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SSRN 2023年

作者： Zhang, Hugan Zhang, Xianku Gao, Shihang Han, Xu Ma, DaoCheng Key Lab. of Marine Simulation and Control Navigation College Dalian Maritime University Dalian116026 China

This article proposes a new LOS guidance method based on position prediction, which constructs the total path deviation by predicting the future time position of ships. It can solve the problem of overshoot that is prone to occur in the path following process of ultra large underactuated ships. Use global fast terminal sliding mode to design controllers that allow path deviations to converge in finite time. In order to solve the problems of unknown speed, disturbance, and sideslip angle during navigation, a high-order nonlinear observer is designed to estimate the system states, obtaining the velocity values and external disturbances. By estimating the velocity, the ship's sideslip angle during navigation is obtained. So the problem of unknown sideslip angle is solved, and finally, the effectiveness of the proposed algorithm was verified through simulation experiments. © 2023, The Authors. All rights reserved.

关键词： Ships

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Trajectory Tracking control of Uuvs Based on the Ppg Method with Disturbance Observer

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SSRN 2023年

作者： Zhang, Hugan Zhang, Xianku Key Lab. of Marine Simulation and Control Navigation College Dalian Maritime University Dalian116026 China

In order to solve the problems of environment disturbances and model parameter perturbation in under actuated Underwater Vehicles (UUVs) trajectory tracking control, a Sliding mode control algorithm based on projected perpendicular guidance (PPG) is proposed in this paper. Firstly, by simplifying the six degrees of freedom UUVs model, a model suitable for trajectory tracking controller design is obtained. Secondly, a novel type of PPG method is proposed, and a virtual control law is designed to convert the trajectory tracking control into speed control and heading control, and the sliding mode controller is used to control the speed, heading and depth. Due to the susceptibility of UUVS to external environmental disturbances and model parameter perturbations during trajectory tracking, a disturbance observer is used to estimate the disturbance and feedback it into the controller design. Finally, the effectiveness of the proposed algorithm is verified through simulation of linear and curve trajectories respectively. © 2023, The Authors. All rights reserved.

关键词： Trajectories

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Identification Modeling of Ship Nonlinear Motion Based on Nonlinear Innovation

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SSRN 2022年

作者： Meng, Yao Zhang, Xianku Zhang, Xiufeng Key Lab. of Marine Simulation and Control Navigation College Dalian Maritime University Dalian116026 China

In order to further improve the accuracy of parameter identification of ship nonlinear motion mathematical model, grey wolf optimizer-support vector regression (GWO-SVR) is embedded into the nonlinear innovation processed by hyperbolic tangent function. A novel identification scheme called nonlinear innovation GWO-SVR(NGWO-SVR) is proposed for identification of ship nonlinear motion model. Based on the full-scale trial data of vessel YUKUN, the NGWO-SVR is used to identify the parameters of the nonlinear motion mathematical model. Using full-scale trial data different from the identified samples, the generalization of the parameters obtained from SVR, GWO-SVR and NGWO-SVR are verified. From the evaluation criteria of the prediction results, the parameters identified by the proposed algorithm are more generalized under the condition of effectiveness of certain accuracy. The research results can provide a priori characteristics for intelligent ship motion control and path planning and a reference scheme for the optimization of ship motion mathematical model in marine simulator. © 2022, The Authors. All rights reserved.

关键词： Parameter estimation

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Generalized Predictive control Design with Colored Noise: A Simulated Case Study for Spacecraft Emulation

Generalized Predictive Control Design with Colored Noise: A ...

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Antonio Silveira Marco Sagliano Rodrigo Trentini David Seelbinder Stephan Theil Lab. of Control and Systems Federal University of Para (UFPA) Belém Brazil Dept. of Navigation and Control Systems German Aerospace Center (DLR) Bremen Germany Dept. of Electrical Engineering Federal Institute of Santa Catarina (IFSC) Jaraguá do Sul Brazil

In this work the Generalized Predictive control (GPC) is revisited in order to assess its capabilities in handling colored noise disturbances using a novel design procedure. The proposed method is investigated in a simulated case study of spacecraft emulation. Such emulation is proposed by combining a network-controlled quadcopter and a set of computer-based control algorithms that impose approximated spacecraft dynamics to the aerial system. The corresponding model was built upon real registered flight data. The contribution of this paper is twofold: first, we propose a novel GPC design in the colored noise case. Second, we assess the use of quadcopters to investigate spacecraft guidance and control algorithms. simulation results confirmed the proposed methodology as a possible low-budget spacecraft-emulation alternative for a future experimental setup. One of the main findings of the current investigation is that no significant enhancements coming from the use of GPC in minimizing the chattering of the control signal under the colored noise disturbance case could be observed. An important discussion on this matter and possible solutions are presented for future investigations.

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Corrigendum “Maneuverability indices estimation of nonlinear response model based on full-scale trial data and square root unscented Kalman filter” [Ocean Eng. 286, Part 2, (October 2023), 115699]

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Ocean Engineering 2024年 305卷

作者： Yao Meng Xianku Zhang Xiufeng Zhang Yating Duan Navigation College Dalian Maritime University Dalian 116026 China Key Lab. of Marine Simulation and Control Dalian Maritime University Dalian 116026 China

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Modeling and simulation analysis of dual-rotor vibration system with multiple faults

Modeling and simulation analysis of dual-rotor vibration sys...

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Society for Machinery Failure Prevention Technology Conference 2018: Intelligent Technologies for Equipment and Human Performance Monitoring, MFPT 2018

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

Dual-rotor system is an important rotor form in rotating machinery like gas turbine engine. Its complex structure results in rich dynamical behaviors and more probability to failure. The modeling and simulation of the dual-rotor system can help to understand its dynamic characteristics and provide theoretical support for the design, operation and maintenance. In this paper, a dynamic model of a dual-rotor system with multiple rotor faults is established. The dual-rotor vibration model without any fault is built by finite element method, where the two shafts are connected by an inter-shaft bearing and nonlinear models of rolling element bearing and squeeze film damper are considered. The numerical integration method of Newmark-β is used to obtain the steady-state vibration response of the system. Then rotor faults are introduced to the system model, including unbalance, misalignment, looseness and rub-impact. The steady-state responses of single faults in the dual-rotor system are analyzed and typical fault features are obtained. Then coupling characteristics between different rotor faults, and the influences of the squeeze film dampers on the dynamic characteristics and fault features of the system are studied. © 2018 Proceedings of the 9th International Symposium on Imprecise Probability.

关键词： Rotating machinery

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Weather type partition method considering sequential features in photovoltaic forecasting

Weather type partition method considering sequential feature...

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6th International Conference on Renewable Power Generation

作者： Li, Hao Lu, Zongxiang Qiao, Ying Wang, Ningbo Ding, Kun State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Department of Electrical Engineering Tsinghua University Haidian District Beijing100084 China Wind Power Technology Center Gansu Electric Power Corporation Lanzhou730050 China

The prediction method based on the partition of weather types has been widely used in photovoltaic prediction. Here, the temporal characteristics of PV data is studied, the physical meaning of the sequential difference sequences is analysed, and a characteristic index system including sequential characteristics index is proposed. The weather types are partitioned based on self-organising map neural network algorithm. Case study shows that the partition method is helpful to improve the discrimination of weather types and to improve prediction accuracy. © 2017 Institution of Engineering and Technology. All Rights Reserved.

关键词： Weather forecasting

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A usage-based transmission cost allocation scheme considering impacts of DERs

A usage-based transmission cost allocation scheme considerin...

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2016 Tsinghua University-IET Electrical Engineering Academic Forum

作者： Wang, J.X. Zhong, H.W. Xia, Q. State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Department of Electrical Engineering Tsinghua University Beijing China

ISBN: (纸本)9781785614170

With the rapid development of distributed energy resources (DERs), it is of vital importance to develop a well-designed transmission cost allocation scheme to reflect the contributions of DERs to the power system. In this paper, a usage-based transmission cost allocation scheme is proposed considering the capability of DERs. Based on the different intentions of transmission capacity, the transmission costs can be classified into four fractions: operating, contingency, planning and invalid transmission costs. On operating conditions, the transmission costs are identified and allocated according to the actual usage of consumers at each node. On contingency conditions, the transmission cost allocation will be influenced by the behaviors of DERs since DERs can provide emergent power support to help alleviate transmission congestion. On planning conditions, the transmission costs are useful in the future. The residual costs, i.e., the invalid transmission costs, should not allocated by consumers because this fraction is caused by the over investment of transmission owners. The case studies based on the IEEE 30-bus system validates the effectiveness of the proposed scheme and model. © 2016, Institution of Engineering and Technology. All rights reserved.

关键词： Investments

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Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments 67

Self-supervised learning as an enabling technology for futur...

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67th International Astronautical Congress, IAC 2016

作者： Van Hecke, Kevin De Croon, Guido C.H.E. Hennes, Daniel Setterfield, Timothy P. Saenz-Otero, Alvar Izzo, Dario MAV-Lab. Control and Simulation Faculty of Aerospace Engineering TU Delft Netherlands Advanced Concepts Team of the European Space Agency ESTEC Noordwijk Netherlands Space Systems Lab. Massachusetts Institute of Technology CambridgeMA United States

Future space missions will increasingly rely on the help of robotic systems and in some cases even be performed purely by fully autonomous robots. Currently, robots lack the ability to learn from their environment. Learning is advantageous, since it decreases engineering effort and allows the robot to adapt to specific properties of its potentially yet unknown environment. However, in space robotics machine learning is not yet used, as it introduces extra risk for safety-critical missions. In this talk, we will introduce self-supervised learning as a reliable learning method that allows robots to adapt to their environment. We have previously successfully tested this method for the navigation of autonomous drones on Earth, which showed its potential in terms of reliability for application in space. Here, we will present preliminary results from an ISS test performed with the MIT/NASA SPHERES VERTIGO satellite, which is equipped with a stereo vision system that allows it to see distances and navigate by itself in the ISS. The presented preliminary experiments were performed on October 8th 2015 on board the ISS. In the experiments, the satellite learned by itself how to see distances with a single camera. It did so by using the distance estimates from its stereo vision process as supervised learning targets. The main advantage of this learning method is that the robot becomes robust against losing the images from one of the cameras - it can then still continue to function. The main goals of the experiment were (1) data gathering, and (2) navigation on the basis of stereo vision. First the astronaut Kimya Yui moved the satellite around the Japanese Experiment Module to gather stereo vision data for learning. Subsequently, the satellite freely explored the space in the module based on its (trusted) stereo vision system and a pre-programmed exploration behavior, while simultaneously performing the self-supervised learning on board in the background. The two main goals we

关键词： Satellites

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Measurement techniques on transient process of lightning striking overhead transmission lines

Measurement techniques on transient process of lightning str...

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CIGRE Session 46

作者： Xie, S.J. Li, J.M. Zhang, Y. Zeng, R. Zhuang, C.J. Wang, H. State Grid Sichuan Electric Power Research Institute State Grid Sichuan Electric Power Company China State Key Lab. of Control and Simulation of Power Systems and Generation Equipment Tsinghua University China

Obtaining the lightning strike density along an overhead transmission line and identifying the lightning strike types are the key to evaluating the lightning protection performance and proposing reasonable protection schemes of transmission lines. In addition, the waveform characteristics of lightning invasion overvoltage are the basis to establish the standard on the insulation tests of power equipment. Measuring the transient process of lightning striking overhead transmission lines is the basis to carry out the work mentioned above. In this paper, a distributed measurement method of transient current on conductors caused by lightning strikes is proposed. The measuring units are installed on the field conductors of transmission lines every 30 km to obtain less-distorted transient current waveforms. In order to enable measuring units to work in field isolated environment, a power supply coil using Faraday electric-magnetic effect and a wireless communication module is designed and developed. By far, 4776 measuring units have been installed on 597 transmission lines of China's power grid. According to measured transient current waveforms, the lightning strike point can be located using the double-end or single-end travelling wave location method, and the lightning strike type can also be identified. Moreover, a novel measurement method of lightning transient voltage based on the integrated optical electric field sensor (IOEFS) is proposed. In this method, the transient voltage waveforms are inversed from space electric field waveforms measured by IOEFSs. A series of performance tests of IOEFS have been carried out. The test results indicate that the response speed can reach several nanoseconds, and the frequency response can cover 5Hz∼100MHz which is wide enough for the measurement of the lightning transient voltage. In order to test the field measurement effect, the measurement equipment is used to measure a transient voltage when a group of capacitor voltage trans

关键词： Frequency response

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