A Dual Source Power Based EV Wireless Charging System

Recently,there has been a huge increase in the usage of fuel resources for automobiles which is severely affecting the climate and causing global warming.The use of electric vehicle(EV)is an effective way to protect the environment and reduce travel costs.However,the EV charging system has a single charging source,and the charging rate is limited.In this paper,an EV wireless charging system based on dual source power supply has been developed.It realizes intelligent switching between 12 V photovoltaic output and 220 V AC dual source power,and has wireless transmission function.Based on the proposed power supply architecture,the micro wireless charging model is built,which enables the EV model to store power and realize static and mobile control through the wireless induction charging system.

State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.

机载光电跟踪系统模糊控制的优化设计与仿真

分析了机载光电跟踪系统的构成 ,并对机载光电跟踪系统的主要组成部分——陀螺稳定平台框架系统设计了基于 GA(遗传算法 )的模糊控制器 ,通过遗传算法来优化模糊控制器的规则、参数以及量化因子和比例因子。并对系统进行了详细的仿真研究 ,仿真结果证明 ,基于GA的模糊控制器设计获得了良好的控制效果。

Coordinated Path Planning for UAVs Based on Sheep Optimization

Using the traditional swarm intelligence algorithm to solve the cooperative path planning problem for multi-UAVs is easy to incur the problems of local optimization and a slow convergence rate.A cooperative path planning method for multi-UAVs based on the improved sheep optimization is proposed to tackle these.Firstly,based on the three-dimensional planning space,a multi-UAV cooperative cost function model is established according to the path planning requirements,and an initial track set is constructed by combining multiple-population ideas.Then an improved sheep optimization is proposed and used to solve the path planning problem and obtain multiple cooperative paths.The simulation results show that the sheep optimization can meet the requirements of path planning and realize the cooperative path planning of multi-UAVs.Compared with grey wolf optimizer(GWO),improved gray wolf optimizer(IGWO),chaotic gray wolf optimizer(CGWO),differential evolution(DE)algorithm,and particle swam optimization(PSO),the convergence speed and search accuracy of the improved sheep optimization are significantly improved.

Research and Design of Coordinated Control Strategy for Smart Electromechanical Actuator System

In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.

An Improved Gaussian Particle Filter Algorithm Using KLD-Sampling

To adjust the samples of filtering adaptively,an improved Gaussian particle filter algorithm based on Kullback-Leibler divergence(KLD)-sampling(KLGPF)is proposed in this paper.During the process of sampling,the algorithm calculates the KLD to adjust the size of the particle set between the discrete probability density function of particles and the true posterior probability density function.KLGPF has significant effect when the noise obeys Gaussian distribution and the statistical characteristics of noise change abruptly.Simulation results show that KLGPF could maintain a good estimation effect when the noise statistics changes abruptly.Compared with the particle filter algorithm using KLD-sampling(KLPF),the speed of KLGPF increases by 28%under the same conditions.

Isotropic Optimization of a Stewart-Type Six-Component Force Sensor

This paper presents the isotropic optimization of a Stewart-type six-component force sensor. First,the static model of the sensor is built by the screw theory and the forward isotropy indexes and the inverse isotropy indexes are further presented. Second,a comprehensive evaluation function is established to evaluate the isotropic performance of the sensor. By compromising all the isotropy indexes and solving the extreme value of the function,the sensor optimization process is completed and an optimal solution of a set of sensor structure parameters is obtained. Finally,the design of the components and the assembly of the prototype are established by 3D modeling software Pro-E. The verification of the isotropic performance of the sensor is conducted by the finite element analysis software ANSYS. The results obtained by our research can provide useful reference to the isotropic performance evaluation and structure design of the stewart-type six-component force sensor.

基于视频检测的车辆分割技术研究

车辆分割是车型识别中的关键技术。本文利用视频检测中差分图像的投影图方法粗略定位出车辆 ,然后通过一种能量法二值化图像 ,可以准确分割出车辆。实验结果表明 ,按照本文提出方进行车辆分割 ,实际车辆分割率达到了99%。

Two Different Role Division Control Strategies for Torque and Axial Force of Conical Bearingless Switched Reluctance Motor

Although the five-degree-of-freedom magnetic levitation system composed of two conical bearingless switched reluctance motors(CBSRMs)owns the simplest structure,the torque and levitation forces are coupled greatly.Therefore,it is difficult to make the rotor rotate and be fully levitated simultaneously.To solve this problem,two different role division control strategies are proposed in this paper,i.e.individual role division and mutual role division control strategies.The difference between them is the selection of motor which controls the torque or the axial force.In order to understand the characteristics of control variables,the principle and mathematical model of CBSRM are introduced.After that,two control strategies are explained in detail.To verify the demonstrated performance,the simulations are completed with MATLAB/Simulink.

Cavity Ring-Down Spectroscopy Measurements of Trace H_(2)S in SF_(6) and SF_(6)/N_(2) Mixture

H_(2)S is one of the most important characteristic decomposition components of SF_(6)insulated gas,and the detection of trace H_(2)S is significant for early fault diagnosis of gas insulated electrical equipment.A 1578 nm wavelength distributed feedback diode laser(DFB-DL)based cavity ring-down spectroscopy(CRDS)experimental platform is developed to monitor the concentrations of H_(2)S in SF_(6)and SF_(6)/N_(2)mixture carrier gas.The detection sensitivity is higher than 1×10^(-6).The absorption cross section parameterσis vital for calculating the concentration.With repeated experiments using standard gas samples,parameterσof H_(2)S in pure SF_(6)and SF_(6)/N_(2)mixture carrier with different mixing ratios is calibrated.Compared with the simulatedσvalues,the influence of carrier gas on the broadening of spectral profile is discussed.The variation of absorption cross sectionσwith different carrier gas mixing ratios is studied as well,so that the calculation of the concentration in the carrier gas of any mixing ratio is possible.Thus,the application of CRDS in trace component detection of gas insulated electrical equipment is promising.

Monitoring of Wind Turbine Blades Based on Dual-Tree Complex Wavelet Transform

Structural health monitoring(SHM)in-service is very important for wind turbine system.Because the central wavelength of a fiber Bragg grating(FBG)sensor changes linearly with strain or temperature,FBG-based sensors are easily applied to structural tests.Therefore,the monitoring of wind turbine blades by FBG sensors is proposed.The method is experimentally proved to be feasible.Five FBG sensors were set along the blade length in order to measure distributed strain.However,environmental or measurement noise may cover the structural signals.Dual-tree complex wavelet transform(DT-CWT)is suggested to wipe off the noise.The experimental studies indicate that the tested strain fluctuate distinctly as one of the blades is broken.The rotation period is about 1 s at the given working condition.However,the period is about 0.3 s if all the wind blades are in good conditions.Therefore,strain monitoring by FBG sensors could predict damage of a wind turbine blade system.Moreover,the studies indicate that monitoring of one blade is adequate to diagnose the status of a wind generator.

基于物联网机场噪声感知节点的设计与实现

传统的机场噪声测量一般通过声级计铺设电缆或者数据记录仪来记录机场噪声数据。提出一种基于物联网的机场噪声感知节点的设计与实现方案,介绍了该节点的硬件结构以及软件设计流程。

Multi-boid Flocking with Formation Control Using Local Sensing and Communication

Behavior-based flocking has got remarkable attention in the recent past. The flocking algorithms can have inherent properties like organizing,healing and re-configuring for a distributed system. In this research we presented the emergent flocking behavior-based control. We defined the basis behavior and with variety of combination, and obtained a complex group behavior flocking. Unlike classical flocking, we implemented additional rules obstacle avoidance,formation and seek target which results in V-formation flocking while avoiding obstacles. We performed the visual simulation of our flocking algorithm using MATLAB. The results concluded that the multi-boid flock could successfully navigate to the target while avoiding collisions. This can be applied to areas where we need to maximize the coverage of sensors or minimize the risk of combative attack,both in military and civilian scenarios.

Improved Repetitive Control for High-Precision Satellite Rendezvous

This paper is focused on control design for high-precision satellite rendezvous systems.A relative motion model of leader-follower satellites described by relative orbit elements(ROE)is adopted,which has clear geometric meaning and high accuracy.An improved repetitive control(IRC)scheme is proposed to achieve high-precision position and velocity tracking,which utilizes the advantage of repetitive control to track the signal precisely and conquers the effects of aperiodic disturbances by adding a nonsingular terminal sliding mode(NSTSM)controller.In addition,the nonlinear state error feedback(NLSEF)is used to improve the dynamic performance of repetitive controller and the radial basis function(RBF)neural networks are employed to approximate the unknown nonlinearities.From rigorous Lyapunov analysis,the stability of the whole closed-loop control system is guaranteed.Finally,numerical simulations are carried out to assess the efficiency and demonstrate the advantages of the proposed control scheme.

Robust Anti⁃swing Control for Unmanned Helicopter Slung⁃Load System with Prescribed Performance

A robust anti-swing control method based on the error transformation function is proposed,and the problem is handled for the unmanned helicopter slung-load system(HSLS)deviating from the equilibrium state due to the disturbances in the lifting process.First,the nonlinear model of unmanned HSLS is established.Second,the errors of swing angles are constructed by using the two ideal swing angle values and the actual swing angle values for the unmanned HSLS under flat flight,and the error transformation functions are investigated to guarantee that the errors of swing angles satisfy the prescribed performance.Third,the nonlinear disturbance observers are introduced to estimate the bounded disturbances,and the robust controllers of the unmanned HSLS,the velocity and the attitude subsystems are designed based on the prescribed performance method,the output of disturbance observer and the sliding mode backstepping strategy,respectively.Fourth,the Lyapunov function is developed to prove the stability of the closed-loop system.Finally,the simulation studies are shown to demonstrate the effectiveness of the control strategy.

Multi-objective Thermal Optimization of Dual-input Aeronautic Static Inverter Based on MOEA/D

To solve the multi-variable and multi-objective optimization problem in the thermal design process of the dual-input aeronautic static inverter,an optimization method based on the combination of the multi-objective evolutionary algorithm based on decomposition(MOEA/D)and the fuzzy set theory is proposed.The heat transfer path of the power device is analyzed and an equivalent heat circuit is conducted.We take junction temperature of the power device,mass,and cost of the heat sink as optimization goals,and take the heat sink structure parameters as design variables to conduct thermal optimization based on MOEA/D.This paper carries out a comparative study,and the results show that the proposed improved algorithm can meet the different requirements for multi-objective weights,and have good rapidity and robustness.

A Regularized Randomized Kaczmarz Algorithm for Large Discrete Ill-Posed Problems

Tikhonov regularization is a powerful tool for solving linear discrete ill-posed problems.However,effective methods for dealing with large-scale ill-posed problems are still lacking.The Kaczmarz method is an effective iterative projection algorithm for solving large linear equations due to its simplicity.We propose a regularized randomized extended Kaczmarz(RREK)algorithm for solving large discrete ill-posed problems via combining the Tikhonov regularization and the randomized Kaczmarz method.The convergence of the algorithm is proved.Numerical experiments illustrate that the proposed algorithm has higher accuracy and better image restoration quality compared with the existing randomized extended Kaczmarz(REK)method.

Modelling and Implementation of Multi-source Isolated Microgrid Using Virtual Synchronous Generator Technology

To improve the living standards,economical efficiency and environmental protection of isolated islands,remote areas and other areas with weak electric power facilities construction,a multi-source independent microgrid system is studied,including diesel generators,photovoltaic power generation system,wind power generation system and energy storage unit.Meanwhile,in order to realize the voltage and frequency stability control of AC bus of multisource microgrid,the virtual synchronous generator technology is introduced into the energy storage unit,and the charge and discharge control of the energy storage battery are simulated as the control behavior characteristics of synchronous motors,so as to provide damping and inertia support for the microgrid.The operation mode and control principle of each energy subsystem are expounded and analyzed.The algorithm principle of virtual synchronous generator and the control method of energy storage unit are given.Then,the working modes of the microgrid system under different environmental conditions are analyzed,and the multi-source microgrid system simulation model is built based on MATLAB/Simulink.The simulation results show that the microgrid system can run stably under different working modes and the energy storage unit using the virtual synchronous generator technology can provide good voltage and frequency support for the microgrid system.Finally,experiments verify the supporting function of energy storage unit on the voltage and frequency of the microgrid system.

An Improved Active Miller Clamp Crosstalk Suppression Method for Enhancement-Mode GaN HEMTs in Phase-Leg Configuration

When using traditional drive circuits,the enhancement-mode GaN(eGaN)HEMT will be affected by high switching speed characteristics and parasitic parameters leading to worse crosstalk problems.Currently,the existing crosstalk suppression drive circuits often have the disadvantages of increased switching loss,control complexity,and overall electromagnetic interference(EMI).Therefore,this paper combines the driving loop impedance control and the active Miller clamp method to propose an improved active Miller clamp drive circuit.First,the crosstalk mechanism is analyzed,and the crosstalk voltage model is established.Through the crosstalk voltage evaluation platform,the influencing factors are evaluated experimentally.Then,the operating principle of the improved active Miller clamp drive circuit is discussed,and the optimized parameter design method is given.Finally,the effect of the improved active Miller clamp method for suppressing crosstalk is experimentally verified.The crosstalk voltage was suppressed from 3.5 V and-3.5 V to 1 V and-1.3 V,respectively,by the improved circuit.