A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevaryin...A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.展开更多
Marine container terminal(MCT)plays a key role in the marine intelligent transportation system and international logistics system.However,the efficiency of resource scheduling significantly influences the operation pe...Marine container terminal(MCT)plays a key role in the marine intelligent transportation system and international logistics system.However,the efficiency of resource scheduling significantly influences the operation performance of MCT.To solve the practical resource scheduling problem(RSP)in MCT efficiently,this paper has contributions to both the problem model and the algorithm design.Firstly,in the problem model,different from most of the existing studies that only consider scheduling part of the resources in MCT,we propose a unified mathematical model for formulating an integrated RSP.The new integrated RSP model allocates and schedules multiple MCT resources simultaneously by taking the total cost minimization as the objective.Secondly,in the algorithm design,a pre-selection-based ant colony system(PACS)approach is proposed based on graphic structure solution representation and a pre-selection strategy.On the one hand,as the RSP can be formulated as the shortest path problem on the directed complete graph,the graphic structure is proposed to represent the solution encoding to consider multiple constraints and multiple factors of the RSP,which effectively avoids the generation of infeasible solutions.On the other hand,the pre-selection strategy aims to reduce the computational burden of PACS and to fast obtain a higher-quality solution.To evaluate the performance of the proposed novel PACS in solving the new integrated RSP model,a set of test cases with different sizes is conducted.Experimental results and comparisons show the effectiveness and efficiency of the PACS algorithm,which can significantly outperform other state-of-the-art algorithms.展开更多
Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertaint...Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.展开更多
A novel three-phase traction power supply system is proposed to eliminate the adverse effects caused by electric phase separation in catenary and accomplish a unifying manner of traction power supply for rail transit....A novel three-phase traction power supply system is proposed to eliminate the adverse effects caused by electric phase separation in catenary and accomplish a unifying manner of traction power supply for rail transit.With the application of two-stage three-phase continuous power supply structure,the electrical characteristics exhibit new features differing from the existing traction system.In this work,the principle for voltage levels determining two-stage network is dissected in accordance with the requirements of traction network and electric locomotive.The equivalent model of three-phase traction system is built for deducing the formula of current distribution and voltage losses.Based on the chain network model of the traction network,a simulation model is established to analyze the electrical characteristics such as traction current distribution,voltage losses,system equivalent impedance,voltage distribution,voltage unbalance and regenerative energy utilization.In a few words,quite a lot traction current of about 99%is undertaken by long-section cable network.The proportion of system voltage losses is small attributed to the two-stage three-phase power supply structure,and the voltage unbal-ance caused by impedance asymmetry of traction network is less than 1‰.In addition,the utilization rate of regenerative energy for locomotive achieves a significant promotion of over 97%.展开更多
Since the high penetration of renewable energy complicates the dynamic characteristics of the AC power electronic system(ACPES),it is essential to establish an accurate dynamic model to obtain its dynamic behavior for...Since the high penetration of renewable energy complicates the dynamic characteristics of the AC power electronic system(ACPES),it is essential to establish an accurate dynamic model to obtain its dynamic behavior for ensure the safe and stable operation of the system.However,due to the no or limited internal control details,the state-space modeling method cannot be realized.It leads to the ACPES system becoming a black-box dynamic system.The dynamic modeling method based on deep neural network can simulate the dynamic behavior using port data without obtaining internal control details.However,deep neural network modeling methods are rarely systematically evaluated.In practice,the construction of neural network faces the selection of massive data and various network structure parameters.However,different sample distributions make the trained network performance quite different.Different network structure hyperparameters also mean different convergence time.Due to the lack of systematic evaluation and targeted suggestions,neural network modeling with high precision and high training speed cannot be realized quickly and conveniently in practical engineering applications.To fill this gap,this paper systematically evaluates the deep neural network from sample distribution and structural hyperparameter selection.The influence on modeling accuracy is analyzed in detail,then some modeling suggestions are presented.Simulation results under multiple operating points verify the effectiveness of the proposed method.展开更多
This paper presents a performance analysis of novel doubledampedtuned alternating current (AC) filters in high voltage direct current(HVDC) systems. The proposed double-damped tuned AC filters offer theadvantages of i...This paper presents a performance analysis of novel doubledampedtuned alternating current (AC) filters in high voltage direct current(HVDC) systems. The proposed double-damped tuned AC filters offer theadvantages of improved performance of HVDC systems in terms of betterpower quality, high power factor, and lower total harmonic distortion (THD).The system under analysis consists of an 878 km long HVDC transmissionline connecting converter stations at Matiari and Lahore, two major cities inPakistan. The main focus of this research is to design a novel AC filter usingthe equivalent impedance method of two single-tuned and double-dampedtuned AC filters. Additionally, the impact of the damping resistor on the ACchannel is examined. TheTHDof theHVDCsystem with and without currentAC filters was also compared in this research and a double-damped tuned ACfilter was proposed. The results of the simulation represent that the proposeddouble-damped tuned AC filter is far smaller in size, offers better powerquality, and has a much lower THD compared to the AC filters currently inplace in the converter station. The simulation analysis was carried out utilizingpower systems computer-aided design (PSCAD) software.展开更多
A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS sea...A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.展开更多
Energy demand will continue to rise as a result of predicted population growth. In this work, a user-friendly home energy monitoring system based on IoT is described, which is capable of collecting, analyzing, and dis...Energy demand will continue to rise as a result of predicted population growth. In this work, a user-friendly home energy monitoring system based on IoT is described, which is capable of collecting, analyzing, and displaying data. Users register their sensors and devices on the monitoring platform. PostgreSQL and Elasticsearch databases are used to store the resulting measurements. In a smart home, the wireless sensor ACS712 was used to monitor the flow of electricity (current and voltage) for a household device. The user can share data about electricity consumption and costs with a third party via the private IPFS (InterPlanetary File System) network. A third party can download all the energy consumption data for a device or many devices from the platform for 1 day, 3 months, 6 months, and 1 year. The studies on the development of energy-efficient technology for home devices benefit greatly from the gathered data. For security in the system, it is preferred to run Keyrock Idm, Wilma Pep Proxy, and Orion Context Broker in HTTPS mode, and MQTTS is used to retrieve sensor data. The experimental results showed that the energy monitoring system accurately records voltage, current, active power, and the total amount of power used and offers low-cost solutions to the users using household devices in a day.展开更多
This article introduces the 40 kW electric servo system used by Gravity-1 strap-on launch vehicle, which mainly includes the composition, function and related equipment of the system. Aiming at the measurement deviati...This article introduces the 40 kW electric servo system used by Gravity-1 strap-on launch vehicle, which mainly includes the composition, function and related equipment of the system. Aiming at the measurement deviation caused by the closed loop of resolver, a compensation algorithm is designed;aiming at the monitoring of the output power of the thermal battery, an algorithm without sensory monitoring the bus current is designed. In the end, the effectiveness of the two algorithms was verified by testing.展开更多
基金supported in part by the Nation Natural Science Foundation of China under Grant No.52175099China Postdoctoral Science Foundation under Grant No.2020M671494Jiangsu Planned Projects for Postdoctoral Research Funds under Grant No.2020Z179。
文摘A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.
基金This research was supported in part by the National Key Research and Development Program of China under Grant 2022YFB3305303in part by the National Natural Science Foundations of China(NSFC)under Grant 62106055+1 种基金in part by the Guangdong Natural Science Foundation under Grant 2022A1515011825in part by the Guangzhou Science and Technology Planning Project under Grants 2023A04J0388 and 2023A03J0662.
文摘Marine container terminal(MCT)plays a key role in the marine intelligent transportation system and international logistics system.However,the efficiency of resource scheduling significantly influences the operation performance of MCT.To solve the practical resource scheduling problem(RSP)in MCT efficiently,this paper has contributions to both the problem model and the algorithm design.Firstly,in the problem model,different from most of the existing studies that only consider scheduling part of the resources in MCT,we propose a unified mathematical model for formulating an integrated RSP.The new integrated RSP model allocates and schedules multiple MCT resources simultaneously by taking the total cost minimization as the objective.Secondly,in the algorithm design,a pre-selection-based ant colony system(PACS)approach is proposed based on graphic structure solution representation and a pre-selection strategy.On the one hand,as the RSP can be formulated as the shortest path problem on the directed complete graph,the graphic structure is proposed to represent the solution encoding to consider multiple constraints and multiple factors of the RSP,which effectively avoids the generation of infeasible solutions.On the other hand,the pre-selection strategy aims to reduce the computational burden of PACS and to fast obtain a higher-quality solution.To evaluate the performance of the proposed novel PACS in solving the new integrated RSP model,a set of test cases with different sizes is conducted.Experimental results and comparisons show the effectiveness and efficiency of the PACS algorithm,which can significantly outperform other state-of-the-art algorithms.
基金Thework issupportedby the Key Scienceand Technology Programof Henan Province(Grant No.222102220104)the Science and Technology Key Project Foundation of Henan Provincial Education Department(Grant No.23A460014)the High Level Talent Foundation of Henan University of Technology(Grant No.2020BS043).
文摘Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.
基金This research was supported by the Science and Technology Plan Project of Sichuan Province(No.21YYJC3324)the Science and Technology Plan Project of Sichuan Province(No.2022YFQ0104).
文摘A novel three-phase traction power supply system is proposed to eliminate the adverse effects caused by electric phase separation in catenary and accomplish a unifying manner of traction power supply for rail transit.With the application of two-stage three-phase continuous power supply structure,the electrical characteristics exhibit new features differing from the existing traction system.In this work,the principle for voltage levels determining two-stage network is dissected in accordance with the requirements of traction network and electric locomotive.The equivalent model of three-phase traction system is built for deducing the formula of current distribution and voltage losses.Based on the chain network model of the traction network,a simulation model is established to analyze the electrical characteristics such as traction current distribution,voltage losses,system equivalent impedance,voltage distribution,voltage unbalance and regenerative energy utilization.In a few words,quite a lot traction current of about 99%is undertaken by long-section cable network.The proportion of system voltage losses is small attributed to the two-stage three-phase power supply structure,and the voltage unbal-ance caused by impedance asymmetry of traction network is less than 1‰.In addition,the utilization rate of regenerative energy for locomotive achieves a significant promotion of over 97%.
基金supported in part by the Science Search Foundation of Liaoning Educational Department。
文摘Since the high penetration of renewable energy complicates the dynamic characteristics of the AC power electronic system(ACPES),it is essential to establish an accurate dynamic model to obtain its dynamic behavior for ensure the safe and stable operation of the system.However,due to the no or limited internal control details,the state-space modeling method cannot be realized.It leads to the ACPES system becoming a black-box dynamic system.The dynamic modeling method based on deep neural network can simulate the dynamic behavior using port data without obtaining internal control details.However,deep neural network modeling methods are rarely systematically evaluated.In practice,the construction of neural network faces the selection of massive data and various network structure parameters.However,different sample distributions make the trained network performance quite different.Different network structure hyperparameters also mean different convergence time.Due to the lack of systematic evaluation and targeted suggestions,neural network modeling with high precision and high training speed cannot be realized quickly and conveniently in practical engineering applications.To fill this gap,this paper systematically evaluates the deep neural network from sample distribution and structural hyperparameter selection.The influence on modeling accuracy is analyzed in detail,then some modeling suggestions are presented.Simulation results under multiple operating points verify the effectiveness of the proposed method.
基金supported by Creative Challenge Research Program (2021R1I1A1A01052521)the BK-21 FOUR program through the National Research Foundation of Korea (NRF)under the Ministry of Education.
文摘This paper presents a performance analysis of novel doubledampedtuned alternating current (AC) filters in high voltage direct current(HVDC) systems. The proposed double-damped tuned AC filters offer theadvantages of improved performance of HVDC systems in terms of betterpower quality, high power factor, and lower total harmonic distortion (THD).The system under analysis consists of an 878 km long HVDC transmissionline connecting converter stations at Matiari and Lahore, two major cities inPakistan. The main focus of this research is to design a novel AC filter usingthe equivalent impedance method of two single-tuned and double-dampedtuned AC filters. Additionally, the impact of the damping resistor on the ACchannel is examined. TheTHDof theHVDCsystem with and without currentAC filters was also compared in this research and a double-damped tuned ACfilter was proposed. The results of the simulation represent that the proposeddouble-damped tuned AC filter is far smaller in size, offers better powerquality, and has a much lower THD compared to the AC filters currently inplace in the converter station. The simulation analysis was carried out utilizingpower systems computer-aided design (PSCAD) software.
基金National Natural Science Foundation of China(No.62241503)Natural Science Foundation of Shanghai,China(No.22ZR1401400)。
文摘A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.
文摘Energy demand will continue to rise as a result of predicted population growth. In this work, a user-friendly home energy monitoring system based on IoT is described, which is capable of collecting, analyzing, and displaying data. Users register their sensors and devices on the monitoring platform. PostgreSQL and Elasticsearch databases are used to store the resulting measurements. In a smart home, the wireless sensor ACS712 was used to monitor the flow of electricity (current and voltage) for a household device. The user can share data about electricity consumption and costs with a third party via the private IPFS (InterPlanetary File System) network. A third party can download all the energy consumption data for a device or many devices from the platform for 1 day, 3 months, 6 months, and 1 year. The studies on the development of energy-efficient technology for home devices benefit greatly from the gathered data. For security in the system, it is preferred to run Keyrock Idm, Wilma Pep Proxy, and Orion Context Broker in HTTPS mode, and MQTTS is used to retrieve sensor data. The experimental results showed that the energy monitoring system accurately records voltage, current, active power, and the total amount of power used and offers low-cost solutions to the users using household devices in a day.
文摘This article introduces the 40 kW electric servo system used by Gravity-1 strap-on launch vehicle, which mainly includes the composition, function and related equipment of the system. Aiming at the measurement deviation caused by the closed loop of resolver, a compensation algorithm is designed;aiming at the monitoring of the output power of the thermal battery, an algorithm without sensory monitoring the bus current is designed. In the end, the effectiveness of the two algorithms was verified by testing.