Novel Distance Measures on Hesitant Fuzzy Sets Based on Equal-Probability Transformation and Their Application in Decision Making on Intersection Traffic Control

The purpose of this study is to reduce the uncertainty in the calculation process on hesitant fuzzy sets(HFSs).The innovation of this study is to unify the cardinal numbers of hesitant fuzzy elements(HFEs)in a special way.Firstly,a probability density function is assigned for any given HFE.Thereafter,equal-probability transformation is introduced to transform HFEs with different cardinal numbers on the condition into the same probability density function.The characteristic of this transformation is that the higher the consistency of the membership degrees in HFEs,the higher the credibility of the mentioned membership degrees is,then,the bigger the probability density values for them are.According to this transformation technique,a set of novel distance measures on HFSs is provided.Finally,an illustrative example of intersection traffic control is introduced to show the usefulness of the given distance measures.The example also shows that this study is a good complement to operation theories on HFSs.

Distance Control and Positive Security for Intrinsic Equipment Working in Explosive Potential Atmospheres

In this paper, intrinsic safety and positive security distance control for an up/down elevator which extracts the materials from an underground coal mine is approached. For a better understanding of intrinsic safety and positive security, the first part of the paper describes the potential risk the workers are facing while working in dangerous environments like coal mining with “grisou” atmospheres and what the conditions of an unfortunate event to take place are. We presented the diagram and working principle for intrinsic safety equipment used in potential explosive areas based on which we modeled and simulated the intrinsic and positive security distance control in order to get a software solution for it. We created an algorithm and simulated the process in Matlab Simulink. The simulation results done in Matlab Simulink were then entered into a Moeller PLC using a ladder-type programming language. For protection against explosive atmospheres, the PLC is inserted into a metal housing with intrinsic protection and Positive Security.

Distance Control Algorithm for Automobile Automatic Obstacle Avoidance and Cruise System

With the improvement of automobile ownership in recent years,the incidence of traffic accidents constantly increases and requirements on the security of automobiles become increasingly higher.As science and technology develops constantly,the development of automobile automatic obstacle avoidance and cruise system accelerates gradually,and the requirement on distance control becomes stricter.Automobile automatic obstacle avoidance and cruise system can determine the conditions of automobiles and roads using sensing technology,automatically adopt measures to control automobile after discovering road safety hazards,thus to reduce the incidence of traffic accidents.To prevent accidental collision of automobile which are installed with automatic obstacle avoidance and cruise system,active brake should be controlled during driving.This study put forward a neural network based proportional-integral-derivative(PID)control algorithm.The active brake of automobiles was effectively controlled using the system to keep the distance between automobiles.Moreover the algorithm was tested using professional automobile simulation platform.The results demonstrated that neural network based PID control algorithm can precisely and efficiently control the distance between two cars.This work provides a reference for the development of automobile automatic obstacle avoidance and cruise system.

Minimum Time Overtaking Problem of Vehicle Handling Inverse Dynamics Based on Two Kinds of Safe Distances

Overtaking accidents caused by improper operations performed by a driver occur frequently. However, most stud?ies on overtaking safety have neglected research into driver control input. A novel method is proposed to obtain the driver control input during the overtaking process. Meanwhile, to improve the safety of overtaking, two types of safe distances, and the time of the overtaking are considered. Path constraints are established when considering the two types of safe distances. An optimal control model is established to solve the minimum time maneuver under multiple constraints. Using the Gauss pseudospectral method, the optimal control problem is converted into a nonlinear pro?gramming problem, which is then solved through sequential quadratic programming(SQP). In addition, the e ective?ness of the proposed method is verified based on the results of a Carsim simulation. The simulation results show that by adopting an inverse dynamics method to solve the manipulation problem of the vehicle’s minimum overtaking time, the manipulation capability of a vehicle in completing an overtaking safely within the minimum time can be obtained. This method can provide a reference for research into the active safety of manned and unmanned vehicles.

New Method for Confirming the Desired Safety Headway Distance and Desired Deceleration in ACC System

A new method of confirming the desired safety headway distance and desired deceleration is put forward according to the detected static or moving target and its simulation results in Matlab are also presented. The validity of the algorithm to calculate the reference speeds of both the ACC vehicle and the targeted car according to the vector quadrangle composed of the relative distance, the relative azimuth angle, the relative speeds of the vehicles has also been demonstrated through numerical example in Matlab. New laws to obtain the desired deceleration by estimating the braking force according to the vehicle analyses force equation are established too.

Effect of direction error on the miss distance of rolling missiles with x-rudder

Based on the analysis of periodic equivalent control force of rolling missiles with x-rudder, the guidance loop model with direction error is established and the relationship between direction error and miss distance is analyzed. Results show that the miss distance is zero or a constant or infinite, and it is always zero when the real parts of system matrix eigenvalues decided by direction error are both positive values in an ideal system, in which all the lags are neglected. However, the miss distance gradually increases with the increase of the direction error and its variation is small when direction error is not more than 5° in the system, in which seeker lag and missile body lag are considered.

Effect of Source to Camera Distance and Count Rate on Intrinsic Uniformity of SPECT Gamma Camera

In this research, the excellent parameter for regular Quality Control (QC) testing of intrinsic uniformity for dual-head Single Photon Emission Computed Tomography (SPECT) gamma camera is determined. The integral and differential intrinsic uniformity tests for both Useful Field Of View (UFOV) and Centre Field Of View (CFOV) were done by insertion a point-source of 99mTc in front of the detectors with detached collimators to measure the effect of source to camera distance and a count rate on intrinsic uniformity. The result reveals that the best intrinsic uniformity image is obtained at source-to-camera distance of 3 m and a count rate between 16 and 60 M.

Information Security Evaluation of Industrial Control Systems Using Probabilistic Linguistic MCDM Method

Industrial control systems(ICSs)are widely used in various fields,and the information security problems of ICSs are increasingly serious.The existing evaluation methods fail to describe the uncertain evaluation information and group evaluation information of experts.Thus,this paper introduces the probabilistic linguistic term sets(PLTSs)to model the evaluation information of experts.Meanwhile,we propose a probabilistic linguistic multi-criteria decision-making(PL-MCDM)method to solve the information security assessment problem of ICSs.Firstly,we propose a novel subscript equivalence distance measure of PLTSs to improve the existing methods.Secondly,we use the Best Worst Method(BWM)method and Criteria Importance Through Inter-criteria Correlation(CRITIC)method to obtain the subjective weights and objective weights,which are used to derive the combined weights.Thirdly,we use the subscript equivalence distance measure method and the combined weight method to improve the probabilistic linguistic Visekriterijumska Optimizacija I Kompromisno Resenje(PL-VIKOR)method.Finally,we apply the proposed method to solve the information security assessment problem of ICSs.When comparing with the existing methods such as the probabilistic linguistic Tomada deDecisão Iterativa Multicritério(PL-TODIM)method and probabilistic linguistic Technique for Order Preference by Similarity to Ideal Solution(PL-TOPSIS)method,the case example shows that the proposed method can provide more reasonable ranking results.By evaluating and ranking the information security level of different ICSs,managers can identify problems in time and guide their work better.

基于冲能吸能平衡效应的冲击地压巷道分级支护研究

冲击地压是煤炭开采过程中发生的一种动力灾害,主要是由积聚在煤岩中的弹性变形能突然急剧释放造成的,约90%发生在巷道中。巷道冲击破坏不仅与冲击能量直接相关,还与冲击距离远近紧密相关,提出能距比的概念,即冲击震源释放能量与其至巷道距离的比值。根据冲击地压动静载叠加机制和冲能吸能平衡理论,综合考虑冲击震源能距比量级、巷道破坏程度、支护构件吸能、弱结构吸能等特性,建立了巷道围岩冲击矿震稳定性控制模型,分析了冲能、吸能的构成和计算过程,搭建了冲击地压能级与巷道支护强度之间的对应关系,确定了“四高锚网+”为主导技术的煤矿巷道防冲抗震支护体系。根据能距比量级大小,将冲击地压巷道支护安全可靠性分为P1~P4级别,分级对应采取不同支护强度的“四高锚网+”组合支护技术。“四高”锚网支护可对应能距比为102量级的无冲击巷道,“四高锚网+1”(O型钢棚、吸能防冲单元架、围岩弱结构)对应能距比为103量级的冲击地压,“四高锚网+2”对应能距比为104量级的冲击地压,“四高锚网+3”对应能距比为105量级的冲击地压,106及以上量级的冲击危险必须停产、撤人远场处理。结合工程实例进行了巷道防冲支护方案和参数设计,初步验证了理论研究成果的可行性和实用性。研究成果可为我国煤矿冲击地压巷道支护理论研究和工程实践提供一定的参考指导。

柔性低频输电系统的故障分量特征及保护适用性分析

柔性低频输电系统由于运行频率的改变以及柔性低频换流站的控制机理,其故障特征以及对保护原理的影响较为复杂。为了分析故障分量保护原理在柔性低频输电系统中的适用性问题,基于柔性低频换流站的控制架构,建立了以故障限流为故障控制策略的双端型低频输电模型。计及该系统线路发生三相故障的控制特性,分析了不同情况下的低频故障分量阻抗特性,并推导出低频等值阻抗的量化计算式,进而从理论上分析其对传统故障分量保护元件的影响机理。最后,在PSCAD/EMTDC平台上搭建了双端低频输电测试模型对理论分析进行仿真验证。研究结果表明:柔性低频输电系统在一定故障条件下可造成故障分量保护范围缩小,甚至使得保护元件完全失效,研究结果对于低频系统继电保护研究的开展具有一定的参考作用。

电力电子设备谐波对主网的影响分析与对策探索

为保障新型电力系统的建设,对电力电子设备谐波对主网的影响进行了分析,分析了主网层谐波的3个主要特征:海量的分布式谐波源接入、线路电容对谐波的放大效应、谐波的远距离传播。上述因素相互叠加,造成了当前主网层的普遍超标现象。在遵循公认的“谁污染、谁治理”的源头治理基础上,对主网层的谐波治理进行了探索,从机理和案例上分析了不同治理措施的优劣,建议当前采用“谁受害、谁治理”的方案实行终端治理,长远应考虑从源头、地区电网、新建主网站点进行谐波的综合治理。

基于最优转向曲率的无人车横向控制

为提高无人车横向控制性能,提出一种基于最优转向曲率的控制方法。利用车辆运动学约束,求解最优转向曲率的解析形式;采用线性化方法证明由该控制方法构成的闭环系统在平衡点附近的零输入局部稳定性;用数值方法定量分析保证闭环系统局部稳定的车速与预瞄距离的关系;提出一定车速下的最优预瞄距离的概念,用数值方法求解最优预瞄距离与车速的关系;探讨执行机构动态特性对闭环系统稳定性的影响。仿真和实车实验结果表明:在非零输入下,无人车依然可以稳定运行。

基于变前视距离的四轮同步转向农机改进纯跟踪控制

路径跟踪控制是提高自主导航系统控制精度的关键。针对在复杂农田作业环境下转弯时纯跟踪算法跟踪精度不高的问题,本文提出了一种基于改进纯追踪模型的四轮同步转向农机路径跟踪控制算法。建立了基于四轮同步转向农机的运动学模型和纯跟踪模型,在此基础上考虑航向误差得到改进纯跟踪模型,进行RTK定位坐标修正,根据量化误差的评价函数搜索前视区域最优目标点,得到最优前视距离。本文算法能实时确定四轮同步转向农机改进纯跟踪模型中的前视距离,使航向误差和横向误差最小化,实现目标点的自适应优化。仿真结果表明,本文方法转弯时平均绝对横向误差减至0.035 m,平均绝对航向误差减至0.212°;水田实验结果表明,当四轮同步转向农机作业速度为3.6 km/h时,四轮转向农机轨迹跟踪平均绝对横向误差减至0.109 m,平均绝对航向误差减至2.799°,转弯跟踪精度显著提高。

矿用无人运输车辆精准停靠控制算法

以无人驾驶矿用运输车为平台,开展精准停靠控制试验研究。为尽可能精确地到达期望停靠位置,首先设计距离-速度规划方案,在此基础上提出1种前馈加反馈的执行器开度控制算法;其次,在底层控制中考虑加速度补偿项,并对制动切换逻辑进行优化;最后进行仿真测试和实车试验,通过测试纠正控制参数,避免掉烦琐的系统参数辨识。结果表明:采用精准停靠策略能降低干扰引起的速度波动,优化底层控制逻辑,有效提高停靠精度。

贵州裸露型岩溶地下河系统污染防治技术——以遵义坪桥地下河系统污染防治工程为例

裸露型岩溶区岩溶强发育、水文地质条件复杂,受污染的地下河系统通道隐蔽性强、污染防治难度大。本文以坪桥地下河系统污染防治工程为例,在近污染源的主径流通道实施“地下水防渗帷幕+污水抽排”工程措施实现近源截排。施工面临岩溶破碎地层易掉块卡埋钻、钻效低及岩溶强发育段浆液扩散距离远等难题。通过配备适宜的钻进工艺,采取纯压式灌浆、水泥砂浆灌填溶洞、低压限量及速凝浆液灌注等灌浆控制措施,保证了工程进度质量,实现了源头治理污染地下水的目的。“近源截排”对类似水文地质条件下地下水污染防治提供可借鉴的地学治理模式。

含冗余控制面飞行器配平优化设计与性能分析

含冗余控制面的飞行器配平问题是一个超静定问题,从性能需求角度构建3个单目标配平构型优化问题,在高度为5 km、马赫数为0.85的定直平飞状态下,采用遗传算法求解。结果表明:若以最大升阻比为目标,采用内升降副翼配平,其余舵面中立;若要使配平所需控制面偏角绝对值和最小、达到降低控制能量的目的,则采用中升降副翼配平,其余舵面中立;若要实现控制面间偏角相差最小、达到减小雷达反射的目的,那么3组升降副翼需同时上偏3.7882°。结合气动数据,分析了上述结果的合理性。将3个目标两两组合,采用非支配排序遗传算法求解得到Pareto非劣解,发现3个配平目标两两互相冲突,一个目标性能的提高会降低其他目标性能,但降低性能的比例不同。最后综合考虑3个优化目标,采用理想点最小距离法从Pareto非劣解中选择最优构型,最终得到配平构型迎角1.7908°、内升降副翼-0.0009588°、中升降副翼-4.1908°、外升降副翼-4.9232°。本文的工作对合理确定含冗余控制面飞行器配平构型与性能综合分析有一定的参考意义。

基于多应用场景的改进DV-Hop定位模型

针对距离矢量跳(DV-Hop)定位模型定位精度低、优化策略场景依赖性强的问题,提出一种基于函数分析和模拟定参的改进DV-Hop模型——函数修正距离矢量跳(FuncDV-Hop)定位模型。首先,分析DV-Hop模型的平均跳距、距离估计和最小二乘法中的误差原因,引入待定系数优化、阶跃函数分段实验、带等效点的权重函数策略和极大似然估计修正;其次,考虑多应用场景,用控制变量法,分别将总节点数、信标节点比例、通信半径、信标节点数和待测节点数作为变量,设计对照实验;最后,进行仿真定参和整合优化测试两阶段实验,最终的改进策略较原DV-Hop模型的定位精度提高了23.70%~75.76%,平均优化率57.23%。实验结果表明,FuncDV-Hop模型的优化率最高达到了50.73%,与基于遗传算法和神经动力学改进的DV-Hop模型相比,FuncDV-Hop模型的优化率提升了0.55%~18.77%。所提模型不引入其他参量,不增加无线传感器网络(WSN)的协议开销,且有效提高定位精度。

考虑节点功率储备与GIN中心性的主动配电网动态集群电压控制

为应对大规模分布式光伏(photovoltaic,PV)接入引起的主动配电网电压越限问题,降低控制策略的时序复杂性,提出一种考虑节点功率储备与节点影响力(global importance of each node,GIN)的主动配电网动态集群电压控制方法。首先,通过考虑系统各节点的功率储备度,定义聚类算法的电压灵敏度-功率储备度(voltage sensitivity-power reserve,VS-PR)综合电气距离量度。进而,以GIN算法改进亲和力传播(affinity propagation,AP)聚类算法,实现网络集群划分与主导节点选取。然后,建立主动配电网集群电压控制模型,并通过动态粒子群算法(dynamic particle swarm optimization,D-PSO)进行模型求解。最后,通过建立基于MATLAB 2021b平台的IEEE 33节点仿真算例对比分析,验证了所提动态集群划分与电压控制方法的正确性和有效性。

甜水堡煤矿煤巷支护参数与设备工艺优化研究

目前巷道快速掘进技术研究主要针对巷道快速掘进的影响因素、设备优化等,对巷道空顶距、支护参数、施工工艺联合优化的研究较少。针对该问题,以甘肃省环县甜水堡煤矿2号井1309工作面回风巷为研究对象,对煤巷支护参数与设备工艺优化方法进行研究。分析了巷道掘进各工序的用时特征,得出掘进、永久支护、临时支护用时最多,占比分别为25.3%,49.9%,6.2%;以耗时最长的3个工序为重点优化方向,构建了掘进工作面空顶区顶板力学模型,得出掘进工作面理论最大空顶距为2.32 m,考虑现场受设备、地质、工艺等因素影响,确定空顶距为2.0 m;根据不同支护方案下巷道围岩应力、变形、塑性区的分布特征,结合巷道高效掘进需求,确定最佳锚杆间排距为800 mm×1000 mm。结合巷道实际的地质条件,配套优化了掘进设备、临时支护工艺与施工工艺。现场试验结果表明,优化后最大日进尺由8 m提高到10 m,巷道掘进速度提高了25%;巷道围岩变形基本处于稳定状态,最大变形量为226 mm。优化方案不仅保证了巷道的安全稳定,还显著提高了巷道的掘进速度。