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Dynamics Modeling Method of Offshore Drilling Experimental system Based on Double-Layer Stewart Parallel Mechanism 42

Dynamics Modeling Method of Offshore Drilling Experimental S...

引用

42nd Chinese control Conference, CCC 2023

作者： Wang, Chenxuan Ma, Zhejiaqi Lu, Chengda Du, Sheng Wu, Min School of Future Technology China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China

ISBN: (纸本)9789887581543

Establishing the dynamics model of the offshore drilling experimental system can better complete the offshore drilling test in the laboratory environment and reduce the cost of testing. A dynamical modeling method for the offshore drilling experimental system built on the double-layer Stewart parallel mechanism is proposed. Firstly, the kinematic and dynamical characteristics of the double-layer Stewart parallel mechanism are combined with the Lagrange method and the virtual work method to establish the dynamics model of the mechanism. Then a parameter identification scheme is designed using a nonlinear gray system estimation method based on the trust-domain reflection algorithm, and the model parameters are identified. The model is downscaled to improve the feasibility of the identification scheme and the accuracy of the identified parameters. The actual experimental system data verify this model's correctness and the model parameters' accuracy. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Dynamics

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RBFNN-based ADRC design for continuous-time systems with unknown nonlinear dynamics subject to time-varying disturbance

RBFNN-based ADRC design for continuous-time systems with unk...

引用

第42届中国控制会议

作者： Shuai Yan Shoulin Hao Haichen Yu Tao Liu Bin Yan Yihui Gong Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Institute of Advanced Control Technology Dalian University of Technology

In this paper,a radial basis function neural network(RBFNN) based active disturbance rejection control(ADRC)scheme is proposed for continuous-time systems with unknown nonlinear dynamics and time-varying *** using RBFNN to online approximate the unknown nonlinear dynamics,a novel nonlinear extended state observer(ESO) is firstly designed to estimate the total disturbance consisting of time-varying external disturbance and RBFNN approximation ***,an anti-disturbance feedback control law together with a tracking differentiator is designed to counteract the total disturbance in a feedforward *** bounded convergence of the closed-loop system and ESO as well as the estimation errors of the weighting vector are rigorously analyzed based on the Lyapunov stability theory.A case study is carried out to demonstrate the effectiveness and merit of the proposed design,in contrast to the conventional ADRC.

关键词： Active disturbance rejection control RBFNN-based ESO time-varying disturbance nonlinear dynamics

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Equivalence analysis of different sequence impedance modeling methods 6

Equivalence analysis of different sequence impedance modelin...

引用

6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Fang, Qiao Xing, Facai Jiang, Zhe Zhao, Yujing Wu, Cheng Power Grid Technology Center State Grid Shandong Electric Power Research Institute Jinan China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Jinan China Shandong Electric Power Dispatching and Control Center State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9798350346671

The sequence impedance has a clear physical meaning and can be directly measured by commercial equipment, so it is widely used for stability analysis in the field of electrical engineering. It can be transformed from dq impedance indirectly or calculated based on Harmonic State Space (HSS) theory directly. This paper analyzes the equivalence of the above two methods. Firstly, the dq impedance model of grid-connected converter is established, and the equivalence of impedance in dq domain and sequence domain is proved by mathematical transformation. Then, modified sequence impedance model of grid-connected converter is established considering the frequency coupling phenomenon. On the other hand, the impedance model can also be obtained from HSS modeling with h order harmonics. Subsequently, the relationship between the modified sequence impedance and HSS impedance can be found. The former is a special case when the latter takes h=2. When considering the coupling effect of higher harmonics, HSS impedance model has higher accuracy. Finally, the accuracy and the equivalence of the above-mentioned two methods are verified by frequency sweep. © 2023 IEEE.

关键词： Harmonic analysis

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control strategy for the rotor position angle of permanent magnet synchronous motor based on error extended state observer

Control strategy for the rotor position angle of permanent m...

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第35届中国控制与决策会议

作者： Lixiang Ma Susu Yu Bingyou Liu Anhui Institute of Information Technology College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End EquipmentMinistry of Education

In order to solve the problems of strong coupling,variable parameters and nonlinearity of permanent magnet synchronous motor(PMSM),an expanded state observer based on error is proposed in this paper to achieve fast response,accurate tracking and strong anti-disturbance control performance of the rotor position and angle of ***,a new nonlinear function is designed to replace the nonlinear function of the extended state observer(ESO) in the traditional active disturbance rejection controller(ADRC).Secondly,based on the improved nonlinear function,the structure of ESO is improved according to the error ***,the position and Angle control system based on PMSM is *** results show that the ADRC based on error ESO has better response speed,tracking accuracy and anti-disturbance performance than the traditional ADRC.

关键词： error extended state observer improved nonlinear function active disturbance rejection control permanent magnet synchronous motor

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Multitime Scale Active and Reactive Power Coordinated Optimal Dispatch in Active Distribution Network Considering Multiple Correlation of Renewable Energy Sources

Multitime Scale Active and Reactive Power Coordinated Optima...

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作者： Chen, Shuai Wang, Chengfu Zhang, Zhenwei Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education School of Electrical Engineering Shandong University Jinan China

To improve the adaptability for renewable energy sources (RES), a multitime scale optimal dispatch method, which considers the multiple correlations of RES, is proposed in the active distribution network (ADN). The proposed method includes a multiple correlation model of RES and a scheduling framework. The multiple correlation model of RES is formulated by t Copula function, Sklar's theorem, and conditional distribution of multivariate t distribution. The multiple correlation model can estimate the forecast error of the future period according to the historical data and the latest prediction. The scheduling framework further employs the revised forecast to coordinate the fast/slow-response regulation resources in the ADN under three timescales. In the day-Ahead stage, the operation state of slow-response resources is optimized and determined. In the intraday stage, the output of the fast-response resource, which is transferred to the real-Time stage as reference trajectory, is optimized based on the short-Term prediction. In the real-Time stage, the stochastic model predictive control is adopted to adjust the output of fast-response resources based on ultra-short-Term prediction and reference trajectory. Case analyses indicate that the proposed method can effectively reduce the voltage fluctuation, promote the utilization of demand-side resources, and improve the system economic performance by introducing the multiple correlation model. © 1972-2012 IEEE.

关键词： Stochastic systems

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Design of an intelligent Monitoring system for Operating States in a Coal Mine Drilling Process 41

Design of an Intelligent Monitoring System for Operating Sta...

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第41届中国控制会议

作者： Xiao Yang Luefeng Chen Sheng Du Chengda Lu Wangnian Li Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Xi'an Research Institute Co.Ltd. China Coal Technology and Engineering Group

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development trend of intelligent drilling in coal mines,an intelligent monitoring system for operating states in a drilling process is developed to solve the problems of incomplete display of drilling parameters and ineffective *** system realizes the remote monitoring of drilling *** mainly adopts the Fuzzy C-Means clustering algorithm to cluster the drilling *** it combines expert empirical knowledge to classify coal seams into soft,hard and alternating soft and hard coal *** boundary values are calculated according to the boundary ***,three drilling operating states,rated,conservative and over-excited,are judged to provide guidance for the drilling process control.

关键词： Drilling process intelligent monitoring Fuzzy C-Means clustering Operating states

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An Optimized One-Stage Detector for Autonomous PV Defect Detection

An Optimized One-Stage Detector for Autonomous PV Defect Det...

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Huidi, Xiao Jiajia, Zhao Lihui, Wang Qiucheng, Shen Nongjie, Ma Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Southeast University Nanjing210096 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China School of Mechanical and Electronic Control Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9789811694912

To realize the defect detection of Photovoltaic (PV) modules based on infrared images, a one-stage detector based on FPT and loss function optimization is proposed. Firstly, ResNet50 is selected as the backbone network for feature extraction, combining with the idea of migration learning to strengthen its feature extraction ability. Besides, replacing the traditional feature pyramid with FPT, using Transformer structure help realize the interaction of the same position between different pyramid layers as well as different positions of the same layer, improving the feature fusion capability of the model. Finally, to alleviate the problem of suppression of non-optimal predictions by NMS strategy, a bipartite graph matching algorithm based on loss function minimization is designed to enhance the learning of the distribution of ground truth targets by the network. The dataset is expanded by Mosaic data enhancement method for model training, so as to achieve infrared image-based PV defect detection. Results show that the improved one-stage target detection network has a promising detection effect on PV module defects under infrared images, with the average accuracy improving by 2.20% compared with the original algorithm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Defects

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Trajectory Optimization and control Method Based on Multistage Nonlinear Model Predictive control 4

Trajectory Optimization and Control Method Based on Multista...

引用

4th International Seminar on Artificial Intelligence, Networking and Information Technology, AINIT 2023

作者： Zheng, Qingchun Peng, Zhi Zhu, Peihao Zhai, Ran Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin China School of Mechanical Engineering Tianjin University of Technology Tianjin China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350314526

To improve the trajectory optimization efficiency of robot manipulators, this paper proposes a novel approach for trajectory optimization and control of manipulators based on multistage nonlinear model predictive control (msNLMPC). This approach is realized by using a neural state space model as the prediction model of nonlinear model predictive control (NLMPC). The simulation results show that the actual trajectory of the manipulator in our proposed scheme coincides with the desired trajectory. The manipulator achieves the control task of following the optimal trajectory. Our proposed method improves the trajectory optimization efficiency of the robot manipulator. © 2023 IEEE.

关键词： Model predictive control

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Correction of Images Projected on Non-White Surfaces Based on Deep Neural Network 14

Correction of Images Projected on Non-White Surfaces Based o...

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14th International Conference on Digital Image Processing, ICDIP 2022

作者： Wang, Zewei Zhang, Jingjing Du, Xingzhuo Cao, Sihua Wei, Wenxuan School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

ISBN: (纸本)9781510657564

When projecting onto a non-white surface, the projected image is distorted or color mixing by complex luminance and chrominance information, which makes the projection result different from the visual perception of the human eye. The purpose of projection image correction is to remove these effects, and traditional solutions usually estimate parameters from the collected projection samples, compute an inverse model of the projection imaging process, and try to fit a correction function. In this paper, a deep neural network-based projection image correction network (PICN) is designed to implicitly learn complex correction functions. PICN consists of a U-shaped backbone network, a convolutional neural network that extracts projected surface features, and a perceptual loss network that optimizes the correction results. Such a structure can not only extract the deep features and surface interference features of the projected image, but also make the corrected projected image more in line with human visual perception. In addition, we built a projector-camera system under the condition of a fixed global illumination environment for verification experiment, and proved the effectiveness of the proposed method by calculating the evaluation metrics of projected images before and after correction. © 2022 SPIE.

关键词： Deep neural networks

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Optimal Design for the Torsional Elastic Element Topology of a Rotary Series Elastic Actuator 7

Optimal Design for the Torsional Elastic Element Topology of...

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7th Asia-Pacific Conference on intelligent Robot systems, ACIRS 2022

作者： Yang, Xishun Luo, Wenbo Liu, Haokun Zhang, Sen Ge, Weimin Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering Education School of Mechanical Engineering Tianjin300384 China

ISBN: (数字)9781665485197

ISBN: (纸本)9781665485197

The series elastic actuator improves the compliance of exoskeleton by introducing a elastic element and ensures its safe interaction ability. Therefore, it is regarded as a new driving mechanism by scholars. Suitable elastic element is conducive to realize the miniaturization and lightweight of SEA, but its topology design is complex and lack of guidance. Based on the finite element simulation environment and three-dimensional parametric CAD environment, this paper analyzes the influence of different size parameters and topology on the pressure of the elastic element, summarizes the characteristics of three topology structures, and puts forward the optimal design method of a torsional elastic element topology. Through the research, we can conclude that the compression effect of elastic beam with specific shape is better than that of curved elastic beam, and the width of elastic beam has a great influence on the torsional elastic element. © 2022 IEEE.

关键词： Finite element method

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