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 aut...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.展开更多
As the prime motor of dispersed energy system, the high-temperature solid oxide fuel cells (SOFC) are high efficient with large heat recovery. This study presents a simulation of SOFC building-based cooling, heat and ...As the prime motor of dispersed energy system, the high-temperature solid oxide fuel cells (SOFC) are high efficient with large heat recovery. This study presents a simulation of SOFC building-based cooling, heat and power (BCHP) system, which can meet basic requirements in power and heating (cooling) of the designated customers. The peak power load can be met by power grid, while the peak heating (cooling) load requirement can be met by backup equipments. In order to solve the economic dispatch problem of the energy system, a restricted nonlinear optimization model has been developed. The production costs can be minimized via both the equality constraints of customer’s heat and power demands, and other inequality constrains of equipments’ capacities. The sequential quadratic programming method has been used to search the solution. The study indicates that the model can be used to optimize the system’s capacities and run strategy. An office building case has been computed, and it is indicated that the model can be served in design and optimization of SOFC-BCHP system.展开更多
基金Project(K5117827)supported by Scientific Research Foundation for the Returned Overseas Chinese ScholarsProject(08KJB510021)supported by the Natural Science Research Council of Jiangsu Province,China+1 种基金Project(Q3117918)supported by Scientific Research Foundation for Young Teachers of Soochow University,ChinaProject(60910001)supported by National Natural Science Foundation of China
文摘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.
文摘As the prime motor of dispersed energy system, the high-temperature solid oxide fuel cells (SOFC) are high efficient with large heat recovery. This study presents a simulation of SOFC building-based cooling, heat and power (BCHP) system, which can meet basic requirements in power and heating (cooling) of the designated customers. The peak power load can be met by power grid, while the peak heating (cooling) load requirement can be met by backup equipments. In order to solve the economic dispatch problem of the energy system, a restricted nonlinear optimization model has been developed. The production costs can be minimized via both the equality constraints of customer’s heat and power demands, and other inequality constrains of equipments’ capacities. The sequential quadratic programming method has been used to search the solution. The study indicates that the model can be used to optimize the system’s capacities and run strategy. An office building case has been computed, and it is indicated that the model can be served in design and optimization of SOFC-BCHP system.
