Research on Double Cascade Control Algorithm for Self-Balancing Two-Wheeled Vehicle

To solve the problem of self-balancing two-wheeled vehicle, this article presents double cascade PID control algorithm. This method reduces the coupling of balance control, speed control and direction control, because of the special system structure. This article successfully solved the sensor fusion of gyroscope and accelerometer by using Kalman filtering algorithm, and adding in fuzzy PID algorithm to improve the flexibility of the steering system, thus greatly improving the accuracy and response rate of the system.

Application Strategies of Automatic Addressable Single-Lamp Control Technology in Tunnel Lighting

The article mainly studies the application strategy of automatic addressable single-lamp control technology in tunnel lighting.It encompasses an introduction to this technology,an analysis of the tunnel lighting system using automatic addressable single-lamp control technology,and outlines the main development direction for this technology in modern tunnel lighting.The aim is to offer insights that can inform the rational deployment of this technology,thereby enhancing the lighting control effectiveness in modern tunnels and meeting their specific lighting requirements more effectively.

Reinforced temperature control of a reactive double dividing-wall distillation column

The mass and thermal coupling makes the control of the reactive double dividing-wall distillation column(R-DDWDC) an especially challenging issue with a highly interactive nature. With reference to the separation of an ideal endothermic quaternary reversible reaction with the most unfavorable ranking of relative volatilities(A + B ■ C + D with α_(A)>α_(C)>α_(D)>α_(B)), the operation rationality of the R-DDWDC is studied in this contribution. The four-point single temperature control system leads to great steady-state discrepancies in the compositions of products C and D and the reason stems essentially from the failure in keeping strictly the stoichiometric ratio between reactants A and B. A temperature plus temperature cascade control scheme is then employed to reinforce the stoichiometric ratio control and helps to secure a substantial abatement in the steady-state discrepancies. A temperature difference plus temperature cascade control scheme is finally synthesized and leads even to better performance than the most effective double temperature difference control scheme. These outcomes reveal not only the operation feasibility of the R-DDWDC but also the general significance of the proposed temperature difference plus temperature cascade control scheme to the inferential control of any other complicated distillation columns.

A simple method of tuning series cascade controllers for unstable systems

A simple method is proposed to design P/PI controllers for a series cascade control system for unstable first order plus time-delay （FOPTD） systems. In this paper, the controller design for unstable FOPTD systems cascaded in series with stable/unstable FOPTD systems is considered. The proposed method is based on equating the coefficients of corresponding powers of s and s2 in the numerator to α1 and α2 times those of the denominator of the closed-loop transfer function for a servo problem. The open loop system consists of an unstable FOPTD system cascaded in series with a stable/unstable FOPTD system. Only two tuning parameters （α1 and α2） are required for the design of controllers. The closed-loop performances are evaluated for both the servo and regulatory problems and the performances are found to be better than that of the well established synthesis method. The robustness for uncertainty in the model parameters is studied and compared with that of the controllers designed by the synthesis method.

Cascade controller based modeling of a four area thermal:gas AGC system with dependency of wind turbine generator and PEVs under restructured environment

This paper investigates automatic generation control(AGC)of a realistic hybrid four-control area system with a dis-tinct arrangement of thermal units,gas units and additional power generation.A proportional-integral-double deriva-tive cascaded with proportional-integral(PIDD-PI)controller is employed as secondary controller in each control area for robust restructured AGC considering bilateral transactions and contract violations.The Harris Hawks algorithm is used to determine the optimal controller gains and system parameters under several scenarios.Electric vehicle(EV)aggregators are employed in each area to participate fully along with thermal and gas units to compensate for the unscheduled system demand in the local area.A comparison of non-cascaded controllers such as PI-PD,PD-PID and the proposed PIDD-PI proves the superiority of the last.The effect of the decline in inertia is closely examined because of the sudden outage of a generating unit while at the same time considering the change in area frequency response characteristics and area control error.EV fleets make significant contributions to improving the system dynamics dur-ing system inertia loss.The use of EVs in the presence of a wind energy-supported grid can provide a stable efficacy to the power grid.Numerous simulations with higher load demands,stochastic communication delays in presence of the WTG plant,and violations in system loadings and changes in gas turbine time constants in the absence of WTG demonstrate the robustness of the proposed control approach.

Cascade adaptive control of uncertain unified chaotic systems

The chaos control of uncertain unified chaotic systems is considered. Cascade adaptive control approach with only one control input is presented to stabilize states of the uncertain unified chaotic system at the zero equilibrium point. Since an adaptive controller based on dynamic compensation mechanism is employed, the exact model of the unified chaotic system is not necessarily required. By choosing appropriate controller parameters, chaotic phenomenon can be suppressed and the response speed is tunable. Sufficient condition for the asymptotic stability of the approach is derived. Numerical simulation results confirm that the cascade adaptive control approach with only one control signal is valid in chaos control of uncertain unified chaotic systems.

Practice of Centralized Control over Cascade Hydropower Stations

Isolated operation of hydropower stations on Wujinag River was seen disadvantages of low rate of water utilization and much loss of electricity caused by abandoned water during low load periods. To tackle the problem, centralized control over cascade hydropower stations is practiced with a considerable economic benef it gained.

Temperature Control System with Multi-closed Loops for Lithography Projection Lens

Image quality is one of the most important specifications of optical lithography tool and is affected notably by temperature, vibration, and contamination of projection lens（PL）. Traditional method of local temperature control is easier to introduce vibration and contamination, so temperature control system with multi-closed loops is developed to control the temperature inside the PL, and to isolate the influence of vibration and contamination. A new remote indirect-temperature-control（RITC） method is proposed in which cooling water is circulated to perform indirect-temperature-control of the PL. Heater and cooler embedded temperature control unit（TCU） is used to condition the temperature of the cooling water, and the TCU must be kept away from the PL so that the influence of vibration and contamination can be avoided. A new multi-closed loops control structure incorporating an internal cascade control structure（CCS） and an external parallel cascade control structure（PCCS） is designed to prevent large inertia, multi-delay, and multi-disturbance of the RITC system. A nonlinear proportional-integral（PI） algorithm is applied to further enhance the convergence rate and precision of the control process. Contrast experiments of different control loops and algorithms were implemented to verify the impact on the control performance. It is shown that the temperature control system with multi-closed loops reaches a precision specification at ±0.006 ℃ with fast convergence rate, strong robustness, and self-adaptability. This method has been successfully used in an optical lithography tool which produces a pattern of 100 nm critical dimension（CD）, and its performances are satisfactory.

Direct and Indirect Gradient Control for Static Optimisation

Static “self-optimising” control is an important concept, which provides a link between static optimisation and control. According to the concept, a dynamic control system could be configured in such a way that when a set of certain variables are maintained at their setpoints, the overall process operation is automatically optimal or near optimal at steady-state in the presence of disturbances. A novel approach using constrained gradient control to achieve “self-optimisation” has been proposed by Cao. However, for most process plants, the information required to get the gradient measure may not be available in real-time. In such cases, controlled variable selection has to be carried out based on measurable candidates. In this work, the idea of direct gradient control has been extended to controlled variable selection based on gradient sensitivity analysis (indirect gradient control). New criteria, which indicate the sensitivity of the gradient function to disturbances and implementation errors, have been derived for selection. The particular case study shows that the controlled variables selected by gradient sensitivity measures are able to achieve near optimal performance.

Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor

The research on Unmanned Aerial Vehicles(UAV)has intensified considerably thanks to the recent growth in the fields of advanced automatic control,artificial intelligence,and miniaturization.In this paper,a Grey Wolf Optimization(GWO)algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode(FTSM)controllers for a quadrotor UAV.A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone.Controllers for altitude,attitude,and position dynamics become separately designed and tuned.To work around the repetitive and time-consuming trial-error-based procedures,all FTSM controllers’parameters for only altitude and attitude dynamics are systematically tuned thanks to the proposed GWO metaheuristic.Such a hard and complex tuning task is formulated as a nonlinear optimization problem under operational constraints.The performance and robustness of the GWO-based control strategy are compared to those based on homologous metaheuristics and standard terminal sliding mode approaches.Numerical simulations are carried out to show the effectiveness and superiority of the proposed GWO-tuned FTSM controllers for the altitude and attitude dynamics’stabilization and tracking.Nonparametric statistical analyses revealed that the GWO algorithm is more competitive with high performance in terms of fastness,non-premature convergence,and research exploration/exploitation capabilities.

Enhanced two-loop model predictive control design for linear uncertain systems

Model predictive controllers(MPC)with the two-loop scheme are successful approaches practically and can be classified into two main categories,tube-based MPC and MPCbased reference governors(RG).In this paper,an enhanced twoloop MPC design is proposed for a pre-stabilized system with the bounded uncertainty subject to the input and state constraints.The proposed method offers less conservatism than the tube-based MPC methods by enlarging the restricted input constraint.Contrary to the MPC-based RGs,the investigated method improves tracking performance of the pre-stabilized system while satisfying the constraints.Additionally,the robust global asymptotic stability of the closed-loop system is guaranteed in a novel procedure with terminal constraint relaxation.Simulation of the proposed method on a servo system shows its effectiveness in comparison to the others.

Deep Learning Control for Autonomous Robot

Several applications of machine learning and artificial intelligence,have acquired importance and come to the fore as a result of recent advances and improvements in these approaches.Autonomous cars are one such application.This is expected to have a significant and revolutionary influence on society.Integration with smart cities,new infrastructure and urban planning with sophisticated cyber-security are some of the current ramifications of self-driving automobiles.The autonomous automobile,often known as selfdriving systems or driverless vehicles,is a vehicle that can perceive its surroundings and navigate predetermined routes without human involvement.Cars are on the verge of evolving into autonomous robots,thanks to significant breakthroughs in artificial intelligence and related technologies,and this will have a wide range of socio-economic implications.However,in order for these automobiles to become a reality,they must be endowed with the perception and cognition necessary to deal with high-pressure real-life events and make proper judgments and take appropriate action.The majority of self-driving car technologies are based on computer systems that automate vehicle control parts.From forward-collision warning and antilock brakes to lane-keeping and adaptive drive control,to fully automated driving,these technological components have a wide range of capabilities.A self-driving car combines a wide range of sensors,actuators,and cameras.Recent researches on computer vision and deep learning are used to control autonomous driving systems.For self-driving automobiles,lane-keeping is crucial.This study presents a deep learning approach to obtain the proper steering angle to maintain the robot in the lane.We propose an advanced control for a selfdriving robot by using two controllers simultaneously.Convolutional neural networks(CNNs)are employed,to predict the car’and a proportionalintegral-derivative(PID)controller is designed for speed and steering control.This study uses a Raspberry PI based camera to control the robot car.

Cascade Optimization Control of Unmanned Vehicle Path Tracking Under Harsh Driving Conditions

Under ultra-high-speed and harsh conditions,conventional control methods struggle to ensure the path tracking accuracy and driving stability of unmanned vehicles during the turning process.Therefore,this study proposes a cascade control to solve this problem.Based on the new vehicle error model that considers vehicle tire sideslip and road curvature,the feedforward-parametric adaptive linear quadratic regulator(LQR)and proportional integral control-based speed-keeping controllers are used to compose the path-tracking cascade optimization controller for unmanned vehicles.To improve the adaptability of the unmanned vehicle path-tracking control under harsh driving conditions,the LQR controller parameters are automatically adjusted using a back-propagation neural network,in which the initial weights and thresholds are optimized using the improved grey wolf optimization algorithm according to the driving conditions.The speed-keeping controller reduces the impact on the curve-tracking accuracy under nonlinear vehicle speed variations.Finally,a joint model of MATLAB/Simulink and CarSim was established,and simulations show that the proposed control method can achieve stable entry and exit curves at ultra-high speeds for unmanned vehicles.Under strong wind and ice road conditions,the method exhibits a higher tracking accuracy and is more adaptive and robust to external interference in driving and variable curvature roads than methods such as the feedforward-LQR,preview and pure pursuit controls.

Coherent combining of a fiber laser array via cascaded internal phase control technique

We experimentally demonstrated a cascaded internal phase control technique.A laser array with 12 channels was divided into three sub-arrays and a stage array,and phases of the sub-arrays and the stage array were locked by four phase controllers based on the stochastic parallel gradient descent(SPGD)algorithm,respectively.In this way,the phases of the whole array were locked,and the visibility of the interference pattern of the whole emitted laser array in the far field was∼93%.In addition,the technique has the advantage of element expanding and can be further used in the high-power coherent beam combination(CBC)system due to its compact spatial structure.

Virtual Conductance Based Cascade Voltage Controller for VSCs in Islanded Operation Mode

Voltage source converters have become the main enabler for the integration of distributed energy resources in microgrids.In the case of islanded operation,these devices normally set the amplitude and frequency of the network voltage by means of a cascade controller composed of an outer voltage control loop and an inner current control loop.Several strategies to compute the gains of both control loops have been proposed in the literature in order to obtain a fast and decoupled response of the voltages at the point of common coupling.This paper proposes an alternative and simple methodology based on the introduction of a virtual conductance in the classic cascade control.This strategy allows to design each control loop independently,obtaining a closed-loop response of a first-order system.In this way,the gains of each control loop are easily derived from the parameters of the LC coupling filter and the desired closed-loop time constants.Furthermore,a state observer is included in the controller to estimate the inductor current of the LC filter in order to reduce the number of required measurements.A laboratory testbed is used to validate and compare the proposed controller.The experimental results demonstrate the effectiveness of the proposal both in steady-state and transient regimes.

Study on Calibrating of Electronic Governors

The control parameters of electronic governor that influence the transient characteristics of the engine are analyzed.An electric control unit was developed and the control parameters were calibrated on the test bench.The initial value of integral term and the maximum output of rack position proportion,integration and derivation（PID）controller affect the step and triangle response drastically.Through correcting the proportional term and integral term of speed PID controller,the dynamic speed drop and speed overshoot are improved.A property control strategy for cold starting an engine is set,and the calibration process indicates that the fuel injected into the cylinder per cycle and the desired speed ascend rate drastically affect the start transient process.

基于模糊Smith串级复合控制的温室加热系统仿真研究

Aiming at characteristic of time delay, time-varying parameters and much disturb in glass greenhouse heating system, fuzzy smith cascade compound control policy based on typical PID cascade compound control policy is proposed. Simulation results show that it is effective to overcome the influence of time delay on stability of control system and the system possesses strong robust and good dynamic performance..

Room temperature and humidity decoupling control of common variable air volume air-conditioning system based on bilinear characteristics

Variable air volume(VAV)air-conditioning(AC)systems are widely employed to achieve a comfortable room thermal and humid environment depending on its better regulation performance and energy efficiency.In the single coil VAV AC system,conventional proportional-integral(PI)control algorithm is usually adopted to track the set-points of the room temperature and humidity by regulating the supply air flow rate and the chilled water flow rate,respectively.However,the control performance is usually not good due to the high coupling of the heat and mass transfer in the air-handling unit(AHU).A model-based control method is developed to realize the decoupling control of the room temperature and humidity according to the bilinear characteristics of the temperature and humidity variation.In this control method,a bilinear room temperature controller is used to track the room temperature set-point based on the real-time cooling load,while a room humidity controller is used to track the room humidity set-point depending on the real-time humidity load.The control performance was validated in a simulated VAV AC system.The test results show that comparing with the conventional PI control,the room temperature and humidity are controlled much more robustly and accurately by using the proposed model-based control method.

Hiding an image in cascaded Fresnel digital holograms

A system of two separated computer-generated holograms termed cascaded Fresnel digital holography （CFDH） is proposed and its application to hiding information is demonstrated by a computer simulation experiment. The technique is that the reconstructed image is the result of the wave Fresnel diffraction of two sub-holograms located at different distances from the imaging plane along the illuminating beam. The two sub-holograms are generated by an iterative algorithm based on the projection onto convex sets. In the application to the hiding of optical information, the information to be hidden is encoded into the sub-hologram which is multiplied by the host image in the input plane, the other sub-hologram in the filter plane is used for the deciphering key, the hidden image can be reconstructed in the imaging plane of the CFDH setup.

Novel chaos game optimization tuned-fractional-order PID fractional-order PI controller for load-frequency control of interconnected power systems

In this work,chaos game optimization(CGO),a robust optimization approach,is employed for efficient design of a novel cascade controller for four test systems with interconnected power systems(IPSs)to tackle load-frequency con-trol(LFC)difficulties.The CGO method is based on chaos theory principles,in which the structure of fractals is seen via the chaotic game principle and the fractals’self-similarity characteristics are considered.CGO is applied in LFC studies as a novel application,which reveals further research gaps to be filled.For practical implementation,it is also highly desirable to keep the controller structure simple.Accordingly,in this paper,a CGO-based controller of fractional-order(FO)proportional-integral-derivative-FO proportional-integral(FOPID-FOPI)controller is proposed,and the integral time multiplied absolute error performance function is used.Initially,the proposed CGO-based FOPID-FOPI controller is tested with and without the nonlinearity of the governor dead band for a two-area two-source model of a non-reheat unit.This is a common test system in the literature.A two-area multi-unit system with reheater-hydro-gas in both areas is implemented.To further generalize the advantages of the proposed scheme,a model of a three-area hydrothermal IPS including generation rate constraint nonlinearity is employed.For each test system,comparisons with relevant existing studies are performed.These demonstrate the superiority of the proposed scheme in reducing settling time,and frequency and tie-line power deviations.