检索结果-内蒙古大学图书馆

第41届中国控制会议

作者： Hongru Wang Yingmin Jia The Seventh Research Division and the Center for Information and Control School of Automation Science and Electrical EngineeringBeihang University (BUAA)

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper studies the formation control for differential wheeled mobile robots under diamond-shaped coupling input ***,the discrete-time and linearized kinematic model of the wheeled mobile robot is *** to the trajectory tracking error equation,the model predictive control(MPC) algorithm is ***,an optimal problem is solved in a specified diamond region at each optimization sampling time,so that the control inputs of the mobile robots always meet the diamond-shaped *** means of the proposed model predictive control algorithm,the leader-follower formation control of three differential mobile robots is carried *** simulation results show the effectiveness of the proposed control algorithm.

关键词： Diamond-shaped Input Constraint Differential Mobile Robots Model Predictive control Formation control

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Research on fault diagnosis of a railway point machine based on a multi-entropy feature extraction method and support vector machine

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Transportation Safety and Environment 2023年第4期5卷 58-66页

作者： Yunting Zheng Shaohua Chen Zhiyong Tan Yongkui Sun Automation and Electrical Engineering College Dalian Jiaotong UniversityDalian 116028LiaoningChina CRRC Dalian Co.Ltd. Dalian 116021LiaoningChina National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

A new fault diagnosis method is proposed to effectively extract the fault features of the sound signal of typical faults of ZDJ9 railway point machines.A multi-entropy feature extraction method is proposed by combing multi-scale permutation entropy and wavelet packet ***,empirical mode decomposition is performed on sound signals to obtain modal components with different time ***,multi-scale permutation entropy is extracted from these ***,the wavelet packet entropy of the sound signals of these sensitive nodes is obtained by analysing the reconstructed signals of the last layer *** the multi-scale permutation entropy and the wavelet packet entropy can distinguish the subtle features of the signal,the subtle features of the information among the high-dimensional features,ReliefF is ***,a support vector machine(SVM)is used to judge the original sismal can be obtained as the feature vector of the 2DJ9 iway point mnchine in ditterent states,To reduce the redundant fault type of a ZDJ9 rilway point machine.

关键词： railway point machine fault diagnosis sound signal support vector machine(SVM)

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Improved WAC control Strategy for LCL Grid-Connected Inverters Considering Digital control Delay 18th

Improved WAC Control Strategy for LCL Grid-Connected Inverte...

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18th Annual Conference of China Electrotechnical Society, ACCES 2023

作者： Yao, Guanyu Wang, Xinhuan School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo454003 China Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment Jiaozuo454003 China

ISBN: (纸本)9789819714193

The traditional Weighted Average Current (WAC) control method loses its loop-order reduction characteristic due to control delay, resulting in significant instability risk for the system in weak grid conditions. This paper, based on the equivalent impedance model, analyzed that the main cause of system instability is the introduction of a positive feedback loop associated with grid impedance through the voltage feedforward channel, resulting in phase lag. To address this issue, the paper proposes the introduction of a Second-Order Generalized Integrator (SOGI) in the voltage feedforward channel to attenuate the impact of the positive feedback loop on the system, improve the phase margin of the equivalent output impedance in the medium to low frequency range, and enhance the system's adaptability to a wide range of grid impedance variations. Furthermore, in order to eliminate control errors in the indirect control of WAC and enhance the system's background harmonics suppression capability, the quasi-Proportional Resonant (QPR) controller is combined to improve the quality of grid-connected current. Finally, the effectiveness and feasibility of this improved WAC control strategy are verified through simulation in MATLAB/Simulink. © Beijing Paike Culture Commu. Co., Ltd. 2024.

关键词： Electric inverters

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Finite-Time Orbit-Attitude Coupling control for Flying Around Non-cooperative Targets 41

Finite-Time Orbit-Attitude Coupling Control for Flying Aroun...

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第41届中国控制会议

作者： Yiwei Tang Yingmin Jia The Seventh Research Division and the Center for Information and Control School of Automation Science and Electrical EngineeringBeihang University (BUAA)

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,the attitude and orbit coupling dynamics of the spacecraft is modelled in the sight coordinate,and the joint attitude and orbit controller is designed based on the method of adding a power integral,which can guarantee the finite-time stability of the spacecraft with the expected precision satisfied to fly around non-cooperative *** is shown that the proposed algorithm has robustness to the external ***,an numeral example is included to illustrate the effectiveness of the obtained results.

关键词： Finite-time control Adding A Power Integral Method Fly-around Non-cooperative Targets

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Integrated Attitude-Orbit control for Spacecraft Proximity Operations Based on Dual Quaternion 41

Integrated Attitude-Orbit Control for Spacecraft Proximity O...

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第41届中国控制会议

作者： Qian Sun Yingmin Jia The Seventh Research Division and the Center for Information and Control School of Automation Science and Electrical EngineeringBeihang University (BUAA)

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper studies the tracking control problem of integrated attitude-orbit motion for spacecraft proximity ***,the model of the relative integrated attitude-orbit motion between a chaser and a target spacecraft is established in terms of dual quaternion *** adaptive terminal sliding mode control algorithm is developed to accomplish simultaneous position and attitude tracking control considering external disturbances,uncertainties of mass parameters and unknown actuator *** practical finite-time stability of the closed-loop integrated attitude-orbit control system is realized via the presented ***,numerical simulation is proposed to indicate the validity of the designed control algorithm.

关键词： Spacecraft Proximity Operations Integrated Attitude-Orbit Motion Dual Quaternion Adaptive control

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A new eyeball optical axis reconstruction method for head-mounted eye-tracking system

A new eyeball optical axis reconstruction method for head-mo...

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2023 International Conference on Image, Signal Processing, and Pattern Recognition, ISPP 2023

作者： Wu, Jie Yang, Zuoyun Liu, Jiahui Chi, Jiannan School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Beijing100124 China

ISBN: (纸本)9781510666351

Gaze tracking can be divided into two-dimensional (2-D) gaze-estimation method and three-dimensional (3-D) gaze-estimation method. 3-D gaze-estimation method can simplify user calibration and track gaze under full free head movement. To solve the shortage of traditional 3-D gaze-estimation method, this paper proposes a 3-D eyeball optical axis (OA) reconstruction method for single-camera multi-source head-mounted system. The method directly calculates the vector of the OA from the pupil image on the basis of the corneal center, and then reconstructs the eyeball OA. The results of simulation experiments show the effectiveness of the method. © 2023 SPIE.

关键词： Eye tracking

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Adaptive Prescribed-Time Neural control of Nonlinear Systems via Dynamic Surface Technique

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第10期5卷 4948-4958页

作者： Wang, Ping Yu, Chengpu Lv, Maolong Zhao, Zilong Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Air Force Engineering University College of Air Traffic Control and Navigation Xi'an710051 China Delft University of Technology Faculty of Electrical Engineering Mathematics and Computer Science Delft2628 CD Netherlands

The adaptive practical prescribed-time (PPT) neural control is studied for multiinput multioutput (MIMO) nonlinear systems with unknown nonlinear functions and unknown input gain matrices. Unlike existing PPT design schemes based on backstepping, this study proposes a novel PPT control framework using the dynamic surface control (DSC) approach. First, a novel nonlinear filter (NLF) with an adaptive parameter estimator and a piecewise function is constructed to effectively compensate for filter errors and facilitate prescribed-time convergence. Based on this, a unified DSC-based adaptive PPT control algorithm, augmented with a neural networks (NNs) approximator, is developed, where NNs are used to approximate unknown nonlinear system functions. This algorithm not only addresses the inherent computational complexity explosion associated with traditional backstepping methods but also reduces the constraints on filter design parameters compared to the DSC algorithm that relies on linear filters. The simulation showcases the effectiveness and superiority of the devised scheme by employing a two-degree-of-freedom robot manipulator. © 2024 IEEE.

关键词： Flexible manipulators

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Sparse-representation-based signal separation for high-speed train bearing fault diagnosis 3

Sparse-representation-based signal separation for high-speed...

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3rd International Conference on Advanced Algorithms and Signal Image Processing, AASIP 2023

作者： Liu, Fang Liu, Zixiang Xu, Yifan Zhu, Zihao Liu, Yongbin College of Electrical Engineering and Automation Anhui University Anhui Hefei230601 China National Engineering Laboratory of Energy-Saving Motor and Control Technology Anhui University Hefei230601 China

ISBN: (纸本)9781510668522

A moving sound signal separation method based on the sparse representation of Doppler atoms is proposed to address the interference problem of wheel rail contact noise in the process of collecting train bearing signals. Using a single microphone to collect sound signals, first Doppler modulation is performed on dictionary atoms;Then perform sparse matching decomposition on the acoustic signal to obtain the sparse signal;Finally, the signal reconstruction theory is used to separate the sound source and obtain the bearing signal. Through experimental signals, it has been proven that under the influence of Doppler effect, the proposed method can effectively extract the target sound source and has good in band noise cancellation effect. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Failure analysis

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Electric Field Simulation and Optimization of a Conical Current Transformer 18th

Electric Field Simulation and Optimization of a Conical Curr...

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18th Annual Conference of China Electrotechnical Society, ACCES 2023

作者： Yin, Xuzhen Zeng, Jianbin Zeng, Jin Yang, Yang School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen361024 China

ISBN: (纸本)9789819710676

Cast-resin type current transformers are widely used in power systems due to their good insulation, light weight and high reliability. Compared with the oil-immersed current transformer, the external electric field strength of the cast-resin current transformer is more complex and unevenly distributed. To improve this problem, this paper takes a kind of conical casting type current transformer as the object. Firstly, a geometrical model is established to simulate and analyze its external electric field distribution, then an improvement scheme is proposed, and finally the improvement scheme is optimized. The results of this study can provide a reference for the design of the transformer and the optimization of the local discharge. © Beijing Paike Culture Commu. Co., Ltd. 2024.

关键词： Partial discharges

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Robot-Based Auto-labeling System for 6D Pose Estimation 8th

Robot-Based Auto-labeling System for 6D Pose Estimation

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8th International Congress on Information and Communication Technology, ICICT 2023

作者： Lin, Hsien-I. Chang, Jun-Shiang Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan

ISBN: (纸本)9789819930425

6D object pose estimation is an ongoing research area in the field of computer vision. Many existing methods rely on supervised deep learning models which require multiple accurate 6D pose annotations to predict object poses. However, labeling the 6D pose is complex and time-consuming in traditional methods. In this study, we propose a robotic-arm-based 6D object pose auto-labeling approach which has limited human interaction involved. Translations and rotations of the object in the camera coordinate system can be calculated using a sequence of known robot poses and the transformation between the camera and the robot. We also implemented our custom dataset generated by the auto-labeling system in the existing 6D object pose estimation approach. Evaluation results show that the model can recognize our own test dataset and attempted 90% accuracy using ADD metric with 0.05 threshold. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robotic arms

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