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 sing...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.展开更多
This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers...This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers is discussed in the beginning of the paper. The discussion is based on the results of a field study in the Tianjin Power System Control Center in China. According to the study, one problem in power systems is that the power system analysis system in the control center is not fast and powerful enough to help the operators in time to deal with the incidents in the power system. Another issue in current power system control center is that the operation tickets are compiled manually by the operators, so that it is less efficient and human errors cannot be avoided. Based on these problems, a framework of the smart operating robot is proposed in this paper, which includes an intelligent power system analysis system and a smart operation ticket compiling system to solve the two problems in power system control centers. The proposed framework is mainly based on the AI techniques, especially the neural network with deep learning, since it is faster and more capable of dealing with the highly nonlinear and complex power system.展开更多
Curved coils constructed by flexible printed circuit board (PCB) or hand-wound Litz-wire have been steadily becoming popular due to its applicable potential on devices that have a curved body. Inductive Power Transfer...Curved coils constructed by flexible printed circuit board (PCB) or hand-wound Litz-wire have been steadily becoming popular due to its applicable potential on devices that have a curved body. Inductive Power Transfer (IPT) systems based on curved coils and flexible ferrite sheets may provide more flexible charging solutions for various electronic devices such as rice cookers and robot vacuum cleaners. Power repeaters are also used in IPT systems to extend wireless charging range by guiding magnetic fields to the receiving coil. The interaction of these three topics could be inspiring. In this paper, two adjustable power repeaters are applied to an IPT charging system with various curved receiving coils designed for vacuum cleaners. Two power repeaters share the identical structure as the Tx coil and could be rotated to mirror symmetrically. The input and output power are calculated by analyzing the equivalent circuit model. The self-inductance, mutual inductance, and coupling coefficient of the proposed system are obtained via finite element method simulation with variable rotating angles. Three typical IPT designs have also been simulated in ANSYS Maxwell and compared with the proposed magnetic design. The comparison indicates the enhancing feature of the passive power repeaters on coupling performance and the ability to guide the magnetic flux for better magnetic field coupling. Furthermore, two types of co-simulations defined by the power source via Simplorer are conducted to explore how much power could be transferred. The tuned system is shown to be able to provide about 32 W under 100 kHz operating frequency for charging the battery of a robot vacuum cleaner. The results from theoretical calculation and simulation align well with each other.展开更多
Due to the increasing commercial interest in autonomy and sustainability,this paper reviews and presents a comprehensive summary of the resonant-inductive power transmission(RPT)technology for autonomous mobile robots...Due to the increasing commercial interest in autonomy and sustainability,this paper reviews and presents a comprehensive summary of the resonant-inductive power transmission(RPT)technology for autonomous mobile robots.It outlines historic and recent research activities in wireless power transmission,covering the fundamental operation of microwave,capacitive and inductive power transfer technologies,state-of-the-art developments in RPT for high-power applications,current design and health standards,technological drawbacks,and possible future trends.In this paper,coupling-enhanced pad designs,adaptive tuning techniques,compensation network designs,and control techniques are explored.Major design issues such as coupling variation,frequency splitting,and bifurcation are reviewed.The difference between maximum power transfer and maximum energy efficiency is highlighted.Human exposure guidelines are summarized from documentations provided by the Institute of Electrical and Electronics Engineers(IEEE)and the International Commission on Non-ionizing Radiation Protection(ICNIRP).Other standards like WPC’s Qi and Airfuel design standards are also summarized.Finally,the possible trends of the relevant research and development,particularly dynamic charging,are discussed.The intention of this review is to encourage designs that will relieve robot operators of the burden of frequent manual recharging,and to reduce downtime and increase the productivity of autonomous mobile robots in industrial environments.展开更多
文摘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.
基金supported by State Grid Corporation of China(SGCC)Science and Technolgy Project(SGTJDK00DWJS1700060)
文摘This paper proposes the concept and framework of smart operating system based on the artificial intelligence(AI)techniques. The demands and the potential applications of AI technologies in power system control centers is discussed in the beginning of the paper. The discussion is based on the results of a field study in the Tianjin Power System Control Center in China. According to the study, one problem in power systems is that the power system analysis system in the control center is not fast and powerful enough to help the operators in time to deal with the incidents in the power system. Another issue in current power system control center is that the operation tickets are compiled manually by the operators, so that it is less efficient and human errors cannot be avoided. Based on these problems, a framework of the smart operating robot is proposed in this paper, which includes an intelligent power system analysis system and a smart operation ticket compiling system to solve the two problems in power system control centers. The proposed framework is mainly based on the AI techniques, especially the neural network with deep learning, since it is faster and more capable of dealing with the highly nonlinear and complex power system.
文摘Curved coils constructed by flexible printed circuit board (PCB) or hand-wound Litz-wire have been steadily becoming popular due to its applicable potential on devices that have a curved body. Inductive Power Transfer (IPT) systems based on curved coils and flexible ferrite sheets may provide more flexible charging solutions for various electronic devices such as rice cookers and robot vacuum cleaners. Power repeaters are also used in IPT systems to extend wireless charging range by guiding magnetic fields to the receiving coil. The interaction of these three topics could be inspiring. In this paper, two adjustable power repeaters are applied to an IPT charging system with various curved receiving coils designed for vacuum cleaners. Two power repeaters share the identical structure as the Tx coil and could be rotated to mirror symmetrically. The input and output power are calculated by analyzing the equivalent circuit model. The self-inductance, mutual inductance, and coupling coefficient of the proposed system are obtained via finite element method simulation with variable rotating angles. Three typical IPT designs have also been simulated in ANSYS Maxwell and compared with the proposed magnetic design. The comparison indicates the enhancing feature of the passive power repeaters on coupling performance and the ability to guide the magnetic flux for better magnetic field coupling. Furthermore, two types of co-simulations defined by the power source via Simplorer are conducted to explore how much power could be transferred. The tuned system is shown to be able to provide about 32 W under 100 kHz operating frequency for charging the battery of a robot vacuum cleaner. The results from theoretical calculation and simulation align well with each other.
基金partially funded by the Natural Sciences and Engineering Research Council of Canada(NSERC)through the Discovery Grant Program(RGPIN2018-05471 and RGPIN-2017-05762).
文摘Due to the increasing commercial interest in autonomy and sustainability,this paper reviews and presents a comprehensive summary of the resonant-inductive power transmission(RPT)technology for autonomous mobile robots.It outlines historic and recent research activities in wireless power transmission,covering the fundamental operation of microwave,capacitive and inductive power transfer technologies,state-of-the-art developments in RPT for high-power applications,current design and health standards,technological drawbacks,and possible future trends.In this paper,coupling-enhanced pad designs,adaptive tuning techniques,compensation network designs,and control techniques are explored.Major design issues such as coupling variation,frequency splitting,and bifurcation are reviewed.The difference between maximum power transfer and maximum energy efficiency is highlighted.Human exposure guidelines are summarized from documentations provided by the Institute of Electrical and Electronics Engineers(IEEE)and the International Commission on Non-ionizing Radiation Protection(ICNIRP).Other standards like WPC’s Qi and Airfuel design standards are also summarized.Finally,the possible trends of the relevant research and development,particularly dynamic charging,are discussed.The intention of this review is to encourage designs that will relieve robot operators of the burden of frequent manual recharging,and to reduce downtime and increase the productivity of autonomous mobile robots in industrial environments.