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15th International Conference on Advanced Computer Theory and engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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A Joint Longitudinal and Lateral Guidance Scheme for Reentry Gliding Phase of Hypersonic Vehicles

A Joint Longitudinal and Lateral Guidance Scheme for Reentry...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Wang, Ziyu Wu, Yunjie Duan, Jingqi State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Science and Technology on Aircraft Control Laboratory Beijing100191 China Large Aircraft Advanced Training Center Beihang University Beijing100191 China

ISBN: (纸本)9789811966125

A joint longitudinal and lateral guidance law design scheme is proposed for the reference trajectory tracking problem of the reentry gliding phase of hypersonic vehicles. With respect to the longitudinal and lateral motion model of the hypersonic vehicle, a longitudinal guidance law based on the Global Fast Terminal Sliding Mode (GFTSM) algorithm and a lateral guidance law based on the Extended State Observer (ESO) is designed respectively, which are combined to get the bank angle for the hypersonic vehicle and obtain the final guidance scheme. From theoretical analysis, it shows that the guidance scheme has the characteristics of global rapidity and finite-time convergence, and both longitudinal and lateral guidance law are robust to system uncertainties which are caused by certain parameter perturbation and external interference. The effectiveness and superiority of this joint guidance scheme compared to traditional guidance method are verified by simulation experiments using the specific gliding reentry model and reference trajectory of a hypersonic vehicle. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Hypersonic vehicles

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MMC Based D-STATCOM control by Using a Modified ADRC Strategy

MMC Based D-STATCOM Control by Using a Modified ADRC Strateg...

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IEEE Annual Southern Power Electronics Conference (SPEC)

作者： João A. Moor Neto Alessando R. Zachi Braulio Chuco Paucar Thiago Americano Do Brasil Samir Ahmad Mussa Department of Electrical Engineering CEFET-RJ Rio de Janeiro Brazil Department of Control System and Automation Engineering CEFET-RJ Rio de Janeiro Brazil Dept. of Electrical and Electronic Engineering UFSC - SC Florianopolis Brazil

This paper presents investigations of a transformerless half bridge sub-module (HBSM) modular multilevel converter based distribution static synchronous compensator (MMC D-STATCOM) performance in reactive power compensation considering the application of the modified ADRC controllers in the inner current loop and in the outer DC voltage loop using Synchronous Reference Frame control. Simulation results with the imposition of severe variations in reactive loads were obtained on a 5 km medium voltage feeder and will demonstrate that the modified ADRC controller enables superior performance for flexible operation with fast and efficient response of the MMC D-STATCOM in reactive power compensation.

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A GM-TCN based Hybrid Prediction Method for Ash Fouling Prediction in Coal-fired Power Plant Boiler

A GM-TCN based Hybrid Prediction Method for Ash Fouling Pred...

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2022 Chinese automation Congress, CAC 2022

作者： Shi, Yuanhao Han, Tianxiang Cui, Fangshu Wen, Jie Qiao, Gangzhu North University of China School of Electrical and Control Engineering Taiyuan China Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China North University of China School of Data Science and Technology Taiyuan China

ISBN: (纸本)9781665465335

In response to the problem that ash deposition in boilers has a great impact on production efficiency as well as production safety, a grey level theory prediction model based on time convolution networks (GM-TCN) is proposed to predict the degree of ash in boiler heated areas by using a cleaning factor to assess the ash deposition condition on the heated surfaces. The accuracy of the prediction model is improved by utilizing the features of grey level theory that can predict the developmental changes in system behavior, combined with the high-precision approximation capability of the time-convolutional network. The modelling prediction of the ash level in the heated area of boilers during the production of coal-fired power stations is investigated. Experiments demonstrate that the model can predict the cleanliness factor with high accuracy, and the predicted values are closest to the true values compared to the other two models, verifying the accuracy and reliability of the model. © 2022 IEEE.

关键词： Convolution

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Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

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High-Speed Railway 2024年第3期2卷 143-152页

作者： Xiaolin Luo Tao Tang Le Wang Hongjie Liu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA Beijing Zongheng Electro-Mechanical Technology Development Co. Ltd.Beijing 100081China School of Automation and Intelligence Beijing Jiaotong UniversityBeijing 100044China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe *** guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB *** this case,the minimal safety distance is usually numerically calculated without an analytic ***,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing *** solve this problem,we propose a Distributed Economic Model Predictive control(DEMPC)approach with computation efficiency and theoretical ***,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved *** theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient ***,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among ***,experimental results demonstrate the performance and advantages of the proposed approaches.

关键词： Virtually coupled train set Space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration

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Self-Tuning Neural Network controller Based on Fuzzy Logic for Multiple Positions Tracking of a Pneumatic Driven Soft Endoscope Actuator

Self-Tuning Neural Network Controller Based on Fuzzy Logic f...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Renzo Acosta Julio Tafur Ruth Canahuire Enginnering Department Control and Automation Engineering Master Degree Program Pontificia Universidad Catolica del Peru Lima Peru Department of Electrical and Mechatronics Engineering Universidad de Ingenieria y Tecnologia - UTEC Lima Peru

ISBN: (数字)9798350394245

ISBN: (纸本)9798350394252

This paper presents the dynamic modelling and end effector position control of a soft endoscope. Soft endoscope system under study consists mainly of a pneumatic driven soft actuator (PDSA) with four independently chambers. Recurrent neural network (RNN) and dynamic back propagation (DBP) training algorithm are used to obtain PDSA dynamic model. PDSA position controller is based on a feedforward neural network (FNN) and it is trained using PDSA closed loop system (CLS) and DBP training algorithm. CLS stability analysis concludes that it is not possible control PDSA end effector position using one position controller for different end effector initial and desired positions. Fuzzy logic methodology is used to integrate several positions controllers in a one controller valid for all operation range. The controller implementation and close loop system simulation are performed in MATLAB for different end effector desired position to validate system performance in all range of operation.

关键词： Training Fuzzy logic Backpropagation Recurrent neural networks Endoscopes Heuristic algorithms Artificial neural networks

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Distributed Formation Tracking control and Collision Avoidance with Formation Transformation for Fixed-Wing UAV Swarm 43

Distributed Formation Tracking Control and Collision Avoidan...

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43rd Chinese control Conference, CCC 2024

作者： Yao, Bingchang Liu, Yishi Liu, Yumeng Dong, Xiwang Tan, Qingke Lv, Rui Liang, Zhuo Beihang University Beijing100191 China Institute of Software Chinese Academy of Sciences China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Institute of Unmanned System Beihang University Beijing100191 China China Academy of Launch Vehicle Technology China

ISBN: (纸本)9789887581581

This article proposes a distributed consensus-based formation tracking and dynamic obstacle avoidance method for fixed wing unmanned aerial vehicles (UAVs). The tracking target moves along a pre-set geometric path, while other UAVs automatically track the target to form various distributed formation shapes and always perform dynamic collision avoidance. The fixed wing UAVs in this article form a distributed formation based on information exchange between neighbors, and further the formation process is improved by incorporating position allocation into the formation transformation. Firstly, the fixed wing UAV is modeled and simplified. Secondly, a basic formation control protocol is designed based on consensus strategy, and a tracking target feedback is added on it. Then, an anti-collision controller and a variable formation position allocation strategy are designed to avoid the collision. Finally, the effectiveness of the presented method is verified through numerical simulations. © 2024 Technical Committee on control Theory, Chinese Association of automation.

关键词： Unmanned aerial vehicles (UAV)

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Anti-swing Coordinated control of the UAV Wing Folding During the Aerial Recovery Process

Anti-swing Coordinated Control of the UAV Wing Folding Durin...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Liu, Yiheng Wang, Honglun Wang, Yanxiang Fan, Jiaxuan School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Beijing Institute of Astronautical System Engineering Beijing100076 China Shenyuan Honors College of Beihang University Beijing100191 China The Science and Technology On Aircraft Control Laboratory Beihang University Beijing100191 China Research and Development Center of China Academy of Launch Vehicle Technology Beijing100071 China

ISBN: (纸本)9789811966125

In the process of UAV aerial recovery, the UAV needs to fold its wings, which will lead to a sharp drop in the lift and cause the cable to sway. Aiming at this problem, an anti-swing coordinated control method of wing folding based on quadratic programming control allocation is proposed. It can make full use of the grid rudder of the drogue to compensate the lift lost caused by wing folding and use quadratic programming to allocate the rudder deflection angle that can not only satisfy the moment balance, but also satisfy the force balance, so as to realize the coordinated control of the drogue grid rudder and the UAV rudder surface. Simulations are conducted to verify the effectiveness of the proposed control method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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AGV Detection in Industrial Environments through Computer Vision

AGV Detection in Industrial Environments through Computer Vi...

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IEEE Latin American Robotics Symposium, LARS

作者： Wilson Eduardo Barioni Igor Pardal Latini André Lazzaretti Marco Teixeira Flavio Neves Lucia Valeria Ramos De Arruda Automation and Advanced Control System Laboratory (LASCA) Graduate Program in Electrical and Computer Engineering (CPGEI) Universidade Tecnologica Federal do Parana (UTFPR) Curitiba Parana Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

Automated Guided Vehicles (AGVs) are usual in industrial settings, with an increasing economic impact on processes. They move through numerous environments inside factories, commonly navigating long distances, while performing several activities. The constant detection of such vehicles, especially in cases of maintenance and safety, is a main issue in an industry setting. Usually, this information could be provided by a supervisory system, but many applications are not so large as to make such a system viable. Thus, a solution via machine learning and computer vision is developed in this work, by using simple cameras, such as the factories' security cameras. As the industrial environment is a scenario with a lot of variation and noise, the Transfer Learning technique is used to improve the training step of the developed AGV detection system. Finally, a database with 1067 images is used to build and validate the model, achieving a result greater than 80% of F1-score for various confidence values.

关键词： Training Computer vision Remotely guided vehicles Computational modeling Transfer learning Cameras Production facilities

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A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFICATION USED IN NUCLEAR POWER PLANTS 29

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFI...

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2022 29th International Conference on Nuclear engineering, ICONE 2022

作者： Zhang, Pengbin Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Wang, Hongrui State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886472

Nuclear power is one of several significant clean energy and its production capacity is increasing rapidly. This paper proposed a novel PID self-tuning method based on closed-loop identification used in nuclear power plants to deal with the turbine's load tracking problem. A setpoint-shifting method is adopted to achieve the informativity of the closed-loop system, and the PID parameters are designed through an optimization method. For validating the proposed method, this paper modeled a pressurized-water reactor (PWR) nuclear power plant, a complex system consisting of three circuits, through the first principle. The primary circuit contains three main devices: a nuclear reactor, a pressurizer, and a steam generator. The models of these three devices are provided by previous literature separately. The whole model is generated through mass and energy balance. This mechanism model is used as the plant model, while the identified model is used as the control model. The initial PID parameters are set through open-loop identification using an external excitation. Then the proposed method works online to track the turbine's load in time. The effectiveness of the proposed method is illustrated by simulations. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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