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Multi-objective pigeon-inspired optimization for brushless direct current motor parameter design

Science China(Technological Sciences) 2015年第11期58卷 1915-1923页

作者： QIU HuaXin DUAN HaiBin Bio-inspired Autonomous Flight Systems(BAFS) Research Group Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

Pigeon-inspired optimization(PIO) is a new swarm intelligence optimization algorithm, which is inspired by the behavior of homing pigeons. A variant of pigeon-inspired optimization named multi-objective pigeon-inspired optimization(MPIO) is proposed in this paper. It is also adopted to solve the multi-objective optimization problems in designing the parameters of brushless direct current motors, which has two objective variables, five design variables, and five constraint variables. Furthermore, comparative experimental results with the modified non-dominated sorting genetic algorithm are given to show the feasibility, validity and superiority of our proposed MIPO algorithm.

关键词： brushless direct current （BLDC） motor multi-objective pigeon-inspired optimization （MPIO） electromagnetics mul-ti-objective optimization

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Function Observer Based Event-triggered control for Linear Systems with Guaranteed L_∞-Gain

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 394-402页

作者： Pei Jia Fei Hao Hao Yu Seventh Research Division School of Automation Science and Electrical Engineering Beihang University Science and Technology on Aircraft Control Laboratory

This paper is devoted to event-triggered control design for linear systems based on function observer. More specifically, the main purpose is to design event-triggered mechanisms that trigger transmissions when the difference between the current value of the system and its previously transmitted value which includes the plant output or the function observer output exceeds an additional threshold. For such an eventtriggered mechanism, we derive conditions in terms of matrix inequality to guarantee the stability as well as longer inter-event time. We propose two approaches to investigate the closed-loop model, namely, reformulating the event-triggered control system as a hybrid system and interpreting the event-induced error as exogenous disturbance. Furthermore, the minimum inter-event time is guaranteed to be strictly positive. An example is presented to illustrate the feasibility and efficiency of the theoretic results. © 2014 Chinese Association of automation.

关键词： Dynamical systems Hybrid systems

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Stability and stabilization of discrete-time Markov jump singular systems with general uncertain transition rates

Stability and stabilization of discrete-time Markov jump sin...

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第28届中国控制与决策会议

作者： Mingmei Sun Yuhong Wang Gang Li Weihai Zhang College of Mathematics and Systems Science Shandong University of Science and Technology College of Information and Control Engineering China University of Petroleum College of Electrical Engineering and Automation Shandong University of Science and Technology

ISBN: (纸本)9781467397155

This paper aims to study the stability and stabilization of a class of discrete-time Markov jump singular systems with general uncertain transition *** conditions are proposed for the stochastic admissibility by using linear matrix inequalities(LMIs),a sufficient condition is given to ensure the existence of a state feedback controller and an output feedback controller under the condition of general uncertain transition rates.

关键词： Discrete-time Markov jump systems Singular systems General uncertain transition rates Stochastic admissibility Linear matrix inequality(LMI)

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Quaternion-based Output Feedback Attitude control for Rigid Spacecraft with Bounded Input Constraint 34

Quaternion-based Output Feedback Attitude Control for Rigid ...

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第三十四届中国控制会议

作者： YU Yanbo LI Bo HU Qinglei Department of Control Science and Engineering Harbin Institute of Technology School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781467374439

This paper investigates the quaternion-based attitude stabilization problem for spacecraft without using explicit velocity feedback in the presence of torque magnitude limit. As a stepping stone, a nonlinear output feedback attitude control is designed by involving a linear passivity filter, which is derived without explicit differentiation of attitude to synthesize angular velocity-like signals. Then, the control law is redesigned such that the actuator-magnitude constraint is explicitly taken into account, and the associated stability proof is accomplished by the development of a novel Lyapunov function candidate containing integral terms involving the various states. The proposed controller achieves asymptotic stabilization with saturated inputs and is robust to parametric uncertainty in the spacecraft inertia matrix. Simulation results are included to illustrate the performance of the proposed output feedback control strategy.

关键词： Spacecraft,Attitude control,Saturated Input,Output Feedback,Filter

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DMC based tracking algorithm for hot-line dual-arm robots

DMC based tracking algorithm for hot-line dual-arm robots

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International Conference on Information and automation (ICIA)

作者： Aimin Li Mingqu Fan Rui Song Yibin Li Shuaishuai Zhang Pengyang Xu College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao Shandong China Department of electrical engineering and information technology The Shandong University of Science and Technology Jinan Shandong China School of Control Science and Engineering Shandong University Jinan Shandong China

ISBN: (纸本)9781509041039

Hot-line Maintenance Robots are widely applied to the repair and maintenance of the transmission lines and electrical equipment. Hot-line operation tasks tend to complexity, diversity and harsh environments. Duce to the advantages of humanoid property, Hot-line Dual-arm robots will get more applied in areas such as detecting, repairing and maintaining of modern power grid. Currently, master-slave control is the normally used control mode for the Hot-line Dual-arm robots. So the tracking control technology is the key skill of the Hot-line Dual-arm operation. To guarantee the security, precision and dynamic property of the Hot-line Dual-arm operation, it is necessary to have a reliable tracking algorithm for Hot-line Dual-arm robots. This paper presents a tracking control algorithm based on DMC for Hot-line Dual-arm robots. Simulation results demonstrate that this algorithm can reach a precise and effective tracking control of the robots.

关键词： Monte Carlo methods Predictive models Robot kinematics Manipulators Insulation life Degradation

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Optimization design of pump motor based on genetic algorithm and neural network

Optimization design of pump motor based on genetic algorithm...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Rui Zhou Guoli Li Lufeng Ju Engineering Research Center of Power Quality Anhui University Hefei China National Engineering Laboratory of Energy-Saving Motor & Control Technology Hefei China School of Electrical Engineering and Automation Anhui University Hefei China

ISBN: (纸本)9781467386456

This paper presents a pump motor modeling and optimization method based on electromagnetic calculation and BP neural network. This method, according to the structure parameters of three-phase asynchronous motor in drainage pump, through the motor electromagnetic calculation, calculates the motor performance. It establishes a BP neural network model to fitting flow and water head for hydraulic performance of the pump. Combine motor electro-magnetic calculation model with pump hydraulic fitting model, an integrated model of pump and motor is built. Use simulated annealing genetic algorithm as optimization method, optimizes the structure parameters of the motor. The main function of this method is, maintain the input shaft power put into the pump, and intelligently search the optimal motor parameters. At the same time, accurate matches the motor performance with the pump load characteristic, reduce the supporting motor power.

关键词： Friction Underwater vehicles Rotors Electromagnetics Shafts Biological neural networks Optimization

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Formulation and Analysis of Torque Output for Torque Motor with Limited Rotation Angles

Formulation and Analysis of Torque Output for Torque Motor w...

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2016 IEEE Chinese Guidance, Navigation and control Conference (IEEE CGNCC2016)

作者： Liang Yan Ziqi Zhang Zongxia Jiao Shiyong Niu Yifeng Dong Wei Cao IEEE School of Automation Science and Electrical Engineering Beihang University Research Institute of Beihang University in Shenzhen Science and Technology on Aircraft Control Laboratory

ISBN: (纸本)9781467383196

This paper presents a mathematical model of torque motor based on the magnetic circuit *** establishing equivalent magnetic circuit,the internal magnetic field of torque motor is *** that,the output torque can be *** results of this model are verified by three-dimension finite element analysis and conform well with the *** obtained results can be utilized in the realization of system optimization including the adjustment of structure parameter,material parameter and improvement of design.

关键词： Formulation and Analysis of Torque Output for Torque Motor with Limited Rotation Angles

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A consensus based algorithm for formation control under directed and switching graphs

A consensus based algorithm for formation control under dire...

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International Conference on control, automation, Robotics and Vision

作者： Xiwang Dong Jie Xiang Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 P.R. China

ISBN: (纸本)9781509035502

Formation control problems for linear multi-agent systems with switching and directed topologies are investigated. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is presented to design the formation control protocol. The stability of the proposed algorithm is proven using the piecewise Lyapunov function theory. It is obtained that the predefined time-varying formation can be achieved by the linear multi-agent systems with switching directed topologies if the given time-varying formation belongs to the feasible formation set and the dwell time is larger than a positive threshold. A numerical simulation is provided to demonstrate the effectiveness of the theoretical results.

关键词： linear dynamics Formation control multi-agent system switching directed topology

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Drogue detection and tracking method for monocular-vision-based autonomous aerial refueling

Drogue detection and tracking method for monocular-vision-ba...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Yong Qin Honglun Wang Peng Yao Dawei Li School of Automation Science and Electrical Engineering Beihang University Beijing China Science and Technology on Aircraft Control Laboratory Beihang University Beijing China

ISBN: (纸本)9781467383196

Drogue detection for vision-based probe-drogue autonomous aerial refueling is a challenging task due to disorderly motion of drogue caused by both the tanker wake vortex and atmospheric turbulence. In this paper, a drogue detection method based on drogue inner part's shape features is proposed. Drogue detection is divided into two processes: rough detection and fine location of drogue. The drogue inner part's circular feature is introduced into the drogue rough detection model. Row-column scanning method is proposed to the fine location of drogue. The ellipse least-square fitting is used to obtain the drogue contours' center. Based on drogue image size and drogue image position, we can obtain the tracking region of interest (ROI) area. We proposed a switch rule between drogue detection and drogue tracking. We have experiments on three real autonomous aerial refueling videos. The results show that the proposed method is effective.

关键词： Fitting Aircraft Receivers Probes Aerospace control Feature extraction Military aircraft

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A new numerical method for Stewart platform forward kinematics

A new numerical method for Stewart platform forward kinemati...

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Chinese control Conference (CCC)

作者： Tang Zhiyong Hu Ma Zhongcai Pei Lanbo Liu Jinhui Zhang School of Automation Science and Electrical Engineering Beihang University Beijing CN North Information Control Group Co. Ltd Nanjing China

This article proposes a numerical method based on equivalent model (NEM) for 6-3 Stewart platform forward kinematics problem (FKP). The NEM translates the forward kinematics problem into a ternary nonlinear equations system. Newton method was then used to solve the equations system. Simulations were conducted with different trajectories and allowable errors to compare the performance of NEM with traditional Newton-Raphson method (TNR). It turns out that NEM saves 50% iteration times, and 85% operation time of TNR, making the computing frequency as high as 54KHz, which is significant in real time control process. A practical structure of 6-3 Stewart platform without partial freedom was also designed.

关键词： Mathematical model Mobile communication Kinematics Numerical models Real-time systems Legged locomotion Nanoelectromechanical systems

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