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EnsembleFollower: A Hybrid Car-Following Framework Based on Hierarchical Planning and Reinforcement Learning

IEEE Transactions on Vehicular Technology 2025年

作者： Han, Xu Chen, Xianda Zhu, Meixin Cai, Pinlong Zhou, Jianshan Chu, Xiaowen Data Science and Analytics Thrust Information Hub Guangzhou China Intelligent Transportation Thrust Systems Hub Guangzhou China Sensing and Computation for Ubiquitous Internet of Things Guangdong Provincial Key Lab of Integrated Communication China Southeast University School of Transportation Nanjing211189 China Shanghai Artificial Intelligence Laboratory Shanghai China Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems & Safety Control State Key Laboratory of Intelligent Transportation Systems China Beihang University School of Transportation Science and Engineering Beijing100191 China

Car-following models have made significant contributions to our understanding of longitudinal driving behavior. However, they often exhibit limited accuracy and flexibility, as they cannot fully capture the complexity inherent in car-following processes, or may struggle in unseen scenarios due to their reliance on confined driving skills present in training data. It is worth noting that each car-following model possesses its own strengths and weaknesses depending on specific driving scenarios. Therefore, we propose EnsembleFollower, a closed-loop hierarchical planning framework for achieving human-like autonomous car-following. The EnsembleFollower framework involves a high-level Reinforcement Learning-based agent responsible for judiciously managing multiple low-level models (such as Intelligent Driver Model and Gipps model) according to the current state, either by selecting an appropriate car-following model to perform an action or by allocating different weights across all primitive models. Moreover, we propose a jerk-constrained kinematic model for more convincing microscopic traffic simulations. We evaluate the proposed method based on real-world driving data from the HighD dataset. The experimental results illustrate that EnsembleFollower yields an improved accuracy of human-like behavior and achieves effectiveness in combining hybrid models, demonstrating that our proposed framework can handle diverse driving conditions by leveraging the strengths of various car-following models. © 1967-2012 IEEE.

关键词： Deep reinforcement learning

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Research and simulation on voltage stability control strategy for AC port of power electronic transformer

Research and simulation on voltage stability control strateg...

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The 16th IET International Conference on AC and DC Power Transmission (ACDC 2020)

作者： Y. Shen H. Nie W. Cai L. Yuan C. Zhang Z. Zhao Tsinghua University State Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Beijing 100084 China

With wide application of power electronic equipment in power system, voltage stability and power supply reliability need to be improved. In this paper, voltage sag caused by AC port load increase and the influencing factors are studies with a typical power electronic transformer topology as example. A calculation method which can estimate the port voltage sag performance according to the load impedance is proposed. In order to maintain the port voltage stability in the process of load increase, a voltage stability control strategy is proposed based on the double-loop control by increasing the voltage feedforward, which can improve the power supply quality and stability of power electronic transformer. Finally, the MATlab/Simulink simulation results show that the proposed scheme is accurate and effective.

关键词： power electronics feedforward power transformers power supply quality voltage control power system stability power system reliability

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Simulation and feature extraction of inter-shaft bearing fault in rotor-bearing-casing system 26

Simulation and feature extraction of inter-shaft bearing fau...

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26th International Congress on Sound and Vibration, ICSV 2019

作者： Yang, Yizhou Liu, Chao Jiang, Dongxiang Han, Te State Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Thermal Engineering Tsinghua University Beijing100084 China

ISBN: (纸本)9781999181000

The inter-shaft bearing could simplify the supporting structure of a dual-rotor system, so it is widely used in rotating machinery like gas turbine engine. When monitoring the vibration of an inter-shaft bearing, sensors usually could not be installed inside the engine because of the compact structure, then will be installed on the casing. The vibration of the inter-shaft bearing will be transmitted though both the two rotors to the supporting bearings then to the casing, and both the inner and outer ring rotate, making the condition monitoring much more difficult than normal bearings. In this paper, a dual-rotor system dynamic model with the rotor-bearing-casing structure is built to simulate the vibration of an inter-shaft bearing. The rotors and the casing are modelled using finite element method and the bearings are modelled using a nonlinear multi-body dynamic model. The normal state of the inter-shaft bearing is simulated, then the bearing fault states with localized defects on the inner race, the outer race and one of the rolling elements are simulated. Signal processing methods are utilized to extract bearing fault features from the casing vibration acceleration signal. Besides the fixed rotating speed condition, rotors under variable speeds are also simulated, then the vibration signal and fault feature become more complex and the signal analysis becomes a bigger challenge © Proceedings of the 26th International Congress on Sound and Vibration, ICSV 2019. All rights reserved.

关键词： Dynamic models

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An Iterative-Correction Approach of Risk-Constrained Unit Commitment of Power systems with Wind Power based on Optimal Reserve Decision

An Iterative-Correction Approach of Risk-Constrained Unit Co...

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Power, Energy and Electrical Engineering (CPEEE), International Conference on

作者： Ying Qiao Yisha Lin Haibo Li Xuebin Wang State Key Lab of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing China Sichuan Energy Internet Research Institute of Tsinghua University Chengdu China State Grid Qinghai Electric Power Co. Ltd Xining China

ISBN: (数字)9781728177175

ISBN: (纸本)9781728177182

The operation risk may increase with the high penetration of wind power, but the calculation of risk indices is complex and nonlinear, which makes it difficult to incorporate the risk constraints into the conventional unit commitment (UC) model. This paper focuses on accurately handling the risk constraints instead of approximate exponential decay rules, and proposes an iteration-correction methodology to solve risked-constrained UC of power systems with wind power. The proposed method calculates the risk indices based on the PJM method, and modifies the minimum reserve demand in each iterative step if the risk indices exceed the limits. A dynamic iterative speed-up equation is given to decrease the elapsed time. The case studies based on the actual system of China are conducted to validate the effectiveness. Compared with the conventional reserve limit, the precise and optimal reserve decision is made under different risk levels, and the proposed UC has merits of less cost and lower risk.

关键词： Uncertainty Power system dynamics Wind power generation Power grids Mathematical model Iterative methods Optimization

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Effects of temperature on creepage discharge characteristics in oil-impregnated pressboard insulation under combined AC–DC voltage

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Plasma Science and Technology 2019年第5期21卷 14-22页

作者： Fubao JIN Yuanxiang ZHOU Bin LIANG Zhongliu ZHOU Ling ZHANG Key Laboratory of Plateau Ecology and Agriculture College of Agriculture and Animal HusbandrySchool of Water Resources and Electric PowerQinghai UniversityXining 800016People's Republic of China State Key Lab of Control and Simulation of Power Systems and Generation Equipments Department of Electrical EngineeringTsinghua UniversityBeijing 100084People's Republic of China

Due to the complexity of the valve side winding voltage of the converter transformer, the insulation characteristics of the oil-impregnated pressboard(OIP) of the converter transformer are different from those of the traditional AC transformer. The study on effect of temperature on the creeping discharge characteristics of OIP under combined AC–DC voltage is seriously inadequate. Therefore, this paper investigates the characteristics of OIP creepage discharge under combined AC–DC voltage and discusses the influence of temperature on creepage discharge characteristics under different temperatures from 70 °C to 110 °C. The experimental results show that the partial discharge inception voltage and flashover voltage decrease with increasing temperature. The times of low amplitude discharge(LAD) decrease and amplitude of LAD increases. Simultaneously, the times of high amplitude discharge(HAD) gradually increase at each stage of creepage discharge with higher temperature. The analysis indicates that the charge carriers easily accumulate and quickly migrate directional movement along the electric field ahead of discharging. The residual charge carriers are more easily dissipated after *** ‘hump’ region of LAD moves to the direction of higher discharge magnitude. The interval time between two continuous discharges is shortened obviously. The concentration of HAD accelerates the development of OIP insulation creepage discharge. The temperature had an accelerating effect on the development of discharge in the OIP under applying voltage.

关键词： oil-impregnated pressboard insulation combined AC-DC voltage inception voltage creepage discharge temperature flashover voltage

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Analysis and suppression of subsynchronous oscillation of Rudong wind power through MMC-HVDC system

Analysis and suppression of subsynchronous oscillation of Ru...

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2021 Annual Meeting of CSEE Study Committee of HVDC and Power Electronics (HVDC 2021)

作者： J. Li X. Xie J. Yang H. Li Z. Shi K. Wang C. Fu W. Yang Key Laboratory of Far-shore Wind Power Technology of Zhejiang Province Huadong Engineering Corporation Limited Power China Hangzhou Zhejiang Province 310014 China State Key lab of Control and Simulation of Power Systems and Generation Equipment (Dept. of Electrical Engineering Tsinghua University) Haidian District Beijing 100084 China

There may be complex interaction between the converter control systems of wind power and MMC-HVDC, which will lead to sub-/super-synchronous oscillation and threaten the safe and stable operation of the system. The relevant events have been reported in Guangdong Nan'ao, Shanghai Nanhui and Zhangbei projects. Rudong offshore wind power project is the first offshore wind power transmission system in China, and it is still under construction. Therefore, it is of great significance to carry out the research on the risk analysis and suppression measures of sub-synchronous oscillation in Rudong wind power MMC-HVDC system. First, the time-domain simulation model of Rudong wind power MMC-HVDC system is built in the PSCAD/EMTDC simulation model. Then, the effects of the number of wind turbine generators, wind power output and the parameters of MMC-HVDC controller on the sub-/super-synchronous oscillation characteristics of the system are further analyzed. Finally, the suppression measures based on supplementary frequency dependent gain control are proposed, the application position of the controller is discussed, and the parameter optimization method of the controller is given. The research content provides a certain guiding significance for the operation and control of Rudong wind power MMC-HVDC.

关键词： turbogenerators HVDC power transmission wind turbines power transmission control risk analysis time-domain analysis offshore installations HVDC power convertors wind power plants wind power

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Health Monitoring of Long-Haul Fiber Communication System Using Chaotic OTDR

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China Communications 2020年第5期17卷 1-11页

作者： Mengmeng Chen Mingjiang Zhang Shaoxiang Chen Jianguo Zhang Senlin Yan Yuncai Wang School of Electronic Engineering Nanjing Xiaozhuang UniversityNanjing 211171China Key Lab of Advanced Transducers and Intelligent Control Systems Ministry of Education and Shanxi ProvinceTaiyuan 030024China Institute of Optoelectronic Engineering College of Physics&OptoelectronicsTaiyuan University of TechnologyTaiyuan 030024China School of Electrical and Electronic Engineering The Photonics InstituteNanyang Technological University639798Singapore School of Information Engineering Guangdong University of TechnologyGuangzhou 510006China

A novel chaotic optical time-domain reflectometry(OTDR)-based approach was proposed for monitoring long-haul fiber communication systems with multiple fiber segments. The self-phase modulation and group velocity dispersion effects of the optical cable was considered in demonstrating the proof-of-concept experiment and simulation. In experiments, the correlation peaks are clearly obtained from the correlation trace between the reference and reflected(or scattered) light signals propagating in three optical-fiber segments. The technique affords a high spatial resolution of 2 m, and further long-haul fiber simulations indicate that the sensing distance can be more than 3300 km. Thus, the new proposed technique can be effectively applied for health monitoring of long-haul fiber communication systems.

关键词： fiber communication system chaotic signal optical time domain reflectometry

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A Novel Design of Active Disturbance Rejection control for TITO systems

A Novel Design of Active Disturbance Rejection Control for T...

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Data Driven control and Learning systems (DDCLS)

作者： Shuqing Wang Wen Tan Donghai Li Wenqing Cui School of Control & Computer Engineering North China Electric Power University Beijing State Key Lab of Power Systems Tsinghua University Beijing

ISBN: (数字)9781728159225

ISBN: (纸本)9781728159232

As a new control method that does not need accurate information of model, active disturbance rejection control (ADRC) treats external and internal disturbance as a total disturbance under extended state observer (ESO) and in order to maintain system performance, a state feedback law is put forward to compensate the total disturbance. We proposed a novel design of ADRC for two- input-two-output (TITO) systems in this paper. The manipulated variables of the two loops are both input into the ESO for the purpose of improving decoupling performance as well as the control performance of ADRC controller. This design of ADRC is easy to understand and has excellent decoupling ability. To prove the effectiveness of proposed method, some simulation examples are conducted.

关键词： Tuning Observers Robust control Power systems Performance analysis MIMO communication State feedback

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Research on feature selection for cyber attack detection in industrial Internet of Things

Research on feature selection for cyber attack detection in ...

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2020 International Conference on Cyberspace Innovation of Advanced Technologies, CIAT 2020

作者： Zhang, Xueying Li, Jun Zhang, Daojuan Gao, Jianlei Jiang, Hao Department of Security Technology China Industrial Control Systems Cyber Emergency Response Team Beijing China State Grid Key Lab. of Info. and Netwk. Secty. Global Ener. Interconnection Res. Institute Co. Ltd. Beijing China

ISBN: (纸本)9781450387828

With the rapid development of network technology, billions of industrial control systems (ICSs) and the Internet of Things (IoTs) have been equipped with network communication functions. This brings many network security issues while realizing data intercommunication and sharing. In particular, the massive amount of data and the heterogeneous nature of the data have brought huge challenges to the design of an effective intrusion detection system (IDS). In order to clarify the impact of distinct features on anomaly detection, this paper conducts a series of experiments based on the maximum correlation minimum redundancy (MRMR) feature selection algorithm and the support vector machine (SVM) classification method. By comparing the experimental results of UNSW-NB15 data set and MSU data set, traditional data set and industrial data set, it can be seen that different features have different effects on anomaly detection. To be precise, there are both coupling and independence between different features. In particular, industrial data sets based on the Modbus protocol (MSU) have higher redundancy and independence. In other words, we can select more effective data features as attributes of anomaly detection in designing industrial IDS, which can improve the detection accuracy while reducing the detection time. © 2020 ACM.

关键词： Redundancy

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Coordinated Wholesale and Retail Market Mechanism for Providing Demand-side Flexibility

Coordinated Wholesale and Retail Market Mechanism for Provid...

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2019 IEEE Sustainable Power and Energy Conference, iSPEC 2019

作者： Luo, Gang He, Yujun Zhao, Chen Zhang, Xuan Lin, Shaohua Zhao, Yue Guangdong Power Grid Co. Ltd Dispatch and Control Center Guangzhou China Tsinghua University State Key Lab of Control and Simulation of Power Systems and Generation Equipments Beijing China

ISBN: (纸本)9781728149301

With the trend of electricity market deregulation for recent decades, the consumers at demand-side are progressively encouraged to trade the power in competitive market environment. Conventionally, only large-scale consumers participate directly in the wholesale market that adopts spot energy pricing. Most small-scale consumers are involved in the retail market that offers non-varying tariff predefined by retailers or utility companies. In this work, we investigate a framework of coordinated wholesale and retail market structure that enables consumers in the retail market to reflect the spot price and improve the power system flexibility for the high penetration of renewables. Then, market behaviors of demand-side participants with the proposed market mechanism and some related business models are discussed. The following participation modes for consumers could be opted including: direct trade, trade agented by retailers or organized in virtual power plant (VPP). For a pool-based trade at demand-side, a bi-level market clearing mechanism at transmission and distribution levels is explained. This mechanism seeks to optimize the global demand profile for hosting renewables while solving the operating constraint of loads and local networks. This study can offer constructive advises to promote further development of China's electricity market. © 2019 IEEE.

关键词： Power markets

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