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PMSM system Identification by Knowledge-informed Machine Learning

PMSM System Identification by Knowledge-informed Machine Lea...

引用

IEEE International Conference on Industrial Informatics (INDIN)

作者： Yue Yu Jiageng Tong Jinhui Xia Jinya Su Shihua Li School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

Because of its excellent efficiency, compact dimen-sions, and accurate control features, Permanent Magnet Syn-chronous Motor (PMSM) are experiencing widespread applications across various industries. By accurately characterizing the dynamic behavior of PMSM systems through system identi-fication, engineers can ensure that PMSM motors reach their maximum potentials and meet the stringent requirements of modern industrial and technical systems while reducing energy consumption and maintenance costs. The traditional recursive least squares method is sensitive to noises, and unable to accu-rately identify parameters in complex environments. Pure data-driven models lack interpretability and require complex model architecture and computational costs. To this end, this work draws knowledge-informed neural ordinary differential equations (NODEs) for system identification, which embeds system prior knowledge into the NODEs for more efficient and accurate model learning. Comparative simulations show that this method not only obtains a higher-precision system model, but also significantly reduces the amount of training data and computation costs.

关键词： Accuracy Costs Uncertainty Computational modeling Noise Ordinary differential equations Motors Mathematical models Data models system identification

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Fall-LSTM: A Fall Detection Network Based on Spatio-Temporal Location Module

Fall-LSTM: A Fall Detection Network Based on Spatio-Temporal...

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Chinese control Conference (CCC)

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

Fall events have unique dynamic features, which are not fully utilized by existing fall detection methods. Based on video understanding, we propose Fall-LSTM to learn such features pertinently without additional inputs. Fall-LSTM is composed of CNN-LSTM framework and two excitation modules i.e., Spatial Attention Module (SAM) and Temporal Location Module (TLM). SAM provides spatial constraints on motion for feature layers through foreground extraction and spatial pooling. TLM emphasizes frames with high probability of fall events to LSTM by inferring the rate and trend of motion in clips. Experimental results show that our proposed modules significantly improve the performance of LSTM model, outperforming the state-of-the-art methods on two public Fall Detection Datasets i.e., Le2i and UR.

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Adaptive Multi-Dimensional Taylor Network Tracking control for Stochastic Nonlinear systems with Full-State Constraints and Input Saturation

Adaptive Multi-Dimensional Taylor Network Tracking Control f...

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International Conference on Robotics and Automation engineering (ICRAE)

作者： Xiao-Yi Zheng Hong-Sen Yan Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education and School of Automation Southeast University Nanjing China

In this study, an adaptive tracking controller using multi-dimensional Taylor network (MTN) is presented for state-constrained nonlinear stochastic systems with saturated input, in which MTN is implemented to model the unknown nonlinear functions. Firstly, the barrier Lyapunov function (BLF) and backstepping technique are combined under a unified framework to eliminate the impact of full-state constraints. Then, the effect raised by saturated input is solved by introducing an appropriate auxiliary system. Furthermore, by employing the Lyapunov stability theorem, the designed adaptive controller could ensure that all closed-loop signals are bounded in probability, the output signal can track the desired signal successfully, the tracking error is bounded by the expected bound, and the system state constraints are never violated. Finally, the efficiency of the suggested control methodology is confirmed by providing an example.

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An Adaptive Event-Triggered Secondary Regulation Strategy for Microgrids with Loss of Effectiveness Actuator Faults

An Adaptive Event-Triggered Secondary Regulation Strategy fo...

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Annual Conference of Industrial Electronics Society

作者： Xuechao Qiu Xiangyu Wang Dan Niu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

In this paper, an adaptive event-triggered secondary regulation strategy is investigated for microgrids with loss of effectiveness actuator faults. In order to deal with unknown loss of effectiveness actuator faults, a distributed secondary regulation strategy is proposed, which achieves voltage and frequency regulations, as well as power sharing. Meanwhile, to save system resources and relieve the communication burden, an adaptive event-triggered mechanism is designed. Finally, some simulation results are given to validate the proposed strategy, which indicates that the proposed strategy reduces the controller updates and increases the reliability of system.

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Enhancing Human-AI Trust by Describing AI Decision-Making Behavior

Enhancing Human-AI Trust by Describing AI Decision-Making Be...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Zhouwei Lou Haikun Wei Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

Air combat game is a highly complex and dynamic decision-making problem that is crucial for ensuring national security and improving combat efficiency. In recent years, artificial intelligence (AI) technologies such as deep reinforcement learning have made significant progress in the air combat game field, surpassing human experts' capabilities. However, the decision-making process of AI algorithms often lacks transparency and interpretability, resulting in low trust in them, which limits their promotion and application in practical scenarios. To enhance human-AI trust, this paper proposes a decision explanation method based on natural language generation. As the most direct means of information transmission, natural language can help people quickly understand the behavior and intent of AI algorithms. Taking a one-on-one air combat game as an experimental scenario, this paper constructs a combat dataset mapping temporal states to behavioral explanations and designs an attention-based Encoder-decoder architecture (AED) capable of generating natural language descriptions of current AI decision-making behavior based on a period of combat data. Experimental results show that AED can accurately describe the decision-making behavior of AI algorithms and help improve the level of human-AI trust.

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Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor Based Target Following

Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor B...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Haodi Zhang Jinya Su Shihua Li School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

This paper presents a vision-based tracking control for a quadrotor to follow a moving target without assuming any quadrotor-target communication. Constant turn rate & acceleration model (CTRA) is first drawn to describe the target's motion, allowing to infer unmeasurable target motion variables while mitigating the adverse effects of vision sensor noises through an unscented Kalman filter (UKF). Then the target's future trajectory is firstly predicted by using a Bézier curve, which is further treated as virtual observation of the CTRA model within the prediction horizon so that a better target trajectory prediction is derived by using the proposed Bézier- UKF fusion predictor method. The outputs of Bézier- UKF predictor are input into an incremental model predictive control (IMPC) planner as the target reference, enabling the derivation of the desired position, velocity and acceleration signal for the quadrotor. These signals are implemented by the low-level SE(3) geometric controller. Finally, we conduct a comparative study of the proposed method against baseline planners such as MPC and IMPC planners in high-fidelity AirSim simulation environment, demonstrating better target following performance.

关键词： Target tracking Noise Kinematics Predictive models Vision sensors Inspection Trajectory

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Time-Optimal and Smooth Trajectory Planning Based On Continuous Pseudo-Acceleration

Time-Optimal and Smooth Trajectory Planning Based On Continu...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Xin Wang Yahui Gan Xianzhong Dai Key Laboratory of Measurement and Control of complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

The current time-optimal trajectory planning based on dynamics does not take into account the continuity of joint torque. Although the time obtained by the solution of the original time-optimal path parameterization (TOPP) algorithm is optimal, the joint torque obtained by the solution is not continuous, and the discontinuous joint torque will cause the manipulator to resonate, which will reduce the accuracy of the trajectory, making the obtained trajectory in practical engineering applications cannot be effectively applied. Therefore, this paper improves the problem of discontinuous torque on the basis of the TOPP algorithm, and proposes to use a quadratic polynomial curve to deal with the discontinuous part of the pseudo-acceleration in the phase plane composed of position and pseudo-acceleration, which not only ensures the integrity of the path, but also makes the joint torque continuous and smoothes the joint torque trajectory to some extent. This method is verified by the simulation experiment of the two-link manipulator.

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PWM Wave-Based Cooperative Vector control of Multiple Stepper Motors for Unmanned Surface Vehicles

PWM Wave-Based Cooperative Vector Control of Multiple Steppe...

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Artificial Intelligence Technology (ACAIT), Asian Conference on

作者： Ruizhe Xu Yihang Xu Yongbao Wu Jian Liu Lei Xue Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China

ISBN: (数字)9798350359145

ISBN: (纸本)9798350359152

This paper studies the control system of multiple stepper motors. Four stepper motors are selected to design the vector control system for the actual application scenario of the unmanned surface vehicles. This paper designs a PWM wave-based motor control algorithm taking into account the characteristics of stepper motors. We proposes a closed-loop control algorithm incorporating magnetic encoders. The system applies CAN bus to realize the communication among stepper motors, enabling distributed cooperative control four stepper motors of the unmanned surface vehicles. In this paper, the multiple stepper motor system is modeled and finally simulated and experimentally verified to achieve cooperative vector control of multiple stepper motors for surface vehicles.

关键词： Protocols Surface waves Process control Pulse width modulation Motors control systems Vectors

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End-point Steady control for Whole-Body control Mobile Manipulators by Null Space Tunation

End-point Steady Control for Whole-Body Control Mobile Manip...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Enjin Zhang Yahui Gan Xianzhong Dai Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University NanJing China

This paper deal with the end-point steady control problem of a mobile manipulators(MM) at the velocity level. Mobile manipulators are usually kinematically redundant when performing tasks, so multiple subtasks can be performed simultaneously, such as tracking the trajectory of the end effector(EE), optimizing manipulability, etc. First, the mobile manipulators system is modeled as an ordinary jointed manipulator. The velocity of the EE has a higher priority, scheduling low-priority tasks in the null space of high-priority tasks leaves high-priority tasks unaffected. The damped least square method is used to generate a kinematic inverse solution with singular robustness, and the gradient projection method is used to optimize the manipulability measure. By analyzing the structure of the Jacobian matrix, the complexity of gradient calculation is reduced. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments.

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A Lightweight Object Detection Network for Industrial Robot Based YOLOv5

A Lightweight Object Detection Network for Industrial Robot ...

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2023 China Automation Congress, CAC 2023

作者： Zhong, Tao Gan, Yahui Han, Zao Gao, Huan Li, Ang School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Ministry of Education NanJing China Nanjing YingQi Intelligent Technology Co. Ltd. Intel Joint Research Institute on Intelligent Edge Computing NanJing China

ISBN: (纸本)9798350303759

With the rapid development of deep learning, it has been widely applied in fields such as computer vision, natural language processing, and robotics. Despite the superior performance of deep learning in object detection, most industrial vision robots still rely on traditional object detection methods due to computational constraints of robot controllers. In order to improve the performance of object detection for vision robots, a lightweight 3D object detection network based on You Only Look Once version 5 (YOLOv5) is proposed for satisfying industrial production. YOLOv5 work to efficiently object detection using deep convolutional networks. In terms of model deployment, we adopt a novel OpenVINO-based model deployment approach. The OpenVINO framework significantly enhances the inference speed of models by model optimization and compression. Our model achieves a 70% reduction in inference time compared to the baseline model on CPU. The effectiveness of the proposed method is demonstrated through experiments. © 2023 IEEE.

关键词： Object detection

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