This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanis...This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.展开更多
A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the...A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.展开更多
During indoor operations,Unmanned Aerial Vehicles(UAVs)are required to embody attributes such as heightened sensitivity,compact design,and robust maneuverability.A high operational advantage is evident when tasks are ...During indoor operations,Unmanned Aerial Vehicles(UAVs)are required to embody attributes such as heightened sensitivity,compact design,and robust maneuverability.A high operational advantage is evident when tasks are executed using multiple UAVs in unison.Despite the prevalent focus in current UAV research on enhancing discrete components or modules,a holistic,integrated approach that encompasses the UAV architecture,platform design,algorithms,simulation,and swarm intelligence,is lacking.This study introduces a micro-UAV swarm system designed for efficient perception within partially known indoor environments.We devised the comprehensive architectural blueprint of a micro-UAV swarm system.A communication routing evaluation metric is proposed to improve the quality of intercommunication among UAVs in the micro-UAV swarm.In addressing the localization and perception challenges,this study features the development of a multisensor-based autonomous positioning methodology,complemented by an object detection and tracking framework based on YOLOv5 and DeepSORT technologies.In the realm of decision making,we used the DuelingDQN algorithm to facilitate mission allocation and scheduling within the micro-UAV swarm system.For flight control,we introduced a control strategy that integrated pipeline control and visual servoing mechanisms.We developed a dedicated simulation platform and designed a realistic scenario to rigorously validate the efficacy of the entire micro-UAV swarm system in simulated exercises and actual flight tests.展开更多
In wind and solar renewable-dominant hybrid alternating current/direct current(AC/DC)power systems,the active power of high-voltage direct current(HVDC)system is significantly limited by the security and stability eve...In wind and solar renewable-dominant hybrid alternating current/direct current(AC/DC)power systems,the active power of high-voltage direct current(HVDC)system is significantly limited by the security and stability events caused by cascading failures.To identify critical lines in cascading failures,a rapid risk assessment method is proposed based on the gradient boosting decision tree(GBDT)and frequent pat-tern growth(FP-Growth)algorithms.First,security and stability events triggered by cascading failures are analyzed to explain the impact of cascading failures on the maximum DC power.Then,a cascading failure risk index is defined,focusing on the DC power being limited.To handle the strong nonlinear relationship between the maximum DC power and cascading failures,a GBDT with an update strategy is utilized to rapidly predict the maximum DC power under uncertain operating conditions.Finally,the FP-Growth algorithm is improved to mine frequent patterns in cascading failures.The importance index for each fault in a frequent pattern is defined by evaluating its impact on cascading failures,enabling the identification of critical lines.Simulation results of a modified Ningxia–Shandong hybrid AC/DC system in China demonstrate that the proposed method can rapidly assess the risk of cascading failures and effectively identify critical lines.展开更多
An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rot...An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.展开更多
基金supported by the National Natural Science Foundation under Grant 62273189the Shandong Province Natural Science Foundation under Grant ZR2021MF005Systems Science Plus Joint Research Program of Qingdao University under Grant XT2024201 of China supporting this research work.
文摘This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.
文摘A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.
基金supported by the National Key R&D Program of China(2024YFB4504500)the Shanghai Collaborative Innovation Project(24xtcx00500).
文摘During indoor operations,Unmanned Aerial Vehicles(UAVs)are required to embody attributes such as heightened sensitivity,compact design,and robust maneuverability.A high operational advantage is evident when tasks are executed using multiple UAVs in unison.Despite the prevalent focus in current UAV research on enhancing discrete components or modules,a holistic,integrated approach that encompasses the UAV architecture,platform design,algorithms,simulation,and swarm intelligence,is lacking.This study introduces a micro-UAV swarm system designed for efficient perception within partially known indoor environments.We devised the comprehensive architectural blueprint of a micro-UAV swarm system.A communication routing evaluation metric is proposed to improve the quality of intercommunication among UAVs in the micro-UAV swarm.In addressing the localization and perception challenges,this study features the development of a multisensor-based autonomous positioning methodology,complemented by an object detection and tracking framework based on YOLOv5 and DeepSORT technologies.In the realm of decision making,we used the DuelingDQN algorithm to facilitate mission allocation and scheduling within the micro-UAV swarm system.For flight control,we introduced a control strategy that integrated pipeline control and visual servoing mechanisms.We developed a dedicated simulation platform and designed a realistic scenario to rigorously validate the efficacy of the entire micro-UAV swarm system in simulated exercises and actual flight tests.
基金supported by the National Key Research and Development Program of China"Key technologies for system stability and HVDC transmission of large-scale renewable energy generation base without conventional power support(2022YFB2402700)"the project of the State Grid Corporation of China(52272222001J).
文摘In wind and solar renewable-dominant hybrid alternating current/direct current(AC/DC)power systems,the active power of high-voltage direct current(HVDC)system is significantly limited by the security and stability events caused by cascading failures.To identify critical lines in cascading failures,a rapid risk assessment method is proposed based on the gradient boosting decision tree(GBDT)and frequent pat-tern growth(FP-Growth)algorithms.First,security and stability events triggered by cascading failures are analyzed to explain the impact of cascading failures on the maximum DC power.Then,a cascading failure risk index is defined,focusing on the DC power being limited.To handle the strong nonlinear relationship between the maximum DC power and cascading failures,a GBDT with an update strategy is utilized to rapidly predict the maximum DC power under uncertain operating conditions.Finally,the FP-Growth algorithm is improved to mine frequent patterns in cascading failures.The importance index for each fault in a frequent pattern is defined by evaluating its impact on cascading failures,enabling the identification of critical lines.Simulation results of a modified Ningxia–Shandong hybrid AC/DC system in China demonstrate that the proposed method can rapidly assess the risk of cascading failures and effectively identify critical lines.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC 20220801)+1 种基金the Graduate Innovation Fund Project of Beijing University of Civil Engineering and Architecture(No.PG2025160)the Special Fund for Cultivation Projects of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.
