By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in ...By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in this paper.The simulation resultfor the first three joints of PUMA-560 is given.展开更多
The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum t...The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.展开更多
The solution of minimum-time feedback optimal control problems is generally achieved using the dynamic programming approach,in which the value function must be computed on numerical grids with a very large number of p...The solution of minimum-time feedback optimal control problems is generally achieved using the dynamic programming approach,in which the value function must be computed on numerical grids with a very large number of points.Classical numerical strategies,such as value iteration(VI)or policy iteration(PI)methods,become very inefficient if the number of grid points is large.This is a strong limitation to their use in real-world applications.To address this problem,the authors present a novel multilevel framework,where classical VI and PI are embedded in a full-approximation storage(FAS)scheme.In fact,the authors will show that VI and PI have excellent smoothing properties,a fact that makes them very suitable for use in multilevel frameworks.Moreover,a new smoother is developed by accelerating VI using Anderson’s extrapolation technique.The effectiveness of our new scheme is demonstrated by several numerical experiments.展开更多
针对正交时频空(Orthogonal Time Frequency Space, OTFS)调制系统中均衡器性能不佳及线性滤波器复杂度较高等问题,提出了一种LU(Lower-Upper)分解与迭代最小均方误差(Iterative Minimum Mean Square Error, IMMSE)均衡器结合的OTFS系...针对正交时频空(Orthogonal Time Frequency Space, OTFS)调制系统中均衡器性能不佳及线性滤波器复杂度较高等问题,提出了一种LU(Lower-Upper)分解与迭代最小均方误差(Iterative Minimum Mean Square Error, IMMSE)均衡器结合的OTFS系统信号检测算法(LU-IMMSE)。该算法依据时延多普勒域稀疏信道矩阵的特征,采用一种低复杂度的LU分解方法,以避免MMSE均衡器求解矩阵逆的过程,在保证均衡器性能的前提下降低了均衡器复杂度。在OTFS系统中引入一种IMMSE均衡器,通过不断迭代更新发送符号均值和方差这些先验信息来逼近MMSE均衡器最优估计值。LU-IMMSE算法通过调节迭代次数可以有效降低误比特率。在比特信噪比为8 dB时,5次迭代后的LU-IMMSE均衡器误比特率相比传统的MMSE均衡器降低了约11 dB。随着迭代次数的增大,较传统IMMSE算法降低了计算复杂度。在最大时延系数为4、符号数为16的情况下,与直接求逆相比,所提出的低复杂度LU分解方法降低了约91.72%的矩阵求逆计算复杂度。展开更多
为探究高比例可再生能源系统下风光资源的消纳与多元化利用途径,提出一种电氨转换及风光时空相关性的多能耦合系统两阶段鲁棒优化模型。首先分析了电制氨的运行机制,并结合直接氨燃料电池技术,探讨了电制氨与氨燃料电池协同运行的系统...为探究高比例可再生能源系统下风光资源的消纳与多元化利用途径,提出一种电氨转换及风光时空相关性的多能耦合系统两阶段鲁棒优化模型。首先分析了电制氨的运行机制,并结合直接氨燃料电池技术,探讨了电制氨与氨燃料电池协同运行的系统特性。为综合考虑风光出力的相关性与不确定性并选择最相近极限场景,该文采用最小体积封闭椭球算法构建高维椭球集,并通过1-范数和∞-范数建立风光出力场景的概率分布置信集,有效整合风光出力不确定性的分布信息。针对鲁棒优化模型中二元变量导致计算时间较长问题,该文提出了一种改进列与约束生成(column and constraint generation,C&CG)算法,利用三分块-交替方向乘子法和近似凸化方法分别处理主-子问题,并通过非精确C&CG算法对主-子问题进行迭代求解,在确保计算效率的同时,快速逼近最优解。结果表明,所提模型获取的极限场景能够准确捕捉风光出力的时空相关性及不确定性,电-氨转换系统有效促进了可再生能源的合理消纳,在确保系统安全稳定运行的同时,显著提升了调度经济性及求解效率。展开更多
文摘By using a phase-plane analysis method,the minimum-time trajectory plan-ning problem of a manipulator moving along a given geometric path subject to the con-straints of joint velocities and accelerations is solved in this paper.The simulation resultfor the first three joints of PUMA-560 is given.
文摘The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.
文摘The solution of minimum-time feedback optimal control problems is generally achieved using the dynamic programming approach,in which the value function must be computed on numerical grids with a very large number of points.Classical numerical strategies,such as value iteration(VI)or policy iteration(PI)methods,become very inefficient if the number of grid points is large.This is a strong limitation to their use in real-world applications.To address this problem,the authors present a novel multilevel framework,where classical VI and PI are embedded in a full-approximation storage(FAS)scheme.In fact,the authors will show that VI and PI have excellent smoothing properties,a fact that makes them very suitable for use in multilevel frameworks.Moreover,a new smoother is developed by accelerating VI using Anderson’s extrapolation technique.The effectiveness of our new scheme is demonstrated by several numerical experiments.
文摘针对正交时频空(Orthogonal Time Frequency Space, OTFS)调制系统中均衡器性能不佳及线性滤波器复杂度较高等问题,提出了一种LU(Lower-Upper)分解与迭代最小均方误差(Iterative Minimum Mean Square Error, IMMSE)均衡器结合的OTFS系统信号检测算法(LU-IMMSE)。该算法依据时延多普勒域稀疏信道矩阵的特征,采用一种低复杂度的LU分解方法,以避免MMSE均衡器求解矩阵逆的过程,在保证均衡器性能的前提下降低了均衡器复杂度。在OTFS系统中引入一种IMMSE均衡器,通过不断迭代更新发送符号均值和方差这些先验信息来逼近MMSE均衡器最优估计值。LU-IMMSE算法通过调节迭代次数可以有效降低误比特率。在比特信噪比为8 dB时,5次迭代后的LU-IMMSE均衡器误比特率相比传统的MMSE均衡器降低了约11 dB。随着迭代次数的增大,较传统IMMSE算法降低了计算复杂度。在最大时延系数为4、符号数为16的情况下,与直接求逆相比,所提出的低复杂度LU分解方法降低了约91.72%的矩阵求逆计算复杂度。
文摘为探究高比例可再生能源系统下风光资源的消纳与多元化利用途径,提出一种电氨转换及风光时空相关性的多能耦合系统两阶段鲁棒优化模型。首先分析了电制氨的运行机制,并结合直接氨燃料电池技术,探讨了电制氨与氨燃料电池协同运行的系统特性。为综合考虑风光出力的相关性与不确定性并选择最相近极限场景,该文采用最小体积封闭椭球算法构建高维椭球集,并通过1-范数和∞-范数建立风光出力场景的概率分布置信集,有效整合风光出力不确定性的分布信息。针对鲁棒优化模型中二元变量导致计算时间较长问题,该文提出了一种改进列与约束生成(column and constraint generation,C&CG)算法,利用三分块-交替方向乘子法和近似凸化方法分别处理主-子问题,并通过非精确C&CG算法对主-子问题进行迭代求解,在确保计算效率的同时,快速逼近最优解。结果表明,所提模型获取的极限场景能够准确捕捉风光出力的时空相关性及不确定性,电-氨转换系统有效促进了可再生能源的合理消纳,在确保系统安全稳定运行的同时,显著提升了调度经济性及求解效率。
