Dynamic compensation for sensors based on particle swarm optimization and realization on LabVIEW

In shock wave＇s pressure testing,a dynamic compensation digital filter is designed based on particle swarm optimization （PSO） algorithm.Dynamic calibration experiment and simulation are conducted for the pressure sensor.PSO algorithm is applied on Matlab platform to achieve optimization according to input and output data of the sensor as well as the reference model,and the global optimal values got by optimization become the parameters of the compensator.Finally,the dynamic compensation filter is established on LabVIEW platform.The experimental results show that the data after processing with the compensation filter truly reflects the input signal.

Dynamic compensation and its application of shock wave pressure sensor

In order to correct the test error caused by the dynamic characteristics of pressure sensor and avoid the influence of the error of sensor＇s dynamic model on compensation results,a dynamic compensation method of the pressure sensor is presented,which is based on quantum-behaved particle swarm optimization（QPSO）algorithm and the mean square error（MSE）.By using this method,the inverse model of the sensor is built and optimized and then the coefficients of the optimal compensator are got.This method is verified by the dynamic calibration with shock tube and the dynamic characteristics of the sensor before and after compensation are analyzed in time domain and frequency domain.The results show that the working bandwidth of the sensor is extended effectively.This method can reduce dynamic measuring error and improve test accuracy in actual measurement experiments.

APPROACH TO IMPROVEMENT OF ROBOT TRAJECTORY ACCURACY BY DYNAMIC COMPENSATION

Some dynamic factors, such as inertial forces and friction, may affect therobot trajectory accuracy. But these effects are not taken into account in robot motion controlschemes. Dynamic control methods, on the other hand, require the dynamic model of robot and theimplementation of new type controller. A method to improve robot trajectory accuracy by dynamiccompensation in robot motion control system is proposed. The dynamic compensation is applied as anadditional velocity feedforward and a multilayer neural network is employed to realize the robotinverse dynamics. The complicated dynamic parameter identification problem becomes a learningprocess of neural network connecting weights under supervision. The finite Fourier series is used toactivate each actuator of robot joints for obtaining training samples. Robot control system,consisting of an industrial computer and a digital motion controller, is implemented. The system isof open architecture with velocity feedforward function. The proposed method is not model-based andcombines the advantages of close-loop position control and computed torque control. Experimentalresults have shown that the method is validatities to improve the robot trajectory accuracy.

Analysis and compensation of low frequency characteristics of sensors for vibration testing

In view of the influence and harm of low frequency vibration environment on the structure of spaceflight products,a low frequency dynamic study method for piezoelectric sensor based on the dynamic system of sinusoidal pressure is proposed.This method uses a sinusoidal pressure dynamic system with two-way dual channel import and export synchronization technology to study the low frequency characteristics of a piezoelectric sensor of PCB company,and its lower cut-off frequency is 0.26 Hz.It is also studied that when the frequency of the measured vibration or shock signal is 1-200 kHz,the error range of signal positive pressure action time is 4.87%-0.03%.The dynamic compensation for the low frequency of the vibration sensor is carried out,and the compensation effect is good.

A Power Reduction Method for Pilot Channel of LEO Satellite Based on Dynamic Compensation

Since the lower power requirement of code division multiple access(CDMA) than that of other multiple access, the CDMA technology is suitable to be used in low earth orbit(LEO) satellite communication system whose space power is limited due to the small size of satellite. The pilot channel of CDMA technology is very important for earth mobile station(EMS) in LEO system to recover carrier and code, but the power requirement of pilot channel is very higher than that of other channels. In this paper, a power reduction method for pilot channel is proposed. By the new method, the power of pilot channel transmitted from LEO satellite is reduced to a lower level. For improving the signal to noise ratio(SNR) of pilot channel with lower power, coherent integration is employed in EMS at the pre-processing stage. Considering the high dynamic situation of LEO satellite, the long period of time for integration will deteriorate the receiving performance of EMS, therefore, a dynamic compensation module is added to carrier tracking loop against the high dynamic. Meanwhile, the transfer function of the new tracking loop and the condition for steadystate zero error are deduced. Numerical examples are provided to demonstrate effectiveness of the proposed approach.

Dynamic Velocity Feed-Forward Compensation Control with RBF-NN System Identification for Industrial Robots

A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accu- racy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can con- vert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under high- speed condition.

Impact of Wind Integration on Transient Voltage Stability in Regional Grid

With the increasing development of wind power,the scale of wind farms and unit capacity of wind turbines are getting larger and larger,and the impact of wind integration on power systems cannot be ignored.However,in most cases,the areas with a plenty of wind resources do not have strong grid structures.Furthermore,the characteristics of wind power dictate that wind turbines need to absorb reactive power during operation.Because of the strong correlation between voltage stability and systems' reactive power,the impacts of wind integration on voltage stability has become an important issue.Based on the power system simulation software DIgSILENT and combined analysis of actual practice,this paper investigates the impacts of two types of wind farms on voltage stability:namely a type of wind farms which are constituted by constant speed wind turbines based on common induction generators(IG) and another type of wind farms which are constituted by VSCF wind turbines based on doubly-fed induction generators(DFIG).Through investigation the critical fault clearing time is presented for different outputs of wind farms.Moreover,the impacts of static var compensator(SVC) and static synchronous compensator(STATCOM) on transient voltage stability in IG-based wind farms are studied to improve the security and stability of the Jiangsu power grid after the integration of large scale wind power.

The dynamic compensation temperature in a kinetic spin-5/2 Ising model on a hexagonal lattice

We present a study of the dynamic behavior of a two-sublattice spin-5/2 Ising model with bilinear and crystal-field interactions in the presence of a time-dependent oscillating external magnetic field on alternating layers of a hexagonal lattice by using the Glauber-type stochastic dynamics.The lattice is formed by alternate layers of spins σ=5/2 and S=5/2.We employ the Glauber transition rates to construct the mean-field dynamic equations.First,we investigate the time variations of the average sublattice magnetizations to find the phases in the system and then the thermal behavior of the dynamic sublattice magnetizations to characterize the nature（first-or second-order） of the phase transitions and to obtain the dynamic phase transition（DPT） points.We also study the thermal behavior of the dynamic total magnetization to find the dynamic compensation temperature and to determine the type of the dynamic compensation behavior.We present the dynamic phase diagrams,including the dynamic compensation temperatures,in nine different planes.The phase diagrams contain seven different fundamental phases,thirteen different mixed phases,in which the binary and ternary combination of fundamental phases and the compensation temperature or the L-type behavior strongly depend on the interaction parameters.

Correction of sensor’s dynamic error caused by system limitations

The method based on particle swarm optimization(PSO)integrated with functional link articial neural network(FLANN)for correcting dynamic characteristics of sensor is used to reduce sensor’s dynamic error caused by its system limitations.Combining the advantages of PSO and FLANN,with this method a dynamic compensator can be realized without knowing the dynamic model of the sensor.According to the input and output of the sensor and the reference model,the weights of the network trained were used to initialize one particle station of the whole particle swarm when the training of the FLANN had been finished.Then PSO algorithm was applied,and the global best particle station of the particle swarm was the parameters of the compensator.The feasibility of dynamic compensation method is tested.Simulation results from simulator of sensor show that the results after being compensated have given a good description to input signals.

Attitude Stabilization of a Novel Flying Robot by Dynamic Compensation

This paper gives details about the controller design that aims to stabilize the novel twinrotor flying robot, Toruk. Toruk is an experimental test bench to study center of gravity steering, effect of the location of the center of gravity, controller design and implementation, etc. Physical components are also briefly discussed in this paper. Attitude dynamics of the system is inherently unstable. It is stabilized by a regulator. In addition, an observer is designed and utilized to estimate the unmeasured states. Thrust force generated by the propulsion unit is estimated by using the identified mathematical model of the unit. An experimental setup is employed to identify the mathematical model that expresses the relation between the applied input voltage to the propulsion unit and thrust produced by the propeller. Mathematical model for the attitude dynamics of Toruk is built. Then controllability and observability analysis are carried out for the system. Dynamic compensator composed of a state observer and a regulator, is designed on the mathematical model. Physical implementation on the system will be performed.

Energy Efficiency of Reactive Dynamic Compensators

A parameter that allows an evaluation of power quality transmitted, or distributed, between energy source and the final user is electric system power factor. Among other aspects, a bigger power factor, close to unit value, relieves operational conditions of lines and cables, besides, it improves feeder＇s voltage behavior. Due to load variation along the day, the dynamic compensation of power factor allows maintaining this parameter close to the ideal. This paper brings a study about a reactive dynamic compensator based on the voltage control in a capacitive element, varying the reactive energy in accordance with the system demand, everything from the energy efficiency point of view. In distribution systems, the losses due to this variable compensation can be lower than in other compensation methods and also the voltage presents a better behavior, justifying its application.

Steady-state Voltage Security-constrained Optimal Frequency Control for Weak HVDC Sending-end AC Power Systems

Due to the fact that a high share of renewable energy sources(RESs)are connected to high-voltage direct current(HVDC)sending-end AC power systems,the voltage and frequency regulation capabilities of HVDC sending-end AC power systems have diminished.This has resulted in potential system operating problems such as overvoltage and overfrequency,which occur simultaneously when block faults exist in the HVDC link.In this study,a steady-state voltage security-constrained optimal frequency control method for weak HVDC sending-end AC power systems is proposed.The integrated virtual inertia control of RESs is employed for system frequency regulation.Additional dynamic reactive power compensation devices are utilized to control the voltage of all nodes meet voltage security constraints.Then,an optimization model that simultaneously considers the frequency and steady-state voltage security constraints for weak HVDC sending-end AC power systems is established.The optimal control scheme with the minimum total cost of generation tripping and additional dynamic reactive power compensation required is obtained through the optimization solution.Simulations are conducted on a modified IEEE 9-bus test system and practical Qing-Yu line commutated converter based HVDC(LCC-HVDC)sending-end AC power system to verify the effectiveness of the proposed method.

Observer-based motion axis control for hydraulic actuation systems

Unknown dynamics including mismatched mechanical dynamics(i.e.,parametric uncertainties,unmodeled friction and external disturbances)and matched actuator dynamics(i.e.,pressure and flow characteristic uncertainties)broadly exist in hydraulic actuation systems(HASs),which can hinder the achievement of high-precision motion axis control.To surmount the practical issue,an observer-based control framework with a simple structure and low computation is developed for HASs.First,a simple observer is utilized to estimate mismatched and matched unknown dynamics for feedforward compensation.Then combining the backstepping design and adaptive control,an appropriate observer-based composite controller is provided,in which nonlinear feedback terms with updated gains are adopted to further improve the tracking accuracy.Moreover,a smooth nonlinear filter is introduced to shun the“explosion of complexity”and attenuate the impact of sensor noise on control performance.As a result,this synthesized controller is more suitable for practical use.Stability analysis uncovers that the developed controller assures the asymptotic convergence of the tracking error.The merits of the proposed approach are validated via comparative experiment results applied in an HAS with an inertial load as well.

Composite nonlinear feedback control for cooperative output regulation of linear multi-agent systems by a distributed dynamic compensator

This paper investigates the cooperative output regulation problem of linear multi-agent systems with a linear exogenous system(exo-system).The network topology is described by a directed graph which contains a directed spanning tree with the exo-system as the root.Aiming at improving the transient performance of the multi-agent systems,a dynamic control law is developed by the composite nonlinear feedback(CNF)control technique.In particular,a distributed dynamic compensator independent of the interaction on the compensator states of agents among the network,is adopted.The solvability condition for the cooperative output regulation problem is obtained using the small-gain theory,which will not be destroyed by adding the nonlinear feedback part of the CNF control law.It is also shown that in the case with the exo-system not diverging exponentially,the small-gain condition can be guaranteed using the low-gain design.Finally,simulation results illustrate that the proposed CNF control law improves the transient performance for the cooperative output regulation of linear multi-agent systems.

Algorithm and experiments of six-dimensional force/torque dynamic measurements based on a Stewart platform

Stewart platform(SP) is a promising choice for large component alignment, and interactive force measurements are a novel and significant approach for high-precision assemblies. The designed position and orientation(P&O) adjusting platform, based on an SP for force/torquedriven(F/T-driven) alignment, can dynamically measure interactive forces. This paper presents an analytical algorithm of measuring six-dimensional F/T based on the screw theory for accurate determination of external forces during alignment. Dynamic gravity deviations were taken into consideration and a compensation model was developed. The P&O number was optimized as well.Given the specific appearance of repeated six-dimensional F/T measurements, an approximate cone shape was used for spatial precision analysis. The magnitudes and directions of measured F/Ts can be evaluated by a set of standards, in terms of accuracy and repeatability. Experiments were also performed using a known applied load, and the proposed analytical algorithm was able to accurately predict the F/T. A comparison between precision analysis experiments with or without assembly fixtures was performed. Experimental results show that the measurement accuracy varies under different P&O sets and higher loads lead to poorer accuracy of dynamic gravity compensation. In addition, the preferable operation range has been discussed for high-precision assemblies with smaller deviations.

Total Heat Exchange Factor Based on Non-Gray Radiation Properties of Gas in Reheating Furnace

Modified mathematical models based on imaginary plane zone method in reheating furnace were developed in which non-gray radiation properties of gas were considered,and the Newton＇s method and the finite difference method were adopted. Effects of productivity,fuel consumption,fuel-air ratio,calorific value of fuel and inserting depth of thermocouple on total heat exchange factor along the length of reheating furnace were investigated. The results show that total heat exchange factor increases with productivity or inserting depth of thermocouple,and it decreases when fuel consumption,fuel-air ratio or calorific value of fuel increases. The results are valuable for dynamical compensation of total heat exchange factor for online control mathematical models in reheating furnace.

High performance white LED driver with single-wire serial-pulse digital dimming

A high performance white light emitter diode （LED） driver based on boost converter with novel single-wire serial-pulse digital dimming （SWSP） is proposed. The driver uses external serial programmed pulses and internal clock to simplify brightness control By embedding a 5-bit digital analog converter （DAC） into the driver, wide dimming range is achieved. Moreover, a new dynamic slope compensation circuit is presented and other key circuits of the driver are optimized to get higher efficiency and fast transition response. A practical circuit is implemented with 0.6 um bipolar complementary-metal-oxide-semiconductor double-diffused-metal-oxide-semiconductor （BCD） technology. The simulation results show that the driver can provide both wide output current from 1.3 mA to 42 mA with 32-level digital dimming and higher efficiency up to 83% while it works at 1 MHz switching frequency with the input voltage variation from 2.7 V to 5.5 V.

Precise control of a magnetically suspended double-gimbal control moment gyroscope using differential geometry decoupling method

Precise control of a magnetically suspended double-gimbal control moment gyroscope （MSDGCMG） is of vital importance and challenge to the attitude positioning of spacecraft owing to its multivariable, nonlinear and strong coupled properties. This paper proposes a novel linearization and decoupling method based on differential geometry theory and combines it with the internal model controller （IMC） to guarantee the system robustness to the external disturbance and parameter uncertainty. Furthermore, by introducing the dynamic compensation for the inner-gimbal rate-servo system and the magnetically suspended rotor （MSR） system only, we can eliminate the influence of the unmodeled dynamics to the decoupling control accuracy as well as save costs and inhibit noises effectively. The simulation results verify the nice decoupling and robustness performance of the system using the proposed method.

New Bezout Identity and Parameterizationof All Properly Stabilizing NormalControllers for Singular Systems

A new construction approach of the Bezout identity for singular systems with directcontrol feedthrough is developed here on the basis of a normal dynamic compensator design, and theparameterization of all Properly stabilizing normal controllers is characterized and interpreted in astate-space form. Finally, an illustrative example is given.

PMD compensation based on a new type dynamic first-order PMD compensator

A dynamic first-order polarization mode dispersion （PMD） compensator based on garnet and yttrium vanadate crystal has been proposed and implemented. Consisting of a differential group delay （DGD） generator and a Faraday rotator （FR）, this PMD compensator has only two degrees of freedom. Feedback control and compensation algorithm are both very simple. Experimental results reveal the compensator behaviors to be excellent for PMD compensation in 40-Gb/s optical time domain multiplexing （OTDM） system.