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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach 被引量:1
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作者 Yunjun Zheng Jinchuan Zheng +3 位作者 Ke Shao Han Zhao Hao Xie Hai Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期1007-1021,共15页
The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-base... The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances. 展开更多
关键词 adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control
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An Energy Efficient Control Strategy for Electric Vehicle Driven by In-Wheel-Motors Based on Discrete Adaptive Sliding Mode Control 被引量:1
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作者 Han Zhang Changzhi Zhou +1 位作者 Chunyan Wang Wanzhong Zhao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2023年第2期302-313,共12页
This paper presents an energy-efficient control strategy for electric vehicles(EVs)driven by in-wheel-motors(IWMs)based on discrete adaptive sliding mode control(DASMC).The nonlinear vehicle model,tire model and IWM m... This paper presents an energy-efficient control strategy for electric vehicles(EVs)driven by in-wheel-motors(IWMs)based on discrete adaptive sliding mode control(DASMC).The nonlinear vehicle model,tire model and IWM model are established at first to represent the operation mechanism of the whole system.Based on the modeling,two virtual control variables are used to represent the longitudinal and yaw control efforts to coordinate the vehicle motion control.Then DASMC method is applied to calculate the required total driving torque and yaw moment,which can improve the tracking performance as well as the system robustness.According to the vehicle nonlinear model,the additional yaw moment can be expressed as a function of longitudinal and lateral tire forces.For further control scheme development,a tire force estimator using an unscented Kalman filter is designed to estimate real-time tire forces.On these bases,energy efficient torque allocation method is developed to distribute the total driving torque and differential torque to each IWM,considering the motor energy consumption,the tire slip energy consumption,and the brake energy~?recovery.Simulation results of the proposed control strategy using the co-platform of Matlab/Simulink and CarSim way. 展开更多
关键词 Electric vehicle Energy optimization Motion control Discrete adaptive sliding mode control
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Adaptive Nonlinear Sliding Mode Control for DC Power Distribution in Commercial Buildings
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作者 R.Muthamil Arasi S.Padma 《Intelligent Automation & Soft Computing》 SCIE 2023年第4期997-1012,共16页
The developing populace and industrialization power demand prompted the requirement for power generation from elective sources.The desire for this pursuit is solid due to the ever-present common assets of petroleum de... The developing populace and industrialization power demand prompted the requirement for power generation from elective sources.The desire for this pursuit is solid due to the ever-present common assets of petroleum deri-vatives and their predominant ecological issues.It is generally acknowledged that sustainable power sources are one of the best answers for the energy emergency.Among these,Photovoltaic(PV)sources have many benefits to bestow a very promising future.If integrated into the existing power distribution infrastructure,the solar source will be more successful,requiring efficient Direct Current(DC)-Alternating Current(AC)conversion.This paper mainly aims to improve control-lers’performance between AC/DC Energy sources and the DC loads using the Adaptive Nonlinear Sliding Mode(ANSM)control method.The proposed ANSM method efficiently controls power quality issues,such as transient response,powerflow reliability and Total Harmonics Distortion(THD).The proposed con-troller is applied for both AC/DC and DC/DC converters and the performance of the proposed controller is validated through simulation checking the above para-meters.The simulation results confirm ANSM configuration is more reliable and efficient than the existing fuzzy and sliding mode control methods. 展开更多
关键词 PHOTOVOLTAIC AC-DC converter DC-DC converter adaptive nonlinear sliding mode transient response total harmonics distortion
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Quantitative detection of locomotive wheel polygonization under non-stationary conditions by adaptive chirp mode decomposition 被引量:1
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作者 Shiqian Chen Kaiyun Wang +3 位作者 Ziwei Zhou Yunfan Yang Zaigang Chen Wanming Zhai 《Railway Engineering Science》 2022年第2期129-147,共19页
Wheel polygonal wear is a common and severe defect,which seriously threatens the running safety and reliability of a railway vehicle especially a locomotive.Due to non-stationary running conditions(e.g.,traction and b... Wheel polygonal wear is a common and severe defect,which seriously threatens the running safety and reliability of a railway vehicle especially a locomotive.Due to non-stationary running conditions(e.g.,traction and braking)of the locomotive,the passing frequencies of a polygonal wheel will exhibit time-varying behaviors,which makes it too difficult to effectively detect the wheel defect.Moreover,most existing methods only achieve qualitative fault diagnosis and they cannot accurately identify defect levels.To address these issues,this paper reports a novel quantitative method for fault detection of wheel polygonization under non-stationary conditions based on a recently proposed adaptive chirp mode decomposition(ACMD)approach.Firstly,a coarse-to-fine method based on the time–frequency ridge detection and ACMD is developed to accurately estimate a time-varying gear meshing frequency and thus obtain a wheel rotating frequency from a vibration acceleration signal of a motor.After the rotating frequency is obtained,signal resampling and order analysis techniques are applied to an acceleration signal of an axle box to identify harmonic orders related to polygonal wear.Finally,the ACMD is combined with an inertial algorithm to estimate polygonal wear amplitudes.Not only a dynamics simulation but a field test was carried out to show that the proposed method can effectively detect both harmonic orders and their amplitudes of the wheel polygonization under non-stationary conditions. 展开更多
关键词 Wheel polygonal wear Fault diagnosis Nonstationary condition adaptive mode decomposition Time–frequency analysis
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An adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs 被引量:16
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作者 JIANG Xue-ying SU Cheng-li +3 位作者 XU Ya-peng LIU Kai SHI Hui-yuan LI Ping 《Journal of Central South University》 SCIE EI CAS CSCD 2018年第3期616-631,共16页
To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed... To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances. 展开更多
关键词 quadrotor UAVs adaptive backstepping sliding mode adaptive law tracking error
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Adaptive sliding mode backstepping control for near space vehicles considering engine faults 被引量:5
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作者 ZHAO Jing JIANG Bin +2 位作者 XIE Fei GAO Zhifeng XU Yufei 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第2期343-351,共9页
A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backsteppin... A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backstepping with the sliding mode control strategy could guarantee the system’s stability and track desired signals under external disturbances and engine faults. Firstly, attitude mode description and the engine faulty model are given. Secondly, a nominal control law is designed.Thirdly, a sliding mode observer is given later in order to estimate both the information of engine faults and external disturbances. An adaptive sliding mode technology based on the previous nominal control law is developed via updating faulty parameters. Finally,analyze the system’s fault-tolerant performance and reliability through experiment simulation, which verifies the proposed design of fault-tolerant control can tolerate engine faults, as well as the strong robustness for external disturbance. 展开更多
关键词 fault tolerant control adaptive sliding mode(ASM) engine fault near space vehicle(NSV)
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Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems 被引量:6
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作者 Menghua Zhang Xin Ma +4 位作者 Rui Song Xuewen Rong Guohui Tian Xincheng Tian Yibin Li 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第3期683-690,共8页
In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to im... In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law. 展开更多
关键词 ADAPTABILITY adaptive proportional-derivative sliding mode control(APD-SMC) coupling behavior La Salle’s invariance theorem Lyapunov techniques robustness underactuated overhead crane
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Adaptive neural network based sliding mode altitude control for a quadrotor UAV 被引量:3
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作者 Hadi RAZMI 《Journal of Central South University》 SCIE EI CAS CSCD 2018年第11期2654-2663,共10页
Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the ... Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the controller design for these quadrotors is considered the challenging issue of the day.In this work,an adaptive sliding mode controller based on neural network is proposed to control the altitude of a quadrotor.The error and error derivative of the altitude of a quadrotor are the inputs of neural network and altitude sliding surface variable is its output.Neural network estimates the sliding surface variable adaptively according to the conditions of quadrotor and sets the altitude of a quadrotor equal to the desired value.The proposed controller stability has been proven by Lyapunov theory and it is shown that all system states reach to sliding surface and are remaining in it.The superiority of the proposed control method has been proven by comparison and simulation results. 展开更多
关键词 adaptive sliding mode controller analog neural network(ANN) altitude control of quadrotor parametric uncertainty
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Finite element analysis of keyhole plasma arc welding based on an adaptive heat source mode 被引量:5
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作者 胡庆贤 武传松 张裕明 《China Welding》 EI CAS 2007年第2期55-58,共4页
An adaptive heat source mode is proposed to account for the keyhole effect and the characteristics of volumetric distribution along the direction of the workpiece thickness. Finite element analysis of the temperature ... An adaptive heat source mode is proposed to account for the keyhole effect and the characteristics of volumetric distribution along the direction of the workpiece thickness. Finite element analysis of the temperature field in keyhole plasma arc welding is conducted and the weld geometry is obtained. The predicted results are in agreement with the measured ones. 展开更多
关键词 keyhole plasma arc welding adaptive heat source mode finite element analysis
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Robust Adaptive Gain Higher Order Sliding Mode Observer Based Control-constrained Nonlinear Model Predictive Control for Spacecraft Formation Flying 被引量:9
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作者 Ranjith Ravindranathan Nair Laxmidhar Behera 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第1期367-381,共15页
This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher... This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach. 展开更多
关键词 adaptive gain higher order sliding mode observer leader-follower formation nonlinear model predictive control spacecraft formation flying tracking control
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Adaptive Sliding Mode BTT Autopilot for Cruise Missiles with Variable-Swept Wings 被引量:2
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作者 Wei-Ming Li Rui-Sheng Sun +1 位作者 Hong-Yang Bai Peng-Yun Liu 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2014年第2期33-42,共10页
In this paper,an adaptive sliding mode method was proposed for BTT autopilot of cruise missiles with variable-swept wings. To realize the whole state feedback,the roll angle,normal overloads and angular rates were con... In this paper,an adaptive sliding mode method was proposed for BTT autopilot of cruise missiles with variable-swept wings. To realize the whole state feedback,the roll angle,normal overloads and angular rates were considered as state variables of the autopilot,and a parametric sliding mode controller was designed via feedback linearization. A novel parametric adaptation law was put forward to estimate the nonlinear timevarying parameter perturbations in real time based on Lyapunov stability theory. A sliding mode boundary layer theory was adopted to smooth the discontinuity of control variables and eliminate the control chattering. The simulation was presented for the roll angle and overload commands tracking in different configuration schemes. The results indicated that the controlled system has robust dynamic tracking performance in condition of the large-scale aerodynamic parametric variety resulted from variable-swept wings. 展开更多
关键词 BTT autopilot adaptive sliding mode control variable-sweep wing
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New adaptive quasi-sliding mode control for nonlinear discrete-time systems 被引量:11
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作者 Wang Weihong1,2 & Hou Zhongsheng3 1. School of Tra?c and Transportation, Beijing Jiaotong Univ., Beijing 100044, P. R. China 2. Dept. of Automation, Taiyuan Univ. of Science & Technology, Taiyuan 030024, P. R. China 3. Advanced Control Systems Lab, School of Electronics and Information Engineering, Beijing Jiaotong Univ., Beijing 100044, P. R. China 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第1期154-160,共7页
A new adaptive quasi-sliding mode control algorithm is developed for a class of nonlinear discrete-time systems, which is especially useful for nonlinear systems with vaguely known dynamics. This design is model-free,... A new adaptive quasi-sliding mode control algorithm is developed for a class of nonlinear discrete-time systems, which is especially useful for nonlinear systems with vaguely known dynamics. This design is model-free, and is based directly on pseudo-partial-derivatives derived on-line from the input and output information of the system using an improved recursive projection type of identification algorithm. The theoretical analysis and simulation results show that the adaptive quasi-sliding mode control system is stable and convergent. 展开更多
关键词 quasi-sliding mode control adaptive control model-free control pseudo-partial-derivative
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Adaptive sliding mode control of modular self-reconfigurable spacecraft with time-delay estimation 被引量:1
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作者 Xin-hong Li Zhi-bin Zhang +4 位作者 Ji-ping An Xin Zhou Gang-xuan Hu Guo-hui Zhang Wan-xin Man 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2022年第12期2170-2180,共11页
The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground,... The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering. 展开更多
关键词 adaptive sliding mode control(ASMC) Time delay control Time delay estimation Modular self-reconfigurable spacecraft Uncertainty Coordinated control
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Study on the Improvement of the Application of Complete Ensemble Empirical Mode Decomposition with Adaptive Noise in Hydrology Based on RBFNN Data Extension Technology 被引量:3
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作者 Jinping Zhang Youlai Jin +2 位作者 Bin Sun Yuping Han Yang Hong 《Computer Modeling in Engineering & Sciences》 SCIE EI 2021年第2期755-770,共16页
The complex nonlinear and non-stationary features exhibited in hydrologic sequences make hydrological analysis and forecasting difficult.Currently,some hydrologists employ the complete ensemble empirical mode decompos... The complex nonlinear and non-stationary features exhibited in hydrologic sequences make hydrological analysis and forecasting difficult.Currently,some hydrologists employ the complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN)method,a new time-frequency analysis method based on the empirical mode decomposition(EMD)algorithm,to decompose non-stationary raw data in order to obtain relatively stationary components for further study.However,the endpoint effect in CEEMDAN is often neglected,which can lead to decomposition errors that reduce the accuracy of the research results.In this study,we processed an original runoff sequence using the radial basis function neural network(RBFNN)technique to obtain the extension sequence before utilizing CEEMDAN decomposition.Then,we compared the decomposition results of the original sequence,RBFNN extension sequence,and standard sequence to investigate the influence of the endpoint effect and RBFNN extension on the CEEMDAN method.The results indicated that the RBFNN extension technique effectively reduced the error of medium and low frequency components caused by the endpoint effect.At both ends of the components,the extension sequence more accurately reflected the true fluctuation characteristics and variation trends.These advances are of great significance to the subsequent study of hydrology.Therefore,the CEEMDAN method,combined with an appropriate extension of the original runoff series,can more precisely determine multi-time scale characteristics,and provide a credible basis for the analysis of hydrologic time series and hydrological forecasting. 展开更多
关键词 Complete ensemble empirical mode decomposition with adaptive noise data extension radial basis function neural network multi-time scales runoff
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A Fault Feature Extraction Model in Synchronous Generator under Stator Inter-Turn Short Circuit Based on ACMD and DEO3S 被引量:1
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作者 Yuling He Shuai Li +1 位作者 Chao Zhang Xiaolong Wang 《Structural Durability & Health Monitoring》 EI 2023年第2期115-130,共16页
This paper proposed a new diagnosis model for the stator inter-turn short circuit fault in synchronous generators.Different from the past methods focused on the current or voltage signals to diagnose the electrical fa... This paper proposed a new diagnosis model for the stator inter-turn short circuit fault in synchronous generators.Different from the past methods focused on the current or voltage signals to diagnose the electrical fault,the sta-tor vibration signal analysis based on ACMD(adaptive chirp mode decomposition)and DEO3S(demodulation energy operator of symmetrical differencing)was adopted to extract the fault feature.Firstly,FT(Fourier trans-form)is applied to the vibration signal to obtain the instantaneous frequency,and PE(permutation entropy)is calculated to select the proper weighting coefficients.Then,the signal is decomposed by ACMD,with the instan-taneous frequency and weighting coefficient acquired in the former step to obtain the optimal mode.Finally,DEO3S is operated to get the envelope spectrum which is able to strengthen the characteristic frequencies of the stator inter-turn short circuit fault.The study on the simulating signal and the real experiment data indicates the effectiveness of the proposed method for the stator inter-turn short circuit fault in synchronous generators.In addition,the comparison with other methods shows the superiority of the proposed model. 展开更多
关键词 Synchronous generator stator inter-turn short circuit vibration signal processing adaptive chirp mode decomposition demodulation energy operator of symmetrical differencing
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Missing interpolation model for wind power data based on the improved CEEMDAN method and generative adversarial interpolation network 被引量:3
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作者 Lingyun Zhao Zhuoyu Wang +4 位作者 Tingxi Chen Shuang Lv Chuan Yuan Xiaodong Shen Youbo Liu 《Global Energy Interconnection》 EI CSCD 2023年第5期517-529,共13页
Randomness and fluctuations in wind power output may cause changes in important parameters(e.g.,grid frequency and voltage),which in turn affect the stable operation of a power system.However,owing to external factors... Randomness and fluctuations in wind power output may cause changes in important parameters(e.g.,grid frequency and voltage),which in turn affect the stable operation of a power system.However,owing to external factors(such as weather),there are often various anomalies in wind power data,such as missing numerical values and unreasonable data.This significantly affects the accuracy of wind power generation predictions and operational decisions.Therefore,developing and applying reliable wind power interpolation methods is important for promoting the sustainable development of the wind power industry.In this study,the causes of abnormal data in wind power generation were first analyzed from a practical perspective.Second,an improved complete ensemble empirical mode decomposition with adaptive noise(ICEEMDAN)method with a generative adversarial interpolation network(GAIN)network was proposed to preprocess wind power generation and interpolate missing wind power generation sub-components.Finally,a complete wind power generation time series was reconstructed.Compared to traditional methods,the proposed ICEEMDAN-GAIN combination interpolation model has a higher interpolation accuracy and can effectively reduce the error impact caused by wind power generation sequence fluctuations. 展开更多
关键词 Wind power data repair Complete ensemble empirical mode decomposition with adaptive noise(CEEMDAN) Generative adversarial interpolation network(GAIN)
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Adaptive fuzzy integral sliding mode pressure control for cutter feeding system of trench cutter
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作者 田启岩 魏建华 +1 位作者 方锦辉 国凯 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第12期3302-3311,共10页
A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of ... A nonlinear pressure controller was presented to track desired feeding pressure for the cutter feeding system(CFS) of trench cutter(TC) in the presence of unknown external disturbances.The feeding pressure control of CFS is subjected to unknown load characteristics of rock or soil; in addition,the geological condition is time-varying.Due to the complex load characteristics of rock or soil,the feeding velocity of TC is related to geological conditions.What is worse,its dynamic model is subjected to uncertainties and its function is unknown.To deal with the particular characteristics of CFS,a novel adaptive fuzzy integral sliding mode control(AFISMC) was designed for feeding pressure control of CFS,which combines the robust characteristics of an integral sliding mode controller and the adaptive adjusting characteristics of an adaptive fuzzy controller.The AFISMC feeding pressure controller is synthesized using the backstepping technique.The stability of the overall closed-loop system consisting of the adaptive fuzzy inference system,integral sliding mode controller and the cutter feeding system is proved using Lyapunov theory.Experiments are conducted on a TC test bench with the AFISMC under different operating conditions.The experimental results demonstrate that the proposed AFISMC feeding pressure controller for CFS gives a superior and robust pressure tracking performance with maximum pressure tracking error within ?0.3 MPa. 展开更多
关键词 electro-hydraulic system cutter feeding system feeding pressure control adaptive fuzzy integral sliding mode control
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基于CEEMDAN-HT的永磁同步电机匝间短路振动信号故障特征提取研究 被引量:2
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作者 夏焰坤 李欣洋 +1 位作者 任俊杰 寇坚强 《振动与冲击》 EI CSCD 北大核心 2024年第5期72-81,共10页
由于长时间处于高负荷运行状态,永磁同步电机(permanent magnet synchronous motor, PMSM)定子绕组线圈匝与匝之间的绝缘性能容易降低,导致出现匝间短路,此时电机的振动强度会发生改变。针对此现象,提出将自适应噪声完备经验模态分解(co... 由于长时间处于高负荷运行状态,永磁同步电机(permanent magnet synchronous motor, PMSM)定子绕组线圈匝与匝之间的绝缘性能容易降低,导致出现匝间短路,此时电机的振动强度会发生改变。针对此现象,提出将自适应噪声完备经验模态分解(complete ensemble empirical mode decomposition with adaptive noise, CEEMDAN)与希尔伯特变换(Hilbert transform, HT)结合,构成一种CEEMDAN-HT非线性信号分析方法,并将其应用于提取振动信号故障特征。首先,利用CEEMDAN算法分解振动信号,得到一系列本征模态函数(intrinsic mode function, IMF),并将主元分析中的方差贡献率用于识别包含故障特征信息的IMF。其次,使用HT对方差贡献率较高的IMF进行分析,并以三维联合时频图呈现时间、瞬时频率与幅值,得到了主要故障特征。最后,使用ANSYS有限元软件建立了电机短路故障模型,并搭建了短路故障试验平台,通过对比有限元仿真结果与试验结果,对提出的方法进行了有效性和准确性验证。 展开更多
关键词 永磁同步电机(permanent magnet synchronous motor PMSM) 振动信号 自适应噪声完备经验模态分解(complete ensemble empirical mode decomposition with adaptive noise CEEMDAN) 特征提取 希尔伯特变换(Hilbert transform HT)
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Adaptive Multiantenna Technology
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作者 Huahua Xiao Dengkui Zhu Liujun Hu 《ZTE Communications》 2011年第1期54-57,共4页
Abstract: Multiantenna technology can be implemented in several modes. These modes have varying characteristics and are used in different scenarios. This paper introduces Beamforming (BF), Cyclic Delay Diversity (... Abstract: Multiantenna technology can be implemented in several modes. These modes have varying characteristics and are used in different scenarios. This paper introduces Beamforming (BF), Cyclic Delay Diversity (CDD), Spatial Diversity (SD), Spatial Multiplexing (SM), and other multiantenna technologies. It also analyzes various technical features and their application scenarios. An adaptive multiantenna switching algorithm is proposed that chooses a suitable mode for sending data according to the scenario or wireless channel conditions. This switching algorithm improves multiantenna technology and enhances the quality of wireless network communications 展开更多
关键词 BF CDD SD SM adaptive mode switch
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Adaptive Controller Design for Dynamic Maneuvers of High Speed Underwater Vehicles 被引量:1
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作者 Bui Duc Hong PHUC Sam-Sang YOU +1 位作者 Phuc Thinh DOAN Sang-Do LEE 《China Ocean Engineering》 SCIE EI CSCD 2022年第2期311-321,共11页
The control synthesis of the high-speed underwater vehicle faces many technical challenges due to its inherent structure and surrounding operational environment.In this paper,the dynamical behavior is firstly describe... The control synthesis of the high-speed underwater vehicle faces many technical challenges due to its inherent structure and surrounding operational environment.In this paper,the dynamical behavior is firstly described through a bifurcation analysis to give some insights for robust control synthesis.Then a novel adaptive fractional-order sliding mode controller(AFOSMC)is realized to effectively manipulate the supercavitating vehicle against payload changes,nonlinear planing force,and external disturbances.The fractional order(FO)calculus can offer more flexibility and more freedom for tuning active control synthesis than the integer-order counterpart.In addition,the adaptation law has been presented to directly handle the payload change effects.The stability of the controlled vehicle system is proven via Lyapunov stability theory.Next,the dynamic performance of the proposed controller is verified through extensive simulation results,which demonstrate the control accuracy with faster responses compared with existing integer-order controllers.Finally,the proposed fractional order controllers can provide higher performance than their integer order counterparts with control algorithms. 展开更多
关键词 fractional order calculus supercavitating underwater vehicles planing force payload change adaptive sliding mode control
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