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Adaptive proportional integral differential control based on radial basis function neural network identification of a two-degree-of-freedom closed-chain robot
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作者 陈正洪 王勇 李艳 《Journal of Shanghai University(English Edition)》 CAS 2008年第5期457-461,共5页
A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical-use. This paper pr... A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical-use. This paper presents an adaptive proportional integral differential (PID) control algorithm based on radial basis function (RBF) neural network for trajectory tracking of a two-degree-of-freedom (2-DOF) closed-chain robot. In this scheme, an RBF neural network is used to approximate the unknown nonlinear dynamics of the robot, at the same time, the PID parameters can be adjusted online and the high precision can be obtained. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories. The results also indicate that the system robustness and tracking performance are superior to the classic PID method. 展开更多
关键词 closed-chain robot radial basis function (RBF) neural network adaptive proportional integral differential (PID) control identification neural network
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Fractional Order Proportional Integral Derivative Controller Design and Simulation for Bioengineering Systems
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作者 Wei-Cheng Fu Chun-Yang Wang +1 位作者 Yao-Wu Shi Ying-Bin Sun 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2013年第5期46-50,共5页
This paper deals with the study of fractional order system tuning method based on Factional Order Proportional Integral Derivative( FOPID) controller in allusion to the nonlinear characteristics and fractional order m... This paper deals with the study of fractional order system tuning method based on Factional Order Proportional Integral Derivative( FOPID) controller in allusion to the nonlinear characteristics and fractional order mathematical model of bioengineering systems. The main contents include the design of FOPID controller and the simulation for bioengineering systems. The simulation results show that the tuning method of fractional order system based on the FOPID controller outperforms the fractional order system based on Fractional Order Proportional Integral( FOPI) controller. As it can enhance control character and improve the robustness of the system. 展开更多
关键词 ROBUSTNESS bioengineering systems fractional order proportional integral derivative controller
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Analysis and Experimental Study of Proportional-Integral Sliding Mode Control for DC/DC Converter 被引量:2
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作者 张黎 丘水生 《Journal of Electronic Science and Technology of China》 2005年第2期140-143,共4页
DC/DC converter using the proportional-integral (PI) sliding mode control (SMC) scheme is investigated, including the selection of the switching surface, the proof of the reaching condition and the existence condition... DC/DC converter using the proportional-integral (PI) sliding mode control (SMC) scheme is investigated, including the selection of the switching surface, the proof of the reaching condition and the existence condition of sliding motion. The sliding regime and the local stability are given. The implementation of the PI SMC is simpler than other SMC schemes and the steady-state error is eliminated. A prototype based on Buck converter is built up. The experimental results show that the dynamic performance and robustness to the parameter variations and external disturbances are improved. 展开更多
关键词 sliding mode proportional-integral ROBUSTNESS CONVERTER
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Design of a Proportional-Integral-Derivative Controller for an Automatic Generation Control of Multi-area Power Thermal Systems Using Firefly Algorithm 被引量:5
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作者 K.Jagatheesan B.Anand +3 位作者 Sourav Samanta Nilanjan Dey Amira S.Ashour Valentina E.Balas 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2019年第2期503-515,共13页
Essentially, it is significant to supply the consumer with reliable and sufficient power. Since, power quality is measured by the consistency in frequency and power flow between control areas. Thus, in a power system ... Essentially, it is significant to supply the consumer with reliable and sufficient power. Since, power quality is measured by the consistency in frequency and power flow between control areas. Thus, in a power system operation and control,automatic generation control(AGC) plays a crucial role. In this paper, multi-area(Five areas: area 1, area 2, area 3, area 4 and area 5) reheat thermal power systems are considered with proportional-integral-derivative(PID) controller as a supplementary controller. Each area in the investigated power system is equipped with appropriate governor unit, turbine with reheater unit, generator and speed regulator unit. The PID controller parameters are optimized by considering nature bio-inspired firefly algorithm(FFA). The experimental results demonstrated the comparison of the proposed system performance(FFA-PID)with optimized PID controller based genetic algorithm(GAPID) and particle swarm optimization(PSO) technique(PSOPID) for the same investigated power system. The results proved the efficiency of employing the integral time absolute error(ITAE) cost function with one percent step load perturbation(1 % SLP) in area 1. The proposed system based FFA achieved the least settling time compared to using the GA or the PSO algorithms, while, it attained good results with respect to the peak overshoot/undershoot. In addition, the FFA performance is improved with the increased number of iterations which outperformed the other optimization algorithms based controller. 展开更多
关键词 Automatic generation control(AGC) FIREFLY ALGORITHM GENETIC algorithm(GA) particle SWARM optimization(PSO) proportional-integral-derivative(PID) controller
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Robust Fractional-Order Proportional-Integral Observer for Synchronization of Chaotic Fractional-Order Systems 被引量:1
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作者 Ibrahima N’Doye Khaled Nabil Salama Taous-Meriem Laleg-Kirati 《IEEE/CAA Journal of Automatica Sinica》 EI CSCD 2019年第1期268-277,共10页
In this paper, we propose a robust fractional-order proportional-integral(FOPI) observer for the synchronization of nonlinear fractional-order chaotic systems. The convergence of the observer is proved, and sufficient... In this paper, we propose a robust fractional-order proportional-integral(FOPI) observer for the synchronization of nonlinear fractional-order chaotic systems. The convergence of the observer is proved, and sufficient conditions are derived in terms of linear matrix inequalities(LMIs) approach by using an indirect Lyapunov method. The proposed FOPI observer is robust against Lipschitz additive nonlinear uncertainty. It is also compared to the fractional-order proportional(FOP) observer and its performance is illustrated through simulations done on the fractional-order chaotic Lorenz system. 展开更多
关键词 Chaos SYNCHRONIZATION FRACTIONAL-ORDER CHAOTIC systems indirect Lyapunov approach linear matrix inequality(LMI) ROBUST proportional-integral OBSERVER design
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Results Involving Partial Differential Equations and Their Solution by Certain Integral Transform
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作者 Rania Saadah Mohammed Amleh +2 位作者 Ahmad Qazza Shrideh Al-Omari Ahmet Ocak Akdemir 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第2期1593-1616,共24页
In this study,we aimto investigate certain triple integral transformand its application to a class of partial differentialequations.We discuss various properties of the new transformincluding inversion, linearity, exi... In this study,we aimto investigate certain triple integral transformand its application to a class of partial differentialequations.We discuss various properties of the new transformincluding inversion, linearity, existence, scaling andshifting, etc. Then,we derive several results enfolding partial derivatives and establish amulti-convolution theorem.Further, we apply the aforementioned transform to some classical functions and many types of partial differentialequations involving heat equations,wave equations, Laplace equations, and Poisson equations aswell.Moreover,wedraw some figures to illustrate 3-D contour plots for exact solutions of some selected examples involving differentvalues in their variables. 展开更多
关键词 ARA transform double ARA transform triple ARA transform partial differential equations integral transform
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Fuzzy Self-adaptive Proportional Integration Differential Control for Attitude Stabilization of Quadrotor UAV 被引量:4
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作者 范云生 曹亚博 +1 位作者 郭晨 王国峰 《Journal of Donghua University(English Edition)》 EI CAS 2016年第5期768-773,共6页
The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional ... The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance. 展开更多
关键词 attitude stabilization tuning unmanned satisfactory freedom desired vertex autonomy trapped
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Thermomechanical Dynamics (TMD) and Bifurcation-Integration Solutions in Nonlinear Differential Equations with Time-Dependent Coefficients
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作者 Hiroshi Uechi Lisa Uechi Schun T. Uechi 《Journal of Applied Mathematics and Physics》 2024年第5期1733-1743,共11页
The new independent solutions of the nonlinear differential equation with time-dependent coefficients (NDE-TC) are discussed, for the first time, by employing experimental device called a drinking bird whose simple ba... The new independent solutions of the nonlinear differential equation with time-dependent coefficients (NDE-TC) are discussed, for the first time, by employing experimental device called a drinking bird whose simple back-and-forth motion develops into water drinking motion. The solution to a drinking bird equation of motion manifests itself the transition from thermodynamic equilibrium to nonequilibrium irreversible states. The independent solution signifying a nonequilibrium thermal state seems to be constructed as if two independent bifurcation solutions are synthesized, and so, the solution is tentatively termed as the bifurcation-integration solution. The bifurcation-integration solution expresses the transition from mechanical and thermodynamic equilibrium to a nonequilibrium irreversible state, which is explicitly shown by the nonlinear differential equation with time-dependent coefficients (NDE-TC). The analysis established a new theoretical approach to nonequilibrium irreversible states, thermomechanical dynamics (TMD). The TMD method enables one to obtain thermodynamically consistent and time-dependent progresses of thermodynamic quantities, by employing the bifurcation-integration solutions of NDE-TC. We hope that the basic properties of bifurcation-integration solutions will be studied and investigated further in mathematics, physics, chemistry and nonlinear sciences in general. 展开更多
关键词 The Nonlinear differential Equation with Time-Dependent Coefficients The Bifurcation-Integration Solution Nonequilibrium Irreversible States Thermomechanical Dynamics (TMD)
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Proportional integral plus multi-frequency resonant current controller for grid-connected voltage source converter under imbalanced and distorted supply voltage conditions 被引量:15
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作者 Jia-bing HU Wei ZHANG +2 位作者 Hong-sheng WANG Yi-kang HE Lie XU 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2009年第10期1532-1540,共9页
This paper proposes a current control scheme for a grid-connected pulse width modulator(PWM) voltage source converter(GC-VSC) under imbalanced and distorted supply voltage conditions.The control scheme is implemented ... This paper proposes a current control scheme for a grid-connected pulse width modulator(PWM) voltage source converter(GC-VSC) under imbalanced and distorted supply voltage conditions.The control scheme is implemented in the positive synchronously rotating reference frame and composed of a single proportional integral(PI) regulator and multi-frequency resonant controllers tuned at the frequencies of 2ω and 6ω,respectively.The experimental results,with the target of eliminating the active power oscillations and current harmonics on a prototype GC-VSC system,validate the feasibility of the proposed current control scheme during supply voltage imbalance and distortion. 展开更多
关键词 Grid-connected voltage source converter (GC-VSC) proportional integral plus multi-frequency resonant (PI+MFR) IMBALANCE Harmonics distortion
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Some Investigations on Hybrid Fuzzy IPD Controllers for Proportional and Derivative Kick Suppression
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作者 Vineet Kumar K.P.S.Rana 《International Journal of Automation and computing》 EI CSCD 2016年第5期516-528,共13页
Proportional and derivative kick i.e., a large change in control action of a proportional plus integral plus derivative (PID) controller due to a sudden change in reference set-point is generally undesired in proces... Proportional and derivative kick i.e., a large change in control action of a proportional plus integral plus derivative (PID) controller due to a sudden change in reference set-point is generally undesired in process industry. Therefore, the structure of conventional parallel PID controller is modified to integral minus proportional derivative (I-PD) controller. In this paper, three hybrid fuzzy IPD controllers such as a fuzzy I-fuzzy PD (FI-FPD) controller and its hybrid combinations with its conventional counterpart such as fuzzy I-PD (FI-PD) and I-fuzzy PD (I-FPD) are presented in view of above industrial problem. These controllers are based upon the counterpart conventional I-PD controller and contains analytical formulae. Computer simulations are carried out to evaluate the performance of hybrid fuzzy controllers along with conventional I-PD and PID controllers for set-point tracking and disturbance rejection for an induction motor in closed loop using LabVIEWTM environment. The gains of conventional and hybrid fuzzy controllers are tuned using genetic algorithm (GA) for minimum overshoot and settling time. It has been observed that hybrid fuzzy controllers along with the conventional I-PD controller significantly remove the kick from the control action in reference set-point tracking. However, in disturbance rejection, I-PD and FI-PD controllers fail to eliminate the kick from the control signal. In contrast, FI-FPD and I-FPD controllers considerably reduced spikes from the control action in disturbance rejection. Among the conventional and hybrid fuzzy IPD controllers, FI--FPD demonstrates much better set-point tracking and disturbance rejection response with spike free control action. 展开更多
关键词 proportional plus integral plus derivative (PID) integral minus proportional derivative (I-PD) hybrid fuzzy IPD con- troller proportional kick derivative kick.
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EXISTENCE AND UNIQUENESS OF SOLUTIONS FOR NONLINEAR FRACTIONAL DIFFERENTIAL EQUATIONS WITH NON-SEPARATED TYPE INTEGRAL BOUNDARY CONDITIONS 被引量:6
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作者 Bashir Ahmad Juan J. Nieto Ahmed Alsaedi 《Acta Mathematica Scientia》 SCIE CSCD 2011年第6期2122-2130,共9页
In this paper, we study a boundary value problem of nonlinear fractional dif- ferential equations of order q (1 〈 q 〈 2) with non-separated integral boundary conditions. Some new existence and uniqueness results a... In this paper, we study a boundary value problem of nonlinear fractional dif- ferential equations of order q (1 〈 q 〈 2) with non-separated integral boundary conditions. Some new existence and uniqueness results are obtained by using some standard fixed point theorems and Leray-Schauder degree theory. Some illustrative examples are also presented. We extend previous results even in the integer case q = 2. 展开更多
关键词 fractional differential equations non-separated integral boundary conditions contraction principle Krasnoselskii's fixed point theorem LeraySchauder degree
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An Integral Collocation Approach Based on Legendre Polynomials for Solving Riccati, Logistic and Delay Differential Equations 被引量:6
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作者 M. M. Khader A. M. S. Mahdy M. M. Shehata 《Applied Mathematics》 2014年第15期2360-2369,共10页
In this paper, we propose and analyze some schemes of the integral collocation formulation based on Legendre polynomials. We implement these formulae to solve numerically Riccati, Logistic and delay differential equat... In this paper, we propose and analyze some schemes of the integral collocation formulation based on Legendre polynomials. We implement these formulae to solve numerically Riccati, Logistic and delay differential equations with variable coefficients. The properties of the Legendre polynomials are used to reduce the proposed problems to the solution of non-linear system of algebraic equations using Newton iteration method. We give numerical results to satisfy the accuracy and the applicability of the proposed schemes. 展开更多
关键词 integral COLLOCATION FORMULATION Spectral Method RICCATI LOGISTIC and Delay differential Equations
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FRACTIONAL INTEGRAL INEQUALITIES AND THEIR APPLICATIONS TO FRACTIONAL DIFFERENTIAL EQUATIONS 被引量:2
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作者 Yaghoub JALILIAN 《Acta Mathematica Scientia》 SCIE CSCD 2016年第5期1317-1330,共14页
In this paper, first we obtain some new fractional integral inequalities. Then using these inequalities and fixed point theorems, we prove the existence of solutions for two different classes of functional fractional ... In this paper, first we obtain some new fractional integral inequalities. Then using these inequalities and fixed point theorems, we prove the existence of solutions for two different classes of functional fractional differential equations. 展开更多
关键词 fractional integral inequality existence of solution Caputo fractional derivative fractional differential equation fixed point
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Mixture of a New Integral Transform and Homotopy Perturbation Method for Solving Nonlinear Partial Differential Equations 被引量:1
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作者 Artion Kashuri Akli Fundo Matilda Kreku 《Advances in Pure Mathematics》 2013年第3期317-323,共7页
In this paper, we present a new method, a mixture of homotopy perturbation method and a new integral transform to solve some nonlinear partial differential equations. The proposed method introduces also He’s polynomi... In this paper, we present a new method, a mixture of homotopy perturbation method and a new integral transform to solve some nonlinear partial differential equations. The proposed method introduces also He’s polynomials [1]. The analytical results of examples are calculated in terms of convergent series with easily computed components [2]. 展开更多
关键词 HOMOTOPY PERTURBATION Methods A NEW integral Transform Nonlinear Partial differential Equations He’s POLYNOMIALS
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New Numerical Integration Formulations for Ordinary Differential Equations
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作者 Serdar Beji 《Advances in Pure Mathematics》 2024年第8期650-666,共17页
An entirely new framework is established for developing various single- and multi-step formulations for the numerical integration of ordinary differential equations. Besides polynomials, unconventional base-functions ... An entirely new framework is established for developing various single- and multi-step formulations for the numerical integration of ordinary differential equations. Besides polynomials, unconventional base-functions with trigonometric and exponential terms satisfying different conditions are employed to generate a number of formulations. Performances of the new schemes are tested against well-known numerical integrators for selected test cases with quite satisfactory results. Convergence and stability issues of the new formulations are not addressed as the treatment of these aspects requires a separate work. The general approach introduced herein opens a wide vista for producing virtually unlimited number of formulations. 展开更多
关键词 Single- and Multi-Step Numerical Integration Unconventional Base-Functions Ordinary differential Equations
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Numerical Solution of Functional Integral and Integro-Differential Equations by Using B-Splines
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作者 Hesam-Eldien Derili Gherjalar Hossein Mohammadikia 《Applied Mathematics》 2012年第12期1940-1944,共5页
This paper describes an approximating solution, based on Lagrange interpolation and spline functions, to treat functional integral equations of Fredholm type and Volterra type. This method extended to functional integ... This paper describes an approximating solution, based on Lagrange interpolation and spline functions, to treat functional integral equations of Fredholm type and Volterra type. This method extended to functional integral and integro-differential equations. For showing efficiency of the method we give some numerical examples. 展开更多
关键词 LAGRANGE Interpolation B-SPLINE Functions FUNCTIONAL integral EQUATION FUNCTIONAL Integro-differential EQUATION FUNCTIONAL differential EQUATION
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Computational intelligence interception guidance law using online off-policy integral reinforcement learning
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作者 WANG Qi LIAO Zhizhong 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2024年第4期1042-1052,共11页
Missile interception problem can be regarded as a two-person zero-sum differential games problem,which depends on the solution of Hamilton-Jacobi-Isaacs(HJI)equa-tion.It has been proved impossible to obtain a closed-f... Missile interception problem can be regarded as a two-person zero-sum differential games problem,which depends on the solution of Hamilton-Jacobi-Isaacs(HJI)equa-tion.It has been proved impossible to obtain a closed-form solu-tion due to the nonlinearity of HJI equation,and many iterative algorithms are proposed to solve the HJI equation.Simultane-ous policy updating algorithm(SPUA)is an effective algorithm for solving HJI equation,but it is an on-policy integral reinforce-ment learning(IRL).For online implementation of SPUA,the dis-turbance signals need to be adjustable,which is unrealistic.In this paper,an off-policy IRL algorithm based on SPUA is pro-posed without making use of any knowledge of the systems dynamics.Then,a neural-network based online adaptive critic implementation scheme of the off-policy IRL algorithm is pre-sented.Based on the online off-policy IRL method,a computa-tional intelligence interception guidance(CIIG)law is developed for intercepting high-maneuvering target.As a model-free method,intercepting targets can be achieved through measur-ing system data online.The effectiveness of the CIIG is verified through two missile and target engagement scenarios. 展开更多
关键词 two-person zero-sum differential games Hamilton–Jacobi–Isaacs(HJI)equation off-policy integral reinforcement learning(IRL) online learning computational intelligence inter-ception guidance(CIIG)law
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Assessment of Operational Performance in a Power Generation/Selling Integrated Company Using a Dynamic Proportional Adjustment Coefficient
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作者 Jingbin Wu Hongming Yang Sheng Xiang 《Energy Engineering》 EI 2024年第11期3263-3287,共25页
Currently,the operational performance assessment system in the power market primarily focuses on power generation and electricity retail companies,lacking a system tailored to the operational characteristics of power ... Currently,the operational performance assessment system in the power market primarily focuses on power generation and electricity retail companies,lacking a system tailored to the operational characteristics of power generation/selling integrated companies.Therefore,this article proposes an assessment index system for assessing the operational performance of a power generation/selling integrated company,encompassing three dimensions:basic capacity,development potential,and external environment.A dynamic proportional adjustment coefficient is designed,along with a subjective and objective weighting model for assessment indexes based on a combined weightingmethod.Subsequently,the operational performance of an integrated company is assessed using extension theory.The results in the case study demonstrate the feasibility and effectiveness of the proposed dynamic proportional adjustment coefficient. 展开更多
关键词 Power generation/selling integrated company dynamic proportional adjustment coefficient combined weighting extension theory assessment of operational performance
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基于Mohand变换求解模糊Volterra积分微分方程
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作者 余乐 陈豫眉 《西安文理学院学报(自然科学版)》 2024年第1期21-26,共6页
Mohand变换是一种常见的积分变换,具有运算时间少的特点.利用模糊Mohand变换求解模糊Volterra积分微分方程,得到方程以参数形式表达的上解和下解.最后通过数值算例验证了模糊Mohand变换求解模糊Volterra积分微分方程的有效性.
关键词 模糊数 模糊Volterra积分微分方程 模糊Mohand变换 卷积定理
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A differential control method for the proportional directional valve 被引量:4
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作者 Bo JIN Ya-guang ZHU +3 位作者 Wei LI De-sheng ZHANG Lu-lu ZHANG Fei-fei CHEN 《Journal of Zhejiang University-Science C(Computers and Electronics)》 SCIE EI 2014年第10期892-902,共11页
For the proportional directional valve controlled by two proportional solenoids, the normal control method(NCM) energizes only one solenoid at a time. The performance of the valve is greatly influenced by the nonlinea... For the proportional directional valve controlled by two proportional solenoids, the normal control method(NCM) energizes only one solenoid at a time. The performance of the valve is greatly influenced by the nonlinearity of the proportional solenoid, such as dead zone and low force gain with a small current, and this effect cannot be eliminated by a simple dead-zone current compensation. To avoid this disadvantage, we propose the differential control method(DCM). By employing DCM, the controller outputs differential signals to simultaneously energize both solenoids of the proportional valve, and the operating point is found by analyzing the force output of the two solenoids to make a minimum variation of the current force gain. The comparisons of the valve response characteristics are made between NCM and DCM by nonlinear dynamic simulation and experiments. Simulation and experimental results show that by using DCM, the frequency response of the valve is greatly enhanced, especially when the input is small, which means that the dynamic characteristics of the proportional valve are improved. 展开更多
关键词 differential control method Frequency response proportional directional valve Spool displacement feedback
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