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Simulation Research on Generalized Proportional Integral Observer Based Active Disturbance Rejection control for Coarse Pointing Assembly 8

Simulation Research on Generalized Proportional Integral Obs...

引用

8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Ma, Jijun Guo, Yulong Wang, YuNing Shi, Yongkang Beijing Research Institute of Telemetry Beijing100074 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China Research Institute of Telemetry Beijing China

ISBN: (纸本)9798331506230

The coarse pointing assembly (CPA), as the outer loop of the laser terminal, its tracking stability is the basis for ensuring laser communication. This paper presents the model of the CPA. Aiming at the disturbance factors in the low-speed operation process of the CPA, an active disturbance rejection control (ADRC) method for the position loop of the CPA is designed based on the generalized proportional integral observer (GPIO) to achieve disturbance compensation control. Finally, simulations are carried out on the system model. The simulation results show that compared with the PID control strategy adopted, the proposed ADRC strategy based on GPIO of the CPA can effectively improve the tracking accuracy. © 2024 IEEE.

关键词： Disturbance rejection

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera 42

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

引用

42nd Chinese control Conference, CCC 2023

作者： Zhou, Yanling Zhang, Xuebo Wang, Runhua Zhang, Shiyong Yuan, Mingxing Yuan, Jing Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education China

ISBN: (纸本)9789887581543

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms) © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Accelerated Simulation of Master Equation for Open Quantum systems 42

Accelerated Simulation of Master Equation for Open Quantum S...

引用

42nd Chinese control Conference, CCC 2023

作者： Yue, Bo Wang, Yanfang Xue, Shibei Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789887581543

Simulation of open quantum systems is undoubtedly critical to design of quantum devices and applications of quantum technologies since dynamics of open quantum systems cannot be solved analytically in general. However, the dimension of open quantum systems grows exponentially as the number of their subsystems increases or as involving complicated environments, which reduces the computational efficiency of the simulation. In this paper, we boost numerical simulation of master equations of open quantum systems from several aspects with which the total time and the occupied memory in the simulation are significantly reduced without losing precision. Our method can be applied to the simulation of non-Markovian quantum systems described by an augmented system model as well. We conduct numerical experiments on simulation of a non-Markovian spin chain. Compared with the algorithm in a well-known toolbox, QuTiP, our method can take 26.3% time and less memory under fair conditions. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Computational efficiency

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Improved Adaptive Variable Impedance control for Contact Force Tracking

Improved Adaptive Variable Impedance Control for Contact For...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wei, Feili Gu, Chaochen Wu, Kaijie Cheng, Hao Department of Automation Shanghai Jiao Tong University Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350327182

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot's adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot. © 2023 IEEE.

关键词： Uncertainty analysis

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Coordinated control Strategy of Grid-Connected Photovoltaic Generation system 8

Coordinated Control Strategy of Grid-Connected Photovoltaic ...

引用

8th Asia Conference on Power and Electrical Engineering, ACPEE 2023

作者： Zhang, Jian Zhang, Hengxu Cao, Yongji Liu, Xiaoming Zou, Shihao Ma, Ruicong Shandong University Key Laboratory of Power System Intelligent Dispatch Control of the Ministry of Education Jinan China Shandong University Academy of Intelligent Innovation Jinan China Economic and Technological Research Institute State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9798350345520

The development and utilization of renewable energy is imperative, and photovoltaic power generation has broad development prospects. However, photovoltaic power generation systems are limited by many external conditions, which bring more problems to power output and grid connected power quality. Therefore, in order to make better use of photovoltaic power generation, this paper proposes a coordinated control strategy of the grid-connected photovoltaic generation system. The operating principle, mathematical model, and output characteristics of photovoltaic cells are analyzed. Then, the MPPT algorithm and the operating principle of DC/DC converters are studied. Moreover, the structure and control strategy of grid connected inverters are analyzed. A simulation model of a three-phase photovoltaic grid-connected inverter system is established, and a control strategy based on grid voltage orientation is adopted. A case study is conducted to verify the proposed control strategy. © 2023 IEEE.

关键词： Maximum power point trackers

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Accelerated Simulation of Non-Markovian Quantum systems Using Quantum Trajectory 42

Accelerated Simulation of Non-Markovian Quantum Systems Usin...

引用

42nd Chinese control Conference, CCC 2023

作者： Wang, Yanfang Yue, Bo Xue, Shibei Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789887581543

Quantum trajectory can be viewed as a numerical simulation method for wavefunctions which consume smaller memories compared to density matrices in master equations. In this paper, we adopt quantum trajectory to simulate the evolution of a non-Markovian quantum system modeled by an augmented system and further use parallel computing to improve efficiency. Compared to the Lindblad master equation solver in QuTiP, it can run more efficiently using less memory. In the example of a 8-spin-chain non-Markovian system, it only takes about 0.57% of the memory footprint and 4.12% of the runtime of the solver for the Lindblad master equation. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Quantum chemistry

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Distributed Secondary control of DC Microgrids with Operation Loss Reduction

Distributed Secondary Control of DC Microgrids with Operatio...

引用

第43届中国控制会议

作者： Maoxiang Qiu Zhicheng Zhang Zhiqiang Zuo Yijing Wang Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In DC microgrids, current sharing and voltage regulation are two main objectives for real-time control, while the operation loss reduction is typically achieved by steady-state optimization. However, the ratio of current sharing is generally determined by the result of the centralized optimization in the classical hierarchical control framework of DC microgrids. Such an issue brings insufficient capability in respond to the changes of photovoltaic power and stored energy in the solar-powered energy systems. To handle this, this work proposes a distributed control scheme for single-bus DC microgrids. Under the proposed controller, the objectives of current sharing, bus voltage regulation and the total operation loss(converter loss and line loss) reduction can be guaranteed simultaneously. Moreover, the constraints on line currents and bus voltage are tackled as ***, simulations verify the performance of the proposed control scheme.

关键词： DC Microgrids Current Sharing Voltage Regulation Operation Loss Reduction Distributed Secondary control

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Study on Multi-objective Scheduling Strategy for Electric Vehicle to Absorb Wind Power Considering Dynamic Time-of-Use Price 2nd

Study on Multi-objective Scheduling Strategy for Electric Ve...

引用

Conference Proceedings of 2022 2nd International Joint Conference on Energy, Electrical and Power Engineering

作者： Wu, Shuang Zhang, Chun Tong, Zejun Gao, Pengcheng Li, Haoyu College of Electrical Engineering Anhui Polytechnic University Anhui Wuhu241000 China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Anhui Polytechnic University Anhui Wuhu China

ISBN: (纸本)9789819943333

By right of the load transferability and energy storage characteristics of electric vehicles, the energy consumption period of users can be guided to change by dynamic time-of-use (DTOU) price, Further improvement of the charging and discharging power of EVs. Simultaneously, the load peak-valley deviation can be decreased by DTOU price, which increases the wind power consumption as well. Then the DTOU price model is established in this paper, with the proposed start-stop control strategy of electric vehicles. Regarding the minimum system cost and carbon emissions as the objective functions, a multi-objective optimal scheduling model is generated. By means of comparing the operation results of three scenarios, it is shown that the realization of coordinated scheduling, increase of wind power consumption, reduction of total operation cost and carbon emissions as well as enhancement of system operation economy can be completed by the proposed strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Wind power

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Bi-Level Joint Planning of Transmission Network and Energy Storage system to Enhance Flexibility

Bi-Level Joint Planning of Transmission Network and Energy S...

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2023 International Conference on Power Energy systems and Applications, ICoPESA 2023

作者： Meng, Xiangfei Sun, Yi Zou, Shihao Cao, Yongji Zhang, Hengxu Liu, Rui Wang, Xian Wang, Yao Economic and Technological Research Institute State Grid Shandong Electric Power Company Jinan China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan China Shandong University Academy of Intelligent Innovation Jinan China

ISBN: (纸本)9798350345605

The high proportion of renewable energies make the operation state of the power system more complicated. This paper proposes a bi-level joint planning approach considering the flexibility of the power system, which proposes for the transmission network and energy storage. By building a network flexibility index and adding a flexibility objective function, a bi-level optimization model is established to improve the power system flexibility and reducing investment cost. In addition, the outer model is solved by the snake optimization algorithm. The analysis results show that the joint planning model can effectively improve the flexibility of power system, and has economic advantages compared with the transmission lines expansion. © 2023 IEEE.

关键词： Energy storage

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ESNet: Evolution and Succession Network for High-Resolution Salient Object Detection 41

ESNet: Evolution and Succession Network for High-Resolution ...

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41st International Conference on Machine Learning, ICML 2024

作者： Liu, Hongyu Cong, Runmin Li, Hua Xu, Qianqian Huang, Qingming Zhang, Wei Institute of Information Science Beijing Jiaotong University Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing China School of Control Science and Engineering Shandong University Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China School of Computer Science and Technology Hainan University Hainan China Key Laboratory of Intelligent Information Processing Institute of Computing Technology CAS Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China

Preserving details and avoiding high computational costs are the two main challenges for the High-Resolution Salient Object Detection (HRSOD) task. In this paper, we propose a two-stage HRSOD model from the perspective of evolution and succession, including an evolution stage with Low-resolution Location Model (LrLM) and a succession stage with High-resolution Refinement Model (HrRM). The evolution stage achieves detail-preserving salient objects localization on the low-resolution image through the evolution mechanisms on supervision and feature;the succession stage utilizes the shallow high-resolution features to complement and enhance the features inherited from the first stage in a lightweight manner and generate the final high-resolution saliency prediction. Besides, a new metric named Boundary-Detail-aware Mean Absolute Error (MAEBD) is designed to evaluate the ability to detect details in high-resolution scenes. Extensive experiments on five datasets demonstrate that our network achieves superior performance at real-time speed (49 FPS) compared to state-of-the-art methods. Our code is publicly available at: https://***/rmcong/ESNet_ICML24. Copyright 2024 by the author(s)

关键词： Miocene

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