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Virtual inertia control strategy of doubly-fed induction generator with additional inertia and damping torque

IOP Conference Series: Earth and Environmental Science 2018年第1期188卷

作者： Q Y Ren M H Qian C L Zhu D W Zhao H M Liu L Z Zhu G J Li College of Energy and Electrical Engineering Hohai University Nanjing 211100 China State Key Laboratory of Operation and Control of Renewable Energy & Storage Systems China Electric Power Research Institute Beijing China Jiangsu Engineering Technology Research Center for Energy Storage Conversion and Application China Electric Power Research Institute Nanjing China

Doubly-fed induction generator (DFIG) with dual Pulse-Width Modulation (PWM) converter cannot maintain the active power balance or voltage stability of the power grid self-synchronously because of lacking mechanical inertia and mechanical damping. The virtual synchronous generator (VSG) technology can help solve this problem through simulating the mechanical equation and electromagnetic equation of synchronous generator to control the grid-connected converter. However, under the common first-order virtual inertia link used in the VSG control scheme, while DFIG providing active power support, there exists second frequency dip and the rotor speed recovers slowly, which is not conducive for DFIG to provide continuous and effective virtual inertia support. In order to overcome the drawbacks as well as avoid second frequency dip, this paper puts forward a virtual inertia control strategy of DFIG with additional inertia and damping torque. The additional torque is achieved by proportional-derivative (PD) controller with rotor slip as an input signal. Simulation results on DIgSILENT/powerfactory platform show that the proposed control strategy is effective to reduce frequency deviation and recover the rotor speed faster without second frequency dip phenomenon.

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A Novel Tool Wear Measurement Method in Ultra-precision Raster Milling 4th

A Novel Tool Wear Measurement Method in Ultra-precision Rast...

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4th Asia Pacific Conference on Optics Manufacture, APCOM 2014

作者： Zhang, Guoqing To, Suet College of Mechatronics and Control Engineering Shenzhen University Shenzhen China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Shenzhen Research Institute of The Hong Kong Polytechnic University Shenzhen China

ISBN: (纸本)9783038356387

Tool wear measurement has drawn a significant of attention in the past decades. However, no research has been found on the investigation of tool wear measurement in ultra-precision raster milling (UPRM) process since it is a relative complex cutting process. In the present study, tool wear characteristics were identified by using cutting chip morphologies and a groove cutting. Tool wear investigation using cutting chips is effective because diamond tool wear characteristics can be directly imprinted on the cutting chip surface. Through the inspection of chip surfaces, the profile and location of the tool fracture can be identified. Also, through the groove cutting, the cutting edge retreat due to the tool flank wear can be identified. In this research, a mathematical model was established to calculate the tool retreat. The experimental result shows that the proposed tool wear investigation method is an effective method. © 2016 Trans Tech Publications Ltd, Switzerland.

关键词： Milling (machining)

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Enhanced biologically inspired model for image recognition based on a novel patch selection method with moment

arXiv

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arXiv 2017年

作者： Lu, Yan-Feng Jia, Li-Hao Qaio, Hong Li, Yi Research Center for Brain-inspired Intelligence Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai China School of Information Engineering Nanchang University Nanchang China

Biologically inspired model (BIM) for image recognition is a robust computational architecture, which has attracted widespread attention. BIM can be described as a four-layer structure based on the mechanisms of the visual cortex. Although the performance of BIM for image recognition is robust, it takes the randomly selected ways for the patch selection, which is sightless, and results in heavy computing burden. To address this issue, we propose a novel patch selection method with oriented Gaussian-Hermite moment (PSGHM), and we enhanced the BIM based on the proposed PSGHM, named as PBIM. In contrast to the conventional BIM which adopts the random method to select patches within the feature representation layers processed by multi-scale Gabor filter banks, the proposed PBIM takes the PSGHM way to extract a small number of representation features while offering promising distinctiveness. To show the effectiveness of the proposed PBIM, experimental studies on object categorization are conducted on the CalTech05, TU Darmstadt (TUD), and GRAZ01 databases. Experimental results demonstrate that the performance of PBIM is a significant improvement on that of the conventional BIM. Copyright © 2017, The Authors. All rights reserved.

关键词： Image enhancement

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Push recovery for the standing under-actuated bipedal robot using the hip strategy

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Frontiers of Information technology & Electronic Engineering 2015年第7期16卷 579-593页

作者： Chao LI Rong XIONG Qiu-guo ZHU Jun WU, Ya-liang WANG Yi-ming HUANG State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplified dynamic model of a bipedal robot in the stance phase, it is found that horizontal stability can be maintained with a suitably controlled torque applied at the hip. However, errors in the angle or angular velocity of body posture may appear, due to the dynamic coupling of the transla- tional and rotational motions. To solve this problem, different hip strategies are discussed for two cases when （1） external dis- turbance is applied on the center of mass （CoM） and （2） external torque is acting around the CoM, and a universal hip strategy is derived for most disturbances. Moreover, three torque primitives for the hip, depending on the type of disturbance, are designed to achieve translational and rotational balance recovery simultaneously. Compared with closed-loop control, the advantage of the open-loop methods of torque primitives lies in rapid response and reasonable performance. Finally, simulation studies of the push recovery of a bipedal robot are presented to demonstrate the effectiveness of the proposed methods.

关键词： Push recovery Balance control Bipedal robot Hip strategy

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Consensus control for Second-Order Multi-Agent with Time-Delay on Antagonistic Networks

Consensus Control for Second-Order Multi-Agent with Time-Del...

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第35届中国控制会议

作者： Penglin LI Yue LIU Yadong ZHAO Jie YANG Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University State Key Laboratory of Industrial Control Technology Institute of Industrial Process ControlCollege of Control Science and EngineeringZhejiang University Key Laboratory of System Control and Information Processing Ministry of Education

ISBN: (纸本)9781509009107

In this paper,we discuss consensus problems for antagonistic networks with double integrator *** cases are analyzed:(1) undirected graphs with fixed topology on antagonistic networks;(2) undirected graphs with fixed topology and time-delay on antagonistic *** both cases,distributed consensus protocols are proposed,with sufficient and necessary conditions *** is proved that the largest tolerable time-delay is only related to the largest eigenvalue of the graph ***,simulations are provided to demonstrate the obtained theoretical results.

关键词： Consensus Fixed Topology Multi-agent Antagonistic Networks Time-delay

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Critical science plan for the Daniel K. Inouye Solar Telescope (DKIST)

arXiv

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arXiv 2020年

作者： Rast, Mark P. Bello González, Nazaret Bellot Rubio, Luis Cao, Wenda Cauzzi, Gianna DeLuca, Edward de Pontieu, Bart Fletcher, Lyndsay Gibson, Sarah E. Judge, Philip G. Katsukawa, Yukio Kazachenko, Maria D. Khomenko, Elena Landi, Enrico Martínez Pillet, Valentin Petrie, Gordon J.D. Qiu, Jiong Rachmeler, Laurel A. Rempel, Matthias Schmidt, Wolfgang Scullion, Eamon Sun, Xudong Welsch, Brian T. Andretta, Vincenzo Antolin, Patrick Ayres, Thomas R. Balasubramaniam, K.S. Ballai, Istvan Berger, Thomas E. Bradshaw, Stephen J. Carlsson, Mats Casini, Roberto Centeno, Rebecca Cranmer, Steven DeForest, Craig Deng, Yuanyong Erdélyi, Robertus Fedun, Viktor Fischer, Catherine E. González Manrique, Sergio J. Hahn, Michael Harra, Louise Henriques, Vasco M.J. Hurlburt, Neal E. Jaeggli, Sarah Jafarzadeh, Shahin Jain, Rekha Jefferies, Stuart M. keys, Peter H. Kowalski, Adam F. Kuckein, Christoph Kuhn, Jeffrey R. Liu, Jiajia Liu, Wei Longcope, Dana James McAteer, R.T. McIntosh, Scott W. McKenzie, David E. Paz Miralles, Mari Morton, Richard J. Muglach, Karin Nelson, Chris J. Panesar, Navdeep K. Parenti, Susanna Parnell, Clare E. Poduval, Bala Reardon, Kevin P. Reep, Jeffrey W. Schad, Thomas A. Schmit, Donald Sharma, Rahul Socas-Navarro, Hector Srivastava, Abhishek K. Sterling, Alphonse C. Suematsu, Yoshinori Tarr, Lucas A. Tiwari, Sanjiv Alexandra, Tritschler Verth, Gary Vourlidas, Angelos Wang, Haimin Wang, Yi-Ming Department of Astrophysical and Planetary Sciences University of Colorado BoulderCO80309 United States Laboratory for Atmospheric and Space Physics University of Colorado BoulderCO80303 United States Kiepenheuer-Institut für Sonnenphysik Freiburg79104 Germany GranadaE-18080 Spain Big Bear Solar Observatory New Jersey Institute of Technology Big Bear CityCA92314 United States National Solar Observatory BoulderCO80303 United States Harvard-Smithsonian Center for Astrophysics CambridgeMA02138 United States Lockheed Martin Solar & Astrophysics Laboratory Palo AltoCA94304 United States Institute of Theoretical Astrophysics Rosseland Centre for Solar Physics University of Oslo OsloN-0315 Norway School of Physics and Astronomy University of Glasgow GlasgowG12 8QQ United Kingdom High Altitude Observatory National Center for Atmospheric Research BoulderCO80307 United States Department of Astronomical Science School of Physical Sciences The Graduate University for Advanced Studies SOKENDAI Tokyo181-8588 Japan National Astronomical Observatory of Japan National Institutes of Natural Science Tokyo181-8588 Japan Instituto de Astrofísica de Canarias La Laguna Tenerife38205 Spain Department of Climate and Space Sciences and Engineering University of Michigan Ann ArborMI48109 United States Department of Physics Montana State University BozemanMT59717 United States NOAA National Centers for Environmental Information BoulderCO80305 United States Department of Mathematics Physics and Electrical Engineering Northumbria University Newcastle upon TyneNE1 8ST United Kingdom Institute for Astronomy University of Hawaii PukalaniHI96768 United States Department of Natural and Applied Sciences University of Wisconsin Green BayWI54311 United States INAF Osservatorio Astronomico di Capodimonte Naples80131 Italy Center for Astrophysics and Space Astronomy University of Colorado BoulderCO80309 United States AFRL Battlespace Environment Division

The Daniel K. Inouye Solar Telescope (DKIST) will revolutionize our ability to measure, understand and model the basic physical processes that control the structure and dynamics of the Sun and its atmosphere. The first-light DKIST images, released publicly on 29 January 2020, only hint at the extraordinary capabilities which will accompany full commissioning of the five facility instruments. With this Critical Science Plan (CSP) we attempt to anticipate some of what those capabilities will enable, providing a snapshot of some of the scientific pursuits that the Daniel K. Inouye Solar Telescope hopes to engage as start-of-operations nears. The work builds on the combined contributions of the DKIST Science Working Group (SWG) and CSP Community members46, who generously shared their experiences, plans, knowledge and dreams. Discussion is primarily focused on those issues to which DKIST will uniquely contribute. Copyright © 2020, The Authors. All rights reserved.

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Image Recognition for Steel Ball's Surface Quality Detecting Based on Kernel Extreme Learning Machine 34

Image Recognition for Steel Ball's Surface Quality Detecting...

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第三十四届中国控制会议

作者： LI Xiaodong MAO Weijie JIANG Wei School of Software Engineering Hangzhou Dianzi University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus

ISBN: (纸本)9781467374439

Steel ball's surface detection plays a significant role in computer vision applications. An efficient and accurate defect detection approach is implemented in this paper. The defect region on steel ball's surface is achieved by region growing technique on steel ball's surface images. The defect region such as spot, cluster spots, scratch and strip defect is classified by kernel extreme learning machine. The experimental results are carried out by using steel ball's surface images and perfect performance is achieved by the proposed defect detection technique.

关键词： Kernel Extreme Learning Machine,Surface Quality Detecting,Steel Ball

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Spatial batch optimal design based on self-learning Gaussian process models for LPCVD processes

Spatial batch optimal design based on self-learning Gaussian...

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作者： Sun, Pei Xie, Lei Chen, Junghui State Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

Low pressure chemical vapor deposition (LPCVD) is one of the most important processes during semiconductor manufacturing. However, the spatial distribution of internal temperature and extremely few samples makes it hard to build a good-quality model of this batch process. Besides, due to the properties of this process, the reliability of the model must be taken into consideration when optimizing the MVs. In this work, an optimal design strategy based on the self-learning Gaussian process model (GPM) is proposed to control this kind of spatial batch process. The GPM is utilized as the internal model to predict the thicknesses of thin films on all spatial-distributed wafers using the limited data. Unlike the conventional model based design, the uncertainties of predictions provided by GPM are taken into consideration to guide the optimal design of manipulated variables so that the designing can be more prudent. Besides, the GPM is also actively enhanced using as little data as possible based on the predictive uncertainties. The effectiveness of the proposed strategy is successfully demonstrated in an LPCVD process. © 2015 Elsevier B.V.

关键词： Low pressure chemical vapor deposition

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Towards an Esox lucius inspired multimodal robotic fish

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Science China(Information Sciences) 2015年第5期58卷 182-194页

作者： WU ZhengXing YU JunZhi SU ZongShuai TAN Min LI ZhenLong State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences College of Electronic Information and Control Engineering Beijing University of Technology

In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and *** found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion.

关键词： bio-inspired robot robotic fish CPG multimodal swimming motion control

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