Installation and Debugging of Auto-control System in Fruit Wine Production Line

[Objective] The aim was to test the controlling effect of cleaning steriliza- tion system, material conveying system, and fermentation jar cooling system with equip- ments of fruit wine production line introduced in this study and its auto-control sys- tem field assembled and debugged. [Method] Based on controlling equipment and setting parameters on the configuration interface, the operation state of the control equipments could be real-time monitored and controlled with the help of configura- tion software. [Result] The result showed that the equipment system could reduce the temperature into 12 ℃ with the error of ＋0.5 ℃within 110 minutes when the fermentation temperature is set at 12 ℃ in real production. [Conclusion] The auto- control system of fruit wine production line was easy to be assembled and de- bugged to meet demands of different fruit wine productions.

Frame Design and Reality of On-line Quality Control System for CNC Machining Center Based on Microcomputer

After giving a short review of the methods used for detecting and monitoring in general systems, this paper describes the way of communication between computer and Computer Numerical Control (CNC) Machining Center (MC). Based on these, the paper addresses the means of performing in cycle measurement for manufacturing quality, provides an approach of improving the state of manufacturing process by achieving the real time change of control parameters according to the level of manufacturing process, and discusses the technique of implementing in process dimensional errors compensation corresponding to the in cycle measurement. The results of the experiments show that the frame design is successful and the operation is reliable. The system is taking shape nowadays.

An on-line data acquisition system of oscilloscope-embedded input/output controller for cavity BPM measurement

Cavity beam position monitor(BPM) is widely used in a precise electron beam position measurement. Based on high performance oscilloscope-embedded EPICS input/output controller,we developed an on-line cavity BPM signal processing system for fast data acquisition solution when designing a cavity BPM.Also,methods for extracting the position information from cavity pickup signals and calibration algorithm are included in this solution.

Small unmanned helicopter's attitude controller by an on-line adaptive fuzzy control system

Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable.An on-line adaptive fuzzy control system(AFCS)was designed,in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix.Neither is it necessary to know the desired response at each instant of time.AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system.The two cascade controller design with an inner(attitude controller)and outer controller(navigation controller)of the small unmanned helicopter was proposed.At last,an attitude controller based on AFCS was implemented.The flight experiment showed that the proposed fuzzy logic controller provides quicker response,smaller overshoot,higher precision,robustness and adaptive ability.It satisfies the needs of autonomous flight.

The new control system of HLS linac and transport line

The new linac and transport line control system of Hefei Light Source (HLS) is a distributed control sys- tem based on EPICS (Experimental Physics and Industrial Control System). Industrial PC (IPC) is widely used as not only Input/Output Controller (IOC) but also device controller. Besides industrial PC, PLC and microcontroller are also used as device controllers. The software for industrial PC based device controller is developed based on VxWorks real-time operating system. The software for PLC and microcontroller are written with ladder software package and assemble language, respectively. PC with Linux and SUN workstation with Solaris are used as operator interfaces (OPI). High level control is made up of some EPICS tools and Tcl/Tk scripts.

Design of in-line multipoint initiation control system

In order to improve the power of initiating explosive warheads, besides exploring new type of high explosive, multipoint initiation technology becomes the research focus. With research on electronic safety and arming devices （ESADs）, pulse power devices and slapper detonators, a hardware control circuit was designed for multipoint initiation control system based on complex programmable logic device （ CPLD ）. In addition, a real-time monitoring interface based on virtual instru- ments technology was designed by the prevailing software of Laboratory Virtual Instrument Engineer- ing Workbench （LabVIEW）. It provides users a real-time status of the hardware circuit system. Mo- reover, a series of experiments were done on the software and hardware platform. The results show that the signals transmission, collection, analysis and display can be realized reliably through a serial port line. It is verified that using a serial bus controller for multiple initiators is reasonable. Successful design of the platform will play an important foundation for the theory and engineering of the fu- ture weapon system. Surely, it will become one of the development directions for intelligent initia- tion system.

Dynamic Characteristics of Single-frequency Signal after Modulated by Feedback Control System

In order to study the dynamic characteristics of the single-frequency signal through the nonlinear control system,the system control mode,the outer excitation patterns of the model and the amplitude are investigated by using the methods of the nonlinear dynamical analysis. The time-domain diagram,power spectrum,phase diagram and the largest Lyapunov exponent obtained from the process of the signal propagate through different control module are given. The researches on different control systems demonstrate that: after single-frequency signal goes through the nonlinear controller,it is still non-chaotic although the output contains more frequency components; but with the feedback and the external perturbation,the output is a continuous broadband spectrum and the result shows that there is chaos. The energy of the input signal reduces with some appropriate parameters. Therefore,the control system of the nonlinear feedback is a good way to broaden the spectrum of output with inputting a single-frequency signal.

Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents

The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law,a modified integral line-of-sight(ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability(UGAS) and uniform semiglobal exponential stability(USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.

Effectiveness of Optimal Arrangement of the Residences Operated by Reactive Power Control for a Clustered Grid-Interconnected PV System

There is a danger of power generation efficiency decreasing due to voltage increase when clustered residential PV systems are grid-interconnected to a single distribution line. As a countermeasure, installation of the reactive power control of an inverter at each residence has been considered. However, there are not many types of inverters that can operate reactive power control because there are insufficient effects on a low voltage distribution line with low penetration PV with reactive power control. Therefore, it is necessary to consider how to increase generation efficiency with a lower number of inverters. In this paper, four Japanese standard distribution line structures, for example of a residential area on ＂C1＂, where 2,160 residential PV systems are grid-interconnected, are selected. The optimal setting of reactive power control at each residence is computed on the distribution lines with a greedy method.

Advanced Reactive Power Control at Individual Residences to Smooth Energy Loss Fluctuation for a Clustered Grid-Interconnected PV System

Reactive power control can control voltage within the proper range from the power network side or from the distribution generation （PV （photovoltaic）） side. Reactive power control from the power network side is simpler because little controlled object apparatus, such as STATCOM, is required. However, it is difficult to optimize the individual voltages of residential consumers because few data have been obtained by the power network side as compared with the power generation side. Energy loss at each residence with PV is different due to the difference in the grid-interconnection condition, such as distribution line impedance when the same operating voltage is set at all residences. Therefore, in this paper, the authors propose an advanced reactive power control method for residential PV systems in order to optimally control the voltage at individual residences so as to minimize energy loss fluctuation. The effectiveness of the proposed reactive power control is demonstrated by numerical simulation.

Evaluation of Two Momentum Control Variable Schemes and Their Impact on the Variational Assimilation of Radar Wind Data:Case Study of a Squall Line

Different choices of control variables in variational assimilation can bring about different influences on the analyzed atmospheric state. Based on the WRF model＇s three-dimensional variational assimilation system, this study compares the be- havior of two momentum control variable options-streamfunction velocity potential （ψ-χ） and horizontal wind components （U-V）-in radar wind data assimilation for a squall line case that occurred in Jiangsu Province on 24 August 2014. The wind increment from the single observation test shows that the ψ-χ control variable scheme produces negative increments in the neighborhood around the observation point because streamfunction and velocity potential preserve integrals of velocity. On the contrary, the U-V control variable scheme objectively reflects the information of the observation itself. Furthermore, radial velocity data from 17 Doppler radars in eastern China are assimilated. As compared to the impact of conventional observation, the assimilation of radar radial velocity based on the U-V control variable scheme significantly improves the mesoscale dynamic field in the initial condition. The enhanced low-level jet stream, water vapor convergence and low-level wind shear result in better squall line forecasting. However, the ψ-χ control variable scheme generates a discontinuous wind field and unrealistic convergence/divergence in the analyzed field, which lead to a degraded precipitation forecast.

Hand-eye-vision based control for an inspection robot's autonomous line grasping

In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.

Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots

This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a single control input.First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points,an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled backstepping control(GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes.

Steady-state voltage-control method considering large-scale wind-power transmission using half-wavelength transmission lines

Half-wavelength transmission can transmit large-scale renewable energy over very long distances.This paper proposes an improved steady-state voltage-control method for half-wavelength transmission systems considering largescale wind-power transmission.First,the unique voltage characteristics of half-wavelength lines are deduced based on the distributed parameter model.In the secondary voltage-control level,reactive power-transmission limits of half-wavelength lines are introduced as another control objective except for tracing the pilot bus voltage reference.Considering the uncertainty and fluctuation of wind power,the overvoltage risk-assessment method of half-wavelength lines is presented to determine specific voltage-control strategies.Simulation results demonstrate that the proposed voltage-control method delivers superior tracking performance according to a voltage reference value and prevents the overvoltage risk of halfwavelength lines effectively in different wind-power penetrations.

Evaluation matrix with the speed feature based on double inspiriting control lines

Methods of the comprehensive evaluation have been studied for many years. However, the change speed of evaluated objects was rarely considered by the existing evaluation methods. An evaluation matrix is proposed to remedy this deficiency. Firstly, the change speed state （CSS） of the evaluated objects is analyzed based on double inspiriting control lines （DICLs）, and a matrix of the CSS is constructed. Then, 72 elements in the matrix are analyzed, and formulas describing each CSS are given. The efficiency of the proposed evaluation matrix is proved when the CSS merges with the change speed trend （CST） in the dynamic comprehensive evaluation. Finally, a computing example shows that the proposed evaluation matrix is feasible in the dynamic comprehensive evaluation with the speed feature.

Vision Navigation Based PID Control for Line Tracking Robot

In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track a painted line on thefloor.In general,the path is set and can be visible,such as a black line on a white surface with high contrasting colors.The robot’s path is marked by a distinct line or track,which the robot follows to move.Several scientific contributions from the disciplines of vision and control have been made to mobile robot vision-based navigation.Localization,automated map generation,autonomous navigation and path tracking is all becoming more frequent in vision applications.A visual navigation line tracking robot should detect the line with a camera using an image processing technique.The paper focuses on combining computer vision techniques with a proportional-integral-derivative(PID)control-ler for automatic steering and speed control.A prototype line tracking robot is used to evaluate the proposed control strategy.

A Data Driven Security Correction Method for Power Systems with UPFC

The access of unified power flow controllers(UPFC)has changed the structure and operation mode of power grids all across the world,and it has brought severe challenges to the traditional real-time calculation of security correction based on traditionalmodels.Considering the limitation of computational efficiency regarding complex,physical models,a data-driven power system security correction method with UPFC is,in this paper,proposed.Based on the complex mapping relationship between the operation state data and the security correction strategy,a two-stage deep neural network(DNN)learning framework is proposed,which divides the offline training task of security correction into two stages:in the first stage,the stacked auto-encoder(SAE)classification model is established,and the node correction state(0/1)output based on the fault information;in the second stage,the DNN learningmodel is established,and the correction amount of each action node is obtained based on the action nodes output in the previous stage.In this paper,the UPFC demonstration project of NanjingWest Ring Network is taken as a case study to validate the proposed method.The results show that the proposed method can fully meet the real-time security correction time requirements of power grids,and avoid the inherent defects of the traditional model method without an iterative solution and can also provide reasonable security correction strategies for N-1 and N-2 faults.

A Review of the Attachment Line Instability for Hybrid Laminar Flow Control

This paper focuses on the investigation of the attachment line instability for Hybrid Laminar Flow Control(HLFC),one of the most promising drag reduction technologies for modern transport aircraft respect to high Reynolds numbers and large sweep angles.The attachment line instability also plays an important role during laminar-turbulent transition control and HLFC design on a swept wing.The overview of historical research is presented and knowledge gaps are pointed out as the conclusion.

Realization of embedded control module for micro assembly line

A modularized, network, reconfigurable architecture and design method of embedded control module is proposed. This control module uses a TMS320F2812 chip as the core, and intro- duces modularization, network, reconfigurable theory to the design of control module to better meet the flexible and reconfigurable control need of assembly line. The design method of the control module is verified by constructing a control experiment based on controlling of precision x - y displace- ment platform through a CAN bus. Experimental results show that the controlling repeat position accuracy of precision x - y platform by control module is 0. 5 μm and the position error is less than 1μm which meet the needs of micro-adjustment pose of assembly line.