An optimal control strategy is proposed to improve the fermentation titer,which combines the support vector machine(SVM)with real code genetic algorithm(RGA).A prediction model is established with SVM for penicillin f...An optimal control strategy is proposed to improve the fermentation titer,which combines the support vector machine(SVM)with real code genetic algorithm(RGA).A prediction model is established with SVM for penicillin fermentation processes,and it is used in RGA for fitting function.A control pattern is proposed to overcome the coupling problem of fermentation parameters,which describes the overall production condition.Experimental results show that the optimal control strategy improves the penicillin titer of the fermentation process by 22.88%,compared with the routine operation.展开更多
The optimum control strategy and the saving potential of all variable chiller plant under the conditions of changing building cooling load and cooling water supply temperature were investigated. Based on a simulation ...The optimum control strategy and the saving potential of all variable chiller plant under the conditions of changing building cooling load and cooling water supply temperature were investigated. Based on a simulation model of water source chiller plant established in dynamic transient simulation program (TRNSYS),the four-variable quadratic orthogonal regression experiments were carried out by taking cooling load,cooling water supply temperature,cooling water flow rate and chilled water flow rate as variables,and the fitting formulas expressing the relationships between the total energy consumption of chiller plant with the four selected parameters was obtained. With the SAS statistical software and MATHEMATICA mathematical software,the optimal chilled water flow rate and cooling water flow rate which result in the minimum total energy consumption were determined under continuously varying cooling load and cooling water supply temperature. With regard to a chiller plant serving an office building in Shanghai,the total energy consumptions under different control strategies were computed in terms of the forecasting function of cooling load and water source temperature. The results show that applying the optimal control strategy to the chiller plant can bring a saving of 23.27% in power compared with the corresponding conventional variable speed plant,indicating that the optimal control strategy can improve the energy efficiency of chiller plant.展开更多
In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular sta...In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.展开更多
This study presents a conceptual framework based on the new product diffusion and demand theory models. The proposed framework was creating a probability of demand function. Considering effectiveness of demand functio...This study presents a conceptual framework based on the new product diffusion and demand theory models. The proposed framework was creating a probability of demand function. Considering effectiveness of demand function transmitted by adopters, the optimal control policies of pricing are conducted according to the optimal control theorv.展开更多
A numerical and experimental study was presented on active control of structurally radiated sound from an elastic cylindrical shell.An analytical model was developed for the active structural acoustic control (ASAC) o...A numerical and experimental study was presented on active control of structurally radiated sound from an elastic cylindrical shell.An analytical model was developed for the active structural acoustic control (ASAC) of the cylindrical shell.Both global and local control strategies were considered.The optimal control forces corresponding to each control strategy were obtained by using the linear quadratic optimal control theory.Numerical simulations were performed to examine and analyze the control performance under different control strategies.The results show that global sound attenuation of the cylindrical shell at resonance frequencies can be achieved by using point force as the control input of the ASAC system.Better control performance can be obtained under the control strategy of minimization of the radiated sound power.However,control spillover may occur at off-resonance frequencies with the control strategy of structural kinetic energy minimization in terms of the radiated sound power.Considerable levels of global sound attenuation can also be achieved in the on-resonance cases with the local control strategy,i.e.,minimization of the mean-square velocity of finite discrete locations.An ASAC experiment using an FXLMS algorithm was implemented,agreement was observed between the numerical and experimental results,and successful attenuation of structural vibration and radiated sound was achieved.展开更多
Microgrids integrate distributed renewable energy resources, controllable loads and energy storage in a more economic and reliable fashion. Battery energy storage units are essential for microgrid operation, which mak...Microgrids integrate distributed renewable energy resources, controllable loads and energy storage in a more economic and reliable fashion. Battery energy storage units are essential for microgrid operation, which make microgird become a strong coupling system in the time domain. Hence, the traditional methods of static dispatch are no longer suitable for microgrids. This paper proposes a dynamic economic dispatch method for microgrids. Considering microgrid as a discrete time system, the dynamic economic dispatch is to find the optimal control strategy for the system in finite time period. Based on this idea, the dynamic economic dispatch model for microgrids is established, and then the corresponding dynamic programming algorithm is designed. Finally, an example of microgrid is given, and the dynamic economic dispatch results are compared with that of the static dispatch. The comparison confirms the effectiveness of the proposed dynamic dispatch method.展开更多
An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter (SHAPF) to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis a...An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter (SHAPF) to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy.展开更多
It is considered as an important and effective means to give priority to the development of public transit which can improve the efficiency of transportation resources utilization and alleviate traffic jams. Public tr...It is considered as an important and effective means to give priority to the development of public transit which can improve the efficiency of transportation resources utilization and alleviate traffic jams. Public transit signal priority belongs to the "time priority" among the right-of-way priorities. After reviewing the existing bus priority signal control strategies and the advances in related technologies at home and abroad, this article analyzed the breakthrough direction of the bus signal priority design technologies suitable for China's conditions, and then proposed the hardware and software systems and the modules for the bus priority signal control system. Finally, the hardware-in-the-loop simulation (HILS) was introduced to evaluate bus priority signal control programs in order to optimize the control strategies.展开更多
This paper presents a novel design procedure for optimizing the power distribution strategy in distributed generation system. A coordinating controller, responsible to distribute the total load power request among mul...This paper presents a novel design procedure for optimizing the power distribution strategy in distributed generation system. A coordinating controller, responsible to distribute the total load power request among multiple DG units, is suggested based on the conception of hierarchical control structure in the dynamic system. The optimal control problem was formulated as a nonlinear optimization problem subject to set of constraints. The resulting problem was solved using the Kuhn-Tucker method. Computer simulation results demonstrate that the proposed method can provide better efficiency in terms of reducing total costs compared to existing methods. In addition, the proposed optimal load distribution strategy can be easily implemented in real-time thanks to the simplicity of closed-form solutions.展开更多
In this paper, a process modeling and related optimizing control for nonuniformly sampled (NUS) systems are addressed. By using a proposed nonuniform integration filter and subspace method estimation, an identificat...In this paper, a process modeling and related optimizing control for nonuniformly sampled (NUS) systems are addressed. By using a proposed nonuniform integration filter and subspace method estimation, an identification method of NUS systems is developed, based on which either an output soft sensor or a hidden state estimator is developed. The optimizing control is implemented by replacing the sparsely-mea- sured/immeasurable variable with the estimated one. Examples of optimizing control problem are given. The proposed optimizing control strategy in the simulation examples is verified to be very effeetive.展开更多
A method of feedforward compensation for electromotive force(EMF) in the single-phase permanent magnet linear generation system and a research in the performance of the single-phase PMLG system are presented.A general...A method of feedforward compensation for electromotive force(EMF) in the single-phase permanent magnet linear generation system and a research in the performance of the single-phase PMLG system are presented.A general mathematical model for the single-phase permanet magnet linear generator(PMLG) system is established and the current loop,voltage loop and the feedforward control are studied based on it for the control system.Then this paper analyses the transfer function of the power system,optimizes current loop and voltage loop parameters by engineering algorithm,and calculates the optimal control parameters.An EMF feedforward compensation method is developed to optimize the control system which improves dynamic performance of the power system but does not affect the steady-state performance.The result of this research verifies the correctness and rationality of the design for the control system.展开更多
The performance of the power assist, global optimization solved by dynamic programming (DP) method, Chery and Insight control strategies are analyzed using the mild parallel hybrid electric vehicle (PHEV) model ba...The performance of the power assist, global optimization solved by dynamic programming (DP) method, Chery and Insight control strategies are analyzed using the mild parallel hybrid electric vehicle (PHEV) model based on Insight structure. The influence of the four control strategies to the load power of the electric motor system used on parallel hybrid electric vehicle is studied. It is found that 80 percent of the motor load power points are under 1/5 of the electric peak power. The motor load power of the power assist control strategy is distributed in the widest range during generating operation, and the motor load power of the global optimization control strategy has the smallest one.展开更多
This article expounds and proves the basic model of the inconsistency of the security supervision policy and makes an analysis in the method of game theory on the inconsistency of the security transaction-tax-rate pol...This article expounds and proves the basic model of the inconsistency of the security supervision policy and makes an analysis in the method of game theory on the inconsistency of the security transaction-tax-rate policy, concludes that the security supervision department is inclined to increase or decrease the security transaction tax rate, thus points out ways for supervision department to surmount this difficulty.展开更多
For the assessment and management of regional to local air quality, an integrated environmental management information system was built within the multi national Eureka project 3266 Webair, http://www.ess.co.at/WEBAI...For the assessment and management of regional to local air quality, an integrated environmental management information system was built within the multi national Eureka project 3266 Webair, http://www.ess.co.at/WEBAIR. The system combines data bases and GIS and a range of coupled models and analytical tools that address a range of typical management problems and cover several levels of nesting from regional to city level and street canyons. The main functions are to support regulatory tasks, compliance monitoring, operational forecasting and reporting, impact assessment EIA (environmental impact assessment), SEA (strategic environmental assessment) and public information within one consistent framework. A major objective is the improvement of air quality through emission control. The integrated model system together with its shared data bases provides a reliable, consistent basis for the non-linear techno-economic and multi-criteria optimization of emission control strategies (including greenhouse gases and energy efficiency). A real-time expert system drives, supports and monitors the autonomous and interactive operations, and provides embedded QA/QC (quality assurance/quality control) functions for reliable operations and ease of use.展开更多
In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model(PIPM) and predictive control, with some optimizing strategy ad...In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model(PIPM) and predictive control, with some optimizing strategy added, we realized the smooth walking on a slope with rocks on it.展开更多
This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic ...This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic performance and energy consumption of airship. Firstly, according to the system overall configuration, the dynamic model of HAA was established and the HAA linearized model of longitudinal plane motion was obtained. Secondly, using the classic PID control theory, the HAA attitude control system was designed. Thirdly, through analyzing the dynamic performance of airship with fin or vectored thruster control, the synthetic performance index function with different weighting functions was determined. By means of optimizing the obtained performance index function, the attitude control of high altitude airship with good dynamic performance and low energy consumption was achieved. Finally, attitude control allocation strategy was designed for the airship station keeping at an altitude of 22 km. The simulation experiment proved the validity of the proposed algorithm.展开更多
This paper proposes an optimal configuration of the distributed hybrid renewable generations based on the stand-alone micro-grid system, considering the diesel as the main control source. Due to the natural sources an...This paper proposes an optimal configuration of the distributed hybrid renewable generations based on the stand-alone micro-grid system, considering the diesel as the main control source. Due to the natural sources and load of user changes randomly and the non-tinearity of the power output by renewable generations, an intelligent optimization method based on the improvement of the genetic algorithm and the control strategy are discussed. The instance analysis is compared with the optimization result of the hybrid system based on HOMER (hybrid optimization of multiple energy resources) and GA (genetic algorithm) method on Matlab software. The simulation result of the optimal configuration showed the new hybrid renewable system and would improve the power supply situation which decreased the cost of energy greatly compared with the conventional form of power supply system which was operated only by diesel. The conclusion of the comparing result between HOMER and GA method shows the advantages of the strategy for the diesel as main control sources.展开更多
Delay in signalized intersections may constitute a significant part of bus journey times in urban environment. Providing priority for buses at traffic signals can be an effective measure to reduce this delay. Bus prio...Delay in signalized intersections may constitute a significant part of bus journey times in urban environment. Providing priority for buses at traffic signals can be an effective measure to reduce this delay. Bus priority in Swedish urban traffic signal systems are normally coordinated with fixed time plan selection. Within this framework local traffic actuated signal timing adjustments are applied based on detector inputs aimed to reduce the number of vehicles in the dilemma zone. Active bus priority is also achieved with the aim to display green signal at the arrival of the bus to the stop line. Due to lack of knowledge of traffic performance impacts of these techniques a major research study was undertaken funded by the Swedish Road Administration. The aim was to evaluate the following control strategies using Stockholm as case study: (1) Fixed time coordination (FTC); (2) Fixed time coordination with local signal timing adjustment (FTC-LTA); (3) FTC-LTA with active bus priority (PRIBUSS); (4) Self-optimizing control (SPOT) with active bus priority. The methodologies for the study included field data collection using mobile and stationary techniques, offiine signal timing calculations with TRANSYT, microscopic simulation modeling using the HUTSIM model. The study obtained the following results: (1) Local traffic adjustment with the manual FTC reduced total delay by 1%. (2) Signal timings determined using TRANSYT reduced the average intersection delay by 9% compared to manual signal settings. (3) Local traffic adjustment reduced total delay by a further 5%. (4) Bus travel time was reduced by 11% using PRIBUSS, and 28% using SPOT. (5) Travel time for all vehicles did not increase using PRIBUSS, and was reduced by 6.5% with SPOT. Results of comparing PRIBUSS and SPOT to FTC-LTA were shown to be statistically significant.展开更多
基金Supported by the National Natural Science Foundation of China(60704036)
文摘An optimal control strategy is proposed to improve the fermentation titer,which combines the support vector machine(SVM)with real code genetic algorithm(RGA).A prediction model is established with SVM for penicillin fermentation processes,and it is used in RGA for fitting function.A control pattern is proposed to overcome the coupling problem of fermentation parameters,which describes the overall production condition.Experimental results show that the optimal control strategy improves the penicillin titer of the fermentation process by 22.88%,compared with the routine operation.
基金Project(G-0805-10156) supported by US Energy Foundation
文摘The optimum control strategy and the saving potential of all variable chiller plant under the conditions of changing building cooling load and cooling water supply temperature were investigated. Based on a simulation model of water source chiller plant established in dynamic transient simulation program (TRNSYS),the four-variable quadratic orthogonal regression experiments were carried out by taking cooling load,cooling water supply temperature,cooling water flow rate and chilled water flow rate as variables,and the fitting formulas expressing the relationships between the total energy consumption of chiller plant with the four selected parameters was obtained. With the SAS statistical software and MATHEMATICA mathematical software,the optimal chilled water flow rate and cooling water flow rate which result in the minimum total energy consumption were determined under continuously varying cooling load and cooling water supply temperature. With regard to a chiller plant serving an office building in Shanghai,the total energy consumptions under different control strategies were computed in terms of the forecasting function of cooling load and water source temperature. The results show that applying the optimal control strategy to the chiller plant can bring a saving of 23.27% in power compared with the corresponding conventional variable speed plant,indicating that the optimal control strategy can improve the energy efficiency of chiller plant.
基金Project(51107111)supported by the National Natural Science Foundation of China
文摘In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.
文摘This study presents a conceptual framework based on the new product diffusion and demand theory models. The proposed framework was creating a probability of demand function. Considering effectiveness of demand function transmitted by adopters, the optimal control policies of pricing are conducted according to the optimal control theorv.
基金Supported by the National Natural Science Foundation of China (No.10802024)Research Fund for the Doctoral Program of Higher Education of China (No. 200802171009)+2 种基金the Natural Science Foundation of Heilongjiang Province (No.E200944)Innovative Talents Fund of Harbin (No.2009RFQXG211)Fundamental Research Fund of HEU (No. HEUFT08003)
文摘A numerical and experimental study was presented on active control of structurally radiated sound from an elastic cylindrical shell.An analytical model was developed for the active structural acoustic control (ASAC) of the cylindrical shell.Both global and local control strategies were considered.The optimal control forces corresponding to each control strategy were obtained by using the linear quadratic optimal control theory.Numerical simulations were performed to examine and analyze the control performance under different control strategies.The results show that global sound attenuation of the cylindrical shell at resonance frequencies can be achieved by using point force as the control input of the ASAC system.Better control performance can be obtained under the control strategy of minimization of the radiated sound power.However,control spillover may occur at off-resonance frequencies with the control strategy of structural kinetic energy minimization in terms of the radiated sound power.Considerable levels of global sound attenuation can also be achieved in the on-resonance cases with the local control strategy,i.e.,minimization of the mean-square velocity of finite discrete locations.An ASAC experiment using an FXLMS algorithm was implemented,agreement was observed between the numerical and experimental results,and successful attenuation of structural vibration and radiated sound was achieved.
文摘Microgrids integrate distributed renewable energy resources, controllable loads and energy storage in a more economic and reliable fashion. Battery energy storage units are essential for microgrid operation, which make microgird become a strong coupling system in the time domain. Hence, the traditional methods of static dispatch are no longer suitable for microgrids. This paper proposes a dynamic economic dispatch method for microgrids. Considering microgrid as a discrete time system, the dynamic economic dispatch is to find the optimal control strategy for the system in finite time period. Based on this idea, the dynamic economic dispatch model for microgrids is established, and then the corresponding dynamic programming algorithm is designed. Finally, an example of microgrid is given, and the dynamic economic dispatch results are compared with that of the static dispatch. The comparison confirms the effectiveness of the proposed dynamic dispatch method.
基金Project(61174068)supported by the National Natural Science Foundation of China
文摘An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter (SHAPF) to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy.
基金supported in part by National Basic Research Program of China (2006CB705500)National Natural Science Foundation of China (No.50738001)Outstanding Young Teachers Teaching and Research Funding Program of Southeast University
文摘It is considered as an important and effective means to give priority to the development of public transit which can improve the efficiency of transportation resources utilization and alleviate traffic jams. Public transit signal priority belongs to the "time priority" among the right-of-way priorities. After reviewing the existing bus priority signal control strategies and the advances in related technologies at home and abroad, this article analyzed the breakthrough direction of the bus signal priority design technologies suitable for China's conditions, and then proposed the hardware and software systems and the modules for the bus priority signal control system. Finally, the hardware-in-the-loop simulation (HILS) was introduced to evaluate bus priority signal control programs in order to optimize the control strategies.
基金Sponsored by the Indiana 21stCentury Research and Technology Fund
文摘This paper presents a novel design procedure for optimizing the power distribution strategy in distributed generation system. A coordinating controller, responsible to distribute the total load power request among multiple DG units, is suggested based on the conception of hierarchical control structure in the dynamic system. The optimal control problem was formulated as a nonlinear optimization problem subject to set of constraints. The resulting problem was solved using the Kuhn-Tucker method. Computer simulation results demonstrate that the proposed method can provide better efficiency in terms of reducing total costs compared to existing methods. In addition, the proposed optimal load distribution strategy can be easily implemented in real-time thanks to the simplicity of closed-form solutions.
基金Supported by the China Postdoctoral Science Foundation Funded Project (No. 20080440386)
文摘In this paper, a process modeling and related optimizing control for nonuniformly sampled (NUS) systems are addressed. By using a proposed nonuniform integration filter and subspace method estimation, an identification method of NUS systems is developed, based on which either an output soft sensor or a hidden state estimator is developed. The optimizing control is implemented by replacing the sparsely-mea- sured/immeasurable variable with the estimated one. Examples of optimizing control problem are given. The proposed optimizing control strategy in the simulation examples is verified to be very effeetive.
基金Supported by the National High Technology Research and Development Program of China(No.2006AA05Z231)the National Natural Science Foundation of China(No.51177025)
文摘A method of feedforward compensation for electromotive force(EMF) in the single-phase permanent magnet linear generation system and a research in the performance of the single-phase PMLG system are presented.A general mathematical model for the single-phase permanet magnet linear generator(PMLG) system is established and the current loop,voltage loop and the feedforward control are studied based on it for the control system.Then this paper analyses the transfer function of the power system,optimizes current loop and voltage loop parameters by engineering algorithm,and calculates the optimal control parameters.An EMF feedforward compensation method is developed to optimize the control system which improves dynamic performance of the power system but does not affect the steady-state performance.The result of this research verifies the correctness and rationality of the design for the control system.
文摘The performance of the power assist, global optimization solved by dynamic programming (DP) method, Chery and Insight control strategies are analyzed using the mild parallel hybrid electric vehicle (PHEV) model based on Insight structure. The influence of the four control strategies to the load power of the electric motor system used on parallel hybrid electric vehicle is studied. It is found that 80 percent of the motor load power points are under 1/5 of the electric peak power. The motor load power of the power assist control strategy is distributed in the widest range during generating operation, and the motor load power of the global optimization control strategy has the smallest one.
文摘This article expounds and proves the basic model of the inconsistency of the security supervision policy and makes an analysis in the method of game theory on the inconsistency of the security transaction-tax-rate policy, concludes that the security supervision department is inclined to increase or decrease the security transaction tax rate, thus points out ways for supervision department to surmount this difficulty.
文摘For the assessment and management of regional to local air quality, an integrated environmental management information system was built within the multi national Eureka project 3266 Webair, http://www.ess.co.at/WEBAIR. The system combines data bases and GIS and a range of coupled models and analytical tools that address a range of typical management problems and cover several levels of nesting from regional to city level and street canyons. The main functions are to support regulatory tasks, compliance monitoring, operational forecasting and reporting, impact assessment EIA (environmental impact assessment), SEA (strategic environmental assessment) and public information within one consistent framework. A major objective is the improvement of air quality through emission control. The integrated model system together with its shared data bases provides a reliable, consistent basis for the non-linear techno-economic and multi-criteria optimization of emission control strategies (including greenhouse gases and energy efficiency). A real-time expert system drives, supports and monitors the autonomous and interactive operations, and provides embedded QA/QC (quality assurance/quality control) functions for reliable operations and ease of use.
文摘In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model(PIPM) and predictive control, with some optimizing strategy added, we realized the smooth walking on a slope with rocks on it.
文摘This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic performance and energy consumption of airship. Firstly, according to the system overall configuration, the dynamic model of HAA was established and the HAA linearized model of longitudinal plane motion was obtained. Secondly, using the classic PID control theory, the HAA attitude control system was designed. Thirdly, through analyzing the dynamic performance of airship with fin or vectored thruster control, the synthetic performance index function with different weighting functions was determined. By means of optimizing the obtained performance index function, the attitude control of high altitude airship with good dynamic performance and low energy consumption was achieved. Finally, attitude control allocation strategy was designed for the airship station keeping at an altitude of 22 km. The simulation experiment proved the validity of the proposed algorithm.
文摘This paper proposes an optimal configuration of the distributed hybrid renewable generations based on the stand-alone micro-grid system, considering the diesel as the main control source. Due to the natural sources and load of user changes randomly and the non-tinearity of the power output by renewable generations, an intelligent optimization method based on the improvement of the genetic algorithm and the control strategy are discussed. The instance analysis is compared with the optimization result of the hybrid system based on HOMER (hybrid optimization of multiple energy resources) and GA (genetic algorithm) method on Matlab software. The simulation result of the optimal configuration showed the new hybrid renewable system and would improve the power supply situation which decreased the cost of energy greatly compared with the conventional form of power supply system which was operated only by diesel. The conclusion of the comparing result between HOMER and GA method shows the advantages of the strategy for the diesel as main control sources.
文摘Delay in signalized intersections may constitute a significant part of bus journey times in urban environment. Providing priority for buses at traffic signals can be an effective measure to reduce this delay. Bus priority in Swedish urban traffic signal systems are normally coordinated with fixed time plan selection. Within this framework local traffic actuated signal timing adjustments are applied based on detector inputs aimed to reduce the number of vehicles in the dilemma zone. Active bus priority is also achieved with the aim to display green signal at the arrival of the bus to the stop line. Due to lack of knowledge of traffic performance impacts of these techniques a major research study was undertaken funded by the Swedish Road Administration. The aim was to evaluate the following control strategies using Stockholm as case study: (1) Fixed time coordination (FTC); (2) Fixed time coordination with local signal timing adjustment (FTC-LTA); (3) FTC-LTA with active bus priority (PRIBUSS); (4) Self-optimizing control (SPOT) with active bus priority. The methodologies for the study included field data collection using mobile and stationary techniques, offiine signal timing calculations with TRANSYT, microscopic simulation modeling using the HUTSIM model. The study obtained the following results: (1) Local traffic adjustment with the manual FTC reduced total delay by 1%. (2) Signal timings determined using TRANSYT reduced the average intersection delay by 9% compared to manual signal settings. (3) Local traffic adjustment reduced total delay by a further 5%. (4) Bus travel time was reduced by 11% using PRIBUSS, and 28% using SPOT. (5) Travel time for all vehicles did not increase using PRIBUSS, and was reduced by 6.5% with SPOT. Results of comparing PRIBUSS and SPOT to FTC-LTA were shown to be statistically significant.