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SSRN 2023年

作者： Zhi, Shaodan Liu, Youmin Ren, Huimin Shen, Haikuo School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Beijing Institute of Space Launch Technology Beijing100076 China System Software Engineering Research Department Beijing Aerospace Automatic Control Institute Beijing100070 China

The dynamic modelling of industrial robots is of great value for analyzing the mechanism of robot vibration and improving the performance of robots. To meet the high-performance requirements of industrial robots, the impact of vibration of the robotic arm on the robot’s positioning accuracy cannot be ignored. However, traditional modelling methods rarely consider the manipulator vibration in ways that reflect the mechanism of the vibration coupling between the manipulator and joints of industrial robots. This paper examines the multi-centroid finite particle method and its application in the dynamic modelling of industrial robots, the method which uses a simple and unified framework for dynamic analysis of the model. Compared to the finite particle method, the reverse motion of its multiple centroids not only has a simpler derivation process, but also effectively reduces the influence of the element rigid body displacement on the solution of the pure deformation of the node, improving the convergence of the rigid body rotation-flexible deformation coupling model calculations. A cantilever beam model was used to verify the accuracy and convergence of the method. Furthermore, the multi-centroid finite particle method was combined with positive kinematics to model the dynamics of industrial robots, the results of which were compared with experimental data. It was shown that the modelling and the experimental results had a high degree of agreement, the mechanism of the vibration coupling of the robot arm and joint being further analyzed. © 2023, The Authors. All rights reserved.

关键词： Kinematics

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High-order compact gas-kinetic schemes for three-dimensional flow simulations on tetrahedral mesh

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Advances in Aerodynamics 2023年第1期5卷 1-28页

作者： Fengxiang Zhao Xing Ji Wei Shyy Kun Xu Department of Mechanical and Aerospace Engineering Hong Kong University of Science and TechnologyClear Water BayKowloonHong KongChina Department of Mathematics Hong Kong University of Science and TechnologyClear Water BayKowloonHong KongChina Shaanxi Provincial Key Laboratory of Environment and Control for Flight Vehicles Xi’an Jiaotong UniversityXi’anChina Center for Ocean Research in Hong Kong and Macao(CORE) Hong Kong University of Science and TechnologyClear Water BayKowloonHong KongChina Shenzhen Research Institute Hong Kong University of Science and TechnologyShenzhenChina

A general framework for the development of high-order compact schemes has been proposed *** core steps of the schemes are composed of the following.1).Based on a kinetic model equation,from a generalized initial distribution of flow variables construct a time-accurate evolution solution of gas distribution function at a cell interface and obtain the corresponding flux function;2).Introduce the WENO-type weighting functions into the high-order time-derivative of the cell interface flux function in the multistage multi-derivative(MSMD)time stepping scheme to cope with the possible impingement of a shock wave on a cell interface within a time step,and update the cell-averaged conservative flow variables inside each control volume;3).Model the time evolution of the gas distribution function on both sides of a cell interface separately,take moments of the inner cell interface gas distribution function to get flow variables,and update the cell-averaged gradients of flow variables inside each control volume;4).Based on the cell-averaged flow variables and their gradients,develop compact initial data reconstruction to get initial condition of flow distributions at the beginning of next time step.A compact gas-kinetic scheme(GKS)up to sixth-order accuracy in space and fourth-order in time has been constructed on 2D unstructured *** this paper,the compact GKS up to fourth-order accuracy on three-dimensional tetrahedral mesh will be further constructed with the focus on the WENO-type initial compact data *** weights are designed to achieve high-order accuracy for the smooth Navier-Stokes solution and keep super robustness in 3D computation with strong shock *** fourth-order compact GKS uses a large time step with a CFL number 0.6 in the simulations from subsonic to hypersonic flow.A series of test cases are used to validate the *** high-order compact GKS can be used in 3D applications with complex geometry.

关键词： Compact scheme High-order GKS WENO reconstruction Tetrahedral mesh

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Multi-target tracking control system of phased array antenna with mechanical scanning and beam scanning method

Multi-target tracking control system of phased array antenna...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Jijun Ma Dewei Li Lianghai Li Shibei Xue Yuning Wang Jun Jia Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Beijing Research Institute of Telemetry Beijing China

In the field of telemetry, track, and command system, this study presents a phased array antenna control system for achieving multi-target tracking tasks through a set of systems. Firstly, electric beam scanning of a planar array phased array antenna is used in this paper to implement multi-target tracking. In addition, the phased array antenna is mounted on the antenna pedestal, which can operate on the azimuth and elevation mechanical axes. Thirdly, the mechanical scanning method of the azimuth-elevation antenna pedestal and the beam scanning method of the phased array antenna are combined to realize multi-target tracking tasks. Finally, the experiments of flight tracking are completed by employing the technique of UAV tagging, and the results validate the viability of the system.

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Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse Optimal control 13

Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse O...

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13th Asian control Conference, ASCC 2022

作者： Qiu, Tianyu Zhang, Han Wang, Jingchuan Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9788993215236

In this paper, a traditional one v.s. one pursuit and evasion scenario is considered. The evader aims to reach her target and avoid being captured by the pursuer, while the pursuer, without the knowledge of the evader's cost function, intends to capture the evader before she successfully escapes. We formulate this problem as a Model Predictive control Decoupled Pursuit and Evasion Game (MPC-DPEG) model with incomplete information. We apply Inverse Optimal control (IOC) technique to estimate the evader's cost function and give a Nash pursuit strategy for MPC-DPEG as the optimal strategy for the pursuer. Numerical examples reveal the improvement of pursuit performance of the Nash pursuit strategy based on the estimated cost function over naive pursuit strategies. © 2022 ACA.

关键词： Simulation Optimal control Games Predictive models Cost function Numerical models Predictive control

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Optimal Sequential False Data Injection Attack Scheme: Finite-Time Inverse Convergence

Optimal Sequential False Data Injection Attack Scheme: Finit...

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IEEE Conference on Decision and control

作者： Xiaoyu Luo Chongrong Fang Chengcheng Zhao Peng Cheng Jianping He The Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China The State Key Laboratory of Industrial Control Technology Institute of Cyberspace Research Zhejiang University China

In this paper, we explore the relationship between the injected attack signal and the attack selection strategy in networked control systems where the adversary desires to steer the system state to the expected malicious one. We construct a sequential attack framework, i.e., the injected false data varies with the sampling time in discrete-time systems, and then derive an optimal sequential FDI attack strategy. The optimal sequential FDI attack strategy reveals the strongly coupled relationship between the injected attack signal and the attack selection strategy. Furthermore, we prove the finite-time inverse convergence of the critical parameters in the injected optimal attack signal by discrete-time Lyapunov analysis, which enables the efficient off-line design of the attack strategy and saves computing sources. Extensive simulations are conducted to show the effectiveness of the injected optimal sequential attack and the relationship between the attack signal and the attack selection strategy.

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Enhancing Resource Allocation and Performance in Multi-Layer Industrial IoT Through Adjustable Strategy Integrating Cooperative Communication and Edge Computing

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IEEE Internet of Things Journal 2025年第12期12卷 19732-19744页

作者： Sun, Mingyue Yuan, Yazhou Ma, Kai Chen, Cailian Zhang, Jianmin Luo, Xiaoyuan The Institute of electrical Engineering Yanshan University Qinhuangdao066004 China The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Automation Department of the Baosteel Research Institute Shanghai200240 China

Reliable bidirectional communication between the control center (CC) and manufacturing devices (MDs) along with efficient resource allocation are critical for the Industrial Internet of Things (IIoT). However, due to the limited network resources of IIoT devices and the intertwined nature of communication and computation resources, achieving efficient optimization of these resources presents significant challenges. In this paper, we propose a multi-layer communication architecture for the IIoT based on edge computing and cooperative communication technologies, where resource-constrained MDs upload data to edge servers (ESs) for processing. To address the issues of resource scarcity and coupling, we establish a bandwidth release model (BRM) to analyze and quantify the relationship between computation and communication resources. This elucidates the interaction mechanisms between ‘transmission-computation’ performance. Furthermore, to prevent excessive data upload to ESs, which could lead to node overload and network congestion, we employ game theory to develop a pricing mechanism for resource allocation, where ESs charge for computation services. Specifically, we construct a Lagrangian framework to determine a resource allocation scheme, aiming to maximize the utility of the factory. Simulation results indicate that compared to common methods employed in existing works, our strategy enhances factory utility by 29.79%. © 2014 IEEE.

关键词： Edge computing

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Robust Platoon control of Industrial Heavy-Load Autonomous vehicles 12

Robust Platoon Control of Industrial Heavy-Load Autonomous V...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Liu, Zhe Li, Xiang Wang, Hesheng MoE Key Lab of Artificial Intelligence Ai Institute Shanghai Jiao Tong University China School of Mechanical Engineering and Electronic Information China University of Geosciences China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Platoon control of autonomous industrial vehicles contributes to improving the safety and reliability of cargo transportation in complex industrial scenarios, increasing traffic efficiency and saving energy. The platoon control of autonomous heavy-load industrial vehicles is much harder, as the high robustness requirements, low hardware ability and complex un-structural environments. This paper considers the platoon control task from the view-point of practical industrial applications. Firstly, the longitudinal dynamic model of the heavy-load industrial vehicle is transferred into a first-order damping acceleration response model by introducing the low-level feedback linearization control and compensations. Secondly, the synchronization control concept is introduced and a fully distributed control law is presented, which only requires the coupling information of the two nearest neighbors. In particular, in order to ensure the practical applicability, the information processing delays, data samplings and external control disturbances are explicitly modelled and the global stability analysis approach is presented. Finally, we provide real experiments using full-scale industrial heavy-load vehicles to demonstrate our effectiveness and robustness. © 2022 IEEE.

关键词： Accident prevention

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Review of Black Start on New Power system Based on Energy Storage Technology

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Energy engineering 2023年第12期120卷 2857-2878页

作者： Jin Fan Litao Niu Cuiping Li Gang Zhang He Li Yiming Wang Junhui Li Qinglong Song Jiacheng Sun Jianglong Pan Fangfang Lai School of Electronic Engineering Xi’an University of Posts and TelecommunicationsXi’an710061China Power Plant Commissioning Department Xi’an Thermal Power Research Institute Co.Ltd.Xi’an710054China Key Laboratory of Modern Power System Simulation Control and Green Power New Technology of the Ministry of Education Northeast Electric Power UniversityJilin132012China Quality&Safety Department Huaneng Xiapu Nuclear Power Co.Ltd.Ningde352000China

With the continuous development of new energy generation technology and the increasingly complex power grid environment,the traditional black start scheme cannot meet the requirements of today’s power grid in order to ensure the stable operation of the power system can be restored quickly in the face of large power outages,so a more complete black start scheme needs to be developed to cope with the new power *** the development of energy storage technology,the limitations of the traditional black-start scheme can be solved by new energy farms with energy storage ***,this paper investigates the problems faced by black-start,the key technologies of energy storage assisted new energy black-start,and introduces the research related to new energy black-start technology to provide reference for future research and application of new energy black-start.

关键词： New energy black start energy storage rapid recovery

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Survey on Foundation Models for Prognostics and Health Management in Industrial Cyber-Physical systems

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical systems 2024年 2卷 264-280页

作者： Liu, Ruonan Zhang, Quanhu Han, Te Yang, Boyuan Zhang, Weidong Yin, Shen Zhou, Donghua Shanghai Jiao Tong University Department of Automation Shanghai200240 China Tianjin University College of Intelligence and Computing Tianjin300350 China Beijing Institute of Technology Center for Energy and Environmental Policy Research Beijing100081 China Beijing Institute of Technology School of Management Beijing100081 China Beijing Laboratory for System Engineering of Carbon Neutrality Beijing100081 China Nanjing University Center for Advanced Control and Smart Operations Suzhou215163 China Hainan University School of Information and Communication Engineering Haikou570228 China Shanghai Jiaotong University Department of Automation Shanghai200240 China Norwegian University of Science and Technology Trondheim7491 Norway

Industrial Cyber-Physical systems (ICPS) integrating disciplines such as computer science, communication technology, and engineering, have become a crucial component of modern manufacturing and industry. However, ICPS faces numerous challenges during long-term operation, including equipment faults, performance degradation, and security threats, etc. To achieve efficient maintenance and management, prognostics and health management (PHM) has been widely applied in the critical tasks of ICPS such as fault prediction, health monitoring, and maintenance decision-making. The emergence of large-scale foundation models (LFMs) like BERT and GPT marks a significant advancement in artificial intelligence (AI) technology, demonstrating substantial application potential in multiple fields. The accumulation of AI technology, rapid development of LFMs, and the abundance of industrial data and industrial process knowledge provide the foundational conditions for the construction and advancement of industrial LFMs. However, there is currently a lack of consensus on applying LFMs of PHM in ICPS, necessitating a systematic review and roadmap to clarify future development directions. To bridge this gap, this survey provides a comprehensive survey and understanding of the recent advances in LFMs of PHM in ICPS. It provides valuable references for decision makers and researchers in the industry, and helps to further improve the reliability, availability and safety of ICPS. © 2023 IEEE.

关键词： Cyber Physical system

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An Optimization Method for Multi-loop Transient Performance Suitable for Multi-module Expansion 26

An Optimization Method for Multi-loop Transient Performance ...

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26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Zhang, Yi Zhang, Donglai Fan, Yunhan Wan, Qian Liu, Qing Wang, Shaolin Power Electronics and Motion Control Research Center Shenzhen China Unit 61655 the People's Liberation Army Chongqing China Shenzhen Aerospace New Power Technology Co. Ltd Department of Aerospace Power Shenzhen China Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

ISBN: (纸本)9798350317589

With the increase of power utilization rate of renewable energy systems and the profound studies of DC microgrids, DC distribution systems are getting more attention. To improve the quality of DC bus, it is necessary to consider the voltage fluctuations caused by loop switching such as battery management and maximum power output in the system. An optimization method is proposed to accelerate the switching process of multiple control loops, especially for multi-module expansion, which can improve the performance of dynamic response The proposed method just requires the addition of a few devices to the circuit structure and realizes nonlinear control, with which the conditional intervention only happens during transient processes without affecting the steady-state loop design. Compared with traditional methods, this method can achieve power expansion of the system as well as a quick response under load step or bus voltage overshoot. © 2023 IEEE.

关键词： Renewable energy resources

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