Integrated Control System of Vehicle ABS/ASR/ACC Based onMC9S12DP256

The integrated control system of vehicle ABS/ASR/ACC has been developed using the MC9S12DP256 single chip, which is the new Motorola 16-bit product in HSC12 family. The system including the main control module, the data collection module and the drive and fault diagnosis module is demonstrated and its data collection function is presented in detail. The system designed by the modularization can supervise the data, drive the valves and pump. The program can be debugged on line, which is steady and reliable validated by the large numbers of vehicle road tests.

Command filtered integrated estimation guidance and control for strapdown missiles with circular field of view

In this paper,an integrated estimation guidance and control(IEGC)system is designed based on the command filtered backstepping approach for circular field-of-view(FOV)strapdown missiles.The threedimensional integrated estimation guidance and control nonlinear model with limited actuator deflection angle is established considering the seeker's FOV constraint.The boundary time-varying integral barrier Lyapunov function(IBLF)is employed in backstepping design to constrain the body line-of-sight(BLOS)in IEGC system to fit a circular FOV.Then,the nonlinear adaptive controller is designed to estimate the changing aerodynamic parameters.The generalized extended state observer(GESO)is designed to estimate the acceleration of the maneuvering targets and the unmatched time-varying disturbances for improving tracking accuracy.Furthermore,the command filters are used to solve the"differential expansion"problem during the backstepping design.The Lyapunov theory is used to prove the stability of the overall closed-loop IEGC system.Finally,the simulation results validate the integrated system's effectiveness,achieving high accuracy strikes against maneuvering targets.

Integrated Prevention and Control Technology for Coffee Leaf Rust in Yunnan Province

This paper investigates the damage symptoms and occurrence regularity related to coffee leaf rust,and proposes a comprehensive prevention and control strategy grounded in the principle of prioritizing prevention and implementing integrated prevention and control.This strategy encompasses the cultivation of rust-resistant varieties,the implementation of agricultural practices,the application of chemical interventions,the utilization of hyperparasitic fungi,and the protection and utilization of natural enemies.The paper further outlines the necessary requirements for effective prevention and control,emphasizing the importance of enhancing responsibility implementation,fostering systematic prevention and control measures,enhancing guidance services,and increasing publicity and guidance.The aim is to offer technical guidance for the integrated prevention and control of coffee leaf rust in Yunnan Province.

Coupled Dynamics and Integrated Control for Position and Attitude Motions of Spacecraft:A Survey

Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space missions.This paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and control.To this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of spacecraft.Particularly,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital maneuver.Based on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and analyzed.On the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and expansibility.On the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation missions.Finally,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.

Parameters Sensitivity Characteristics of Highly Integrated Valve-Controlled Cylinder Force Control System

Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time?varying parameters. This makes HIVC force control very diffcult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis(PSM). Then, aimed at the sinusoidal response under(three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.

Design and Analysis of Integrated Predictive Iterative Learning Control for Batch Process Based on Two-dimensional System Theory

Based on the two-dimensional （2D） system theory, an integrated predictive iterative learning control （2D-IPILC） strategy for batch processes is presented. First, the output response and the error transition model predictions along the batch index can be calculated analytically due to the 2D Roesser model of the batch process. Then, an integrated framework of combining iterative learning control （ILC） and model predictive control （MPC） is formed reasonably. The output of feedforward ILC is estimated on the basis of the predefined process 2D model. By min- imizing a quadratic objective function, the feedback MPC is introduced to obtain better control performance for tracking problem of batch processes. Simulations on a typical batch reactor demonstrate that the satisfactory tracking performance as well as faster convergence speed can be achieved than traditional proportion type （P- t-we） ILC despite the model error and disturbances.

Integrated Green Prevention and Control Techniques for Kiwifruit Canker Disease in "Guichang" Kiwifruit in Xiuwen County, Guizhou Province

Kiwifruit canker disease seriously affects the yield and quality of"Guichang"kiwifruit in Xiuwen County,Guizhou Province.In order to scientifically,safely,greenly and efficiently prevent and control the disease,theory was combined with prevention and control techniques to optimize existing prevention and control techniques,so as to improve the production yield and quality of kiwifruit.Specifically,biocontrol strains targeting local kiwifruit canker disease were screened,and reduced and mixed use of agrochemicals with improved efficiency was studied;and the effects and application techniques of disease resistance inducers and bioorganic fertilizers in inducing systemic disease resistance in kiwifruit trees were explored,and finally,an integrated green prevention and control scheme for kiwifruit canker disease that is suitable for kiwifruit production areas in Guizhou Province and has strong operability was proposed.This study provides technical support for green,efficient,standardized production technical services and sustainable and healthy development of kiwifruit industry.

Integrated Power and Single Axis Attitude Control System with Two Flywheels

The existing research of the integrated power and attitude control system（IPACS） in satellites mainly focuses on the IPACS concept,which aims at solving the coupled problem between the attitude control and power tracking.In the IPACS,the configuration design of IPACS is usually not considered,and the coupled problem between two flywheels during the attitude control and energy storage has not been resolved.In this paper,an integrated power and single axis attitude control system using two counter rotating magnetically suspended flywheels mounted to an air table is designed.The control method of power and attitude control using flywheel is investigated and the coupling problem between energy storage and attitude control is resolved.A computer simulation of an integrated power and single axis attitude control system with two flywheels is performed,which consists of two counter rotating magnetically suspended flywheels mounted to an air rotary table.Both DC bus and a single axis attitude are the regulation goals.An attitude ＆ DC bus coordinator is put forward to separate DC bus regulation and attitude control problems.The simulation results of DC bus regulation and attitude control are presented respectively with a DC bus regulator and a simple PD attitude controller.The simulation results demonstrate that it is possible to integrate power and attitude control simultaneously for satellite using flywheels.The proposed research provides theory basis for design of the IPACS.

Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints

This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.

THE EIGENVALUE SENSITIVITY ANALYSIS AND DESIGN FOR INTEGRATED FLIGHT/PROPULSION CONTROL SYSTEM

In this paper, sensitivity approaches are taken to analyze and design an integrated flight propulsion control system where the interaction between subsystems direitly affects the stability property and handling performances of the aircraft. The eigenvalue sen sitivity approach is employed to study the effect of coupling parameters on system stability and gain sensitivity approach is used to direct the reduced states feedback suboptimal control system design. Simulation results show that the integrated flight propulsion control system designed by sensitivity approaches is of good performance.

Reversible Semi-Fragile Watermarking Technique for Integrity Control of Relational Database

Reversible watermarking schemes for relational database are usually classified into two groups: robust schemes and fragile schemes. The main limitation of existing reversible fragile methods is that they cannot differentiate between legal and malicious modifications. In this paper, we introduce a novel lossless semi-fragile scheme based on prediction-error expansion for content protection of relational database. In the proposed method, all attributes in a database relation are first classified according to their sensitivity to legitimate updates. Then, the watermark is embedded by expanding the prediction error of the two least significant digits of securely selected attributes. At watermark extraction, the proposed method has the ability to fully restore the original data while detecting and localizing tampering. The applicability of our method is demonstrated theoretically and experimentally.

Adaptive RISE Control of Winding Tension with Active Disturbance Rejection

A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the tension tracking performance.Existing tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was established.An adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov stability theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was performed.The results indicated that the control of the winding tension was significantly enhanced.

Integrated Guidance and Control of Homing Missiles Against Ground Fixed Targets

This paper presents a scheme of integrated guidance and autopilot design for homing missiles against ground fixed targets. An integrated guidance and control model in the pitch plane is formulated and further changed into a normal form by nonlinear coordinate transformation. By adopting the sliding mode control approach, an adaptive nonlinear control law of the system is designed so that the missile can hit the target accurately with a desired impact attitude angle. The stability analysis of the closed-loop system is also conducted. The numerical simulation has confirmed the usefulness of the proposed design scheme.

APPLICATION OF HYBRID AERO-ENGINE MODEL FOR INTEGRATED FLIGHT/PROPULSION OPTIMAL CONTROL

The real-time capability of integrated flight/propulsion optimal control （IFPOC） is studied. An appli- cation is proposed for IFPOC by combining the onboard hybrid aero-engine model with sequential quadratic pro- gramming （SQP）. Firstly, a steady-state hybrid aero-engine model is designed in the whole flight envelope with a dramatic enhancement of real-time capability. Secondly, the aero-engine performance seeking control including the maximum thrust mode and the minimum fuel-consumption mode is performed by SQP. Finally, digital simu- lations for cruise and accelerating flight are carried out. Results show that the proposed method improves real- time capability considerably with satisfactory effectiveness of optimization.

Study on Integrated Control against Oriental Fruit Fly[Bactrocera dorsalis(Hendel)] in Guava Orchard

[ Objective ] The paper was to explore the damage, occurrence pattern and integrated control methods of oriental fruit fly [ Bactrocera dorsalis （ Hen- del） ] in Nanning region of Guangxi Province. [ Method ] Using fixed system survey method, with fruit fly attractants as the materials, the occurrence dynamic of oriental fruit fly adult in guava orchard was investigated. The control effects of the methods such as fruit fly attractants, fruit bagging, cleaning park to pick up fallen fruit and timely spraying pesticide against the pest were also studied. [ Result] Oriental fruit fly had two damage peak periods in Nanning region of Guangxi Prov- ince （May to June, August to September）. Through the integrated control measures of trapping agent for male flies, timely spraying, fruit bagging and cleaning park to pick up fallen fruit, the population density in guava orchard dropped significantly. The fruit damage rates of guava in research base were only 6.67% -7.33% during the peak period of oriental fruit fly in June 2008, while they were 90.53% -98.00% in control area, obtaining good control effect against the pest. [ Con- dttalon ] The method used in the study preliminarily restored the yield losses of guava, which also provided basis for the preparation of overall strategy against orien- tal fruit fly in the region.

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.

Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control

Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities（LMIs）,based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.

Adaptive Dynamic Surface Control for Integrated Missile Guidance and Autopilot

Integrated guidance and control for homing missiles utilizing adaptive dynamic surface control approach is considered based on the three channels independence design idea. A time-varying integrated guidance and control model with unmatched uncertainties is first formulated for the pitch channel, and an adaptive dynamic surface control algorithm is further developed to deal with these unmatched uncertainties. It is proved that the proposed feedback controller can ensure not only the accuracy of target interception, but also the stability of the missile dynamics. Then, the same control approach is further applied to the control design of the yaw and roll channels. The 6-degree-of-freedom （6-DOF） nonlinear missile simulation results demonstrate the feasibility and advantage of the proposed integrated guidance and control design scheme.

Fixed time integral sliding mode controller and its application to the suppression of chaotic oscillation in power system

Chattering phenomenon and singularity are still the main problems that hinder the practical application of sliding mode control. In this paper, a fixed time integral sliding mode controller is designed based on fixed time stability theory, which ensures precise convergence of the state variables of controlled system, and overcomes the drawback of convergence time growing unboundedly as the initial value increases in finite time controller. It makes the controlled system converge to the control objective within a fixed time bounded by a constant as the initial value grows, and convergence time can be changed by adjusting parameters of controllers properly. Compared with other fixed time controllers, the fixed time integral sliding mode controller proposed in this paper achieves chattering-free control, and integral expression is used to avoid singularity generated by derivation. Finally, the controller is used to stabilize four-order chaotic power system. The results demonstrate that the controller realizes the non-singular chattering-free control of chaotic oscillation in the power system and guarantees the fixed time convergence of state variables, which shows its higher superiority than other finite time controllers.

Coordinated Control Architecture for Motion Management in ADAS Systems

Advanced driver assistance systems(ADAS) seek to provide drivers and passengers of automotive vehicles increased safety and comfort. Original equipment manufacturers are integrating and developing systems for distance keeping, lane keeping and changing and other functionalities. The modern automobile is a complex system of systems. How the functionalities of advanced driver assistance are implemented and coordinated across the systems of the vehicle is generally not made available to the wider research community by the developers and manufactures. This paper seeks to begin filling this gap by assembling open source physics models of the vehicle dynamics and ADAS command models. Additionally, in order to facilitate ADAS development and testing without having access to the details of ADAS, a coordinated control architecture for motion management is also proposed for distributing ADAS motion control commands over vehicle systems. The architecture is demonstrated in a case study where motion is coordinated between the steering and the braking systems, which are typically used only for a single functionality. The integrated vehicle and system dynamics using the coordinated control architecture are simulated for various driving tasks. It is seen that improved trajectory following can be achieved by the proposed coordinated control architecture. The models, simulations and control architecture are made available for open access.