Where is the rudder of a fish?:the mechanism of swimming and control of self-propelled fish school

Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.

CONTROL STRATEGY OF A PARALLEL HYBRID CAR WITH A METAL BELT-PLANETARY GEAR CONTINUOUSLY VARIABLE TRANSMISSION SYSTEM

The most remarkable characteristic of a metal belt-planetary gearcontinuously variable transmission is a wider ratio range and a bigger torque capacity than aconventional metal pushing belt continuously variable transmission. A parallel hybrid car with thistransmission system not only can reduce fuel consumption and pollutant emission at a ECE city cycle,but also can keep the motor working in the most efficiency area and can be started by a lower powermotor by oneself. At the same time, the continuously variable transmission system can realize thesmooth switch between the motor and the engine.

Impact of selection of DC base values and DC link control strategies on sequential AC-DC power-flow convergence

This paper demonstrates the convergence of the integrated AC-DC power-flow algorithm as affected by the selection of different base values for the DC quantities and adoption of different control strategies for the DC link. For power-flow modeling of integrated AC-DC systems, the base values of the various DC quantities can be defined in several ways, giving rise to different sets of per-unit system equations. It is observed that different per-unit system models affect the convergence of the power-flow algorithm differently. In a similar manner, the control strategy adopted for the DC link also affects the power- flow convergence. The sequential method is used to solve the DC variables in the Newton Raphson （NR） power flow model, where AC and DC systems are solved separately and are coupled by injecting an equivalent amount of real and reactive power at the terminal AC buses. Now, for a majority of the possible control strategies, the equivalent real and reactive power injections at the concerned buses can be computed a-priori and are independent of the NR iterative loop. However, for a few of the control strategies, the equivalent reactive power injections cannot be computed a-priori and need to be computed in every NR iteration. This affects the performance of the iterative process. Two different per-unit system models and six typical control strategies are taken into consideration. This is validated by numerous case studies conducted on the IEEE 118-bus and 300-bus test systems.