A Department of Electrical and Electronic Engineering University of Bristol Bristol UK

A new high-voltage suboptimal (HVSO) pulse-width modulation (PWM) switching strategy is presented which can be used at high fundamental PWM voltages to achieve a smooth, transient-free, low harmonic distortion, transition from the PWM to quasisquare-wave mode. The design philosophy underlying the development of the new HVSO strategy is aimed at reproducing the special features and desirable characteristics of the optimised PWM strategy, using a simple and efficient microprocessor implementation. The full theoretical development of the new HVSO strategy is presented; and experimental results, from a microprocessor controlled PWM inverter drive, are provided which confirm this theoretical development. It is shown that the new HVSO strategy is superior to all existing PWM strategies, and can be implemented simply and efficiently on a microprocessor controller with only minor modifications to the existing PWM microprocessor implementations. In addition, a new hybrid PWM strategy is proposed and demonstrated, which combines the HVSO strategy with a previously developed suboptimal strategy. It is shown that this new hybrid PWM strategy can be used to cover the complete voltage/frequency range of the drive system up to and including the quasisquare wave mode, with minimised total harmonic distortion.

关键词： control engineering computing high voltage suboptimal pulse width modulation electric drives Drives PWM inverter drive switching PWM switching strategy HVSO strategy computerised control Power convertors and power supplies to apparatus Power engineering computing microprocessor controlled inverter drives invertors pulse width modulation control of electric power systems

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Autonomy and Interdependence in Human-Agent-Robot Teams

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IEEE INTELLIGENT SYSTEMS 2012年第2期27卷 43-51页

作者： Johnson, Matthew Bradshaw, Jeffrey M. Feltovich, Paul J. Jonker, Catholijn van Riemsdijk, Birna Sierhuis, Maarten Delft Univ Technol Dept Mediamet Man Machine Interact Grp NL-2600 AA Delft Netherlands Palo Alto Res Ctr Intelligent Syst Lab Palo Alto CA USA

There is a common belief that making systems more autonomous will improve the system and is therefore a desirable goal. Though small scale simple tasks can often benefit from automation, this does not necessarily generalize to more complex joint activity. When designing today"s more sophisticated systems to work closely with humans, it is important not only to consider the machine"s ability to work independently through autonomy, but also its ability to support interdependence with those involved in the joint activity. We posit that to truly improve systems and have them reach their full potential, designing systems that support interdependent activity between participants is the key. Our claim is that increasing autonomy, even in a simple and benign environment, does not always result in an improved system. We will show results from an experiment in which we demonstrate this phenomena and explain why increasing autonomy can sometimes ❉ly impact performance.

关键词： Team Working control engineering computing Mobile Robots Software Agents Interdependent Activity Autonomy Interdependence Human Agent Robot Teams Automation Complex Joint Activity Machine Ability Intelligent Systems Human Robot Interaction Information Technology Computational Modeling Automation Human Computer Interaction Performance Evaluation Man Machine Systems User Machine Systems Human Centered computing

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Attitude controller design of mini-unmanned aerial vehicles using fuzzy sliding-mode control degraded by white noise interference

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IET control THEORY AND APPLICATIONS 2012年第9期6卷 1205-1212页

作者： Yeh, F. -K. Chung Chou Univ Sci & Technol Dept Comp Sci & Informat Engn Changhua 510 Taiwan

This work addresses an attitude controller design using a fuzzy sliding-mode controller, which is mainly composed of the sliding-mode controller and the fuzzy inference mechanism, for a mini-unmanned aerial vehicle (mini-UAV) with propellers, to follow the predetermined trajectory. In this study, a fuzzy sliding-mode controller with a sliding surface vector is proposed, such that a simple fuzzy inference mechanism is adopted with centre of membership functions to estimate the upper bound of lumped uncertainty. Accordingly, the attitude trajectory tracking control using the proposed control strategy is illustrated while a mini-UAV is flying. Finally, the authors use the Lyapunov stability theory to achieve the stability analysis of the overall attitude tracking system degraded by white noise interference. Extensive simulation results are obtained to validate the effectiveness of the fuzzy sliding-mode controller.

关键词： Spatial variables control white noise interference Lyapunov stability theory miniunmanned aerial vehicles sliding surface vector Aerospace control Stability in control theory control system synthesis control system analysis and synthesis methods telerobotics control engineering computing fuzzy reasoning Lyapunov methods control engineering computing autonomous aerial vehicles fuzzy inference mechanism fuzzy sliding-mode control mobile robots Telerobotics mini-UAV predetermined trajectory Mobile robots attitude controller design Knowledge engineering techniques attitude control

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Proportional-integral-like fuzzy controller of a small-scale linear fresnel reflector solar plant

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IET RENEWABLE POWER GENERATION 2020年第14期14卷 2620-2628页

作者： Meligy, Rowida Rady, Mohamed El Samahy, Adel Mohamed, Waeel Helwan Univ Mech Engn Dept Helwan 11795 Egypt King Abdulaziz Univ Mech Engn Dept Fac Engn Rabigh Campus Rabigh Saudi Arabia Helwan Univ Elect Engn Dept Helwan 11795 Egypt

This study reports on the development and implementation of the fuzzy incremental controller on a small-scale linear fresnel reflector solar plant. The control problem is concerned with forcing the output temperature to follow the reference, despite the existence of disturbances. Owing to the non-linear effects of solar plants, the capability of fixed parameters of the proportional-integral controller to cope with the control problem is limited and leads to unsatisfactory control performance. The proposed controller is a modification to a conventional proportional-integral algorithm with better tuning flexibility. Firstly, the ant colony optimisation algorithm is used to define the optimal parameter of proportional-integral plus series feed-forward controller while guaranteeing a satisfactory performance of the plant. Secondly, the resulting controller is replaced with an equivalent fuzzy knowledge-based controller with the error and change of error of the plant as the input variables and flow rate as an output variable. The proposed controller is tested on a quasi-dynamic model of linear fresnel reflector plant using conventional and renewable energy optimisation toolbox in the environment of MATLAB/Simulink. The controller's performance is compared to the proportional-integral controller, where its effectiveness is evaluated under nominal conditions, measurement delay, noise, and presence of disturbance.

关键词： fuzzy control PI control solar power stations optimisation feedforward knowledge based systems fuzzy set theory power engineering computing control engineering computing power system control renewable energy sources ant colony optimisation proportional-integral plus series feed-forward controller fuzzy knowledge-based controller linear fresnel reflector plant proportional-integral-like fuzzy controller small-scale linear fresnel reflector solar plant fuzzy incremental controller renewable energy optimisation toolbox MATLAB Simulink ant colony optimisation

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