基于智能控制技术的智慧燃气综合调度指挥系统

针对当前燃气公司普遍突现的企业快速发展,管网规模大幅激增,场站自动化智能化需求急迫、生产气源调度与抢维应急指挥等综合调度管理压力增大等问题,制定相关解决方案,实现了整个场站的自动化运行和智能管理,数据采集、计量监控和远程调控系统相互协同,密切配合,共同构成了整个场站智能化管理;实现了管网生产、运行、气源、抢维、应急调度与运营管理各方的资源高效统一化集成和管理;实现了集成SCADA、GIS、巡检、客服、抄表等燃气多业务系统,保障了各业务间无缝切换,最大限度的发挥信息共享作用,提升各业务部门间的协同处理能力和业务处理能力,有效降低燃气安全隐患造成重大事故的可能性,提高了燃气运行运营管理的及时性和科学性,提升城市燃气安全的整体水平。

Cooperative co-evolution based distributed path planning of multiple mobile robots

This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.

Dynamics model of underwater robot motion control in 6 degrees of freedom

In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series, based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable. The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method.

Necessary and Sufficient Conditions for Consensus in Third Order Multi-Agent Systems

We deal with a consensus control problem for a group of third order agents which are networked by digraphs.Assuming that the control input of each agent is constructed based on weighted difference between its states and those of its neighbor agents, we aim to propose an algorithm on computing the weighting coefficients in the control input. The problem is reduced to designing Hurwitz polynomials with real or complex coefficients. We show that by using Hurwitz polynomials with complex coefficients, a necessary and sufficient condition can be obtained for designing the consensus algorithm. Since the condition is both necessary and sufficient, we provide a kind of parametrization for all the weighting coefficients achieving consensus. Moreover, the condition is a natural extension to second order consensus, and is reasonable and practical due to its comparatively decreased computation burden. The result is also extended to the case where communication delay exists in the control input.

Expert S-surface control for autonomous underwater vehicles

S-surface control has proven to be an effective means for motion control of underwater autonomous vehicles(AUV).However there are still problems maintaining steady precision of course due to the constant need to adjust parameters,especially where there are disturbing currents.Thus an intelligent integral was introduced to improve precision.An expert S-surface control was developed to tune the parameters on-line,based on the expert system,it provides S-surface control according to practical experience and control knowledge.To prevent control output over-compensation,a fuzzy neural network was included to adjust the production rules to the knowledge base.Experiments were conducted on an AUV simulation platform,and the results show that the expert S-surface controller performs better than an S-surface controller in environments with currents,producing good steady precision of course in a robust way.

ACS algorithm-based adaptive fuzzy PID controller and its application to CIP-I intelligent leg

Based on the ant colony system （ACS） algorithm and fuzzy logic control, a new design method for optimal fuzzy PID controller was proposed. In this method, the ACS algorithm was used to optimize the input/output scaling factors of fuzzy PID controller to generate the optimal fuzzy control rules and optimal real-time control action on a given controlled object. The designed controller, called the Fuzzy-ACS PID controller, was used to control the CIP-Ⅰ intelligent leg. The simulation experiments demonstrate that this controller has good control performance. Compared with other three optimal PID controllers designed respectively by using the differential evolution algorithm, the real-coded genetic algorithm, and the simulated annealing, it was verified that the Fuzzy-ACS PID controller has better control performance. Furthermore, the simulation results also verify that the proposed ACS algorithm has quick convergence speed, small solution variation, good dynamic convergence behavior, and high computation efficiency in searching for the optimal input/output scaling factors.

Stability control of water-enriched roofs of coal drifts

Excavation-and-support induced disturbances are likely to make water-enriched roofs to become weathered and fractured.The development and connection of cracks provide new water channels which may result in water loss,seriously affecting the in-tegrity and stability of roofs,leading to incidents of roof fall.Control of water-enriched rocks surrounding coal drifts is quite diffi-cult in China.Based on the practical situation of a water-enriched roof of a coal drift in working face 112201 of the Meihuajing coal mine,we studied the deformation features of surrounding rocks and the development of fractured areas and analyzed the major reasons for the decrease in load-carrying capacity,indicating that the key to maintain roof stability of this kind of coal drift is water retention.In addition,we proposed a staged control technology consisting of:1) surface grouting;2) cable anchor strengthening and 3) roof grouting,which has proven to be successful in this practical application.Our study indicates that,after the problem of water loss from the water-enriched roof had been effectively solved,a combined support system with high performance bolts can maintain the stability of the bearing structure,resulting in the control of roof stability in this kind of coal drift.

An Introduction to Intelligent Sensory Evaluation

Sensory evaluation is the evaluation of signals that a buman receives via its sensory organs. Nowadays sensory evaluation is widely used in quality inspection and quality control of products. and many other fields. Actually sensory evaluation always give. uncertain and inprecise results, therefore it derivates many problems. we reviews in detail these problem and give some cumputing methods to resolve them.

Intelligent Security Auditing Based on Access Control of Devices in Ad Hoc Network

Security in Ad Hoc network is an important issue under the opening circumstance of application service. Some protocols and models of security auditing have been proposed to ensure rationality of contracting strategy and operating regulation and used to identify abnormal operation. Model of security auditing based on access control of devices will be advanced to register sign of devices and property of event of access control and to audit those actions. In the end, the model is analyzed and simulated.

Dynamic Positioning System Based on Active Disturbance Rejection Technology

A dynamically positioned vessel, by the International Maritime Organization （IMO） and the certifying class societies （DNV, ABS, LR, etc.）, is defined as a vessel that maintains its position and heading （fixed location or pre-determined track） exclu- sively by means of active thrusters. The development of control technology promotes the upgrading of dynamic positioning （DP） systems. Today there are two different DP systems solutions available on the market： DP system based on PID regulator and that based on model-based control. Both systems have limited disturbance rejection capability due to their design principle. In this paper, a new DP system solution is proposed based on Active Dis^n＇bance Rejection Control （ADRC） technology. This technology is com- posed of Tracking-Differentiator （TD）, Extended State Observer （ESO） and Nonlinear Feedback Combination. On one hand, both TD and ESO can act as filters and can be used in place of conventional filters; on the other hand, the total disturbance of the system can be estimated and compensated by ESO, which therefore enhances the system＇s disturbance rejection capability. This technology＇s advantages over other methods lie in two aspects： 1） This method itself can not only achieve control objectives but also filter noisy measurements without other specialized filters; 2） This method offers a new useful approach to suppress the ocean disturbance. The simulation results demonstrate the effectiveness of the proposed method.

Simulation Study on Automatic Parking Control System

Nowadays the actual parking situation is becoming more and more complex. Because of the inexpert driving skill of novice drivers, there is often collision in the parking process. Fortunately, with the development of path planning and intelligent control technology, the appearance of the automatic parking control system will provide a good solution to the narrow parking problems. Here with the help of MATLAB/Simulink, we build a simulation platform, and then respectively simulate the parallel parking and vertical parking process, to seek for the best initial parking point and path.

Depth control for a deep-sea self-holding intelligent buoy system based on active disturbance rejection control method

The net buoyancy of the deep-sea self-holding intelligent buoy(DSIB)will change with depth due to pressure hull deformation in the deep submergence process.The net buoyancy changes will affect the hovering performance of the DSIB.To make the DSIB have better resistance to the external disturbances caused by the net buoyancy and water resistance,a depth controller was designed to improve the depth positioning based on the active disturbance rejection control(ADRC).Firstly,a dynamic model was established based on the motion analysis of the DSIB.In addition,the extended state observer(ESO)and nonlinear state error feedback controller were designed based on the Lyapunov stability principle.Finally,semi-physical simulations for the depth control process were made by using the ADRC depth controller and traditional PID depth controller,respectively.The results of the semi-physical simulations indicate that the depth controller based on the ADRC can achieve the predefined depth control under the external disturbances.Compared with the traditional PID depth controller,the overshoot of the ADRC depth controller is 1.74%,and the depth error is within 0.5%.It not only has a better control capability to restrain the overshoot and shock caused by the external disturbances,but also can improve intelligence of the DSIB under the depth tracking task.

Study on Control Performance of Bearing Temperature based on Genetic Algorithm

In order to improve the control effect of the bearing, this article studies the temperature control technology to improve the genetic algorithm, at the same time, analyze temperature simulation of bearing based on fuzzy PID control technology and improved genetic algorithm, the simulation results show that, the control method has good robustness based on Improved Genetic Algorithm. It can monitor a plurality of beating temperature, provides a new method for the detection and prevention of bearing fault.

MAHIS-based analysis and design of financial investment planning system

In financial investment planning,a large number of components that interact in varying and complexways are involved.This leads to complex behavior that is difficult to understand,predict and manage.Asingle intelligent technique can not solve the complicated and elaborate investment planning problems.Itis necessary to study those problems synthetically by combining the multiple intelligent techniques.Weemployed fussy algorithms,genetic algorithms,etc.to solve complicated financial portfolio managementin this paper.We analyse and design an agent-based hybrid intelligent system by following the methodolo-gy for constructing agent-based hybrid intelligent system(MAHIS).The system starts with the financialrisk tolerance evaluation based on fussy algorithms.Asset allocation,portfolio selections,interest predic-tions,and ordered weighted averaging can be conducted by using hybrid intelligent techniques.The plan-ning agent in the system can easily access all the intelligent processing agents,including the agents of fi-nancial risk tolerance assessment,asset allocation,portfolio selection,interest prediction,and decisionaggregation.Overall system robustness is facilitated.

Load Sharing Performance of the Main Drive System in the Shield Machine and Improvement of Control Method

Shield machine is the major technical equipment badly in need in national infrastructure construction. The service conditions of shield machine are extremely complex. The driving interface load fluctuation caused by geological environment changes and multi field coupling of stress field may lead into imbalance of redundant drive motors output torque in main driving system. Therefore, the shield machine driving synchronous control is one of the key technologies of shield machine. This paper is in view of the shield machine main driving synchronous control, achieving the system＇s adaptive load sharing. From the point of view of cutterhead load changes, nonlinear factors of mechanical transmission mechanism and the control system synchronization performance, the authors analyze the load sharing performance of shield machine main drive system in the event of load mutation. The paper proposes a data-driven synchronized control method applicable to the main drive system. The effectiveness of the method is verified through simulation and experimental methods. The new method can make the system synchronization error greatly reduced, thus it can effectively adapt to load mutation, and reduce shaft broken accident.

Multi-scale interactions in interpersonal coordination

Background:Interpersonal coordination is an essential aspect of daily life,and crucial to performance in cooperative and competitive team sports.While empirical research has investigated interpersonal coordination using a wide variety of analytical tools and frameworks,to date very few studies have employed multifractal techniques to study the nature of interpersonal coordination across multiple spatiotemporal scales.In the present study we address this gap.Methods:We investigated the dynamics of a simple dyadic interpersonal coordination task where each participant manually controlled a virtual object in relation to that of his or her partner.We tested whether the resulting hand-movement time series exhibits multi-scale properties and whether those properties are associated with successful performance.Results:Using the formalism of multifractals,we show that the performance on the coordination task is strongly multi-scale,and that the multi-scale properties appear to arise from interaction-dominant dynamics.Further,we find that the measure of across-scale interactions,multifractal spectrum width,predicts successful performance at the level of the dyad.Conclusion:The results are discussed with respect to the implications of multifractals and interaction-dominance for understanding control in an interpersonal context.

Control Power Source of PV-10 Piezoelectric Crystal Valve

Parameters of the power source used to control PV-10 piezoelectric crystal valve are following DC output voltage： 0 - 120 V, continuously controllable, linear enlargement factor of input direct current voltage： approximate 25 times, the accuracy of DC output voltage： ±5%, manual control and automatic control.

Comparative Study of the DTC-IM Speed Controller Based on Artificial Intelligence

Recently, artificial intelligence technique is increasingly receiving attention in solving complex and practical problem and they are widely applying in electrical machine domain. The authors consider also the direct torque control （DTC） as an alternative to conventional methods of control by pulse width modulation （PWM） and by Field oriented control （FOC）, so the application of the DTC based on artificial intelligence can show more advantages and simplified control algorithms with high performance. For this reason, the objectives of this paper can be divided into two parts, the first part is to apply neural networks and fuzzy logic techniques to the DTC control in the presence of a loop speed control comparing to the conventional regulators （as PI） to show the feasibility of these approaches, the second part is to further improve the performance of the neural network by using a neural-fuzzy regulator which combine the advantages of two techniques. Simulation results confirm the validity of the proposed techniques.

Innovative Renewable Energy-Load Management Technology via Controlled Weight Motion

The paper presents an innovative renewable energy-load management technology, which is currently being developed as a prototype, in preparation for potential large-scale implementation in power systems. The new technology employs controlled motion of large weights, which are being maneuvered （up and down） through the system peak/off-peak demand pattern. The load management scheme is similar to the pumping storage systems, but uses large weights instead of water and, therefore, is more suited to the operating environment in Saudi Arabia, in which water is relatively scarce. A portion of the off-peak valley-filling energy is supplied from wind-driven generators, which adds to the green energy component of the scheme. The controlled motion aspect of the new technology is based on partial implementation of previously published ideas by the authors as well as a registered patent. The paper describes the theoretical and analytical features of the introduced renewable energy-load management technology, and dwells on its practical implementation features.

Intelligent Vehicle Driving Controller Design and Implementation Evaluation

An intelligent vehicle control system is designed and embedded in a Digital Signal Processing （DSP） platform （eZdspTM F2812）. A golf cart is used as an installation platform for the overall system, including steering wheel Alternating Current （AC） serve motor, brake actuator, throttle driving circuit and sensors. Digital image processing technology is also used to enable the autonomous driving system to achieve multi-mode lane-keeping, lane-change and obstacle-avoidance. The overall system is tested and evaluated on a university campus.