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arXiv 2024年

作者： Zhou, Jian Gao, Yulong Johansson, Ola Olofsson, Björn Frisk, Erik Division of Vehicular Systems Department of Electrical Engineering Linköping University LinköpingSE-581 83 Sweden Department of Electrical and Electronic Engineering Imperial College London United Kingdom Department of Automatic Control Lund University LundSE-221 00 Sweden

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this paper, an efficient, robust, and safe motion-planning algorithm is developed by learning the obstacle uncertainties online. More specifically, the unknown yet intended control set of obstacles is efficiently computed by solving a linear programming problem. The learned control set is used to compute forward reachable sets of obstacles that are less conservative than the worst-case prediction. Based on the forward prediction, a robust model predictive controller is designed to compute a safe reference trajectory for the ego robotic system that remains outside the reachable sets of obstacles over the prediction horizon. The method is applied to a car-like mobile robot in both simulations and hardware experiments to demonstrate its effectiveness. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

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Improving the Energy Efficiency of a Mine Drainage Installation by Means of an Industrial Electric Drive 3

Improving the Energy Efficiency of a Mine Drainage Installat...

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3rd IEEE KhPI Week on Advanced Technology, KhPI Week 2022

作者： Baranovskyi, Vladyslav Chornyi, Oleksii Busher, Victor Kuznetsov, Valeriy Hubskyi, Petro Lelikova, Olha Kryvyi Rih National University Electromechanical Systems in Industry and Transport Department of Automated Kryvyi Rih Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Department 'Systems of Automatic Control and Electric Drive' Kremenchuk Ukraine National University 'Odessa Maritime Academy' Department of Electrical Engineering and Electronics Odessa Ukraine Railway Research Institute Electric Power Department Warsaw Poland Karaganda Industrial University Department 'Power Engineering Temirtau Kazakhstan

ISBN: (数字)9798350399202

ISBN: (纸本)9798350399202

The publication is devoted to determining the possibilities of reducing the energy consumption of drainage systems of mines and determining the numerical indicators of energy saving using mathematical modeling. Novelty of paper. The minimum required structure of the mathematical model of the mine drainage horizon for the study of energy consumption is substantiated, the existence of the minimum energy consumption of the main drainage pump at speed control is proved, the appearance of regression dependences of energy consumption and pump operating time on speed and inflow. Research methods. General methods of physics, hydraulics, mathematical analysis and computational mathematics were used in solving the tasks. Numerical solution of mathematical model equations and visualization of the obtained results were performed in MATLAB® / Simulink environment, methods of experimental design theory for regression analysis. The results obtained. The conditions under which the potential for energy saving of the pumping equipment of the main drainage of mines when using an adjustable electric drive appears. The existence of the minimum energy consumption of the pumping unit of the main drainage of the mine has been proved. Based on the regression analysis of the results of mathematical modeling of the pumping station of the main drainage of the mine, it is established that the regression dependences of the pumping unit operation time and its energy consumption have a shape close to the hyperboloid section. Practical value. The use of the results of work makes it possible in different mines to determine the potential for energy savings when using an adjustable electric drive, to make an economically sound decision on the feasibility of using an adjustable electric drive in specific production conditions. © 2022 IEEE.

关键词： Regression analysis

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The Electrotechnical Complex of The Grain Thrower With Improved Performance Characteristics 4

The Electrotechnical Complex of The Grain Thrower With Impro...

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4th IEEE International Conference on Modern Electrical and Energy System, MEES 2022

作者： Burdilna, Evgeniia Serhiienko, Serhii Rykov, Hennadii Voliansky, Roman Kremenchuk Mykhailo Ostrohradskyi National University Department of Automation and Information Systems Kremenchuk Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Department of Systems of Automatic Control and Electric Drive Kremenchuk Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Department of Electrical Engineering Kremenchuk Ukraine National Technical University of Ukraine 'Igor Sikorsky Kyiv Polytechnic Institute' Department of Electromechanical Systems Automation and Electrical Drives Kyiv Ukraine

ISBN: (纸本)9798350346831

In the work, the structure of an interconnected electrotechnical complex of frequency-regulated electric drives of the mechanisms of grain-throwing machines is proposed to ensure effective overloading of grain with a reduction in its injury. The basic equations for determining the laws governing the grain flight trajectory are presented. The results of research on the influence of various parameters on the flight trajectory (thickness of the grain layer, presence of additional blowing) are given. The obtained results of the study allow us to state that additional blowing ensures a reduction in dispersion, depending on the type of grain and the speed of the conveyor belt of the grain thrower As a result, a regression model was obtained that allows taking into account the main parameters. The simulation results of the proposed electric fan drive system with scalar control with the control algorithm based on the PID structure, calculated according to the frequency criterion, are presented. A functional diagram of the electrical complex of the grain thrower is proposed. The practical application of the proposed system will reduce material damage from injury to the reloaded grain and improve the efficiency of the grain thrower. © 2022 IEEE.

关键词： Electric drives

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Unified Analysis of Stochastic Gradient Projection Methods for Convex Optimization with Functional Constraints

Unified Analysis of Stochastic Gradient Projection Methods f...

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European control Conference (ECC)

作者： Nitesh Kumar Singh Ion Necoara Automatic Control and Systems Engineering Department National University of Science and Technology Politehnica Bucharest Bucharest Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics of the Romanian Academy Bucharest Romania

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper addresses a unified convergence analysis for a large family of stochastic gradient projection algorithms for dealing with constrained finite sum convex problems, with a smooth objective function satisfying a strong convexity condition and possibly nonsmooth functional constraints. At each iteration, the algorithm takes an optimal gradient step based on a stochastic unbiased estimate of the objective function aiming to minimize it and then a feasibility step reducing the infeasibility associated with randomly observed constraints. Our stochastic gradient estimate can take diverse forms (e.g., Stochastic Gradient Descent (SGD), Stochastic Average Gradient Acceleration (SAGA), Loopless-Stochastic Variance Reduced Gradient (L-SVRG). We conduct a convergence analysis of the proposed unified stochastic gradient projection algorithm under a diminishing stepsize, resulting in sublinear convergence rates, which are optimal for stochastic gradient methods within this problem class. Numerical evidence supports the effectiveness of our approach.

关键词： Gradient methods Europe Linear programming Convex functions Projection algorithms Convergence

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Physics-informed neural networks for parameter learning of wildfire spreading

arXiv

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arXiv 2024年

作者： Vogiatzoglou, Konstantinos Papadimitriou, C. Bontozoglou, V. Ampountolas, K. System Dynamics Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece Transport Processes & Process Equipment Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece Automatic Control & Autonomous Systems Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece

Wildland fires pose a terrifying natural hazard, underscoring the urgent need to develop datadriven and physics-informed digital twins for wildfire prevention, monitoring, intervention, and response. In this direction of research, this work introduces a physics-informed neural network (PiNN) designed to learn the unknown parameters of an interpretable wildfire spreading model. The considered modeling approach integrates fundamental physical laws articulated by key model parameters essential for capturing the complex behavior of wildfires. The proposed machine learning framework leverages the theory of artificial neural networks with the physical constraints governing wildfire dynamics, including the first principles of mass and energy conservation. Training of the PiNN for physics-informed parameter identification is realized using synthetic data on the spatiotemporal evolution of one- and two-dimensional firefronts, derived from a high-fidelity simulator, as well as empirical data (ground surface thermal images) from the Troy Fire that occurred on June 19, 2002, in California. The parameter learning results demonstrate the predictive ability of the proposed PiNN in uncovering the unknown coefficients of the wildfire model in one- and two-dimensional fire spreading scenarios as well as the Troy Fire. Additionally, this methodology exhibits robustness by identifying the same parameters even in the presence of noisy data. By integrating this PiNN approach into a comprehensive framework, the envisioned physics-informed digital twin will enhance intelligent wildfire management and risk assessment, providing a powerful tool for proactive and reactive strategies. Copyright © 2024, The Authors. All rights reserved.

关键词： Risk assessment

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Research and Development of Algorithms for the Functioning of the Phase-to-Phase Overcurrent Protection Based on Data from Digital Transformers with Rogowski Coils for Overhead and Cable Power Lines 35 kV

Research and Development of Algorithms for the Functioning o...

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2022 International Conference on Industrial engineering, Applications and Manufacturing, ICIEAM 2022

作者： Yablokov, Andrey Dvoynenkov, Mikhail Sharygin, Dmitry Kabakov, Pavel University Named after V.I. Lenin Ivanovo State Power Engineering Department of Electric Power Systems Automatic Control Ivanovo Russia Jsc 'RADIUS Avtomatika' Separate Structural Department Ivanovo Russia RTsoft - Smart Grid Jsc 'RTSoft' Ivanovo Russia

ISBN: (纸本)9781665483698

The development of microprocessor technology has led to the creation of new types of instrument transformers that were not previously used in the electric power industry. Their characteristics require additional study of existing relay protection and automation algorithms and allow to develop of new ones. However, serious theoretical and experimental studies in all possible operating modes should precede the using of such algorithms. This article describes some aspects of the implementation of overcurrent protection that receives information in digital form from Rogowski coils and resistive voltage dividers, considering the key features and advantages of these type of sensors. © 2022 IEEE.

关键词： Voltage dividers

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Moment matching based reduced closed-loop design to achieve asymptotic performance

arXiv

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arXiv 2024年

作者： Ionescu, Tudor C. Department of Automatic Control and Systems Engineering Politehnica Univ. of Bucharest Bucharest060042 Romania "Gheorghe Mihoc-Caius Iacob" Institute of Mathematical Statistics and Applied Mathematics The Romanian Academy Bucharest050711 Romania

In this paper, the moment matching techniques are adopted to obtain reduced-order closed-loop systems with reduced-order controllers that maintain the closed-loop stability and guarantee desired asymptotic performance, after revealing the relationship between the Internal Model Principle used in control design and the time-domain moment matching problem. As a result, the design of a low order controller can be done starting from considering the achieving of asymptotic performance as a moment matching problem, resulting in a reduced order closed-loop system. Copyright © 2024, The Authors. All rights reserved.

关键词： controllers

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Multi-objective PI controller tuning using NSGA-Ⅱ with preferability

Multi-objective PI controller tuning using NSGA-Ⅱ with pref...

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第40届中国控制会议

作者： Tao Zhang Xiaokang Yin Department of Automatic Control and Systems Engineering University of Sheffield

This paper introduces a modified nondominated sorting genetic algorithm-Ⅱ(NSGA-Ⅱ) to deal with nine objectives for a PI controller tuning problem. With the preferability operator which consists of goals and priorities, the optimal solutions are determined according to the setting preferability rather than conventional weak dominance. In addition, pre-clustering analysis is also utilized in the optimization process to reduce computational cost. The final results show that all objectives are satisfied with better performances comparing with the conventional NSGA-II, which proves the feasibility and effectiveness of this modified method.

关键词： Multi-objectives optimization NSGA-Ⅱ PI controller preferability

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Power control of Converters Connected via an L Filter to a Weak Grid. A Flatness-Based Approach

arXiv

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arXiv 2024年

作者： Jorge, Sebastian Gomez Solsona, Jorge A. Busada, Claudio A. Tapia-Otaegui, Gerardo Susperregui, Ana Martínez, M. Itsaso CONICET and Dpto. Ing. Eléctrica y de Computadoras UNS Bahía Blanca Argentina The Department of Automatic Control and Systems Engineering University of the Basque Country UPV/EHU Faculty of Engineering–Gipuzkoa Donostia20018 Spain

In this article, a nonlinear strategy based on a flatness approach is used for controlling the instantaneous complex power supplied from the Point of Common Coupling (PCC) to a weak grid. To this end, the strategy introduced by the authors in [1] considering a strong grid is robustified for avoiding system instability when the converter is connected to an unknown grid. The robustification method consists of including a notch filter that estimates the PCC voltage and using it to build the controller (i.e. the measured PCC voltage used to design the control strategy for a strong grid is replaced by the PCC voltage estimated with the notch filter). In addition, before designing the controller, the steady-state stability and safe operation limits when injecting complex instantaneous power to a grid of unknown impedance are analyzed. This analysis is independent of the control strategy, and applies to all power injection schemes. Simulations are presented for showing the performance of the proposed controller in presence of a weak grid. © 2024, CC BY-SA.

关键词： Notch filters

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Model predictive control for autonomous ground vehicles:a review

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Autonomous Intelligent systems 2021年第1期1卷 32-48页

作者： Shuyou Yu Matthias Hirche Yanjun Huang Hong Chen Frank Allgöwer State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China Department of Control Science and Engineering Jilin UniversityChangchunChina Institute for Systems Theory and Automatic Control University of StuttgartPfaffenwaldring 9Stuttgart 70569Germany Institute of Intelligent Vehicles Tongji UniversityShanghaiChina College of Electronic and Information Engineering Tongji UniversityShanghaiChina

This paper reviews model predictive control(MPC)and its wide applications to both single and multiple autonomous ground vehicles(AGVs).On one hand,MPC is a well-established optimal control method,which uses the predicted future information to optimize the control actions while explicitly considering *** the other hand,AGVs are able to make forecasts and adapt their decisions in uncertain ***,because of the nature of MPC and the requirements of AGVs,it is intuitive to apply MPC algorithms to *** are interesting not only for considering them alone,which requires centralized control approaches,but also as groups of AGVs that interact and communicate with each other and have their own controller *** calls for distributed control ***,a short introduction into the basic theoretical background of centralized and distributed MPC is ***,it comprehensively reviews MPC applications for both single and multiple ***,the paper highlights existing issues and future research directions,which will promote the development of MPC schemes with high performance in AGVs.

关键词： Model predictive control Autonomous intelligent system Autonomous ground vehicle

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