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Load Shedding Strategy Based on Combined Feed-Forward Plus Feedback Control over Data Streams
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作者 Donghong Han Yi Fang +3 位作者 Daqing Yi Yifei Zhang Xiang Tang Guoren Wang 《Journal of Beijing Institute of Technology》 EI CAS 2019年第3期437-446,共10页
In data stream management systems (DSMSs), how to maintain the quality of queries is a difficult problem because both the processing cost and data arrival rates are highly unpredictable. When the system is overloaded,... In data stream management systems (DSMSs), how to maintain the quality of queries is a difficult problem because both the processing cost and data arrival rates are highly unpredictable. When the system is overloaded, quality degrades significantly and thus load shedding becomes necessary. Unlike processing overloading in the general way which is only by a feedback control (FB) loop to obtain a good and stable performance over data streams, a feedback plus feed-forward control (FFC) strategy is introduced in DSMSs, which have a good quality of service (QoS) in the aspects of miss ratio and processing delay. In this paper, a quality adaptation framework is proposed, in which the control-theory-based techniques are leveraged to adjust the application behavior with the considerations of the current system status. Compared to previous solutions, the FFC strategy achieves a good quality with a waste of fewer resources. 展开更多
关键词 data STREAM management systems (DSMSs) load SHEDDING feedback control feed-forward control quality of service (QoS)
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Real-time Feed-forward Force Compensation for Active Magnetic Bearings System Based on H∞ Controller 被引量:11
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作者 GAO Hui XU Longxiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第1期58-66,共9页
There are two kinds of unbalance vibrations—force vibration and displacement vibration due to the existence of unbalance excitation in active magnetic bearings(AMB) system. And two unbalance compensation methods—c... There are two kinds of unbalance vibrations—force vibration and displacement vibration due to the existence of unbalance excitation in active magnetic bearings(AMB) system. And two unbalance compensation methods—closed-loop feedback and open loop feed-forward are presented to reduce the force vibration. The transfer function order of the control system directly influencing the system stability will be increased when the closed-loop method is adopted, which makes the real-time compensation not easily achieved. While the open loop method would not increase the primary transfer function order, it provides conditions for real-time compensation. But the real-time compensation signals are not easy to be obtained in the open loop method. To implement real-time force compensation, a new method is proposed to reduce the force vibration caused by the rotor unbalance on the basis of AMB active control. The method realizes real-time and on-line force auto-compensation based on H∞ controller and one novel feed-forward compensation controller, which makes the rotor rotate around its inertia axis. The time-variable feed-forward compensatory signal is provided by a modified adaptive variable step-size least mean square(VSLMS) algorithm. And the relevant least mean square(LMS) algorithm parameters are used to solve the H∞ controller weighting functions. The simulation of the new method to compensate some frequency-variable and sinusoidal signals is completed by MATLAB programming, and real-time compensation is implemented in the actual AMB experimental system. The simulation and experiment results show that the compensation scheme can improve the robust stability and the anti-interference ability of the whole AMB system by using H∞ controller to achieve close-loop control, and then real-time force unbalance compensation is implemented. The proposed research provides a new control strategy containing real-time algorithm and H∞ controller for the force compensation of AMB system. And the stability of the control system is finally improved. 展开更多
关键词 active magnetic bearings H∞ robust controller sensitivity and complementary sensitivity VSLMS algorithm feed-forward compensation
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Feed-Forward-Like Decoupling Control in Coagulation Bath of Carbon Fiber Precursor
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作者 徐峰 任立红 《Journal of Donghua University(English Edition)》 EI CAS 2014年第2期155-159,共5页
The coagulation bath system of carbon fiber precursor is a complicated and multivariable coupling system. Based on the model of industrial production,the full dynamic decoupling control of the coagulation bath system ... The coagulation bath system of carbon fiber precursor is a complicated and multivariable coupling system. Based on the model of industrial production,the full dynamic decoupling control of the coagulation bath system of carbon fiber precursor is achieved in combination with multivariable feed-forward-like decoupling and proportional-integral-differential( PID) control. Compared with the conventional PID decoupling control,the experiment results show that the proposed method has a better control effect. The use of the controller can achieve complete decoupling of three parameters from coagulation bath system. The method should have great applications. 展开更多
关键词 coagulation bath system feed-forward-like decoupling proponional-integral-differentialt PID) control multivariable coupling
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基于前馈非线性模型预测控制的类车机器人路径跟踪
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作者 伊力夏提·伊力哈木江 孟宇 +5 位作者 白国星 顾青 王国栋 常鑫睿 黄建秀 郑燕 《工程科学学报》 EI 北大核心 2025年第1期101-112,共12页
类车机器人由于零件标准化程度低,侧偏刚度等轮胎力学参数难以准确获得,存在动力学建模十分困难的问题,因此现有研究工作通常以运动学模型作为类车机器人的控制模型,但由于其运动学模型存在模型失配,导致类车机器人与参考路径之间的误... 类车机器人由于零件标准化程度低,侧偏刚度等轮胎力学参数难以准确获得,存在动力学建模十分困难的问题,因此现有研究工作通常以运动学模型作为类车机器人的控制模型,但由于其运动学模型存在模型失配,导致类车机器人与参考路径之间的误差、类车机器人的前轮转角和前轮转角速度出现剧烈振荡现象.针对前述问题,本文基于非线性模型预测控制(Nonlinear model predictive control,NMPC)的滚动优化原理,引入基于逆运动学模型的前馈转角信息,将前轮转向角作为预测模型的第四维,提出了一种基于前馈非线性模型预测控制(Feedforward NMPC,FNMPC)的类车机器人路径跟踪控制算法.并通过Simulink和CarSim进行了联合仿真,结果表明FNMPC有效减小了模型失配导致的振荡现象,同时具有较高的跟踪精度.其中前馈非线性模型预测控制器的位移误差幅值不超过0.1106 m,航向误差幅值不超过0.1253 rad.在相同工况下,线性模型预测控制、前馈线性模型预测控制、纯跟踪控制和Stanley控制误差发散,而本文提出的FNMPC相比已有NMPC跟踪精度更高,且控制增量绝对累计值相比NMPC控制器减小67.53%.通过线控类车机器人底盘作为实验平台完成的测试结果表明,NMPC系统在进入弯道时出现控制失控现象,在相同工况下,FNMPC系统能够有效完成对参考路径的跟踪,同时将位移误差幅值控制在0.1624 m以内,航向误差幅值控制在0.1138 rad以内. 展开更多
关键词 类车机器人 路径跟踪 前馈信息 模型预测控制 平顺性
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A simple and robust speed control scheme of permanent magnet synchronous motor 被引量:3
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作者 DianguoXU YangGAO 《控制理论与应用(英文版)》 EI 2004年第2期165-168,共4页
This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor (PMSM). It is to achieve accurate control performance in the presence of load torque and plant parameter variation. A ... This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor (PMSM). It is to achieve accurate control performance in the presence of load torque and plant parameter variation. A robust disturbance cancellation feed forward controller is used to estimate the torque disturbance. The simple and practical control scheme is easily implemented on a PMSM driver using a TMS320LF2407 DSP. The effectiveness of the proposed robust speed control approach is demonstrated by simulation and experimental results. 展开更多
关键词 Robust feed forward controller PMSM Torque ripple
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Study of control strategy and simulation in anoxic-oxic nitrogen removal process 被引量:2
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作者 PENGYong-zhen WANGZhi-hui WANGShu-ying 《Journal of Environmental Sciences》 SCIE EI CAS CSCD 2005年第3期425-428,共4页
The control strategy and simulation of external carbon addition were specially studied in an anoxic-oxic(A/O) process with low carbon: nitrogen(C/N) domestic wastewater. The control strategy aimed to adjust the flow r... The control strategy and simulation of external carbon addition were specially studied in an anoxic-oxic(A/O) process with low carbon: nitrogen(C/N) domestic wastewater. The control strategy aimed to adjust the flow rate of external carbon dosage to the anoxic zone, thus the concentration of nitrate plus nitrite(NOx--N) in the anoxic zone was kept closed to the set point. The relationship was studied between the NOx--N concentration in the anoxic zone(S_ NO) and the dosage of external carbon, and the results showed that the removal efficiency of the total nitrogen(TN) could not be largely improved by double dosage of carbon source when S_ NO reached about 2 mg/L. Through keeping S_ NO at the level of about 2 mg/L, the demand of effluent quality could be met and the carbon dosage could be optimized. Based on the Activated Sludge Model No.1(ASM No.1), a simplified mathematical model of external carbon dosage was developed. Simulation results showed that PI controller and feed-forward PI controller both had good dynamic response and steady precision. And feed-forward PI controller had better control effects due to its consideration of influent disturbances. 展开更多
关键词 ASM No.1 biological nitrogen removal external carbon addition feed-forward PI control
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Coordinated Control Architecture for Motion Management in ADAS Systems 被引量:4
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作者 Tzu-Chi Lin Siyuan Ji +1 位作者 Charles E. Dickerson David Battersby 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第2期432-444,共13页
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... 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. 展开更多
关键词 Index Terms-Coordinated system feed-forward and feedbackcontrol integration control modeling and simulation tire mod-eling vehicle modeling vehicle dynamics control.
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Study of the control-equilibrium of control systems
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作者 Liu Qiaoge Fu Mengyin Sun Changsheng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第4期775-778,共4页
Not so much had been talked about equilibrium in control area. On the basis of the phenomenon of balance, the concept of control-equilibrium and control-equilibrium of a control system is proposed. According to this t... Not so much had been talked about equilibrium in control area. On the basis of the phenomenon of balance, the concept of control-equilibrium and control-equilibrium of a control system is proposed. According to this theory, a perfect control method should not only guarantee stability of the system, but also ensure the control-equilibrium of the system. To achieve the control-equilibrium, feed-forward control is required. 展开更多
关键词 BALANCE control-equilibrium-state control-equilibrium feed-forward control
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A Novel Control Strategy of PWM Rectifier with LCL Filter Under Unbalanced Grid Condition
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作者 Ke-Wei Cai Ning-Hui Wang Guo-Feng Li 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2014年第1期92-97,共6页
The paper presents a successful design and good result of grid voltage feed-forward control strategy with no damping regulator of LCL filter applied in Three-phase Pulse Width Modulation( PWM) rectifier under unbalanc... The paper presents a successful design and good result of grid voltage feed-forward control strategy with no damping regulator of LCL filter applied in Three-phase Pulse Width Modulation( PWM) rectifier under unbalance grid condition for renewable energy processing. It is demonstrated that the closed-loop current control is decoupled with the grid voltage feed-forward control,and good waveform of grid current with low order harmonics is obtained under unbalance grid condition. This novel strategy is simple and reliable,applied with PI regulator but no resonant controller in α,β two-phase stationary frame. Moreover,the results of experiment and simulation are also illustrated to validate the novel strategy well applied in the closed-loop current control system under unbalanced grid condition. 展开更多
关键词 LCL filter no damping control grid voltage feed-forward control renewable energy processing
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ADRC based control for a class of input time delay systems 被引量:5
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作者 Dongyang Zhang Xiaolan Yao +1 位作者 Qinghe Wu Zhuoyue Song 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2017年第6期1210-1220,共11页
This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-fo... This paper is concerned with the control design and the theoretical analysis for a class of input time-delay systems with stable, critical stable or unstable poles. In order to overcome the time delay, a novel feed-forward compensation active disturbance rejection control(FFC-ADRC) approach is proposed. It combines advantages of the Smith predictor and the traditional active disturbance rejection control(ADRC). The tracking differentiator(TD) is designed to predict the control signal, which adds an anticipatory control to the control signal and allows a higher observer bandwidth to obtain better disturbance rejection. The modified extended state observer(ESO) is designed to estimate both system states and the total disturbances(internal disturbance, uncertainties and delayed disturbance). Then the Lyapunov theory and the theory of the input-output stability are applied to prove the asymptotic stability of the closed-loop control system. Finally, numerical simulations show the effectiveness and practicality of the proposed design. 展开更多
关键词 time-delay system feed-forward compensation active disturbance rejection control(FFC-ADRC) tracking differentiator(TD) Lyapunov theory bound-input-bound-output(BIBO) stability
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无线电能传输系统最大效率追踪及恒压输出复合控制方法 被引量:1
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作者 黄文聪 饶天彪 +2 位作者 蒋煊焱 胡滢 常雨芳 《电工技术学报》 EI CSCD 北大核心 2024年第12期3589-3601,3615,共14页
针对无线电能传输(WPT)系统的传输效率受耦合线圈之间的互感以及负载影响的特点,该文提出一种基于阻抗匹配技术的最大效率追踪及基于前馈PI控制的恒压输出复合控制方法。首先,对双边LCC型WPT系统的参数和传输效率进行分析,通过调整系统... 针对无线电能传输(WPT)系统的传输效率受耦合线圈之间的互感以及负载影响的特点,该文提出一种基于阻抗匹配技术的最大效率追踪及基于前馈PI控制的恒压输出复合控制方法。首先,对双边LCC型WPT系统的参数和传输效率进行分析,通过调整系统参数优化系统的传输效率。其次,在二次侧使用DC-DC变换器采用阻抗匹配的方法实现最大效率追踪,同时在一次侧采用DC-DC变换器利用前馈PI控制器闭环控制负载端电压实现恒压输出。该方法中,效率追踪和电压控制之间相互独立,互不干扰。此外,该方法还通过系统工作时的电路参数来估算线圈间的互感值,并通过线性拟合的方法对该估算互感值进行修正,得到更精确的互感估算值。最后,通过搭建实验平台验证了该方法的可行性和有效性。与PI控制相比,前馈PI控制方法在快速性和抗扰动性上均具有明显优势。 展开更多
关键词 无线电能传输 最大效率追踪 恒压输出 前馈PI控制 互感识别
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Design and Implementation of FFPIV Scheme for Closed Loop Motion Controller
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作者 Ngo Ha Quang Thinh Jae-Gark Choi Won-Ho Kim 《Intelligent Control and Automation》 2014年第2期35-45,共11页
To satisfy the requirements of motion control for industrial machine, a multi-axis motion controller based on DSP is developed in this paper. The motion controller consists of DSP which plays a main role in this desig... To satisfy the requirements of motion control for industrial machine, a multi-axis motion controller based on DSP is developed in this paper. The motion controller consists of DSP which plays a main role in this design;DPRAM to make sure the rapid and reliable communication with host;FPGA to handle the task of address decoder and receiving feed-back encoder signal;and several peripheral logic circuits. In the part of hardware design, overall structure of motion control system is presented. Then, the Feed-Forward Proportional-Integral-Velocity (FFPIV) scheme which introduces KV in term of velocity loop to achieve the accurate, smooth and real-time response is proposed in the software developing part. The experiment data are carried out to indicate that this motion controller has advantages of superior performance and highly machining precision. 展开更多
关键词 MOTION controlLER DSP MOTION control System feed-forward MOTION PROFILE
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基于摩擦伺服跟踪模型的自抗扰控制策略研究
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作者 韩顺杰 粟华 缑泽恩 《红外技术》 CSCD 北大核心 2024年第12期1418-1424,共7页
针对摩擦非线性扰动和外部干扰影响光电稳定平台跟踪性能的问题,提出了一种基于Elastoplastic摩擦模型的自抗扰控制方法。首先,建立了基于Elastoplastic摩擦的伺服系统空间状态模型;其次,利用Elastoplastic模型前馈补偿系统中的摩擦非线... 针对摩擦非线性扰动和外部干扰影响光电稳定平台跟踪性能的问题,提出了一种基于Elastoplastic摩擦模型的自抗扰控制方法。首先,建立了基于Elastoplastic摩擦的伺服系统空间状态模型;其次,利用Elastoplastic模型前馈补偿系统中的摩擦非线性,减小量测噪声对系统的影响,并初步抑制摩擦力矩对系统的干扰,然后,基于该模型设计摩擦补偿与自抗扰控制相结合的复合控制器,最后对带有摩擦的伺服系统进行了仿真实验,仿真和实验结果表明,该复合控制方案能够提高光电稳定平台的跟踪性能,验证了所提出控制方法的有效性和鲁棒性。 展开更多
关键词 Elastoplastic摩擦模型 自抗扰控制 前馈补偿 伺服控制 参数识别
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Design of Soft Computing Based Optimal PI Controller for Greenhouse System
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作者 A. Manonmani T. Thyagarajan +1 位作者 S. Sutha V. Gayathri 《Circuits and Systems》 2016年第11期3431-3447,共17页
Greenhouse system (GHS) is the worldwide fastest growing phenomenon in agricultural sector. Greenhouse models are essential for improving control efficiencies. The Relative Gain Analysis (RGA) reveals that the GHS con... Greenhouse system (GHS) is the worldwide fastest growing phenomenon in agricultural sector. Greenhouse models are essential for improving control efficiencies. The Relative Gain Analysis (RGA) reveals that the GHS control is complex due to 1) high nonlinear interactions between the biological subsystem and the physical subsystem and 2) strong coupling between the process variables such as temperature and humidity. In this paper, a decoupled linear cooling model has been developed using a feedback-feed forward linearization technique. Further, based on the model developed Internal Model Control (IMC) based Proportional Integrator (PI) controller parameters are optimized using Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) to achieve minimum Integral Square Error (ISE). The closed loop control is carried out using the above control schemes for set-point change and disturbance rejection. Finally, closed loop servo and servo-regulatory responses of GHS are compared quantitatively as well as qualitatively. The results implicate that IMC based PI controller using PSO provides better performance than the IMC based PI controller using GA. Also, it is observed that the disturbance introduced in one loop will not affect the other loop due to feedback-feed forward linearization and decoupling. Such a control scheme used for GHS would result in better yield in production of crops such as tomato, lettuce and broccoli. 展开更多
关键词 Greenhouse System feedback-feed forward Linearization and Decoupling IMC Based PI controller Genetic Algorithm Particle Swarm Optimization Nonlinear System
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双闭环控制的三相电压型PWM整流器的研究
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作者 李瑾 《新余学院学报》 2024年第2期12-19,共8页
针对传统的不控整流电路中网侧电流谐波很大、晶闸管相控整流电路中深控时网侧功率因数低和闭环控制时动态响应慢等问题,设计出一种引入脉冲宽度调制技术的三相电压型整流器。在完成三相电压型整流器的电压外环电流内环的双闭环控制系... 针对传统的不控整流电路中网侧电流谐波很大、晶闸管相控整流电路中深控时网侧功率因数低和闭环控制时动态响应慢等问题,设计出一种引入脉冲宽度调制技术的三相电压型整流器。在完成三相电压型整流器的电压外环电流内环的双闭环控制系统设计的基础上,对其进行了仿真实验。仿真结果表明,与不控或相控整流电路相比,该三相电压型PWM整流电路中,不仅输入电流的谐波大大减小,电能可双向流动,能够实现整流和逆变状态下的单位功率因数运行,还可较好地抑制负载突变时直流侧电压的波动,从而显著提高系统的抗扰能力,真正实现绿色环保和高效节能的高度结合。 展开更多
关键词 三相电压型整流器 脉冲宽度调制 双闭环控制 电流前馈解耦
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单相级联H桥整流器平方电压反馈控制算法 被引量:1
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作者 李延帅 徐传芳 宋阳阳 《电机与控制应用》 2024年第1期117-125,共9页
以单相级联H桥整流器为研究对象,对其控制策略进行了研究。首先在采用双闭环控制策略的基础上,构建了dq前馈解耦模型,并通过二阶广义积分算法改善了虚拟交流分量对系统的影响,实现了网侧电流对电压相位、频率的快速精确追踪。其次,对传... 以单相级联H桥整流器为研究对象,对其控制策略进行了研究。首先在采用双闭环控制策略的基础上,构建了dq前馈解耦模型,并通过二阶广义积分算法改善了虚拟交流分量对系统的影响,实现了网侧电流对电压相位、频率的快速精确追踪。其次,对传统电压平衡控制算法进行了改进,通过对功率平衡关系的定义,将输出电压平方作为控制信号,增强了系统自适应能力,提高了系统在投切载时的动态性能。最后,基于MATLAB/Simulink软件进行仿真,验证了所提策略的正确性和有效性。 展开更多
关键词 单相级联H桥整流器 双闭环 平方电压反馈控制 dq前馈解耦控制
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滑移转向无人车轨迹跟踪控制策略研究
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作者 娄岱松 朱纪洪 +2 位作者 杨嘉睿 许志伟 毛汉领 《兵器装备工程学报》 CAS CSCD 北大核心 2024年第1期42-48,共7页
针对滑移转向车辆构型的无人车,通过建立车辆动力学和运动学模型,对LQR(linear quadratic regulator)最优控制算法进行改进,在速度环采用一种自抗滑移的前馈控制,设计了一种轨迹跟踪控制策略。前馈控制有效提高了横摆角速度响应速度,可... 针对滑移转向车辆构型的无人车,通过建立车辆动力学和运动学模型,对LQR(linear quadratic regulator)最优控制算法进行改进,在速度环采用一种自抗滑移的前馈控制,设计了一种轨迹跟踪控制策略。前馈控制有效提高了横摆角速度响应速度,可进一步优化LQR估计器的参数矩阵,保证车辆在提高轨迹跟踪控制精度的同时不影响跟随稳定性。采用Trucksim与Simulink联合仿真进行验证,结果表明:在双移线测试工况下,使用该控制策略的无人车最大横向误差比在双PID控制下小0.086 m,误差收敛速度2.1 s,稳态误差振荡幅值比滑模控制小约0.05 m;不同车速和不同附着系数路面下,无人车最大横向误差浮动小于0.02 m,误差收敛速度不变,设计算法控制效果稳定,验证了其鲁棒性。 展开更多
关键词 滑移转向 轨迹跟踪 LQR算法 前馈控制 最优控制
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Study on the Elman Neural Network Operation Control Strategy of the Central Air Conditioning Chilled Water System
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作者 Jianwei Li Qingchang Ren +1 位作者 Hai Long Zengxi Feng 《World Journal of Engineering and Technology》 2019年第2期73-82,共10页
The stable operation of the central air conditioning water system always is a major difficulty for the control profession. Paper focus on the water system with multi variable, strong coupling, nonlinear, large time de... The stable operation of the central air conditioning water system always is a major difficulty for the control profession. Paper focus on the water system with multi variable, strong coupling, nonlinear, large time delay characteristics, presented use feed forward coupling compensation method, to eliminate the coupling effect between temperature and pressure. In this paper, the Elman neural network controller is designed for the first time, and the simulation results show that the response time of Elman neural network controller is shorter, the system is more stable and the overshoot is small. 展开更多
关键词 feed forward Coupling Compensation Central Air CONDITIONING Water System ALWAYS Temperature DIFFERENCE control Pressure DIFFERENCE control ELMAN Neural Network
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南水北调中线渠首前馈控制方案快速计算分析
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作者 张保航 张召 +1 位作者 雷晓辉 魏宏郁 《中国农村水利水电》 北大核心 2024年第2期129-137,共9页
明渠调水工程中为适时适量的满足下游用水需求,需要提前制定控制方案。前馈控制方案的设计往往较为复杂,且影响因素众多,调度人员难以快速做出决策。基于蓄量补偿法对南水北调中线工程刁河节制闸至十二里河节制闸段作前馈控制,基于蓄量... 明渠调水工程中为适时适量的满足下游用水需求,需要提前制定控制方案。前馈控制方案的设计往往较为复杂,且影响因素众多,调度人员难以快速做出决策。基于蓄量补偿法对南水北调中线工程刁河节制闸至十二里河节制闸段作前馈控制,基于蓄量补偿计算结果,分析了初始流量、分水流量与前馈控制时间的关系,构建了单、双变量的前馈控制时间快速计算公式。探究了不同因素对蓄量补偿控制下游水位偏差的影响,得到初始流量、分水流量与下游水位最大偏差之间的函数关系式。针对工程运行中的极端工况,原蓄量补偿控制的下游水位偏差过大的问题,采用二次蓄量补偿规则对渠池进行前馈控制,有效减小了下游水位偏差。 展开更多
关键词 明渠调水 蓄量补偿法 前馈控制 快速计算公式 二次蓄量补偿规则
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融合前馈及状态反馈的智能汽车模型预测控制
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作者 陈齐平 曹天恒 +3 位作者 黄少堂 江会华 江志强 时乐泉 《湖南大学学报(自然科学版)》 EI CAS CSCD 北大核心 2024年第8期165-175,共11页
针对具有动力学约束的智能汽车路径精确跟踪问题,提出了一种融合前馈及状态反馈的模型预测控制(model predictive control,MPC)方法.首先,根据车辆二自由度模型建立MPC路径跟踪基础模型,然后考虑基础模型中道路曲率变化对系统产生的已... 针对具有动力学约束的智能汽车路径精确跟踪问题,提出了一种融合前馈及状态反馈的模型预测控制(model predictive control,MPC)方法.首先,根据车辆二自由度模型建立MPC路径跟踪基础模型,然后考虑基础模型中道路曲率变化对系统产生的已建模稳态扰动,设计前馈控制器(feed-forward control,FFC)进行消除;并进一步采用比例积分微分(proportional integral derivative,PID)控制器进行系统误差状态反馈调节;最终形成融合前馈及状态反馈转角输入的模型预测最优调节控制律(MPC-FF-PID).最后基于MATLAB/Simulink和Carsim平台证实所提算法的有效性,并基于智能驾驶实车平台在园区低速场景下进行实车测试,最大横向和航向误差分别为0.128 7 m和0.063 9 rad,表明本文算法具备更高的跟踪精度及安全性. 展开更多
关键词 智能汽车 路径跟踪 模型预测控制 前馈控制 状态反馈PID控制 仿真与实车验证
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