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Distributed Data-Driven Secure Cooperative control for a Connected Homogeneous Vehicle Platoon Under Denial-of-Service Attacks

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhu, Panpan Jin, Shangtai Bu, Xuhui Hou, Zhongsheng Shi, Lei Zhou, Yi Henan University School of Artificial Intelligence Zhengzhou450046 China Beijing Jiaotong University Institute of Advanced Control System the School of Automation and Intelligence Beijing100044 China Henan Polytechnic University School of Electrical Engineering and Automation Henan 454000 China Qingdao University School of Automation Qingdao266071 China

This paper investigates a distributed data-driven secure coordination (DDDSC) control strategy for a connected homogeneous vehicle (CHV) platoon under denial of service (DoS) attacks. First, a DoS attack model is established based on the characteristics of DoS attacks, and a corresponding attack compensation algorithm is given. Then, a novel distributed data-driven CHV platoon coordination control method is designed using a radial basis function neural network (RBFNN). The convergence speed and accuracy of the control algorithm are enhanced by approximating and predicting the time-varying parameter pseudo gradient (PG) that characterizes the input-output relationship estimation. Theoretical analysis shows that the proposed algorithm ensures individual vehicles' internal stability and the platoon system's string stability when subjected to DoS attacks. Finally, a group of virtual simulation control experiments compares the tracking control effects of the CHV platoon under different algorithms in the presence of the same DoS attack, verifying the effectiveness and practicality of the proposed DDDSC control method. © 1967-2012 IEEE.

关键词： Stabilization

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Research On Intelligent Independent Load control Method Of Digital Electro-Hydraulic Actuator Of Rocket Nozzle

Research On Intelligent Independent Load Control Method Of D...

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2022 CSAA/IET International Conference on Aircraft Utility systems, AUS 2022

作者： Zhao, Tianyu Wu, Shuai Li, Wending Wang, Yi Fang, Cheng Fu, Junyong Yang, Jiaqiang Li, Chunfang School of Automation Science and Electrical Engineering Beihang University Beijing100006 China Ningbo Institude of Technology Ningbo315832 China Shanghai Aerospace Control Technology Institute Shanghai201109 China Shanghai Servo-system Engineering Research Center Shanghai20110 China Beijing Power Machineries Institution Beijing100074 China

ISBN: (数字)9781839537769

ISBN: (纸本)9781839537769

In this paper, an intelligent position control method based on independent load control is designed for digital electro-hydraulic actuator of rocket nozzle, which can achieve smooth position control of digital electro-hydraulic actuator. According to the requirements of rocket nozzle, the matching design of digital valve set is completed. Combining the independent load characteristics and energy efficiency characteristics of digital valve system, an intelligent research algorithm of position control is improved and put forward. In this paper, a complete digital electro-hydraulic actuator system model of rocket nozzle is established, and the control effect of position control algorithm is verified by simulation algorithm. The simulation results show that, compared with the input amplitude of 100mm, the following error of the system is 0.3mm, which achieves higher control precision and has better rapidity and high-frequency response characteristics. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Position control

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control Analysis of Propfan Engine Based on Dual Redundancy Electro-hydrostatic Actuator

Control Analysis of Propfan Engine Based on Dual Redundancy ...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Cun Shi Qiyang Wang Jing Chen Siming Fan Xingjian Wang Shaoping Wang School of Automation Science and Electrical Engineering Beihang University Beijing China Ningbo Innovation Research Institute Beihang University Ningbo China AECC Aero-Engine Control System Institute Wuxi China

With the advantages of high fault tolerance, high reliability, high dynamic response and high power-to-weight ratio, the propfan engine is one of the most promising aircraft propulsion systems. In this paper, the model and control method of controlling the thrust of the propfan engine by controlling the blade pitch angle through the dual redundant electro-hydrostatic actuator (EHA) are constructed. The variable pitch propfan engine model is constructed by physical mathematical analysis, interpolation fitting and so on. The thrust control of variable pitch engine by dual redundancy EHA is completed by two-phase current control, fuzzy control and other control methods. The reliability of the constructed model and the better response characteristics of the design control method are verified by comparing the simulation experiment with the public data set. This paper provides a reference for thrust control of variable pitch propfan engine.

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Lightweight hybrid visual-inertial odometry with closed-form zero velocity update

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Chinese Journal of Aeronautics 2020年第12期33卷 3344-3359页

作者： QIU Xiaochen ZHANG Hai FU Wenxing School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beijing 100191China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing 100074China

Visual-Inertial Odometry(VIO) fuses measurements from camera and Inertial Measurement Unit(IMU) to achieve accumulative performance that is better than using individual *** VIO is an extended Kalman filter-based solution which augments features with long tracking length into the state vector of Multi-State Constraint Kalman Filter(MSCKF). In this paper, a novel hybrid VIO is proposed, which focuses on utilizing low-cost sensors while also considering both the computational efficiency and positioning precision. The proposed algorithm introduces several novel contributions. Firstly, by deducing an analytical error transition equation, onedimensional inverse depth parametrization is utilized to parametrize the augmented feature *** modification is shown to significantly improve the computational efficiency and numerical robustness, as a result achieving higher precision. Secondly, for better handling of the static scene,a novel closed-form Zero velocity UPda Te(ZUPT) method is proposed. ZUPT is modeled as a measurement update for the filter rather than forbidding propagation roughly, which has the advantage of correcting the overall state through correlation in the filter covariance matrix. Furthermore, online spatial and temporal calibration is also incorporated. Experiments are conducted on both public dataset and real data. The results demonstrate the effectiveness of the proposed solution by showing that its performance is better than the baseline and the state-of-the-art algorithms in terms of both efficiency and precision. A related software is open-sourced to benefit the community.

关键词： Inverse depth parametrization Kalman filter Online calibration Visual-inertial odometry Zero velocity update

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A Mixed Integer Linear programming Model for the Distribution of Transport Tasks Among Heterogeneous Robots in a Factory

A Mixed Integer Linear Programming Model for the Distributio...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Igor Pardal Latini Wilson Eduardo Barioni Marco Teixeira Flavio Neves-Jr Lucia Valeria Ramos de Arruda CPGEI-UTFPR Curitiba Parana Brazil Universidade Tecnologica Federal do Parana (UTFPR) Curitiba Parana Brazil Automation and Advanced Control System Laboratory (LASCA) Graduate Program in Electrical and Computer Engineering (CPGEI) Pontificia Universidade Catolica do Parana (PUCPR) Curitiba Parana Brazil PPGla-PUCPR Curitiba Parana Brazil

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

The growing need for automation of factories and their processes determines a constant increase in the use of robots to carry out various tasks. Multiple robots can do different tasks simultaneously, speeding up processes. This practice raises the question of how many robots are needed to service the entire process, given all the limitations of the operation. One of these limitations is due to the navigation systems used by the several robots in the environment. Line-followers robots, for example, can only meet some tasks but are cheaper than free-movement ones. In this work, we develop an optimization model for task allocation among the available robots to minimize execution delays using mixed integer linear programming, considering their navigation systems. With the model, it is possible to obtain the best task allocation for each robot and the order to perform such tasks, thus avoiding delays as much as possible and getting zero delays for the presented case, that emulates the process of a vehicle assembler factory line.

关键词： Service robots Navigation Search problems Production facilities Delays Mixed integer linear programming Batteries

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General Impedance Modeling for Modular Multilevel Converter with Grid-forming and Grid-following control

arXiv

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arXiv 2024年

作者： Sun, Chu Zhang, Fei Xiao, Huafeng Wang, Na Chen, Jikai The School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm11428 Sweden The School of Electrical Engineering Southeast University Nanjing210096 China The School of Automation Science and Electrical Engineering Beihang University Beijing100191 China The Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin132012 China

Modular multilevel converter (MMC) has complex topology, control architecture and broadband harmonic spectrum. For this, linear-time-periodic (LTP) theory, covering multi-harmonic coupling relations, has been adopted for MMC impedance modeling recently. However, the existing MMC impedance models usually lack explicit expressions and general modeling procedure for different control strategies. To this end, this paper proposes a general impedance modeling procedure applicable to various power converters with grid-forming and grid-following control strategies. The modeling is based on a unified representation of MMC circuit as the input and output relation between the voltage or current on the AC side and the exerted modulation index, while the control part vice versa, thereby interconnected as closed-loop feedback. With each part expressed as transfer functions, the final impedance model keeps the explicit form of harmonic transfer function matrix, making it convenient to directly observe and analyze the influence of each part individually. Thereby the submodule capacitance is found as the main cause of difference between MMC impedance compared to two-level converter, which will get closer as the capacitance increases. Effectiveness and generality of the impedance modeling method is demonstrated through comprehensive comparison with impedance scanning using electromagnetic transient simulation. Copyright © 2024, The Authors. All rights reserved.

关键词： Harmonic analysis

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Temperature monitoring system in an industrial facility using NI myRIO equipment and I2C sensors

Temperature monitoring system in an industrial facility usin...

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International Carpathian control Conference (ICCC)

作者： Nicolae Patrascoiu Cosmin Rus Ioana Nicoleta Negru Department of Automation Computers Electrical and Power Engineering University of Petrosani Petrosani Romania System control&#x2013 Doctoral School University of Petrosani Petrosani Romania

This paper presents an extremely reliable and easy to implement approach to a temperature monitoring system in a particular location. The entire system is built around a National Instrument myRIO-1900 equipment. NI myRIO-1900 is a portable I/O device that is designed for the academic environment and not only and is much more reliable than any Arduino development board and is much easier to program than any Raspberry PI board - the main competitors in terms of regarding the development of monitoring and control devices for civil use. For this application the programming of this equipment is done in the programming language LabView. The acquisition of ambient temperature data is done using Pmod TMP3 modules which are built around the TCN75A microchip sensor. The communication that allows the data acquisition is made through the I 2 C communication protocol.

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A Storage and Transmission Joint Planning Method for Centralized Wind Power Transmission

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Computers, Materials & Continua 2021年第7期68卷 1081-1097页

作者： Xiuyu Yang Qi Guo Jianzhong Gui Renyong Chai Xueyuan Liu Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology(Northeast Electric Power University) Jilin132012China Electrical Engineering-PHD program at the University of Idaho Idaho83843America State Grid Jiangxi Power Supply Company Xinyu338025China

Centralized delivery has become the main operation mode under the scaled development of wind *** channels are usually the guarantee of out-delivered wind power for large-scale wind *** configuration of transmission capacity,which has the features of low utilization and poor economy,is hardly matching correctly due to the volatility and low energy density of *** usage of energy storage can mitigate wind power fluctuations and reduce the requirement of out-delivery transmission capacity,but facing the issue of energy storage cost ***,it is necessary to optimize the allocation of energy storage while considering the problem of wind power *** paper studies the joint optimization of large-scale wind power transmission capacity and energy storage,reveals the mechanism of energy storage in order to reduce the power fluctuation of wind power base and slow down the demand of ***,analyze the multi-functional cost-sharing mode of energy storage,improve the efficiency of energy storage cost *** the coordination optimization configuration model to deal with the problem of large-scale wind power transmission capacity and energy storage,and realizes the transmission capacity optimization coordination and optimization with energy *** proposed method is verified by a wind base located in Northeast China.

关键词： Wind farm group energy storage configuration transmission capacity coordination and optimization

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Improvement of the electrical Properties of Silicone Rubber Doped with Nano-zirconia Grafted by Voltage Stabilizer

Improvement of the Electrical Properties of Silicone Rubber ...

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International Conference on electrical Materials and Power Equipment (ICEMPE)

作者： Xiaoqian Zhu Yuanxiang Zhou Yunxiao Zhang Ming Chen Xuanhao Liu State Key Lab of Control and Simulation of Power System and Generation Equipment & Department of Electrical Engineering Tsinghua University Beijing China College of Electrical Engineering and Automation Fuzhou University Fuzhou China Xiamen Power Supply Company State Grid Fujian Electric Power Company Xiamen China The Wind Solar Storage Division of State Key Laboratory of Control and Simulation of Power System and Generation Equipment School of Electrical Engineering Xinjiang University Urumqi China

Enhancing the electrical performance of silicone rubber (SiR) for cable accessories is noteworthy as they are almost the weakest parts of the cable system. Two types of voltage stabilizers were grafted onto the surface of nano-zirconia (ZrO 2 ) particles, and the grafted nanoparticles were added to the SiR. Measurements such as breakdown strength, and conductivity were carried out to evaluate the electrical performance of SiR nanocomposites. The electrical performance measurement results indicated that the breakdown strength of the nanocomposite SiR improved while the conductance current was reduced. The trap distribution showed that the improvement of the electrical performance of the nanocomposite SiR is mainly due to the decrease of the shallow trap density or the increase of the deep trap density.

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A Novel Integrated Energy Management Strategy of Energy Storage system for a Pure Electric-Driven Mining Hydraulic Excavator

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Chinese Journal of Mechanical engineering 2025年第2期 465-481页

作者： Tao Qin Yunhua Li Long Quang Yu Yao Liman Yang School of Automation Science and Electrical Engineering Beihang University Beijing Tianma Intelligent Control Technology Co. Ltd. Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of Technology

Using electric motors instead of diesel engines as the driving system for mining excavators can reduce the energy consumption and operating costs. However, pure electric-driven mining excavators are prone to unexpected power outages in mines because of drastic changes in load power, leading to significant fluctuations in the power demand of the grid, which in turn affects production. To solve the above problem, a pure electric-driven mining hydraulic excavator based on electric-motor-driven swing platform and hydraulic pumps was used as the research object. Moreover, supercapacitors and DC/DC converter, as the energy storage system(ESS) adjust the output power of the grid and recover the braking kinetic energy of the swing platform. Subsequently, a novel integrated energy management strategy for a DC bus voltage predictive controller based on the power feedforward of fuzzy rules is proposed to run mining excavators efficiently and reliably. Specifically, the working modes of the ESS are determined by the DC bus voltage and state of charge(SOC) of the supercapacitor. Next, the output power of the supercapacitor and the DC bus voltage were controlled by adjusting the charging and discharging currents of the DC/DC converter using a predictive controller and fuzzy rules. In addition, a digital prototype of the excavator was verified using an original machine test. The performance of the different strategies and driven systems were analyzed using digital prototypes. The results showed that, compared with traditional excavators with diesel engines, the operational cost of the developed excavators was reduced by 54.02%. Compared to pure electric-driven excavators without an ESS, the peak power of the grid for the developed excavators was reduced by 10%. This study designed an integrated energy management strategy for a pure electric mining excavator that can regulate the power output of the grid and maintain the stability of the bus voltage and SOC of the ESS.

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