A Second-Order Sliding Mode Controller of Quad-Rotor UAV Based on PID Sliding Mode Surface with Unbalanced Load

Quad-rotor unmanned aerial vehicle(UAV)is a typical multiple-input-multiple-output underactuated system with couplings and nonlinearity.Usually,the flying environment is very complex,so that it is impossible for the UAV to avoid effects derived from disturbances and uncertainties.In order to improve the reliability of flight control,we established the dynamic model of quad-rotor UAV by Newton-Euler equation in unbalanced load conditions.Considering external disturbances in the attitude,a second-order sliding mode controller was designed with PID sliding mode surface and Extended State Observer(ESO).The simulation experiments have got good control performance,illustrating the effectiveness of our controller.Meanwhile,the controller was implemented in a quadrotor UAV,which carried a pan-tilt camera for aerial photography.The actual flight experiments proved that this paper dealt with the high stabilization flight control problem for the quad-rotor UAV,which laid a good foundation for autonomous flight of the UAV.

Stochastic Linear Programming for Optimal Planning of Battery Storage Systems Under Unbalanced-uncertain Conditions

Battery energy storage system(BESS)has already been studied to deal with uncertain parameters of the electrical systems such as loads and renewable energies.However,the BESS have not been properly studied under unbalanced operation of power grids.This paper aims to study the modelling and operation of BESS under unbalanced-uncertain conditions in the power grids.The proposed model manages the BESS to optimize energy cost,deal with load uncertainties,and settle the unbalanced loading at the same time.The three-phase unbalanced-uncertain loads are modelled and the BESSs are utilized to produce separate charging/discharging pattern on each phase to remove the unbalanced condition.The IEEE 69-bus grid is considered as case study.The load uncertainty is developed by Gaussian probability function and the stochastic programming is adopted to tackle the uncertainties.The model is formulated as mixed-integer linear programming and solved by GAMS/CPLEX.The results demonstrate that the model is able to deal with the unbalanced-uncertain conditions at the same time.The model also minimizes the operation cost and satisfies all security constraints of power grid.

Optimal electromagnetic hybrid negative current compensation method for high-speed railway power supply system

To achieve economical compensation for the huge-capacity negative sequence currents generated by high-speed railway load, an electromagnetic hybrid compensation system(EHCS) and control strategy is proposed.The EHCS is made up of a small-capacity railway static power conditioner(RPC) and a large-capacity magnetic static var compensator(MSVC). Compared with traditional compensation methods, the EHCS makes full use of the SVC’s advantages of economy and reliability and of RPC’s advantages of technical capability and flexibility. Based on the idea of injecting a negative sequence, the compensation principle of the EHCS is analyzed in detail. Then the minimum installation capacity of an EHCS is theoretically deduced. Furthermore, a constraint optimization compensation strategy that meets national standards, which reduces compensation capacity further, is proposed. An experimental platform based on a digital signal processor(DSP) and a programmable logic controller(PLC) is built to verify the analysis. Simulated and experimental results are given to demonstrate the effectiveness and feasibility of the proposed method.