A master-slave generalized predictive synchronization control for preheating process of multi-cavity hot runner system

As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.

Master-Slave机器手协调控制选择行列式算法

提出了一种基于选择行列式的Master-Slave机器手的协调控制算法。通过选择行列式的导入,实现了对Master机器手和Slave机器手各个变量的协调控制。本方法应用于装有视觉传感器的机器手的追踪控制,经过实验证明了基于选择行列式的算法能够实现人类的某些技能赋予机器手,在支援机器手的同时还能够通过有效地协调遥控,完成机器手的自主控制。

Research on Master-slave Telerobot Force Telepresence Technology

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Hierarchical hybrid control network design based on LON and master-slave RS-422/485 protocol

Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.

Distributed Generation Islanding Effect on Distribution Networks and End User Loads Using the Master-Slave Islanding Method

This study aims to address the feasibility of planned islanding operation and to investigate the effect of unplanned islanding using the master-slave islanding method for controlling the distributed generation units during grid-connected and islanding operation. Neplan desktop power simulation tool was used for the modelling and simulation of a realistic MV network with four different distributed generation technologies (diesel, gas, hydro and wind) along with their excitation and governor control systems, while an exponential model was used to represent the loads in the network. The dynamic and steady state behavior of the four distributed generation technologies were investigated during grid-connected operation and two transition modes to the islanding situation, planned and unplanned. The obtained results that validated through various case studies have shown that a suitable planned islanding transition could provide support to critical loads at the event of electricity utility outages.

Content Addressable Memory Using Automatic Charge Balancing with Self-Control Mechanism and Master-Slave Match Line Design

Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge or discharge of match line. In this paper, CAM for automatic charge balancing with self-control mechanism is proposed to control the voltage swing of ML for reducing the power consumption of CAM. Another technique to reduce the power dissipation is to use MSML, it combines the master-slave architecture with charge minimization technique. Unlike the conventional design, only one match line (ML) is used, whereas in Master-Slave Match Line (MSML) one master ML and several slave MLs are used to reduce the power dissipation in CAM caused by match lines (MLs). Theoretically, the match line (ML) reduces the power consumption up to 50% which is independent of search and match case. The simulation results using Cadence tool of MSML show the reduced power consumption in CAM and modified CAM cell.

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchronization strategy for complex dynamic systems based on feedback control.This strategy is applied to 3-DOF planar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors.A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors.The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system.In numerical experiments,the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy.It is found that the positive gain matrix affects the implementation of synchronization control strategy.This synchronization control strategy proves the synchronization's feasibility and controllability for complicated motions generated by master-slave manipulators.

A Master-Slave Blockchain Paradigm and Application in Digital Rights Management

Upon flaws of current blockchain platforms of heavyweight, large capacity of ledger, and time-consuming of synchronization of data, in this paper, we proposed a new paradigm of master-slave blockchain scheme(MSB) for pervasive computing that suitable for general PC, mobile device such as smart phones or PADs to participants in the working of mining and verification, in which we separated traditional blockchain model in 2 layer defined as master node layer and a series of slavery agents layer, then we proposed 2 approaches for partially computing model(PCM) and non-computing of model(NCM) in the MSB blockchain, Finally large amounts of simulations manifest the proposed master-slave blockchain scheme is feasible, extendible and suitable for pervasive computing especially in the 5 G generation environment, and can apply in the DRM-related applications.

Exponential networked synchronization of master-slave chaotic systems with timevarying communication topologies

The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities (LMIs), which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.

Power-combining based on master-slave injection-locking magnetron

A microwave power-combining system composed of two Panasonic 2M244-M1 magnetrons based on master–slave injection-locking is demonstrated in this paper. The principle of master–slave injection-locking and the locking condition are theoretical analyzed. Experimental results are consistent with the theoretical analysis and the experimental combined efficiency is higher than 96%. Compared with the external-injection-locked system, the power-combining based on the master–slave injection-locking magnetron is superior by taking out the external solid-state driver and the real-time phase control system. Thus, this power-combining system has great potential for obtaining a high efficiency, high stability, low cost, and high power microwave source.

Adaptive H_∞ Synchronization of Master-slave Systems with Mixed Time-varying Delays and Nonlinear Perturbations: An LMI Approach

This paper proposes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays comprising different discrete and distributed time delays. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and an adaptation law including the master-slave parame- ters are established for designing a delayed synchronization law in terms of linear matrix inequalities(LMIs). The time-varying controller guarantees the H ∞ synchronization of the two coupled master and slave systems regardless of their initial states. Particularly, it is shown that the synchronization speed can be controlled by adjusting the updated gain of the synchronization signal. Two numerical examples are given to demonstrate the effectiveness of the method.

Master-slave robot force telepresence technology

In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.

Jet sweeping angle control by fluidic oscillators with master-slave designs

The fluidic oscillator is an instrument that can continuously generate a spatially sweeping jet entirely based on its internal geometry without any moving parts.However,the traditional fluidic oscillator has an inherent limitation,that is,the spreading angle cannot be controlled independently,rather by the jet volume flow rate and internal geometry.Accordingly,two types of fluidic oscillators based on the master-slave design are developed in current study to decouple this correlation.In both designs,the master layer inherits the similar oscillation mechanisms of a sweeping jet,and the slave layer resembles a steady jet channel.The difference between the two designs is that Design A has a short diverging exit in the slave layer,but Design B adds a long interaction chamber in the exit channel to intensify flow instability.The external flow fields and governing oscillation properties of these two designs are experimentally explored with time-resolved Particle Image Velocimetry(PIV),while the internal flow dynamics and driving oscillation mechanisms are numerically investigated.By fixing the total volume flow rate,the jet spreading angle of Design A can be increased smoothly from 0°to above 100°by increasing the proportion of master layer’s flow rate from 0 to 100%.For Design B,the control authority of the master layer is significantly enhanced by adding the interaction chamber in the slave layer.In addition,the added chamber causes notable jet oscillation even when the master layer has none input.

A seamless operation mode transition control strategy for a microgrid based on master-slave control

This paper proposes a control strategy that can realize seamless microgrid operation mode transition between grid-connected operation and stand-alone operation.The scenario of a microgrid based on master-slave control is considered,where the master distributed generation(DG) unit operates in different control schemes in different microgrid operation modes,while other slave DG units operate with power/current control all the time.The proposed control strategy focuses on the master DG unit,and contains the control state/reference compensation algorithm and separation switch control logic.The proposed method can effectively reduce the impact on the critical loads and DG units caused by microgrid operation mode transitions.

基于Python的平面杆系结构有限元分析

基于Python程序,将杆单元位移不连续、理想刚杆两种力学对象关联统一,开展平面杆系结构有限元模型分析,并实现一种基于“变量标记”的自由度集中处理的计算模式.基于虚功原理引入并推证刚体荷载传递定理,表明耦合单元、刚杆及忽略某一自由度的有限元内置算法处理过程中,实质是将单元刚度矩阵进行“刚化”处理.算例分析表明,“变量标记”的计算模式与单元刚度矩阵的“刚化”处理,具有力学模型的普适性和统一性、编程的可行性以及结果的可靠性等特点,能解决平面任意杆系结构的建模问题.研究结果表明,“主从结点”、“刚杆”等建模方法,对于进一步开展有限元二次开发、大变形以及非线性等功能性扩展等有重要的参加价值,证明将Python程序应用于结构有限元分析的可行性.

智能算法的亚群优化策略综述

群智能算法的优化是提升群智能算法性能的一个主要途径,随着群智能算法越来越广泛地运用到各类模型优化、生产调度、路径规划等问题中,对智能算法性能的要求也越来越高。亚群策略作为一种优化群智能算法的重要手段,能够灵活地平衡算法的全局勘探能力和局部开发能力,已经成为群智能算法的研究热点之一。为了促进亚群优化策略的发展和应用,对动态亚群策略、基于主从范式的亚群策略和基于网络结构的亚群策略进行了详细调查,阐述了各类亚群策略的结构特点、改进方式和应用场景。最后,总结了亚群策略目前存在的问题以及未来的研究趋势和发展方向。

考虑水电调节费用补偿的风光水联盟优化调度策略

针对风光水综合能源跨区消纳调度中的梯级储能和梯级水电联合调节调度、水电调节费用公平疏导等关键问题,提出了考虑水电灵活调节费用疏导补偿的风光水联盟四阶段优化调度模型。首先,建立了基于梯级储能调节的入网前风光出力波动平抑模型,使平抑误差和平抑成本最小;提出了基于相对波动系数的梯级储能调节成本和调节功率的公平疏导方法。其次,基于梯级储能和梯级水电联合调节的风光水联盟联合出力对电网负荷的跟踪,构建了风光水联盟与区域电网的主从博弈模型,优化电网电价和联盟售电计划,达到双方利益最大。然后,构建了计及风光水不确定性的前两阶段调度模型的鲁棒优化模型,获得兼顾经济性和鲁棒性的联盟各主体能量调度策略。最后,构建了基于合作者边际贡献指数的非对称纳什谈判联盟效益分配模型,实现合作剩余的公平分配和水电调节费用的公平疏导。算例结果表明,该方法提升了各利益主体合作后的净利润,有利于维系联盟合作的稳定性,促进风光水综合能源跨区消纳。

风电租赁储能参与电能-调频市场竞价策略

风电参与市场化竞价运营,可有效激发风电的市场力及其主动租赁储能改善调频性能的积极性,在提升风电运营效益的同时,助力电网的调频调峰,但需解决风储调频性能指标优化及其电能-调频双市场竞价策略协同优化等关键问题。为此,提出了风电参与电能-调频市场竞价双层优化模型:上层为双市场多主体竞价出清模型;下层为各主体竞价策略优化模型,响应上层出清结果,优化调整竞价策略,达到各主体效益最大化。下层模型嵌套了考虑风电不确定性的储能运营商与风电集群储能租赁价格/容量主从博弈优化模型。双层模型联合求解,得出最终风电集群租赁储能容量及其双市场竞价策略。算例结果表明,所提方法能够提升风电运营效益,助力电网调频调峰。

基于多准则决策和博弈论的水权配置分析:以浙江省为例

【目的】水资源的配置是解决水资源冲突的一个重要途径。统筹考虑用水主体的社会经济发展和决策交互等情况,以期合理配置水权。【方法】以浙江省为研究区域,分别基于多准则决策来构建指标体系以及基于博弈论构建主从博弈模型进行水权配置,并联系实际情况对配置结果进行对比分析,探究两种方案的适用性。【结果】结果显示:两种方案总水权相同,博弈论方案用水总收益为65167亿元,较多准则决策方案的59649亿元提升了9%;两种方案在绍兴、金华和台州等城市的水权配置结果以及总收益十分接近,博弈论方案水权分配结果较符合各地区用水需求,多准则决策方案在衢州、湖州和丽水的水权分配远超其需水量。【结论】多准则决策方案在信息较少时可依据各项指标对水权进行粗略度量。构建的水权配置指标体系有其合理性,但定权及评价等还不完善,配置结果与实际需求存在差距。主从博弈模型能够有效调和不同层次的冲突,满足用水个体供水保证率,水权配置结果也更科学合理,可在一定程度上约束水资源的浪费和低效利用情况。研究对比分析了两种方案的水权配置结果,可为管理者进行水权分配科学决策提供一定参考依据。