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Robust Speed Regulation of PMSM Under Disturbances and Noises Using Composite Model Predictive control 42

Robust Speed Regulation of PMSM Under Disturbances and Noise...

引用

42nd Chinese control Conference, CCC 2023

作者： Mao, Linxuan Su, Jinya Li, Shihua School of Automation Southeast University Nanjing210096 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9789887581543

This paper presents a single-loop Model Predictive control strategy that incorporates a redu.ed-order Generalized Proportional Integral Observe and a Kalman filter to enhance the speed regulation of Permanent Magnet Synchronous Motor systems in the presence of complex disturbances and measurement noises. The proposed controller design seamlessly integrates the predictive control, disturbance observer, and state filter components, and it was evaluated through simulation comparisons. The performance of the proposed method is evaluated using various metrics, including maximum velocity drop, recovery time, and variance of steady-state error, which demonstrate its superior response performance and anti-disturbance ability when compared to other existing methods without state filtering. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Model predictive control

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Ensuring Port Safety: Improved YOLOX and DeepSORT for Accurate Detection and Tracking of Trucks and Truck Drivers 42

Ensuring Port Safety: Improved YOLOX and DeepSORT for Accura...

引用

42nd Chinese control Conference, CCC 2023

作者： Zheng, Xueqin Su, Jinya Yang, Jun School of Automation Southeast University Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing210096 China

ISBN: (纸本)9789887581543

An optimized YOLOX+DeepSORT method is proposed to accurately detect and track container trucks and truck drivers at the working position of automated rubber tire gantries in ports, while ensuring their safety during the whole working process. In the proposed method, the improved YOLOX performs object detection and its output is used as the input for multi -object tracking using DeepSORT. The improved YOLOX model is developed through replacing standard convolution with depthwise separable convolution, adding the convolutional block attention module to enhance feature extraction, and using Focal Loss in the loss function to address sample imbalances. Comparative experiments were carried out on a self-built dataset, showing a 4.32% increase in mAP and improved reasoning speed for improved YOLOX compared to the original YOLOX. Furthermore, the optimized method shows a 3.57% increase in Multi-Object Tracking Accuracy and a 1.73% increase in Multi-Object Tracking Precision compared to the benchmark YOLOX+DeepSORT. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Object detection

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Anti-disturbance Low Speed Regulation control of PMSMs Using Modified Extended State Observer Based on Rotor Position

Anti-disturbance Low Speed Regulation Control of PMSMs Using...

引用

2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Xu, Lei Mao, Linxuan Li, Shihua School of Electronic Science and Engineering Southeast University Nanjing210096 China School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

A modified extended state observer (ESO) based rotor position algorithm is proposed for improving low speed regulation control performance. The speed signal is often obtained by differentiating the position signal. However, the position signal of encoder with quantization errors results in crawling and shaking at low speeds. Considering quantization error as a type of noise limited their own accuracy, the environmental influences like mechanical vibration and electromagnetic interference also lead to noise in rotor position. The modified ESO method incorporated a Kalman filter (KF) is proposed to redu.e the negative impact of noise. Due to differential amplification noise, the position signal is used instead of traditional speed signal for observers design because of its undesirable characteristics at low speed. The modified ESO based on rotor position is used to estimate both speed signal and disturbances to enhance the low speed performance in the presence of disturabances and measurement noise. The friction model is embedded for above integrated structure due to its nonliearity at low speeds. Considering the negative effects of measurement noise and disturbance at low speeds, it has verified that the proposed algorithm has better dynamic and steady-state performance and anti-disturbance ability through simulation. © The Institution of engineering & Technology 2024.

关键词： State estimation

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Solving the Collaborative Problem in the Process of Dual-Arm Robot Assembly Based on Fully Constrained Synchronous Collaboration Mode

Solving the Collaborative Problem in the Process of Dual-Arm...

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2022 Chinese Automation Congress, CAC 2022

作者： Sui, Shunfan Gan, Yahui Dai, Xianzhong Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9781665465335

In this paper, a fully constrained collaboration synchronization model is proposed to solve the cooperative problem in the dual-arm assembly process. Compared with the single-arm robot, the dual-arm robot has higher flexibility and larger working space, but it is more difficult to control. It has its inherent constraint relationship during movement. The dual-arm cooperation constraint is the basis of the dual-arm motion planning. The paper first analyzes the constraint relationship between the two arms when the rigid body is transported by the two arms and the assembly of the shaft hole respectively. The study finds that there are many common points between the two movements: during the movement process, the two manipulators always maintain a constraint relationship with the object. On this basis, the full constraint is proposed to solve the position and pose constraints of the tool hands when the arms are moved. Finally, the simulation experiment of dual-arm handling rigid body and shaft-hole assembly is carried out to verify that the proposed dual-arm cooperation mode can effectively realize the dual-arm cooperative motion. © 2022 IEEE.

关键词： Motion planning

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Online Estimation of State of Healh for Lithium-ion Batteries Based on Attention-LSTM Netwrok Using Partial Charging Features 6

Online Estimation of State of Healh for Lithium-ion Batterie...

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6th International Conference on Energy, Electrical and Power engineering, CEEPE 2023

作者： Yao, Yue Wang, Ying Zhang, Jiangfeng Zhang, Kaifeng Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China State Grid Zhejiang Electric Power Research Institute Zhejiang China

ISBN: (纸本)9798350348279

Accurate estimation for state-of-health (SOH) of lithium-ion batteries is critical to ensure the security and durability of battery operation. Accordingly, this paper proposes a SOH estimation method based on Attention-LSTM neural network using the partial charging features. First, features are extracted from partial constant-current charging curves. Second, Pearson coefficient analysis is employed to analysis the mapping relationship between extracted features and SOH. Third, an Attention-LSTM network is utilized to realize the SOH estimation. The attention mechanism can adaptively assign weights to the input features and time steps, thereby improving the estimation accuracy. Validation experiments are conducted on public dataset from NASA Ames Prognostics Center of Excellence. The experimental results highlight that the proposed method has higher accuracy and robustness compared with other approaches. © 2023 IEEE.

关键词： Lithium-ion batteries

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Missing Small Bolt Detection on High-speed Train Using Improved Yolov5 8

Missing Small Bolt Detection on High-speed Train Using Impro...

引用

8th International Conference on systems and Informatics, ICSAI 2022

作者： Wei, Yiming Lu, Xiaobo Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9781665474481

Tiny bolts are widely used on high-speed trains, playing an important role in fixing train components. However, because of the complex running environment of trains, missing bolts occur from time to time and may cause traffic accidents, resulting in property damage and, in serious cases, endangering the lives of the occupants. Therefore, it is essential to detect missing bolts on high-speed trains. The bolts discussed in this paper are generally located on the underside of high-speed trains and their small size makes detection more difficult. In this paper, we first expand the dataset, and then add the Attention module and Transformer based on YOLOv5, and change the FPN of YOLOv5 to BiFPN, fuse the features of different layers using different weights, and crop the high-resolution original image during training and testing, and finally return to the original image. Our method eventually achieves 95.3% AP, effectively improving the detection accuracy. © 2022 IEEE.

关键词： Statistical tests

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A Trajectory Tracking Algorithm Based on Interior Point Method for A Class of Mobile Manipulators

A Trajectory Tracking Algorithm Based on Interior Point Meth...

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2022 Chinese Automation Congress, CAC 2022

作者： Rao, Xuechen Gan, Yahui Wang, Xiaoteng Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation NanJing China

ISBN: (纸本)9781665465335

At present, due to the high redu.dancy and strong coupling characteristics of mobile manipulator systems, there are few and in-depth studies on coordinated motion planning. Aiming at the above problems, this paper proposes a coordinated control algorithm that can track the desired trajectory of the end-effector based on a class of 5-DOF mobile manipulators. The algorithm takes the power consumption and trajectory stability of the entire system as the optimization objectives, and sets the function of the selected optimization objective on the desired trajectory, and performs optimization based on the interior point method of convex optimization to converge to the optimal solution faster. Finally, the system is simulated to verify the correctness and effectiveness of the control algorithm. © 2022 IEEE.

关键词： Convex optimization

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Generalized Proportional Integral Observer Based Sliding Mode control for Biaxial Motion control System with Mismatched Disturbances 41

Generalized Proportional Integral Observer Based Sliding Mod...

引用

第41届中国控制会议

作者： Guancheng Ren Zuo Wang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex systems of Engineering Ministry of Education Shenzhen Research Institute Southeast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the biaxial motion system,nonlinearities and mismatched disturbances always have adverse effects on the contouring accuracy,which are often *** of existing advanced control methods are developed only to suppress matched *** this paper,the necessity of taking the contour error as the control target is ***,four generalized proportional integral observers(GPIOs) are developed to estimate both matched and mismatched lumped ***,based on contour error,a sliding mode controller is developed for the biaxial motion *** introducing the disturbance estimations into the modified sliding surface design,a composite controller is *** proposed method effectively improves the contouring accuracy and suppress the mismatched disturbances,while the chattering caused by large switching gains is *** stability analysis of the system is established by means of the Lyapunov ***,to demonstrate the superiority and effectiveness of the controller,simulation results of the biaxial motion control system are presented in various working cases.

关键词： Biaxial motion control system contouring control mismatched disturbances generalized proportional-integral observer(GPIO) sliding mode control chattering redu.tion

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Composite Model Predictive control for PMSM Servo systems Based on Backlash Cancellation and Disturbance Compensation 41

Composite Model Predictive Control for PMSM Servo Systems Ba...

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第41届中国控制会议

作者： Lei Li Zuo Wang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Shenzhen Research Institute Southeast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the speed regulation problem of permanent magnet synchronous motor(PMSM) servo system with backlash based on model predictive control(MPC).It is known that the existing backlash in servo systems causes steady-state errors,limit cycles and rigid *** order to counteract the adverse performance degradations of the backlash nonlinearity,a composite MPC strategy is investigated based on backlash cancellation and disturbance ***,an approximated dead-zone model of backlash is ***,a generalized proportional-integral observer(GPIO) is constructed to estimate the lumped disturbances,including backlash modelling residual error,parameter uncertainties and external *** introducing disturbance estimation and backlash transmission torque into system model,a composite MPC can be obtained based on the prediction-precision enhanced model,which brings significantly improvements to control ***,the efficacy of the presented method is demonstrated by simulation results.

关键词： Model predictive control(MPC) PMSM servo system Backlash cancellation Generalized proportional-integral observer(GPIO)

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Inverse Reinforcement Learning Integrated Reinforcement Learning for Single Intersection Traffic Signal control 5

Inverse Reinforcement Learning Integrated Reinforcement Lear...

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5th International Conference on Industrial Artificial Intelligence, IAI 2023

作者： Gu, Shiyi Zhang, Tingting Zhang, Ya Southeast University School of Automation Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China Army Engineering University College of Command and Control Engineering Nanjing210017 China

ISBN: (纸本)9798350325294

Traffic Signal control (TSC) optimization is vital for efficient traffic flow in urban intersections. Recent research has explored the application of Reinforcement Learning (RL) agents to tackle TSC challenges. However, the selection of an appropriate reward function in RL agent training still relies on subjective judgment and experience. To address this issue, an Inverse Reinforcement Learning (IRL) integrated RL algorithm is proposed. In the IRL learning section, expert trajectory data are collected and analyzed by Relative Entropy IRL (REIRL). The latent reward of expert policy is reconstructed and utilized in RL agent training process. In the RL control section, a Double Dueling Deep Q Network is applied under a cycle control framework. As verified in simulations, the introduction of expert experience improves the performance of the RL agent to the expert level and concurrently enables robustness to expert policy noises. © 2023 IEEE.

关键词： Reinforcement learning

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