考虑到飞轮储能系统中母线电压非线性和频繁快速放电的特性,以提高其动态控制性能为目标,基于浸入不变流形(immersion and invariance manifold,I&IM)原理设计母线电压I&IM自适应非线性控制器,并通过李雅普诺夫理论分析控制算...考虑到飞轮储能系统中母线电压非线性和频繁快速放电的特性,以提高其动态控制性能为目标,基于浸入不变流形(immersion and invariance manifold,I&IM)原理设计母线电压I&IM自适应非线性控制器,并通过李雅普诺夫理论分析控制算法的稳定性以及参数误差对闭环系统稳态特性和暂态特性的影响,证明了闭环系统在平衡点处满足全局一致渐近稳定的条件。最终通过仿真和实验对I&IM自适应非线性控制器的性能进行研究。结果表明,I&IM自适应非线性控制算法具有良好的稳定性,并能在不同转速内和不同负载下保持母线电压恒定。展开更多
针对水轮机调节系统簇发振荡的抑制问题,提出一种基于浸入与不变(immersion and invariance, I&I)原理的自适应反步滑模控制策略。首先,建立两时间尺度下的水轮机调节系统动力学模型,并分析系统的簇发振荡行为;其次,结合反步理论和...针对水轮机调节系统簇发振荡的抑制问题,提出一种基于浸入与不变(immersion and invariance, I&I)原理的自适应反步滑模控制策略。首先,建立两时间尺度下的水轮机调节系统动力学模型,并分析系统的簇发振荡行为;其次,结合反步理论和基于趋近律的滑模原理设计控制器,同时,对水轮机调节系统在运行过程受到的外部扰动,引入I&I理论对扰动估计误差建立流形,通过自适应律的选取保持其吸引与不变,并采用Lyapunov稳定性理论对所提控制方法进行收敛性证明;最后,对上述控制策略进行仿真验证。结果表明,该方法能有效抑制系统的簇发振荡现象,且具有较好的扰动跟踪精度。展开更多
When the damage to a natural heritage is unavoidable, recording the natural heritage before damage may be the only way we can achieve to preserve the heritage in digital format. In this paper, we introduce a video-bas...When the damage to a natural heritage is unavoidable, recording the natural heritage before damage may be the only way we can achieve to preserve the heritage in digital format. In this paper, we introduce a video-based tele-immersive system, called the Immersive Cockpit. It captures live videos from the interested site and recreates an immersive environment at the remote site where the user situates. With this system, users/audiences can immerse into the recreated natural heritage even the heritage no longer exists. The design goals of our system are real-time, live, low-cost and scalable. We stitch multiple video streams captured from ordinary CCD cameras to generate a panoramic video. To avoid being blocked by the supporting frame, we allow a flexible placement of cameras. This approach trades the accuracy of the generated panorama image for a larger field-of-view. The panoramic video is presented on an immersive display which covers the field-of-view of the viewer. We discuss how to correctly present the panoramic video on this non-planar immersive display screen by sweet spot relocation. We also present the result and the performance evaluation of the system.展开更多
针对具有多变量、非线性、强耦合和不确定特性的可逆冷带轧机速度张力系统,提出了一种基于浸入与不变(immersion and invariance,I&I)理论的自适应分散控制方法。首先,通过构造滑模观测器(sliding mode observer,SMO)对系统的非匹...针对具有多变量、非线性、强耦合和不确定特性的可逆冷带轧机速度张力系统,提出了一种基于浸入与不变(immersion and invariance,I&I)理论的自适应分散控制方法。首先,通过构造滑模观测器(sliding mode observer,SMO)对系统的非匹配不确定项进行观测估计,削弱了其对系统性能的影响;其次,基于I&I理论完成了系统摄动参数估计器的设计,且参数估计误差能以指数规律的形式单调收敛;再次,基于I&I理论完成可逆冷带轧机速度张力系统分散控制器的设计,实现了对系统给定值的精确跟踪控制;最后,基于某1422 mm可逆冷带轧机的实际数据进行了仿真对比研究,仿真结果验证了本文所提方法的有效性。展开更多
将含TCSC(Thyristor Controlled Series Compensation)的多机电力系统等值为两机系统,在考虑参数不确定性和外部干扰的情况下,基于backstepping方法,结合浸入和不变(I&I)自适应控制、自适应滑模控制以及L2干扰抑制理论,设计了一种...将含TCSC(Thyristor Controlled Series Compensation)的多机电力系统等值为两机系统,在考虑参数不确定性和外部干扰的情况下,基于backstepping方法,结合浸入和不变(I&I)自适应控制、自适应滑模控制以及L2干扰抑制理论,设计了一种新型的非线性自适应鲁棒TCSC控制器。该TCSC控制器不仅对不确定参数具有较强的自适应能力,而且可以有效地抑制外部干扰对系统的影响。另外,把虚拟控制量的导数看作不确定项,应用滑模项补偿其不确定性,来避免backstepping方法中存在的"系数膨胀"问题。仿真结果表明,所设计的TCSC控制器具有较强的鲁棒性和自适应性,可以保证区域互联电力系统的静态和暂态稳定性。展开更多
基金Supported by National Natural Science Foundation of China(5127510761304006)Innovative Team Program of National Natural Science Foundation of China(61021002)
文摘考虑到飞轮储能系统中母线电压非线性和频繁快速放电的特性,以提高其动态控制性能为目标,基于浸入不变流形(immersion and invariance manifold,I&IM)原理设计母线电压I&IM自适应非线性控制器,并通过李雅普诺夫理论分析控制算法的稳定性以及参数误差对闭环系统稳态特性和暂态特性的影响,证明了闭环系统在平衡点处满足全局一致渐近稳定的条件。最终通过仿真和实验对I&IM自适应非线性控制器的性能进行研究。结果表明,I&IM自适应非线性控制算法具有良好的稳定性,并能在不同转速内和不同负载下保持母线电压恒定。
文摘针对水轮机调节系统簇发振荡的抑制问题,提出一种基于浸入与不变(immersion and invariance, I&I)原理的自适应反步滑模控制策略。首先,建立两时间尺度下的水轮机调节系统动力学模型,并分析系统的簇发振荡行为;其次,结合反步理论和基于趋近律的滑模原理设计控制器,同时,对水轮机调节系统在运行过程受到的外部扰动,引入I&I理论对扰动估计误差建立流形,通过自适应律的选取保持其吸引与不变,并采用Lyapunov稳定性理论对所提控制方法进行收敛性证明;最后,对上述控制策略进行仿真验证。结果表明,该方法能有效抑制系统的簇发振荡现象,且具有较好的扰动跟踪精度。
文摘When the damage to a natural heritage is unavoidable, recording the natural heritage before damage may be the only way we can achieve to preserve the heritage in digital format. In this paper, we introduce a video-based tele-immersive system, called the Immersive Cockpit. It captures live videos from the interested site and recreates an immersive environment at the remote site where the user situates. With this system, users/audiences can immerse into the recreated natural heritage even the heritage no longer exists. The design goals of our system are real-time, live, low-cost and scalable. We stitch multiple video streams captured from ordinary CCD cameras to generate a panoramic video. To avoid being blocked by the supporting frame, we allow a flexible placement of cameras. This approach trades the accuracy of the generated panorama image for a larger field-of-view. The panoramic video is presented on an immersive display which covers the field-of-view of the viewer. We discuss how to correctly present the panoramic video on this non-planar immersive display screen by sweet spot relocation. We also present the result and the performance evaluation of the system.
文摘将含TCSC(Thyristor Controlled Series Compensation)的多机电力系统等值为两机系统,在考虑参数不确定性和外部干扰的情况下,基于backstepping方法,结合浸入和不变(I&I)自适应控制、自适应滑模控制以及L2干扰抑制理论,设计了一种新型的非线性自适应鲁棒TCSC控制器。该TCSC控制器不仅对不确定参数具有较强的自适应能力,而且可以有效地抑制外部干扰对系统的影响。另外,把虚拟控制量的导数看作不确定项,应用滑模项补偿其不确定性,来避免backstepping方法中存在的"系数膨胀"问题。仿真结果表明,所设计的TCSC控制器具有较强的鲁棒性和自适应性,可以保证区域互联电力系统的静态和暂态稳定性。
