Solar energy is the raw material and main source for several applications of renewable energy systems;thus, knowledge about the intensity of solar irradiation is essential for efficiency of these systems. Electric ene...Solar energy is the raw material and main source for several applications of renewable energy systems;thus, knowledge about the intensity of solar irradiation is essential for efficiency of these systems. Electric energy sources capable of meeting the growing demands of society with minimal impacts to the environment and high efficiency have been object of research in the last decade. In this context, the conversion of sunlight into electricity through photovoltaic cells has become one of the most encouraged and used resources in the world. However, the most unpredictable factor, which hampers capturing solar irradiation, preventing a proper conversion of sunlight into electricity, is the presence of clouds in the sky. Many methods of tracking and prediction of irradiation were proposed to increase efficiency in the production of energy by photovoltaic cells. This article presents an updated review on the mechanisms used for tracking and irradiation prediction, and their respective methods. It begins with a brief review on photovoltaic systems and classification of its mechanisms. Then, it presents a detailed overview on the evolution of mechanisms and their corresponding methods for tracking and irradiation prediction. Finally, the authors conclude with an analysis of performance efficiency of the mechanisms and their corresponding methods presented, describing the pros and cons of the most significant proposals for tracking and irradiation prediction.展开更多
Track tension is a major factor influencing the reliability of a track.In order to reduce the risk of track peel-off,it is necessary to keep track tension constant.However,it is difficult to measure the dynamic tensio...Track tension is a major factor influencing the reliability of a track.In order to reduce the risk of track peel-off,it is necessary to keep track tension constant.However,it is difficult to measure the dynamic tension during off-road operation.Based on the analysis of the relation and external forces depending on free body diagrams of the idler,idler arm,road wheel and road arm,a theoretical estimation model of track tension is built.Comparing estimation results with multibody dynamics simulation results,the rationality of track tension monitor is validated.By the aid of this monitor,a track tension control system is designed,which includes a self-tuning proportional-integral-derivative(PID)controller based on radial basis function neural network,an electro-hydraulic servo system and an idler arm.The tightness of track can be adjusted by turning the idler arm.Simulation results of the vehicle starting process indicate that the controller can reach different expected tensions quickly and accurately.Compared with a traditional PID controller,the proposed controller has a stronger anti-disturbance ability by amending control parameters online.展开更多
This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a...This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.展开更多
文摘Solar energy is the raw material and main source for several applications of renewable energy systems;thus, knowledge about the intensity of solar irradiation is essential for efficiency of these systems. Electric energy sources capable of meeting the growing demands of society with minimal impacts to the environment and high efficiency have been object of research in the last decade. In this context, the conversion of sunlight into electricity through photovoltaic cells has become one of the most encouraged and used resources in the world. However, the most unpredictable factor, which hampers capturing solar irradiation, preventing a proper conversion of sunlight into electricity, is the presence of clouds in the sky. Many methods of tracking and prediction of irradiation were proposed to increase efficiency in the production of energy by photovoltaic cells. This article presents an updated review on the mechanisms used for tracking and irradiation prediction, and their respective methods. It begins with a brief review on photovoltaic systems and classification of its mechanisms. Then, it presents a detailed overview on the evolution of mechanisms and their corresponding methods for tracking and irradiation prediction. Finally, the authors conclude with an analysis of performance efficiency of the mechanisms and their corresponding methods presented, describing the pros and cons of the most significant proposals for tracking and irradiation prediction.
基金The authors gratefully acknowledge the Natural Science Foundation of Jiangsu Province(No.BK20190871)Natural Science Foundation of Jiangsu Province(No.BK20190438)for the financial support of this research.
文摘Track tension is a major factor influencing the reliability of a track.In order to reduce the risk of track peel-off,it is necessary to keep track tension constant.However,it is difficult to measure the dynamic tension during off-road operation.Based on the analysis of the relation and external forces depending on free body diagrams of the idler,idler arm,road wheel and road arm,a theoretical estimation model of track tension is built.Comparing estimation results with multibody dynamics simulation results,the rationality of track tension monitor is validated.By the aid of this monitor,a track tension control system is designed,which includes a self-tuning proportional-integral-derivative(PID)controller based on radial basis function neural network,an electro-hydraulic servo system and an idler arm.The tightness of track can be adjusted by turning the idler arm.Simulation results of the vehicle starting process indicate that the controller can reach different expected tensions quickly and accurately.Compared with a traditional PID controller,the proposed controller has a stronger anti-disturbance ability by amending control parameters online.
基金supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(class A)(Grant No.XDA22040203)the Fundamental Research Funds for the Central Universities(Grant No.2019XX01)+1 种基金GDNRC[2020]031the Natural Science Foundation of Guangdong Province(Grant No.2020A1515010621).
文摘This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.
