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Chinese control Conference (CCC)

作者： Sheng Zhang Zhijian Fang Qine Liu Muchao Xiang Dingbang Huang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China State Grid Hubei Electric Power Co. Ltd Xiangyang Power Supply Company Xiangyang China Electric Power Scientific Research Institute of State Grid Hubei Electric Power Co. Ltd Wuhan China

Grid-forming inverter is widely used in grid-connected systems of distributed generation because of its frequency and voltage support capacity and good stability in microgrid, but its large inertia will affect the dynamic response speed of grid-forming inverter. In order to solve this problem, this paper introduces the loop that affects the dynamic response of grid-forming inverter, and carries out small signal modeling for active loop, analyzes the dynamic performance indicators and determinants of typical second-order system. Thus, a method of adding power feedforward coefficient to the forward channel of the power loop is designed, and the response speed of the system with or without feedforward coefficient under the unit step response is compared. Finally, the simulation results show that adding the power feedforward coefficient can improve the response speed of the grid-forming inverter during startup and power switching, then achieves the effect of fast control.

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Path Planning for Distribution Network Robots with Adaptive Simulated Annealing-Enhanced Artificial Potential Field Method

Path Planning for Distribution Network Robots with Adaptive ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Baichao Zhang Xin Chen Jinge Chen Jinbin Li Xiaokai Wang Xu Jian School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan P. R. China Hubei Fangyuan Dongli Electric Power Science Research Co. Ltd Wuhan P. R. China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

In this paper, we propose a hybrid algorithm that combines an improved Artificial Potential Field (APF) method with the Simulated Annealing (SA) algorithm for path planning of an electric power operation robot manipulator in complex distribution grid environments. To address the unreachable target issue inherent in traditional APF, we introduce a distance regulation factor to optimize the repulsive function. This modification allows the manipulator to smoothly approach the target point as it nears, while the repulsion from obstacles gradually decreases. Additionally, to overcome the limitations of the traditional SA algorithm, such as its tendency to get trapped in local minimum solutions and its inefficiency in complex environments, we propose an adaptive temperature rise strategy. This strategy increases the temperature, enhancing the probability of escaping local optimal solutions. When the APF algorithm becomes trapped in a local optimum, the improved SA algorithm is applied to escape the local minimum. Once the local optimum is avoided, the algorithm switches back to APF to continue the path planning process. Simulation results demonstrate that the proposed improved APF-SA algorithm adapts effectively to various complex environments, achieving shorter planning times and higher success rates compared to traditional APF and SA algorithms. It successfully resolves the unreachable target and local minimum problems associated with APF. Finally, the feasibility of the proposed APF-SA fusion algorithm is validated through experiments conducted on an electric power operation robot experimental platform for distribution grid applications.

关键词： Electric potential Adaptation models Force Distribution networks Simulated annealing Manipulators Path planning Planning Collision avoidance Robots

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Calibration of agent-based model using reinforcement learning 1

Calibration of agent-based model using reinforcement learnin...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Song, Bing Xiong, Gang Yu, Songmin Ye, Peijun Dong, Xisong Lv, Yisheng Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing The Cloud Computing Center Chinese Academy of Sciences Beijing China Fraunhofer Institute for Systems and Innovation Research Breslauer Germany

ISBN: (纸本)9781665433372

In the research and application of Agent-Based Models (ABM), parameter calibration is an important content. Based on the existing state transfer equations that link the micro-parameters and macro-states of the multi-agent system, this paper further proposes to introduce Reinforcement Learning when calibrating the parameters. The state transfer of the agent after learning is used to calibrate the micro-parameters of ABM, and the interaction between each agent and multiple other agents is expressed as the parameters of the agent. The application case study of population migration demonstrates that our method can achieve high accuracy and low computational complexity. © 2021 IEEE.

关键词： Autonomous agents

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Parallel Building Process Management System

Parallel Building Process Management System

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2021 China Automation Congress, CAC 2021

作者： Liu, Sheng Shen, Zhen Dong, Xisong Hu, Bin Xiong, Gang Chen, Xiaoyu State Key Laboratory for Management and Control of Complex Institute of Automation Chinese Academy of Sciences Beijing China Beijing engineering Research Center of intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Institution of Intelligent Manufacturing Qingdao Academy of Intelligent Industries Qingdao China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426473

With the development of industrialized building and intelligence technology, it becomes necessary and possible to realize building process intelligence management. In recent years, digital twins and parallel management get more and more attentions in academic research and industrial applications. This paper addresses how parallel building system performs intelligence management on industrialized building process. Firstly, actual building model and artificial building model are created according to actual building system. Then business driving engine and simulation engine drive actual building model and artificial building model, respectively. Participants receive and send messages by software interfaces. Business driving engine changes the status of actual building model and sends the changes to simulation engine. Simulation engine updates the status of artificial building model and runs artificial building model with various parameters. Then it sends the parameter with the best effect to business driving engine. Business driving engine sends recommendations to participants according to the best parameter. Thus, building process intelligence management is achieved. © 2021 IEEE

关键词： Engines

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Research on trajectory planning and motion control of 7-DoF sawyer manipulator 1

Research on trajectory planning and motion control of 7-DoF ...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Luo, Kun Xiong, Gang Wang, Yuxiao Hu, Bin Liu, Sheng Chen, Shichao Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijng China School of Artificial Intelligence University of Chinese Academy of Sciences Beijng China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Beijng China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijng China

ISBN: (纸本)9781665433372

Regarding human-machine collaborative task, generated trajectories of a robot manipulator should be able to avoid joint limits and singularities, but the 6 Degrees of Freedom(DoF) or lower DoF manipulators encounter difficulties in many schemes. In this paper, research is implemented on the methods of trajectory planning and motion control on the newly human-machine collaborative 7-DoF Sawyer manipulator. We try to pay more attention to these approaches and find a better combination between trajectory planners and motion controllers for Sawyer manipulator. First of all, comparison is proposed between the methods about trajectory planning in task space and joint space, drawing a conclusion that the latter has the advantage of quickness and smoothness on trajectories in real time. Next, we choose to plan trajectory in the joint space by interpolating positions and orientations. Three approaches, i.e., trapezoidal velocity trajectory, cubic polynomial trajectory and basic spline trajectory, are applied to interpolate positions. Experimental results show that it results in the smoothest trajectory using basic spline trajectory planning. We also compare linear and nonlinear orientation interpolations to address the angle wrapping issue, which leads to difficulties in smooth orientation interpolation between several waypoints. Combining polynomial trajectory planning methods with the proportional-derivative (PD) motion controller and the computed-torque motion controller, we focus on the performance of the two different combinations. It is found that trajectories with computed-torque controller have shorter path with a congruous convergence on joint position, and more accurate trajectories with less overshoots in position than others. © 2021 IEEE.

关键词： Motion control

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Precedence-constrained path planning of messenger UAV for air-ground coordination

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control Theory and Technology 2019年第1期17卷 13-23页

作者： Yulong DING Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 700087 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.

关键词： Air-ground coordination curvature-constrained path planningz precedence constraints Dubins traveling salesman problem

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Event-Triggered Extended Kalman Filter for UAV Monitoring System

Event-Triggered Extended Kalman Filter for UAV Monitoring Sy...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Yanmin Liu Xiaozhong Liao Zihao Wang Xi Chen Xiangdong Liu Zhen Li School of Automation and Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology Beijing 100081 China

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

The unmanned aerial vehicles (UAVs) formation needs the frequent data-exchanging of individual's state between units for monitoring and instruction uploading from the ground station, which inevitably occupies huge communication bandwidth. This paper presents the extended Kalman filter (EKF) design based on the event-triggered strategy to get UAVs greatly relieved of the communication burden with guaranteed accuracy. The event-triggered strategy firstly selects only the state measurements containing innovational information for the purpose of filtering. Due to the nonlinearity of UAV system, the EKF is further applied to make full use of the information from the prior event-trigger strategy so as to enhance the performance of estimation. The proposed algorithm is verified on the physical UAVs regarding the estimation quality and communication rate, demonstrating the robust dynamic performance with effectively reduced communication rate.

关键词： Estimation Quaternions Unmanned aerial vehicles Monitoring Kalman filters Accelerometers Data models

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Sequence impedance modeling of droop-controlled inverter 8

Sequence impedance modeling of droop-controlled inverter

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8th Renewable Power Generation Conference, RPG 2019

作者： Hu, You Wang, Jiajun Liu, Bin Li, Zhen Liu, Xiangdong School of Automation and Key Laboratory for Intelligent Control and Decision on Complex Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781839531255

The grid-connected three-phase inverter is an indispensable part of the microgrid. The droop control is widely used in parallel inverters for high reliability and flexibility. The output impedance of droop controlled inverters plays an vital role in its stability. However, the sequence impedance model of grid-connected inverter is currently based on the grid side converter with a single current loop control exdluding the low-frequency dynamics similar in doubly fed induction generators. Both the droop control and voltage loop control greatly affect the stability of inverter, specifically in the low frequency response. This paper proposes a sequence impedance model of inverter, which considers the droop control and voltage and current dual closed-loop control using the harmonic linearization method in the frequency domain. The accuracy of the model is verified through comparing the measurement impedance value in simulation with the impedance value calculated in the sequence impedance model. The influence of control method on system impedance is verified by showing the difference between the single loop controlled inverter and droop control inverter. © 2019 Institution of Engineering and Technology. All rights reserved.

关键词： Electric inverters

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S$^{\text{4}}$TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2023年第2期9卷 3220-3231页

作者： Xiao Wang Ke Tang Xingyuan Dai Jintao Xu Quancheng Du Rui Ai Yuxiao Wang Weihao Gu Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei China Haomo Technology Company Ltd. Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S $^{\text{4}}$ TP) framework. Specifically, S $^{\text{4}}$ TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. SATP utilizes Transformers to effectively encode the driving scene and incorporates an AV's planned trajectory during the prediction decoding process. SADRF assesses the expected surrounding risk degrees during AVs-HDVs interactions, each with different social characteristics, visualized as two-dimensional heat maps centered on the AV. SADRF models the driving intentions of the surrounding HDVs and predicts trajectories based on the representation of vehicular interactions. S $^{\text{4}}$ TP employs an optimization-based approach for motion planning, utilizing the predicted HDVs' trajectories as input. With the integration of SADRF, S $^{\text{4}}$ TP executes real-time online optimization of the planned trajectory of AV within low-risk regions, thus improving the safety and the interpretability of the planned trajectory. We have conducted comprehensive tests of the proposed method using the SMARTS simulator. Experimental results in complex social scenarios, such as unprotected left-turn intersections, merging, cruising, and overtaking, validate the superiority of our proposed S $^{\text{4}}$ TP in terms of safety and rationality. S $^{\text{4}}$ TP achieves a pass rate of 100% across all scenarios, surpassing the current state-of-the-art methods Fanta of 98.25% and Predictive-decision of 94.75%.

关键词： Trajectory Safety Vehicles Trajectory planning Autonomous vehicles Risk management Behavioral sciences

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Soft-Landing Dynamics of a Type of Four-Legged Space Lander

SSRN

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SSRN 2024年

作者： Shi, Tengfei Shi, Tengfei Yang, Yinping Zhang, Zhijuan Liu, Cuicui Liu, Caishan Ma, Daolin Applied Mechanics and Structure Safety Key Laboratory of Sichuan Province School of Mechanics and Aerospace Engineering Southwest Jiaotong University Chengdu610031 China State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China Institute of Dynamics and Control College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology Beijing100871 China China Academy of Space Technology Beijing100094 China School of Naval Architecture Ocean and Civil Engineering Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai200240 China

Analyzing the landing dynamics response is essential for enhancing the success rate of surface explorations on Mars, the moon, or asteroids. This paper develops a comprehensive dynamics model for a space lander equipped with four sets of buffer legs, each consisting of a primary strut, two secondary struts, and a footpad, during its soft landing process. The degrees of freedom of the main body and the footpads are defined as generalized coordinates to describe the motion of the space lander. The compression force of the buffer struts is obtained by interpolating real experimental data, and the contact force between the footpad and the ground is calculated using Archimedes law for granular media. Then, the dynamical model for the lander in terms of minimal degrees of freedom can be constructed by applying the Lagrange equations of the second kind. The proposed dynamics model is validated by the experiments of a single-legged lander vertical touchdown and a four-legged lander free touchdown. Moreover, histories of buffer force, acceleration of the main body, and other key physical quantities are computed to investigate the landing process. This highly efficient and accurate dynamics model provides a method to perform extensive simulations to design and optimize a soft landing process. © 2024, The Authors. All rights reserved.

关键词： Landing

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