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Dynamic State Estimation for Power system with Communication Constraint Using Event-Triggered Cubature Kalman Filter

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Journal of Beijing Institute of technology (English Edition) 2021年第ZK期30卷 129-140页

作者： Wei, Minfeng Xu, Min Zhang, Fengdi School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing100854 China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing100854 China

Accurate dynamic state estimation plays an important role in power systems. Although various filtering algorithms, such as unscented Kalman filter (UKF) and particle filter (PF), have been proposed based on phasor measurement units (PMUs), they occupy a huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are widely applied in smart grids. In order to relieve this communication burden, the event-triggered cubature Kalman filter (ETCKF) is proposed based on the stochastic event-triggered schedule in this paper, which guarantees that only the measurements containing innovational information are transmitted and has advantages over other event-triggered schedules, such as the deterministic event-triggered schedule, since it can maintain the Gaussian property of the conditional distribution of the system state. Based on the developed nonlinear event-triggered schedule, the cubature Kalman filter (CKF), using the third-degree spherical-radial cubature rule, further provides more accurate estimation than UKF and has lower computational complexity than PF. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method. © 2020 Journal of Beijing Institute of technology

关键词： Phasor measurement units

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PI Tuning and Optimization for Speed control of PMSM Based on Multivariable Sliding-Mode Extremum Seeking

PI Tuning and Optimization for Speed Control of PMSM Based o...

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第34届中国控制与决策会议

作者： Fan Li Wei Shen Chuanyu Ge Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781665478977

The PI controller is the most basic and widely used for the permanent magnet synchronous motor speed *** cumbersome parameter adjustment process makes it difficult for the PI controller to balance convenience and *** this end,this paper presents a new PI tuning and optimization scheme based on multivariable sliding-mode extremum ***,by analyzing the frequency domain model of permanent magnet synchronous motor,the analytical calculation formulas of controller parameters and motor parameters are derived as the initial value of PI parameter ***,a multivariable sliding-mode extremum seeking optimizer is designed to optimize the control parameters by minimizing the cost function based on the feedback error *** feasibility of the above scheme is proved by theoretical derivation,and the simulation and experimental results also verify the feasibility and effectiveness of the proposed method.

关键词： permanent-magnet synchronous motor(PMSM) multivariable sliding mode extremum seeking(MSME) self-tuning parameter optimization

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SAR Image Registration Based on Feature Points Using Improved CSP-DenseNet

SAR Image Registration Based on Feature Points Using Improve...

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Pattern Recognition and Artificial Intelligence (PRAI), International Conference on

作者： Ziwei Wang Yanjiao Yang Guangzhou Qu Qingxi Chi Beijing Electro-Mechanical Engineering Institute Beijing China Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

Synthetic aperture radar (SAR) image registration is widely used in integrated navigation system with development of guidance system in sensors and other applications. However, there exists some difficulty because of the quality and imaginary principle of SAR images. In this article, a brand-new method based on feature points using improved CSP-DenseNet is proposed to solve the problems of SAR image registration with weak and noisy texture. Deep features of interest points in SAR images are extracted using the proposed network from the crops of search image and template image respectively. The method has an advantage of preserving abundant feature information in SAR images under the influence of insufficient image information and noise of SAR images. The CSP-DenseNet architecture has a cross-stage construction optimizing fused by CSP-Net and DenseNet to extract matching features. The network is partially connected in specific convolutional layers for feature reusing and computation resources saving. Then, Brute Force Matcher and RANSAC voting are successively applied for a larger number of matching pairs and high-precise matching vertexes. Experimental results on various SAR image matching methods show that the proposed method provides better performance than other approaches compared.

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A Digital Closed-Loop control Method for a MEMS Quadruple Mass Gyroscope

A Digital Closed-Loop Control Method for a MEMS Quadruple Ma...

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IEEE Information technology, Networking, Electronic and Automation control Conference

作者： Xinyuan Wang Zhuolin Yu Yi Zhou Tong Zhou Yan Su School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China Jiangsu Research Center for Intelligent Navigation and Control of Complex Motion Nanjing China

ISBN: (数字)9798350370805

ISBN: (纸本)9798350370812

To address the issues of quadrature stiffness coupling and mode frequency splitting in MEMS quadruple mass gyroscopes, a digital closed-loop control method for MEMS quadruple mass gyroscopes is proposed. First, a quadrature stiffness coupling correction method is used to suppress quadrature errors in the MEMS quadruple mass gyroscope, reducing the impact of these errors on the accuracy of angular rate detection. Next, an electrostatic negative stiffness tuning technique is employed to achieve one-time mode matching for the gyroscope, enhancing its signal-to-noise ratio. Finally, force balance mode is used to detect angular rate, improving the gyroscope's operational bandwidth and reducing nonlinearity. Experimental results show that with this method, the bias instability of the MEMS quadruple mass gyroscope is 0.55°/h, and the angle random walk is 0.31 °/ √b. The experimental results demonstrate that the MEMS quadruple mass gyroscope using this digital closed-loop control method achieves high performance and accuracy.

关键词： Micromechanical devices Couplings Accuracy Force Bandwidth Gyroscopes Electrostatics Information technology Tuning Signal to noise ratio

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Experimental Design of Lower-limb Movement Recognition Based on Support Vector Machine 41

Experimental Design of Lower-limb Movement Recognition Based...

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第41届中国控制会议

作者： Wangyang Ge Juan Zhao Feng Wang Chi Xu Zhaohui Yang Jinhua She School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Rehabilitation Union HospitalTongji Medical CollegeHuazhong Univ.Science & Technology School of Engineering Tokyo University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As a rehabilitation aid,the lower extremity rehabilitation robot usually works together with the patient during the rehabilitation training process,and achieves therapeutic effects by assisting the patient to complete movements within a certain trajectory for *** realize the active training of the rehabilitation robot,the rehabilitation robot needs to be able to recognize the patient's movement intention and cooperate with *** signals contain rich neuromuscular movement information and are often used to extract patients' movement *** this paper,using the principle of human lower extremity force generation,we designed an experiment for lower extremity action recognition of sEMG *** extracting the composition of feature vectors through time-domain feature values,we designed an SVM classifier to achieve the classification of five common lower extremity actions and obtained an average accuracy rate of 90.66% through the experiment,which verified the effectiveness of the experimental design.

关键词： sEMG signal SVM movement recognition lower-limb

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Digital Closed-Loop control Method for MEMS Quad-Mass Gyroscope Based on Synchronous Integrator Demodulation

Digital Closed-Loop Control Method for MEMS Quad-Mass Gyrosc...

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IEEE Information technology, Networking, Electronic and Automation control Conference

作者： Zhuolin Yu Yi Zhou Xinyuan Wang Tong Zhou Yan Su School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China Jiangsu Research Center for Intelligent Navigation and Control of Complex Motion Nanjing China

ISBN: (数字)9798350370805

ISBN: (纸本)9798350370812

Traditional demodulation algorithms for microelectromechanical systems (MEMS) gyroscopes exhibit poor noise resistance and demodulation misalignment. This paper proposes a digital closed-loop control method for MEMS Quad-Mass Gyroscopes (QMG) based on a synchronous integrator demodulation (SID) algorithm, achieving demodulation output of drive/detection signals. Utilizing the SID algorithm, a digital closed-loop measurement and control system for MEMS gyroscopes is established. In the drive mode closed-loop, phase-locked loop technology and automatic gain control technology ensure constant amplitude and frequency resonance of the gyroscope. For the sensing mode, the quadrature stiffness correction method is employed to correct quadrature errors, suppressing the impact of these errors on bias output. Electrostatic feedback is used to suppress the Coriolis force signal, allowing the gyroscope to operate in a force balance mode. Experimental results show that with the multiplication demodulation (MD) method, the bias instability of the MEMS QMG is 0.407°/h and the angle random walk is $0.137^{\circ}/\sqrt{\mathrm{h}}$ . With the SID, the bias instability reduces to 0.192°/h and the angle random walk to $0.039^{\circ}/\sqrt{\mathrm{h}}$ , representing a 2.1 times reduction in bias instability and a 3.5 times reduction in angle random walk. These results verify the effectiveness of the proposed method.

关键词： Micromechanical devices Resistance Noise Force Resonant frequency Resonance Gyroscopes Sensors Phase locked loops Demodulation

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Hierarchy-based extended CBBA for multi-robot task assignment

Hierarchy-based extended CBBA for multi-robot task assignmen...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Jiajun Xia, Weiguo Li, Fuqiang Wang, Peng China National Aeronautical Radio Electronic Research Institute National Key Laboratory of Science and Technology on Avionics System Integration China Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9781665465335

This paper studies the task assignment problem of a multi-robot system with complex constraints including the robot speed limit, the task execution time window constraints, the arrival time, the trip cost, and different priorities of the tasks. A new bidding function is then designed for each robot. Based on the k-means algorithm, a hierarchy-based extended consensus-based bundle algorithm (CBBA) is proposed to find the optimal solution for the task allocation problem. Finally, simulation examples are presented to show the feasibility of the proposed algorithm and comparisons with existing algorithms show that the proposed algorithm can reduce the task assignment time with guaranteed reward values. © 2022 IEEE.

关键词： Multipurpose robots

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Anti-occlusion Object Tracking Algorithm using Response Template Fusion and Combined Features

Anti-occlusion Object Tracking Algorithm using Response Temp...

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第35届中国控制与决策会议

作者： Jing Wang Yuan Wei Yisong Liu Weichao Huang Ming Hu Faculty of Printing Packaging Engineerring And Digital Media Technology Xi'an University of Technology Shannxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

The kernel correlation filtering algorithm cannot judge the occlusion by itself when the object is occluded byforeign objects,and the tracking performance is greatly *** at this problem,this paper proposes an anti-occlusion object tracking algorithm that fuses response templates and combined *** peak sidelobe ratio(PSR) is used to determine whether the object is *** the object is partially occluded,a combined feature representation object model is introduced to enhance robustness,and a multi-response template with anti-occlusion performance is constructed to improve the performance of the object when it is occluded by foreign *** problem of reducing the available information,thereby improving algorithm *** in the OTB-100 data set can prove that the success rate and accuracy of the algorithm have competitive results compared with the comparison algorithms.

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Event-triggered H∞ Consensus of Leader-follower Multi-agent systems 43

Event-triggered H∞ Consensus of Leader-follower Multi-agent...

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43rd Chinese control Conference, CCC 2024

作者： Gong, Cheng Ai, Chenguang Zuo, Xuemin Ma, Zhuang Dai, W. Hebei Jianzhi Casting Group Ltd Pangzhuangzi Yutian County Tangshan064100 China College Tangshan University Key Lab of Intelligent Data Information Processing and Control of Hebei Province Key Lab of Intelligent Motion Control System of Tangshan City Intelligence and Information Engineering Tangshan063000 China North China University of Science and Technology College of Electrical Engineering Tangshan063210 China Kernel University FullertonCA92832 United States

ISBN: (纸本)9789887581581

This paper discusses the H∞ consensus problem of leader-follower multi-agent systems. The controller for each agent is crafted to utilize comprehensive information from all connected agents, while an innovative event-triggered strategy is incorporated to minimize communication costs. Based on the Lyapunov function theory, an H∞ controller is proposed that can ensure both system stability and a prescribed disturbance attenuation level γ. Finally, a numerical example validated the effectiveness of the proposed method. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Automatic Testing for The Computer Interlocking system and Test Sequence Optimisation 12

Automatic Testing for The Computer Interlocking System and T...

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12th International Conference on Transportation and Traffic Engineering, ICTTE 2023

作者： Huang, Xuguang Yang, Yang Zhang, Yadong Ma, Liang School of Information Science and Technology Southwest Jiaotong University Chengdu China The Centre of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Sichuan Engineering Research Centre of Train Operation Control Technology Southwest Jiaotong University Chengdu China

ISBN: (纸本)9781839539954

The Computer Interlocking system, as a pivotal technology ensuring the efficient and safe operation of railways, needs undergo rigorous testing and verification prior to its practical implementation. Addressing the prevailing issue of suboptimal testing efficiency, this study introduces a method for establishing a third-party automated testing platform and offers improvements to the sequencing of test cases. Initially, leveraging image recognition technology, we constructed an automated testing platform for the Computer Interlocking system, facilitating the auto-generation of yard data and the automatic execution, and verification of test cases. Subsequently, an enhanced simulated annealing algorithm was proposed, optimising the sequence of route test cases and reducing testing duration. Lastly, we performed exemplar tests on the standard station simulation interlocking software. The results revealed that the platform autonomously generated 119 equipment data sets and 564 function test cases, with the function tests taking 3374 seconds, marking a 19.2% reduction in testing time. Upon the completion of the function tests, 15,109 formal test cases were produced, all executed as anticipated and yielding a comprehensive test report. © The Institution of Engineering & technology 2023.

关键词： Simulated annealing

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