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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Zhang, Peng Hu, Wenkai Cao, Weihua Wu, Min Wang, Jiandong School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China College of Electrical Engineering and Automation Shandong University of Science and Technology Shandong Province Qingdao China

ISBN: (纸本)9798350331820

Prompt detection of bit bounce can prevent serious incidents and is of great importance for safe and efficient deep geological drilling. In the early stage of bit bounce, signal changes are relatively weak. In addition, there are differences in the topological relationships of samples at different time instances in normal state and bit bounce. These factors present a challenge to timely and accurate bit bounce detection. Therefore, this paper proposes a bit bounce detection method based on multi-feature graph and graph convolution networks. A multi-feature graph construction method using process variables, mean value, Mahalanobis distance, and Euclidean distance is proposed, and a two-layer graph convolutional network is designed to realize deep feature extraction and incident detection. The effectiveness and superiority of the proposed method are demonstrated by a real drilling industrial case. © 2023 IEEE.

关键词： Infill drilling

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Design and Analysis of a Resonant Current Regulator for Permanent Magnet Synchronous Motors 1

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： XiaoFeng, Chai Yang, Lei Qiang, Hao HaiTao, Yang Shuo, Ma China North Vehicle Research Institute Beijing100072 China School of Automation Beijing Institute of Technology Beijing100081 China School of Electrical and Control Engineering North China University of Technology Beijing100144 China

ISBN: (数字)9789819613793

ISBN: (纸本)9789819613786

In a permanent magnet synchronous motor (PMSM) vector control system, a proportional-integral (PI) regulator is generally used for implementing closed-loop current control in the synchronous rotating coordinate system. In this algorithm, a rotating coordinate transformation is necessary for both stator current and reference voltage commands, resulting in relatively high computational complexity. With reference to the design principle of traditional PI current regulators, a reduced-order resonant current controller was developed in this study. This controller only involves a single-time rotating coordinate transformation of the reference current command, thus significantly reducing the computational workload. In addition, to facilitate the practical application, a gain-parameter analytical calculation formula applied in the design of the resonant current regulator is presented in this paper. Given accurate model parameters, the proposed resonant current regulator exhibits a dynamic performance similar to that of a traditional PI current regulator. In addition, with the presence of parameter errors, this resonant current regulator exhibits superior decoupling control performance. The effectiveness and feasibility of the proposed regulator have been verified with the simulation and experimental test results. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Permanent magnets

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Distributed Asymptotic Consensus in Directed Networks of Nonaffine Systems With Nonvanishing Disturbance

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1133-1140页

作者： Qingling Wang Changyin Sun School of Automation Southeast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096China

In this paper the distributed asymptotic consensus problem is addressed for a group of high-order nonaffine agents with uncertain dynamics,nonvanishing disturbances and unknown control directions under directed networks.A class of auxiliary variables are first introduced which forms second-order filters and induces all measurable signals of agents’*** view of this property,a distributed robust integral of the sign of the error(DRISE)design combined with the Nussbaum-type function is presented that guarantees not only the desired asymptotic consensus,but also the uniform boundedness of all closed-loop *** with the traditional sliding mode control(SMC)technique,the main feature of our approach is that the integral operation in the proposed control algorithm is designed to be adopted in a continuous manner and ensures less chattering *** results for a group of Duffing-Holmes chaotic systems are employed to verify our theoretical analysis.

关键词： Asymptotic consensus nonaffine systems nonvanishing disturbance Nussbaum-type functions unknown control directions

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Multi-agent Weapon Target Assignment and Cooperative Path Planning Based on QS-RRT Algorithm 41

Multi-agent Weapon Target Assignment and Cooperative Path Pl...

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第41届中国控制会议

作者： Qingze Li Yongzhao Hua Haoran Zhai Qingdong Li Xiwang Dong School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,based on the typical combat scenario where multiple UAVs strike multiple targets,the model of weapon firepower allocation is firstly modeled to obtain the corresponding objective function,and then the improved distributed auction algorithm is used to solve the objective function to obtain the multi-target allocation *** layer first analyze the traditional RRT algorithm,and gets the quick and smooth convergence RRT(QS-RRT) on the basis of improved algorithm,the algorithm on the basis of adding the synergy of constraints,and makes the collaborative planning path compared with non-cooperative path planning,the planning path length in the keep basically remain unchanged,on the basis of our UAV for the same target can arriving together,The difference of arrival time is greatly reduced,and the subsequent coordinated strike mission can be completed more efficiently in the combat scenario.

关键词： Weapon target assignment Auction algorithm Cooperative path planning QS-RRT algorithm

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LiDAR Point Cloud Map Coding Framework Based on Quadric Surface Fitting and Scene Construction 5

LiDAR Point Cloud Map Coding Framework Based on Quadric Surf...

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5th IEEE International Conference on Pattern Recognition and Machine Learning, PRML 2024

作者： Sun, Xuebin Wang, Jinxi Yang, Xiaofei School of Electrical Automation and Information Engineering Tianjin University Tianjin China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Shanghai Institute of Optics and Fine Mechanics Department of Aerospace Laser Technology and System Shanghai China

ISBN: (纸本)9798350355925

Due to rapid 3D acquisition advancements, LiDAR point clouds are prevalent in emerging applications like heritage preservation, mobile robotics, and remote sensing. Yet, the sheer data volume poses challenges for transmission and storage, especially in autonomous driving. This paper introduces an efficient coding framework for compressing large dense LiDAR point cloud maps. By recording timestamps and quaternion matrices during map construction, we reduce map compression to sequence compression. The scans are segregated into intra-frames and inter-frames. For intra-frames, a quadric surface fitting intra-prediction technique eliminates spatial redundancy. For inter-frames, by constructing the 3D scene using encoded intra-frames, the inter-frame can be simulated according to its posture and LiDAR intrinsic parameters. Coding focuses on the difference between actual and predicted point cloud data. Decoding reverses this process, reconstructing the point cloud map from the decoded sequence and quaternion matrices. KITTI dataset experiments show the point cloud map can be averagely compressed to 3.43% of its original size while maintaining centimeter-level precision. This outperforms both octree and Google Draco methods. © 2024 IEEE.

关键词： Mobile robots

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Output group formation tracking control for heterogeneous systems with collision avoidance and connectivity maintenance 41

Output group formation tracking control for heterogeneous sy...

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第41届中国控制会议

作者： Shiyu Zhou Zhipeng Shen Jianglong Yu Xiwang Dong Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University Institute of Artificial Intelligence Beihang University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the output group formation tracking problem for heterogeneous systems with collision avoidance and connectivity maintenance methods,and the group formation tracking error can be controlled within an arbitrarily small ***,the distributed observers are proposed to estimate the leader's state for each group and the state of itself,*** constructing the desired potential fields and deviating to get the negative forces,the high safety control protocol is put ***,the algorithm consisting of several equations and inequalities is given to calculate the parameters in the *** using Lyapunov stability theory,the stability of the error' systems have been *** last,the effectiveness of the proposed method has been verified by an experiment about the atmospheric monitoring task.

关键词： Time-varying group formation tracking Heterogeneous multi-agent system Collision avoidance and connectivity maintenance

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Data-Driven Frequency Regulation Method for Multi-Terminal HVDC Grids 38

Data-Driven Frequency Regulation Method for Multi-Terminal H...

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38th Youth Academic Annual Conference of Chinese Association of automation, YAC 2023

作者： Yong, Panxiao Jia, Yubin Guo, Jun Zhou, Jun Liu, Zhimin Southeast University School of Automation Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9798350303636

High voltage direct current (HVDC) lines allow low-loss transmission over long distances. The multi-terminal HVDC network consists of multiple terminals connected by HVDC lines, and each area shares the frequency reserve. Through secondary frequency control, the frequency of AC and DC areas can be regulated back to the set point when the system frequency has deviated. In this paper, a data-driven model predictive control (MPC) strategy is proposed. The Kooman operator is used to obtain the high-dimensional linear model of a nonlinear system, and the Deep Learning method is used to approximate the infinite-dimensional Koopman operator. The nominal MPC is used for optimization and control, and the optimal problem is solved for the Koopman linearized system. The optimal control is applied to the original nonlinear system. Simulation results show the effectiveness of the proposed method. © 2023 IEEE.

关键词： data-driven Koopman operator model predictive control Multi-terminal HVDC

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Cutting force and specific energy for rotary ultrasonic drilling based on kinematics analysis of vibration effectiveness

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Chinese Journal of Aeronautics 2022年第1期35卷 376-387页

作者： Zhen LI Songmei YUAN Jiang MA Jun SHEN Andre D.L.BATAKO College of Mechatronics and Control Engineering.Shenzhen University Shenzhen 518060China College of Physics and Optoelectronic Engineering Shenzhen UniversityShenzhen 518060China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100083China The General Engineering&Techmology Research Institute Liverpool John Moores UniversitLiverpool L33AF.UK

Rotary ultrasonic drilling(RUD)has become an effective approach for machining advanced composites which are widely using in the field of *** cutting kinematics and the corresponding material removal mechanisms are distinct in different drilling areas during ***,these fundamentals have not been fully considered in the existing *** this research,two distinct forms of interaction induced by ultrasonic vibration were considered as impact-separation and vibratory lapping between the abrasives and *** the conditions to guarantee the effectiveness of these interactions were obtained to eliminate diminishing effects of ultrasonic *** on indentation fracture theory,the penetration depth of abrasives and the axial drilling force model was derived for *** verification tests of C/SiC composites resulted in a prediction error within 15%.Due to the minimal volume of material removed during each vibration cycle,the drilling force was more stable in vibration assisted *** specific drilling energy of RUD was firstly calculated based on the measured drilling *** was found the drilling parameters should be matched with vibration frequency and amplitude to make better usage of the advantages of ultrasonic vibration,which is critical in the vibration assisted processing of advanced materials.

关键词： Ceramic matrix composite Drilling force modelling Kinematics analysis Rotary ultrasonic drilling Specific drilling energy Vibration diminishing effect

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Distributed Communication-Sliding Mirror-Descent Algorithm for Nonsmooth Resource Allocation Problem

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Journal of Systems Science & Complexity 2022年第4期35卷 1244-1261页

作者： WANG Yinghui TU Zhipeng QIN Huashu School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China Key Lab of Systems and Control Academy of Mathematics and Systems ScienceBeijing100190China University of Chinese Academy of Sciences Beijing100190China

This paper considers a distributed nonsmooth resource allocation problem of minimizing a global convex function formed by a sum of local nonsmooth convex functions with coupled constraints.A distributed communication-efficient mirror-descent algorithm,which can reduce communication rounds between agents over the network,is designed for the distributed resource allocation *** employing communication-sliding methods,agents can find aε-solution in O(1/ε)communication rounds while maintaining O(1/ε^(2))subgradient evaluations for nonsmooth convex functions.A numerical example is also given to illustrate the effectiveness of the proposed algorithm.

关键词： Distributed resource allocation problem mirror-descent algorithm nonsmooth functions

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Research on Hearing-Impaired EEG Emotion Recognition Based on Deep Residual Shrinkage Networks 42

Research on Hearing-Impaired EEG Emotion Recognition Based o...

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42nd Chinese control Conference, CCC 2023

作者： Cheng, Meiyi Gao, Qiang Bai, Zhongli Chen, Yirui Liu, Yang Song, Yu School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300382 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300382 China

ISBN: (纸本)9789887581543

With the development of affective computing and computer science, electroencephalogram (EEG) based emotion recognition has attracted much more attention. In this paper, we collected EEG signals from fifteen healthy people and fifteen hearing-impaired people when they were watching five kinds of emotional pictures (fear, anger, sadness, happiness and neutral). The collected EEG signals are preprocessed to remove artifacts by independent component analysis (ICA). Then the differential power spectral density, entropy, and wavelet entropy features were extracted (PSD, DE, WE). The Deep Residual Shrinkage Networks (DRSNs) were composed of residual building units (RBU s) and an attention mechanism was used to capture the representative features, and then made a classification. The classification results prove that using DE as a feature for classification is better than other features, with an average accuracy being 76.35% and 80.47% for the hearing-impaired group and the normal group, respectively. Moreover, from the brain topography, we found that there are certain differences in brain function between hearing-impaired and healthy people. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Electroencephalography

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