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Research Square 2020年

作者： Liu, Daohe Wang, Shoukun Chen, Zhihua Wang, Junzheng Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Sefvo Motion System Drive and Control School of Automation Beijing Institute of Technology Beijing100081 China

In this paper, the foot trajectory tracking control for parallel structure of the six wheel-legged robot is investigated. The accuracy of trajectory tracking and dynamic response with heavy load are the main challenges of parallel mechanism. To guarantee the tracking performance and improve dynamic response frequency to posture input, a method based on dynamic model predictive control is proposed under the establishment of dynamic model of single leg. Newton-Eulerian equation is derived and converted into a discrete state space expression for velocity loop control, appropriate parameters including prediction time domain, control time domain and proportional gain are determined by co-simulation. Desired sinusoidal trajectories with different frequencies are tracked with satisfactory performance in terms of accuracy and response frequency. Finally, comparative experimental results using BIT-NAZA robot derived from the proposed control strategy indicate that the delay error and amplitude error are better than PI controller under the same conditions. This research can provide theoretical and engineering guidance for accurate planning of intelligent robot, and facilitate the control performance of wheel-legged robot in practical system. © 2020, CC BY.

关键词： Dynamic models

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A target tracking algorithm based on mean shift and normalized moment of inertia feature

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Zidonghua Xuebao/Acta Automatica Sinica 2010年第9期36卷 1332-1336页

作者： Gan, Ming-Gang Chen, Jie Wang, Ya-Nan Jin, Dai-Zhong School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China

The paper presents a target tracking algorithm which is based on the mean shift algorithm and the normalized moment of inertia (NMI) feature, because the result of the moving target tracking in the air is not satisfactory by the traditional mean shift tracking algorithm. The NMI feature of the target is introduced, and the studied tracking strategy based on the minimum principle of the false alarm probability and the two-stage decision threshold of the similarity is constructed in the algorithm. The Kalman filter is used for the estimation and prediction when the target is occluded. The experimental results show that with the algorithm even the moving target in the air is in large deformation and occlusion, the system can effectively guarantee that the tracking is real-time and stable. Copyright © 2010 Acta Automatica Sinica. All rights reserved.

关键词： Kalman filters

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Research on Vibration Isolation control of Six wheel-legged Robot Based on Impedance control

Research on Vibration Isolation Control of Six wheel-legged ...

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Chinese control Conference (CCC)

作者： Binkai Yue Shoukun Wang Zhihua Chen Kang Xu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

The electric parallel six wheel-legged robot (EPSWLR) is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order to solve this problem, the single-leg structure based on Stewart structure was equivalent to the impedance system composed of mass block, spring and damping in this paper. Due to changes in environmental forces and environmental impedance parameters caused by environmental changes, the traditional impedance control (IC) still causes force error at the foot end of robot and thus results in poor vibration isolation effect. Therefore, a new adaptive algorithm was proposed in this paper and added to IC algorithm to reduce the force error caused by environmental changes and thus improve the vibration isolation effect. In this paper, the characteristic equation of adaptive impedance control (AIC) algorithm was first obtained and the condition for system stability was calculated based on Routh-Hurwitz stability criterion. Finally, the stability of this system was verified. The simulation experiment combining MATLAB and Adams was designed and performed with EPSWLR. The effectiveness of AIC was proved by monitoring the changes in the force of single leg and the attitude of robot body.

关键词： Force Impedance Integrated circuits Legged locomotion Stability analysis

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Medical Image Segmentation Using Mean Shift Algorithm and General Edge Detection

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IFAC Proceedings Volumes 2011年第1期44卷 9656-9661页

作者： Jinghua Lu Jie Chen Juan Zhang Lihui Zou School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing 100081 China (Tel: 86-010-68913795)

Abstract The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we treat some structures and artifacts as general edge features, and introduce the edge information into the mean shift segmentation algorithm in both clustering and the fusion steps. Considering the medical images as two dimensional signals, the general edge can be detected and described with its local spatial frequency properties. The segmentation results show the improvement in preserving the completeness of details while sketching the overall structures.

关键词： image segmentation signal processing medical application

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Load curve modeling based on behavior analysis of distributed power customers 4

Load curve modeling based on behavior analysis of distribute...

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2019 4th Asia Conference on Power and Electrical Engineering, ACPEE 2019

作者： Han, Xinyang Zhang, Yu Jiao, Yuqiao Zhang, Yue Qu, Yanjing Ding, Min State Grid Energy Research Institute Beijing102200 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China State Grid Shanghai Municipal Electric Power Company Shanghai200122 China

As renewable power generation directly affects the customers' traditional electricity behavior and then offsets the power load, this paper proposes a load curve modeling method for renewable power customers based on the behavior analysis. Firstly, customers' active behavior is represented by the quantity of active customer households. Based on the analysis of customer behaviors, a modeling method for the quantity of active customer households is proposed based on Markov Chain Monte Carlo method. Then, with the inputs as the quantity of active customer households and time of photovoltaic power generation, an inference model based on fuzzy logic is proposed to get the quantity of customer household starting electrical appliances. By combing the average usage time of electrical appliances, load characteristics are analyzed based on usage state of electrical appliance of distributed power customers. Finally, the simulation results verify the effectiveness of the proposed method. © Published under licence by IOP Publishing Ltd.

关键词： Fuzzy logic

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A composite controller strategy for electromechanical actuator using a permanent-magnet synchronous motor

A composite controller strategy for electromechanical actuat...

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Chinese control Conference (CCC)

作者： Chenyi Wang Minggang Gan Zhi Qiao Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing School of Automation Beijing Institute of Technology Beijing

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller. A non-singular terminal sliding mode position controller is used here due to its good performance, under which state errors would converge to zero in finite time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Observers Torque Mathematical model Equations Actuators Synchronous motors Uncertainty

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A state Feedback Voltage controller for Inverter-based Islanded Microgrid

A State Feedback Voltage Controller for Inverter-based Islan...

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第三十九届中国控制会议

作者： Yuqiao Jiao Min Ding Danyun Li Qingyi Wang Zhijian Fang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System

Since there is no external power supply in islanded microgrid, the waveform of output power is extremely vulnerable to negative effects of voltage fluctuation. In this paper, a state feedback voltage controller is proposed to track the reference voltage of the point of common coupling（PCC） for distributed generation unit in an islanded microgrid. It employs the internal model principle and optimal control approach to deal with the changes in the reference voltage. The state feedback gains of the controller are tuned by using the multi-objective genetic algorithm NSGA-II to improve the rapidity and accuracy of voltage tracking performance. Simulations in Matlab/Simulink show the effectiveness of voltage tracking performance with zero steadystate error in changing scenarios.

关键词： Islanded Microgrid Inverter state Feedback controller Optimal control

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Joint task management of sensor and weapon based on distributed management system

Joint task management of sensor and weapon based on distribu...

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Chinese control Conference (CCC)

作者： Zhang Mingyang Chen Chen Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing School of Automation Beijing Institute of Technology Beijing

ISBN: (纸本)9781538629185

In the modern war, many combat units combat collectively has become the main form. In the task management of the combat units, the calculation is large and the real-time requirement is high. To solve the problem better, a joint task management method of sensor and weapon based on distributed management system is proposed. Firstly, the distributed management system is constructed according to the target trajectory and the distribution of combat units. In the system, all the combat units are divided into several combinations, which only consist of a few combat units. As a result, the problem scale is reduced, and the real-time requirement of battlefield is met. Secondly, joint task management model of sensor and weapon is established. We consider time constraints and resource constraints to ensure the feasibility of the attack scheme, and consider the impact between sensor and weapon to achieve better combat effect. A discrete particle swarm optimization algorithm based on crossover strategy (CDPSO) is proposed to solve the model. The results show that the performance of the proposed algorithm is satisfactory in joint task management of sensor and weapon.

关键词： Weapons Distributed management Command and control systems Time factors Mathematical model Data processing Real-time systems

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Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Adaptive sliding mode control for spacecraft attitude maneuv...

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UKACC International Conference on control (control)

作者： Binglong Cong Xiangdong Liu Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the system uncertainty is unknown in advance. Unlike existing ASMC design, which may result in an over-adaptation of the upper bound when the initial system trajectory is located far from the sliding surface, this paper presents a novel ASMC strategy by introducing a decay term in the sliding function to reduce or eliminate the unrelated factor in the adaptation scheme. Consequently, a lower-chattering control signal is achieved. Simulation results are presented to illustrate the effectiveness of the proposed strategy.

关键词： Uncertainty Switches Algorithm design and analysis Materials requirements planning Attitude control Space vehicles Vectors

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Generating Waste Heat Energy from CPU Based on Thermoelectric Power Generator

Generating Waste Heat Energy from CPU Based on Thermoelectri...

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Chinese automation Congress (CAC)

作者： Kun Qian Yeyun Cai Kun Xu Fang Deng School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781665426480

Heat dissipation is extremely important for electronic component such as CPU or GPU of the computer. Now most researchers only design optimal heat sink for CPU for better heat dissipation, while few of them consider waste heat recycling of CPU. The CPU can be used as the heat source, while the original system has fan and heat sink as the cooling system. Thus, the original CPU working condition is very suitable for thermoelectric power generation and will bring great benefit to system itself. However, adding thermoelectric generator will increase the temperature of CPU, which will decrease the performance of the computer. It is necessary to reduce the hot side temperature while generating energy as much as possible. To achieve this, this paper designed a kind of intelligent waste heat generation system based on thermoelectric power generator. Three different shape heat sinks are designed, contrasted, and tested. By building experimental platform and establishing simulation model, the power of thermoelectric power generation and temperature change of the three heat sink structures are compared. The fin shaped heat sink is considered has the best output performance while keeping the hot side temperature within the acceptance range. The maximum output power is 10.67mW, and the maximum hot side temperature is 72°C during the experiment.

关键词： Temperature distribution Shape Cogeneration Generators Central Processing Unit Waste heat Trigeneration

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