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Cascaded Extended State Observer-Based Sliding Mode control for DC-DC Converter with Time- Varying Power Fluctuation

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IEEE Transactions on Industry Applications 2022年 1-6页

作者： Xu, Liangcai Liu, Jianxing Zhuo, Shengrong Huangfu, Yigeng Gao, Fei School of Automation Northwestern Polytechnical University Xi'an China Department of Control Science and Engineering Harbin Institute of Technology Harbin China FEMTO-ST Institute Univ. Bourgogne Franche-Comte UTBM CNRS Belfort France

In this paper, a cascaded extended state observer- based sliding mode control (SMC) is proposed for the typical microgrid (MG) interfaced dc-dc boost converter. For a given MG system, the power fluctuation is unpredictable, which may cause an unstable dc-bus voltage. In that situation, all the dc-bus connected electronic loads cannot work normally. In order to maintain a stable dc-bus voltage, additional power sources with a suitable power converter and the advanced controller are necessary. Especially, the controller for the power converter plays a crucial role in reducing the power fluctuation and regulating the dc-bus voltage. In this paper, to improve the ability of the converters to reject external power disturbance, a cascaded extended state observer is designed to estimate the lumped disturbance more accurately. Besides, the continuous SMC method is adopted to provide a feedback control loop. The corresponding simulation results could highly validate the effectiveness of the proposed control method. IEEE

关键词： Sliding mode control

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Conditioned Super-Twisting Sliding Mode control for Speed control of PMSMs 42

Conditioned Super-Twisting Sliding Mode Control for Speed Co...

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42nd Chinese control Conference, CCC 2023

作者： Hao, Wenbo Lin, Xinpo Liu, Jin Yan, Qingyu Shen, Xiaoning Liu, Jianxing Electric Power Research Institute State Grid Heilongjiang Electric Power Company Limited Harbin China Harbin Institute of Technology Department of Control Science and Engineering Harbin China State Grid Heilongjiang Electric Power Company Limited Harbin China

ISBN: (纸本)9789887581543

In this paper, the conditioned super-twisting sliding mode algorithm is applied in PMSMs speed control. Firstly, the PMSMs' mathematic model in dq frame is given. Considering the current input saturation, the speed controller is designed based on super-twisting sliding mode algorithm, solving the problem of windup of traditional super-twisting sliding mode controller. Compared to other nonlinear anti-windup controllers, the biggest advantage of it is that it can maintain the original form of the controller when the control input saturation is inactive. Simulations are given to verify the advantages of the presented approach. © 2023 Technical Committee on control theory, Chinese Association of Automation.

关键词： Speed control

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High-Precision Identification and Balance Method for the First-to-Third Harmonics of Mass Defects of Fused Quartz Hemispherical Resonator

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Huo, Yan Wei, Zhen-Nan Wang, Ning Wang, Hao Li, Yuan-Xi Tsinghua University Department of Precision Instrument Beijing100084 China Harbin Institute of Technology Department of Aerospace Science and Technology Harbin150001 China Harbin Institute of Technology School of Aeronautics Harbin150001 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China

In the article, the ultrahigh-precision identification and balance method for the first-to-third harmonics of mass defects of the hemispherical resonator are proposed. First, the mechanical analysis model of the hemispherical shell acting on the supporting stem is established, and the energy transfer mechanism from the hemispherical shell to the supporting stem is revealed. According to the theoretical analysis, the identification model and test method for the amplitude and azimuth of the first-to-third harmonics of mass defects based on the coupled vibration of the supporting stem are proposed, respectively. Second, the optical testing system is implemented for measuring the mass imperfection and damping anisotropy, which includes the amplitude-phase control system of the hemispherical shell with PXI platform as the core and the weak vibration signal extraction system of the supporting stem with the lock-in amplifier as a core. After that, the important etching process parameters are optimized based on the vibration energy function of the resonator and mass removal function of the ion beam for improving the efficiency and accuracy of the mass balance, and the etching path and time series of the ion beam are planned by the identification result of mass defects and calibration result of the etching efficiency. Finally, the mass balancing results indicate that the first-to-third harmonics of mass defects are reduced by 95.85%, 89.52%, and 81.69%. Correspondingly, the average of the quality factor is increased from 1.6616 × 107to 1.8364 × 107, the split of the quality factor is reduced from 3.9152 × 106 to 9.7717 × 104 , and the nonuniformity of the quality factor is decreased from 23.56% to 0.53%, which can significantly improve the vibration performance of the resonator. © 1963-2012 IEEE.

关键词： Harmonic analysis

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Fully actuated system modeling and control of LCL grid-connected inverter

Fully actuated system modeling and control of LCL grid-conne...

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Fully Actuated System theory and Applications (CFASTA), Conference on

作者： Xingyu Zhang Xuemei Zheng Zongxuan Liu Weizhen Liu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

The LCL filter is widely used in new energy grid-connected systems because of its good high-frequency filtering characteristics, but it is a third-order system, and the design of the controller is relatively complicated. By using the inherent fully actuated characteristics of the system, the mathematical model of the system can be transformed into a fully actuated model, which can greatly simplify the design of the controller. In this paper, the fully actuated mathematical model of the LCL grid-connected inverter is established, and its control strategy is derived. At last, the stability of the control strategy is verified by the simulations.

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A Framework of LSTM Neural Network Model in Multi-Time Scale Real-Time Prediction of Ship Motions in Head Waves

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船舶力学 2024年第12期28卷 1803-1819页

作者： CHEN Zhan-yang ZHAN Zheng-yong CHANG Shao-ping XU Shao-feng LIU Xing-yun Department of Ocean Engineering Harbin Institute of Technology at WeihaiWeihai 264209China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial EquipmentDalian University of TechnologyDalian 116024China Flight Control System Department AVIC Xi'an Flight Automatic Control Research InstituteXi'an 710065China

Ship motions induced by waves have a significant impact on the efficiency and safety of offshore ***-time prediction of ship motions in the next few seconds plays a crucial role in performing sensitive ***,the obvious memory effect of ship motion time series brings certain difficulty to rapid and accurate ***,a real-time framework based on the Long-Short Term Memory(LSTM)neural network model is proposed to predict ship motions in regular and irregular head waves.A 15000 TEU container ship model is employed to illustrate the proposed *** numerical implementation and the real-time ship motion prediction in irregular head waves corresponding to the different time scales are carried out based on the container ship *** related experimental data were employed to verify the numerical simulation *** results show that the proposed method is more robust than the classical extreme short-term prediction method based on potential flow theory in the prediction of nonlinear ship motions.

关键词： deep learning LSTM ship motion real-time prediction irregular waves

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Augmenting Vision with Radar for All-weather Geo-localization without a Prior HD Map

Augmenting Vision with Radar for All-weather Geo-localizatio...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Can Dong Ziyang Hong Siru Li Liang Hu Huijun Gao Department of Automation School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Accurate and robust geo-localization in all-weather conditions is essential for enabling autonomous vehicles and delivery robots to offer uninterrupted mobility services in the real world. In this paper, we propose the first camera and radar fusion based geo-localisation method that is robust to all-weather conditions. The core of the proposed method is to leverage the rich semantics information in images and sensing consistency in radars across all-weather. Our proposed method surpasses the state of the art camera-based and LiDAR-camera based methods in inclement weather conditions, shown by extensive comparative experiments. Notably, our approach requires only an open accessible map, eliminating the need for high-definition maps and offering a cost-effective solution for geo-localizing or globally localizing autonomous vehicles in any weather condition. Our code and trained model will be released publicly.

关键词： Accuracy Robot vision systems Radar Radar imaging Cameras Feature extraction Sensor systems Sensors Autonomous vehicles Meteorology

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Improvement of Steering Performance for Autonomous Vehicles Based on Preview Model

Improvement of Steering Performance for Autonomous Vehicles ...

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第42届中国控制会议

作者： Zipeng Yang Linhui Zhao Xinyi Zhao Haifeng Liu Department of Control Science and Engineering Harbin Institute of Technology

This paper presents an approach to traveling along a reference path and evading obstacles with smooth steering angle for autonomous vehicles when trajectory planner and control run *** ectory in this paper is composed of position and time information,which is produced through decision maker,reference line calculator,trajectory smoother and speed *** order to restrain possible oscillation of steering angle,a vehicle dynamic model with preview is *** is transformed into a standard form of state space and can be directly used in *** the control runs at a higher frequency than planning,a progression method coordinating these two parts is applied,which bases on time points on the trajectory and matches points with vehicle position after *** simulation results demonstrate improvement on the smoothness of steering *** vehicle's lateral error on tracking trajectory is kept small.

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Motion Planning of an Automatic Blood Sampling Manipulator Using DDPG Algorithm 42

Motion Planning of an Automatic Blood Sampling Manipulator U...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Kunpeng Zhang, Chen Yu, Bo Zhang, Xu Gao, Yabin Liu, Jianxing Zhao, Yue Yichun Power Supply Company State Grid Heilongjiang Electric Power Company Limited Yichun153000 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China

ISBN: (纸本)9789887581543

In this paper, an automatic blood sampling mechanism is proposed to reduce the working pressure of clinicians and the high risk of cross-infection caused by doctor-patient contact. The simulation environment for this mechanism is built via Gazebo in the Robot Operating System (ROS). Using Deep Deterministic Policy Gradient (DDPG) algorithm, the mechanism is trained to accomplish the blood sampling task. The reward function and the neural network is adjusted to optimize the training result. Simulations prove that the trajectory of automatic blood sampling mechanism using DDPG algorithm has excellent performance in rapidity and stability, thus the effectiveness and usefulness of the designed system. © 2023 Technical Committee on control theory, Chinese Association of Automation.

关键词： Motion planning

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Adaptive Planning of Optimal Grinding Path based on Improved MAX-MIN Ant System

Adaptive Planning of Optimal Grinding Path based on Improved...

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第35届中国控制与决策会议

作者： Ningyuan Wang Qiang Wang Department of Control Science and Engineering Harbin Institute of Technology

In grinding tasks of robotic arms,grinding efficiency is a very important *** this paper,an efficient grinding path planning is proposed to improve grinding efficiency by adaptively shortening grinding path as much as possible for workpieces with unknown sizes and arbitrary surface ***,the size of workpiece is calculated based on information of all points to be ground,and the length of the shortest path along the surface of workpiece between arbitrary two points is obtained based on workpiece ***,MAX-MIN Ant System(MMAS)is improved through modifications of pheromone concentration update mechanism as well as the adding of pheromone concentration disturbance to enhance its efficiency and optimization capability,and improved-MMAS is applied in optimal sorting algorithm to adaptively generate the shortest grinding path on the workpiece with arbitrary surface *** results validate that the proposed grinding path planning can adaptively generate the shortest grinding path on workpieces with unknown sizes and arbitrary surface characteristics.

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An Automotive Headlight Leveling control Strategy with Rough Road Identification

An Automotive Headlight Leveling Control Strategy with Rough...

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第42届中国控制会议

作者： Xinyi Zhao Linhui Zhao Zhichong Deng Guohuang Ji Department of Control Science and Engineering Harbin Institute of Technology

The Automotive Headlamp Leveling System(ALS),aims to ensure the stability of the illumination range of the headlamp by vertically rotate the headlamp using motors when the body attitude *** paper proposes an ALS scheme which obtains the body attitude from body height sensors and accordingly calculates the output angles of left headlamp and right headlamp respectively based on Euler *** from existing ALS,this scheme uses several strategies to improve the performance of ALS,including anti-shake function,working mode division and rough road *** purpose of rough road identification is to avoid unexpected vibration of headlamp caused by ALS on rough road and decision tree model is chosen for identification to improve the ***,several field tests are performed to verify the validity and stability of the system.

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