带分散风机控制和直流输电的海上风电场并网控制

研究了带分散风机控制和直流输电的海上风电场并网控制,利用基于功率控制的方法对HVDC Light系统并网控制进行了仿真,实现了双侧独立控制,风机侧由多台分散风机各自带换流器组成,通过并联多台风机从而提高系统传输容量和可靠性,风机侧换流器分别采用基于滞环比较的功率控制算法,而系统侧换流器采用基于虚拟磁链的直接功率控制。仿真结果证实了基于该算法的HVDC Light系统连接大型海上风电场可以正常稳定地运行,多台换流器对有功功率和无功功率分别进行协调控制,并且可以满足系统不同的无功需求,而当风速变化时,风机侧可平滑调整输出功率的大小,并无损耗稳定地输送到系统侧。

Shape-controlled synthesis of novel precursor for fibrous Ni-Co alloy powders

A novel precursor of nickel-cobalt alloy powders with an appropriate Ni to Co molar ratio was prepared under selectively synthetic conditions. The composition and morphology of the precursor were characterized by X-ray diffractometry （XRD）, scanning electron microscopy （SEM）, Fourier transform infrared spectrometry （FT-IR） and energy dispersive spectrometry （EDS）. The effects of pH value, reaction temperature, metal ion concentrations and surfactant on the morphology and the dispersion of precursor were investigated. The results show that the morphology of precursor depends on ammonia content in the precursor. A fibriform precursor is a complicated ammonia-containing nickel-cobalt oxalate. The uniform shape-controlled fibrous precursor is obtained under the following optimum conditions： ammonia as complex agent as well as pH adjustor, oxalate as coprecipitator, 50-65 °C of reaction temperature, 0.5-0.8 mol/L of total concentration of Ni2＋ and Co2＋, PVP as dispersant, and pH 8.0-8.4.

一种通用多功能雷达信号波形发生器设计

本文给出了一种通用多功能雷达信号波形发生器的设计,它能够完成线性调频、相位编码及其组合信号等多模式雷达中频发射信号和雷达中频回波模拟信号发生,雷达其他各分机控制和故障的实时监测,发射功率管理与监测等功能;模块设计有RS422串口,可以灵活地实现工作模式切换和参数修改等功能;该模块控制灵活、集成度高,已成功应用于多型雷达。

A Decentralized Autonomous Control on Highly Redundant Robot Manipulators

The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.

Electrophoresis Analysis on the Protein Expression in Heteromorphic Leaves of Populus euphratica Oliv.

[Objective] This study was to elucidate the cellular and molecular mechanism of the development of heteromorphic leaves of Populus euphratica Oliv. [Method] By employing SDS-PAGE and 2-demensional electrophoresis (2-DE) techniques,proteins in various heteromorphic leaves from the same adult tree of P. euphratica were isolated and separated to the electrophoresis technique suitable for the separation and analysis of proteins in leaves of P. euphratica tree. [Results] There were significant differences in the expressions of proteins in various heteromorphic leaves of P. euphratica tree. SDS-PAGE pattern showed that bands of proteins with molecular weight of 57.2,13.2,30.2,23.9 and 33.3 kDa were remarkably different. 2-D electrophoresis pattern presented that proteins in leaves of P. euphratica tree mainly belong to acidic proteins distributed at pH value of 5.0-6.5 and with molecular weight of 20-40 kDa; totally 73 different protein spots were observed,of which 51 were up expressed and other 22 were down expressed in the serrated ovate leaves. [Conclusion] Based on these results,we speculate that regulated gene expression in leaves of P. euphratica tree results in the generation of different shapes of leaves,in order to adapt to the surroundings better.

Multi-level access control model for tree-like hierarchical organizations

An access control model is proposed based on the famous Bell-LaPadula （BLP） model.In the proposed model,hierarchical relationships among departments are built,a new concept named post is proposed,and assigning security tags to subjects and objects is greatly simplified.The interoperation among different departments is implemented through assigning multiple security tags to one post, and the more departments are closed on the organization tree,the more secret objects can be exchanged by the staff of the departments.The access control matrices of the department,post and staff are defined.By using the three access control matrices,a multi granularity and flexible discretionary access control policy is implemented.The outstanding merit of the BLP model is inherited,and the new model can guarantee that all the information flow is under control.Finally,our study shows that compared to the BLP model,the proposed model is more flexible.

采用DTMF方式通信的电度表管理系统

介绍一种采用DTMF(Dual ToneMultifreqency)信号方式通信的电度表管理系统。给出了控制分机及用户电表数字化接口的电路构成 ,重点分析了DTMF数据收发电路的工作原理及通信软件的设计方法。

On stochastic optimal control of partially observable nonlinear quasi Hamiltonian systems

A stochastic optimal control strategy for partially observable nonlinear quasi Hamiltonian systems is proposed. The optimal control forces consist of two parts. The first part is determined by the conditions under which the stochastic optimal control problem of a partially observable nonlinear system is converted into that of a completely observable linear system. The second part is determined by solving the dynamical programming equation derived by applying the stochastic averaging method and stochastic dynamical programming principle to the completely observable linear control system. The response of the optimally controlled quasi Hamiltonian system is predicted by solving the averaged Fokker-Planck-Kolmogorov equation associated with the optimally controlled completely observable linear system and solving the Riccati equation for the estimated error of system states. An example is given to illustrate the procedure and effectiveness of the proposed control strategy.

A Jury-Based Trust Management Mechanism in Distributed Cognitive Radio Networks

In the trust management scheme of the distributed cognitive radio networks, the absence of the central control devices cause many problems such as a lack of standardized control for trust computation, and the absence of the decision makers in trust evaluation and collaborative decision making. A trust management mechanism based on the jury system for distributed cognitive radio networks is proposed in this paper. The "jury user" is designed to collaboratively examine the reputation of the cognitive user in the networks and to perform data fusion and spectrum allocation for distributed cognitive radio networks. Simulation analysis results show that the proposed scheme can ensure accuracy and fairness in trust evaluation and improve effectiveness and flexibility of spectrum allocation.

Preparation of ultrafine silver powders with controllable size and morphology

The ultrafine silver powders were prepared by liquid reduction method using Arabic gum as dispersant.The effects of different dispersants,pH values,and temperature on the morphology and particle size of silver powders were investigated.It is found that Arabic gum can better adsorb on silver particles via chemical adsorption,and it shows the best dispersive effect among all the selected dispersants.The particle size of silver powders can be finely tuned from 0.34 to 4.09μm by adjusting pH values,while the morphology of silver powders can be tuned by changing the temperature.The silver powders with high tap density higher than 4.0 g/cm3 were successfully prepared in a wide temperature range of 21.8-70°C.Especially,the tap density is higher than 5.0 g/cm3 when the temperature is optimized to be 50°C.The facile process and high silver concentration of this method make it a promising way to prepare high quality silver powders for electronic paste.

Improved control of intelligent excavator using proportional-integral-plus gain scheduling

Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.

Two Different Role Division Control Strategies for Torque and Axial Force of Conical Bearingless Switched Reluctance Motor

Although the five-degree-of-freedom magnetic levitation system composed of two conical bearingless switched reluctance motors(CBSRMs)owns the simplest structure,the torque and levitation forces are coupled greatly.Therefore,it is difficult to make the rotor rotate and be fully levitated simultaneously.To solve this problem,two different role division control strategies are proposed in this paper,i.e.individual role division and mutual role division control strategies.The difference between them is the selection of motor which controls the torque or the axial force.In order to understand the characteristics of control variables,the principle and mathematical model of CBSRM are introduced.After that,two control strategies are explained in detail.To verify the demonstrated performance,the simulations are completed with MATLAB/Simulink.

Hydraulic cylinder control of injection molding machine based on differential evolution fractional order PID

Injection molding machine,hydraulic elevator,speed actuators belong to variable speed pump control cylinder system.Because variable speed pump control cylinder system is a nonlinear hydraulic system,it has some problems such as response lag and poor steady-state accuracy.To solve these problems,for the hydraulic cylinder of injection molding machine driven by the servo motor,a fractional order proportion-integration-diferentiation(FOPID)control strategy is proposed to realize the speed tracking control.Combined with the adaptive differential evolution algorithm,FOPID control strategy is used to determine the parameters of controller on line based on the test on the servo-motor-driven gear-pump-controlled hydraulic cylinder injection molding machine.Then the slef-adaptive differential evolution fractional order PID controller(SADE-FOPID)model of variable speed pump-controlled hydraulic cylinder is established in the test system with simulated loading.The simulation results show that compared with the classical PID control,the FOPID has better steady-state accuracy and fast response when the control parameters are optimized by the adaptive differential evolution algorithm.Experimental results show that SADE-FOPID control strategy is effective and feasible,and has good anti-load disturbance performance.

Decentralized PID neural network control for a quadrotor helicopter subjected to wind disturbance

A decentralized PID neural network(PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established via Newton-Euler formalism.For quadrotor helicopter flying at low altitude in actual situation, it was more susceptible to be influenced by the turbulent wind field.Therefore, the turbulent wind field was generated according to Dryden model and taken into consideration as the disturbance source of quadrotor helicopter. Then, a nested loop control approach was proposed for the stabilization and navigation problems of the quadrotor subjected to wind disturbance. A decentralized PIDNN controller was designed for the inner loop to stabilize the attitude angle. A conventional PID controller was used for the outer loop in order to generate the reference path to inner loop. Moreover, the connective weights of the PIDNN were trained on-line by error back-propagation method. Furthermore, the initial connective weights were identified according to the principle of PID control theory and the appropriate learning rate was selected by discrete Lyapunov theory in order to ensure the stability. Finally, the simulation results demonstrate that the controller can effectively resist external wind disturbances, and presents good stability, maneuverability and robustness.

A Multiple Model Approach to Modeling Based on Fuzzy Support Vector Machines

A new multiple models(MM) approach was proposed to model complex industrial process by using Fuzzy Support Vector Machines(F -SVMs). By applying the proposed approach to a pH neutralization titration experiment, F -SVMs MM not only provides satisfactory approximation and generalization property, but also achieves superior performance to USOCPN multiple modeling method and single modeling method based on standard SVMs.

A combined moving mechanism with independent movement in longitudinal direction and transverse direction

To make the detecting robot move on the surface of the finned tubes, a novel combined moving mechanism is developed. The combined moving mechanism is composed of sprocket wheel and drum-like small wheel installed on the chain. It can make the robot move independently in the direction parallel to the tubes and in the direction perpendicular to the tubes. This paper made a detailed discussion on the composition of the combined moving mechanism, the design method of the conjugate outline curve and the circular-arc outline curve of the drum-like small wheel that meshes with the tubes. The error of the circular-arc outline curve is also analyzed.

Study on Duality of Wave and Particle of Turbulence Using CML Models

A family of coupled map lattice （CML） models has been developed to simulate the evolutional mechanism of interactions of convection, diffusion, and dispersion in both weakly and strongly coupled cases. Not only coherent and turbulent properties as well as their relations, but also the transitional states between convection dominating, diffusion dominating and dispersion dominating are analyzed to demonstrate the essential characteristics of any state. Numerical results show that the models are capable of simulating both layered coupling and stochastic mechanism, and lead us to understand whether or not turbulence coherent structure is formed by modulation of wave packet. The duality of wave and particle characters of turbulence is illustrated in the numerical simulation; a sketch picture is given to explain the questions associated with the turbulent inverse cascade, which is the result of the mutual interactions among the physical factors of nonlinearity, dissipation and dispersion.

Data Distribution Mechanism over Opportunistic Networks with Limited Epidemic

Most of data distribution mechanism in Opportunistic Networks is derived by Epidemic data distribution,and Epidemic data distribution means that when each node meets another node,it may copy its own messages and transfer to another node.On the one hand,the copies improve the forwarding rate,and reduce the transmission delay.However,on the other hand,energy consumption increases and network survival time is reduced because the copies consume transmission resource.Therefore,copy number should be under control.In this paper,we first introduce the existing routing strategy based on Epidemic briefly,and present the Epidemic routing protocol analysis model and copy control mechanism based on the limited Epidemic in Opportunistic Networks.Then based on the limited copies scheme(LCS),we propose an energy balance scheme(EBS),the results show that EBS can improve the network survival time.

Distributed Power Control Based on Linear Quadratic Optimal Controller for Cognitive Radio Network

We propose a distributed closedloop power control scheme for a cognitive radio network(CRN) based on our developed state space model of the CRN. The whole power control process is separated into outer control loop and inner control loop in order to solve different problem. In outer loop, the interference temperature(IT) constraint is transformed to a performance index minimized by a state feedback controller to obtain an appropriate target signal to interference plus noise ratio(SINR) of secondary user(SU). For ideal channel model and random time-varying channel model, our designed controller is a linear quadratic regulator(LQR) and a linear quadratic Gaussian(LQG) regulator respectively. While in inner loop, SU controls its transmit power to make the instantaneous SINR track the corresponding target and ensure the IT constraint under the limited threshold. The closed-loop stability of the CRN is proved and the performance of proposed control scheme is presented by computer simulations, which shows that this scheme can effectively guarantee both the requirement of SINR and IT constraint for all SUs.

Torque Distribution Strategy for Integrated Starter/ Generator Hybrid Bus Implemented by Fuzzy Algorithm

A torque distribution strategy was designed by using fuzzy logic to realize the optimal control. The vehicle load zones were dynamically divided into several zones by several torque lines to indicate the drivers demand and the high or low efficient operating areas of the diesel engine. The fuzzy logic controller with trapezoid membership function and Mamdani rule reference mechanism was utilized. There are over 100 rules used in this fuzzy-based torque distribution strategy which are sorted into four rule-bases. The fuel economy and acceleration tests were designed to test and validate the integrated starter/generator (ISG) bus perfor-mance using fuzzy-based torque distribution strategy. The fuel economy is improved 7.7% compared with the rule-based strategy. Finally the road test results reveal that there is about 15% improvement of fuel economy. And the 0-50 km/h acceleration time is 9.5% shorter than the original bus.