This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working...This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.展开更多
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
In this paper, a new algorithm which integrates the powerful firefly Mgorithm （FA） and the ant colony optimization （ACO） has been used in tracking control of ship steering for optimization of fractional-order prop...In this paper, a new algorithm which integrates the powerful firefly Mgorithm （FA） and the ant colony optimization （ACO） has been used in tracking control of ship steering for optimization of fractional-order proportional-integral-derivative （FOPID） controller gains. Particle swarm optimization （PSO） algorithm is also used to optimize FOPID controllers, and their performances are compared. It is found that FA optimized FOPID controller gives better performance than others. Sensitivity analysis has been carried out to see the robustness of optimum FOPID gains obtained at nominal conditions to wide changes in system parameters, and the optimum FOPID gains need not be reset for wide changes in system parameters.展开更多
The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-...The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.展开更多
Aiming at dealing with the difficulty for traditional emergency rescue vehicle(ECV)to enter into limited rescue scenes,the electro-hydraulic steer-by-wire(SBW)system is introduced to achieve the multi-mode steering of...Aiming at dealing with the difficulty for traditional emergency rescue vehicle(ECV)to enter into limited rescue scenes,the electro-hydraulic steer-by-wire(SBW)system is introduced to achieve the multi-mode steering of the ECV.The overall structure and mathematical model of the SBW system are described at length.The fractional order proportional-integral-derivative(FOPID)controller based on fractional calculus theory is designed to control the steering cylinder’s movement in SBW system.The anti-windup problem is considered in the FOPID controller design to reduce the bad influence of saturation.Five parameters of the FOPID controller are optimized using the genetic algorithm by maximizing the fitness function which involves integral of time by absolute value error(ITAE),peak overshoot,as well as settling time.The time-domain simulations are implemented to identify the performance of the raised FOPID controller.The simulation results indicate the presented FOPID controller possesses more effective control properties than classical proportional-integral-derivative(PID)controller on the part of transient response,tracking capability and robustness.展开更多
Standard genetic algorithms （SGAs） are investigated to optimise discrete-time proportional-integral-derivative （PID） con- troller parameters, by three tuning approaches, for a multivariable glass furnace process w...Standard genetic algorithms （SGAs） are investigated to optimise discrete-time proportional-integral-derivative （PID） con- troller parameters, by three tuning approaches, for a multivariable glass furnace process with loop interaction. Initially, standard genetic algorithms （SGAs） are used to identify control oriented models of the plant which are subsequently used for controller optimisa- tion. An individual tuning approach without loop interaction is considered first to categorise the genetic operators, cost functions and improve searching boundaries to attain the desired performance criteria. The second tuning approach considers controller parameters optimisation with loop interaction and individual cost functions. While, the third tuning approach utilises a modified cost function which includes the total effect of both controlled variables, glass temperature and excess oxygen. This modified cost function is shown to exhibit improved control robustness and disturbance rejection under loop interaction.展开更多
Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop...Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.展开更多
An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application a...An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application and development prospects.Since the UAV’s flight orientation is easily changeable,its orientation and flight path are difficult to control,leading to its high damage rate.Therefore,UAV flight-control technology has become the focus of attention.This study focuses on simulating a UAV’s flight and orientation control,and detecting collisions between a UAV and objects in a complex virtual environment.The proportional-integral-derivative control algorithm is used to control the orientation and position of the UAV in a virtual environment.A version of the bounding-box method that combines a grid with a k-dimensional tree is adopted in this paper,to improve the system performance and accelerate the collision-detection process.This provides a practical method for future studies on UAV flight position and orientation control,collision detection,etc.展开更多
This paper deals with the problem of iterative learning control for a class of discrete singular systems with fixed initial shift. According to the characteristics of the discrete singular systems, a closed-loop learn...This paper deals with the problem of iterative learning control for a class of discrete singular systems with fixed initial shift. According to the characteristics of the discrete singular systems, a closed-loop learning algorithm is proposed and the corresponding state limiting trajectory is presented.It is shown that the algorithm can guarantee that the system state converges uniformly to the state limiting trajectory on the whole time interval. Then the initial rectifying strategy is introduced to the discrete singular systems for eliminating the effect of the fixed initial shift. Under the action of the initial rectifying strategy, the system state can converge to the desired state trajectory within the pre-specified finite time interval no matter what value the fixed initial shift takes. Finally, a numerical example is given to illustrate the effectiveness of the proposed approach.展开更多
The uncertainties associated with multi-area power systems comprising both thermal and distributed renewable generation(DRG)sources such as solar and wind necessitate the use of an efficient load frequency control(LFC...The uncertainties associated with multi-area power systems comprising both thermal and distributed renewable generation(DRG)sources such as solar and wind necessitate the use of an efficient load frequency control(LFC)technique.Therefore,a hybrid version of two metaheuristic algorithms(arithmetic optimization and African vulture’s optimization algorithm)is developed.It is called the‘arithmetic optimized African vulture’s optimization algorithm(AOAVOA)’.This algorithm is used to tune a novel type-2 fuzzy-based proportional–derivative branched with dual degree-of-freedom proportional–integral–derivative controller for the LFC of a three-area hybrid deregulated power system.Thermal,electric vehicle(EV),and DRG sources(including a solar panel and a wind turbine system)are con-nected in area-1.Area-2 involves thermal and gas-generating units(GUs),while thermal and geothermal units are linked in area-3.Practical restrictions such as thermo-boiler dynamics,thermal-governor dead-band,and genera-tion rate constraints are also considered.The proposed LFC method is compared to other controllers and optimizers to demonstrate its superiority in rejecting step and random load disturbances.By functioning as energy storage ele-ments,EVs and DRG units can enhance dynamic responses during peak demand.As a result,the effect of the afore-mentioned units on dynamic reactions is also investigated.To validate its effectiveness,the closed-loop system is subjected to robust stability analysis and is compared to various existing control schemes from the literature.It is determined that the suggested AOAVOA improves fitness by 40.20%over the arithmetic optimizer(AO),while fre-quency regulation is improved by 4.55%over an AO-tuned type-2 fuzzy-based branched controller.展开更多
Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key...Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key technology and develop the key equipment of high energy synchrotron radiation source.Superconducting 3W1 magnet is the first self-developed superconducting wiggler magnet in China,and it is also one of the key research topics of HEPS.The author has completed a new digital closed-loop control algorithm for the superconducting 3W1 magnet with large load time constant and the nonlinear characteristics of inductance increasing with current,namely three-branch structure algorithm.In the face of the rapid development of high energy accelerator technology,the application of intelligent technology has become an inevitable development trend in the field of accelerator magnet power supply technology.Although the digital control of accelerator magnet power supply has been widely used,it is the first time to apply the new closed-loop control algorithm to realize fast adjustment and precision tracking in accelerator superconducting magnet power supply in China.Method According to the nonlinear characteristics of inductance and output current of superconducting magnet,a new digital closed-loop control algorithm for the load of superconducting magnet power supply with large time constant is proposed.Conclusion This algorithm is quite different from the traditional algorithm and can attain the independent tracking and adjust-ment of the control target.Finally,by testing the ripple,error and stability of superconducting 3W1 magnet power supply,the correctness,practicability and reliability of power supply system as well as the digital control algorithm are verified.The results provide a new idea for the control of accelerator magnet power supply.展开更多
Variable-rate technology(VRT)has been paid more attentions by farmers in an attempt to match inputs to local growing conditions efficiently.Farmers in every country are highly encouraged to adopt this practice rather ...Variable-rate technology(VRT)has been paid more attentions by farmers in an attempt to match inputs to local growing conditions efficiently.Farmers in every country are highly encouraged to adopt this practice rather than uniform-rate application(URA).However,the standard methods and design used to quantify application accuracy for VRT remain lacking.Therefore,a variable-rate liquid fertilization control system was designed to meet accurate fertilization demand.The designed control system could enable the real-time proportion and mixture of three kinds of liquid fertilizers,namely,N,P and K,in accordance with decision support subsystem.The task controller reads related information and sends such data to the control system,which is responsible for fertilization operation.The controller could realize liquid fertilizer adjusting through the electromagnetic flow control valves.A high-precision flow meter could measure the fertilization amount,which is sent as feedback to the controller to form a closed-loop control system based on the improved proportional-integral-derivative(PID)control algorithm that could enhance the stability and accuracy of precision variable-rate liquid fertilization control systems.Comparisons between the actual and planned application rates indicated good performance for both static and field experimental trials.Mathematical models and transfer functions for some functional modules were then constructed by classical theories to derive a system characteristic equation.To verify the static and dynamic performances,the control system was simulated using the Simulink module on Matlab.Results showed that the variable-rate fertilization was in accordance with the planned data and that the signal trace effect was good.The error was less than 5%for fertilization amount and fertilizer proportion,respectively,and the control response time was 6 s.展开更多
The objective of this study was to achieve a better control effect of the controller on the liquid level of the liquefied natural gas(LNG)carrier and to achieve the goal of energy saving and carbon reduction.This pape...The objective of this study was to achieve a better control effect of the controller on the liquid level of the liquefied natural gas(LNG)carrier and to achieve the goal of energy saving and carbon reduction.This paper took the loaded square tank of an S175 highspeed container ship as the research plant,combined with the closed-loop gain-shaping algorithm(CGSA)and nonlinear modification technology to further optimize the controller.We initially employed a third-order CGSA approach in formulating the foundation of our linear controller.Subsequently,we introduced a non-linear modification to this controller by harnessing the power of the hyperbolic tangent function,and the control effect is verified by the MATLAB simulation experiment.Based on the outcomes of MATLAB simulations,by integrating the third-order CGSA technique and introducing non-linear modification through the hyperbolic tangent function,we observed a significant enhancement in the controller’s performance.Specifically,it outperformed the traditional PID controller by a substantial margin,demonstrating a remarkable 19%boost in control efficacy.Additionally,it provides better energy savings than the non-linear controller.The controller designed in this paper has a better control effect on the liquid tank-level control of LNG ships,the control process is more energy-saving and the purpose of carbon reduction is realized.展开更多
Rotating speed is a critical parameter affecting the performance of rotor gyroscopes. Rotor gyroscopes must operate at the rated rotating speed. To shorten the start time of the ball-disk rotor gyroscope, this paper p...Rotating speed is a critical parameter affecting the performance of rotor gyroscopes. Rotor gyroscopes must operate at the rated rotating speed. To shorten the start time of the ball-disk rotor gyroscope, this paper presents a new design of the drive system for a ball-disk rotor gyroscope. The drive system is monitored by a microeontroUer. First, the microcontroller generates a sine pulse width modulation signal to drive the permanent magnet rotor. Second, the position of the rotor is detected according to the back electromotive force in the non-energized coil. Third, a piecewise closed-loop control algorithm is implemented to keep the angular acceleration of the rotor within the safe range automatically during the acceleration process and when running at a constant speed. This control algorithm can avoid rotor stalling due to loss of steps. Experimental result shows that with the help of adaptive quick-start technique, the start time of the device can be shortened by up to 36.6%.展开更多
基金supported by Liaoning Provincial Department of Education 2023 Basic Research Projects for Universities and Colleges(Grant No.JYTQN2023131)Liaoning Provincial Science and Technology Program:Cooperative Control and Recognition of Unmanned Vessels for Fishing Vessel Operation Scenarios(Grant No.600024003)Liaoning Provincial Department of Education Scientific Research Funding Project(Grant No.LJKZ0726).
文摘This paper proposes a separated trajectory tracking controller for fishing ships at sea state level 6 to solve the trajectory tracking problem of a fishing ship in a 6-level sea state,and to adapt to different working environments and safety requirements.The nonlinear feedback method is used to improve the closed-loop gain shaping algorithm.By introducing the sine function,the problem of excessive control energy of the system can be effectively solved.Moreover,an integral separation design is used to solve the influence of the integral term in conventional PID controllers on the transient performance of the system.In this paper,a common 32.98 m large fiberglass reinforced plastic(FRP)trawler is adopted for simulation research at the winds scale of Beaufort No.7.The results show that the track error is smaller than 3.5 m.The method is safe,feasible,concise and effective and has popularization value in the direction of fishing ship trajectory tracking control.This method can be used to improve the level of informatization and intelligence of fishing ships.
文摘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.
基金the National Natural Science Foundation of China(No.51109090)the Natural Fund of Fujian Province(No.2015J01214)+2 种基金the Key Project of Fujian Provincial Department of Science & Technology(No.2012H0030)the University’s Innovative Project of Xiamen Science & Technology Bureau(No.3502Z20123019)the Project of New Century Excellent Talents of Colleges and Universities of Fujian Province(No.JA12181)
文摘In this paper, a new algorithm which integrates the powerful firefly Mgorithm （FA） and the ant colony optimization （ACO） has been used in tracking control of ship steering for optimization of fractional-order proportional-integral-derivative （FOPID） controller gains. Particle swarm optimization （PSO） algorithm is also used to optimize FOPID controllers, and their performances are compared. It is found that FA optimized FOPID controller gives better performance than others. Sensitivity analysis has been carried out to see the robustness of optimum FOPID gains obtained at nominal conditions to wide changes in system parameters, and the optimum FOPID gains need not be reset for wide changes in system parameters.
基金Supported by Wuhan Technical College of Communications Fund(Q2018001)China Institute of Communications Education Fund(1602-248)Wuhan Technical College of Communications Innovation Team(CX2018A07)
文摘The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.
基金Project(2016YFC0802904)supported by the National Key Research and Development Program of China
文摘Aiming at dealing with the difficulty for traditional emergency rescue vehicle(ECV)to enter into limited rescue scenes,the electro-hydraulic steer-by-wire(SBW)system is introduced to achieve the multi-mode steering of the ECV.The overall structure and mathematical model of the SBW system are described at length.The fractional order proportional-integral-derivative(FOPID)controller based on fractional calculus theory is designed to control the steering cylinder’s movement in SBW system.The anti-windup problem is considered in the FOPID controller design to reduce the bad influence of saturation.Five parameters of the FOPID controller are optimized using the genetic algorithm by maximizing the fitness function which involves integral of time by absolute value error(ITAE),peak overshoot,as well as settling time.The time-domain simulations are implemented to identify the performance of the raised FOPID controller.The simulation results indicate the presented FOPID controller possesses more effective control properties than classical proportional-integral-derivative(PID)controller on the part of transient response,tracking capability and robustness.
文摘Standard genetic algorithms （SGAs） are investigated to optimise discrete-time proportional-integral-derivative （PID） con- troller parameters, by three tuning approaches, for a multivariable glass furnace process with loop interaction. Initially, standard genetic algorithms （SGAs） are used to identify control oriented models of the plant which are subsequently used for controller optimisa- tion. An individual tuning approach without loop interaction is considered first to categorise the genetic operators, cost functions and improve searching boundaries to attain the desired performance criteria. The second tuning approach considers controller parameters optimisation with loop interaction and individual cost functions. While, the third tuning approach utilises a modified cost function which includes the total effect of both controlled variables, glass temperature and excess oxygen. This modified cost function is shown to exhibit improved control robustness and disturbance rejection under loop interaction.
文摘Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.
基金This work was supported by the National Key Technology Research and Development Program of China(Nos.2015BAK01B06,2017YFB1002705,2017YFB1002601,and 2017YFB0203002)the National Marine Public Service Project(No.201505014-3)+1 种基金the National Natural Science Foundation of China(NSFC)(Nos.61472010 and 61661146002)the Equipment Development Project(No.315050501).
文摘An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application and development prospects.Since the UAV’s flight orientation is easily changeable,its orientation and flight path are difficult to control,leading to its high damage rate.Therefore,UAV flight-control technology has become the focus of attention.This study focuses on simulating a UAV’s flight and orientation control,and detecting collisions between a UAV and objects in a complex virtual environment.The proportional-integral-derivative control algorithm is used to control the orientation and position of the UAV in a virtual environment.A version of the bounding-box method that combines a grid with a k-dimensional tree is adopted in this paper,to improve the system performance and accelerate the collision-detection process.This provides a practical method for future studies on UAV flight position and orientation control,collision detection,etc.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.61374104 and 61773170the Natural Science Foundation of Guangdong Province of China under Grant No.2016A030313505
文摘This paper deals with the problem of iterative learning control for a class of discrete singular systems with fixed initial shift. According to the characteristics of the discrete singular systems, a closed-loop learning algorithm is proposed and the corresponding state limiting trajectory is presented.It is shown that the algorithm can guarantee that the system state converges uniformly to the state limiting trajectory on the whole time interval. Then the initial rectifying strategy is introduced to the discrete singular systems for eliminating the effect of the fixed initial shift. Under the action of the initial rectifying strategy, the system state can converge to the desired state trajectory within the pre-specified finite time interval no matter what value the fixed initial shift takes. Finally, a numerical example is given to illustrate the effectiveness of the proposed approach.
文摘The uncertainties associated with multi-area power systems comprising both thermal and distributed renewable generation(DRG)sources such as solar and wind necessitate the use of an efficient load frequency control(LFC)technique.Therefore,a hybrid version of two metaheuristic algorithms(arithmetic optimization and African vulture’s optimization algorithm)is developed.It is called the‘arithmetic optimized African vulture’s optimization algorithm(AOAVOA)’.This algorithm is used to tune a novel type-2 fuzzy-based proportional–derivative branched with dual degree-of-freedom proportional–integral–derivative controller for the LFC of a three-area hybrid deregulated power system.Thermal,electric vehicle(EV),and DRG sources(including a solar panel and a wind turbine system)are con-nected in area-1.Area-2 involves thermal and gas-generating units(GUs),while thermal and geothermal units are linked in area-3.Practical restrictions such as thermo-boiler dynamics,thermal-governor dead-band,and genera-tion rate constraints are also considered.The proposed LFC method is compared to other controllers and optimizers to demonstrate its superiority in rejecting step and random load disturbances.By functioning as energy storage ele-ments,EVs and DRG units can enhance dynamic responses during peak demand.As a result,the effect of the afore-mentioned units on dynamic reactions is also investigated.To validate its effectiveness,the closed-loop system is subjected to robust stability analysis and is compared to various existing control schemes from the literature.It is determined that the suggested AOAVOA improves fitness by 40.20%over the arithmetic optimizer(AO),while fre-quency regulation is improved by 4.55%over an AO-tuned type-2 fuzzy-based branched controller.
基金the Accelerator Centre of Insti-tute of High Energy Physics for financial support
文摘Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key technology and develop the key equipment of high energy synchrotron radiation source.Superconducting 3W1 magnet is the first self-developed superconducting wiggler magnet in China,and it is also one of the key research topics of HEPS.The author has completed a new digital closed-loop control algorithm for the superconducting 3W1 magnet with large load time constant and the nonlinear characteristics of inductance increasing with current,namely three-branch structure algorithm.In the face of the rapid development of high energy accelerator technology,the application of intelligent technology has become an inevitable development trend in the field of accelerator magnet power supply technology.Although the digital control of accelerator magnet power supply has been widely used,it is the first time to apply the new closed-loop control algorithm to realize fast adjustment and precision tracking in accelerator superconducting magnet power supply in China.Method According to the nonlinear characteristics of inductance and output current of superconducting magnet,a new digital closed-loop control algorithm for the load of superconducting magnet power supply with large time constant is proposed.Conclusion This algorithm is quite different from the traditional algorithm and can attain the independent tracking and adjust-ment of the control target.Finally,by testing the ripple,error and stability of superconducting 3W1 magnet power supply,the correctness,practicability and reliability of power supply system as well as the digital control algorithm are verified.The results provide a new idea for the control of accelerator magnet power supply.
文摘Variable-rate technology(VRT)has been paid more attentions by farmers in an attempt to match inputs to local growing conditions efficiently.Farmers in every country are highly encouraged to adopt this practice rather than uniform-rate application(URA).However,the standard methods and design used to quantify application accuracy for VRT remain lacking.Therefore,a variable-rate liquid fertilization control system was designed to meet accurate fertilization demand.The designed control system could enable the real-time proportion and mixture of three kinds of liquid fertilizers,namely,N,P and K,in accordance with decision support subsystem.The task controller reads related information and sends such data to the control system,which is responsible for fertilization operation.The controller could realize liquid fertilizer adjusting through the electromagnetic flow control valves.A high-precision flow meter could measure the fertilization amount,which is sent as feedback to the controller to form a closed-loop control system based on the improved proportional-integral-derivative(PID)control algorithm that could enhance the stability and accuracy of precision variable-rate liquid fertilization control systems.Comparisons between the actual and planned application rates indicated good performance for both static and field experimental trials.Mathematical models and transfer functions for some functional modules were then constructed by classical theories to derive a system characteristic equation.To verify the static and dynamic performances,the control system was simulated using the Simulink module on Matlab.Results showed that the variable-rate fertilization was in accordance with the planned data and that the signal trace effect was good.The error was less than 5%for fertilization amount and fertilizer proportion,respectively,and the control response time was 6 s.
基金supported by the National Science Foundation of China(Grant No.51679024)Dalian Innovation Team Support Plan in the Key Research Field(Grant No.2020RT08)+1 种基金Doctoral Research Initial Fund Project of Liaoning Province(Grant No.2021-BS-078)Dalian Maritime University University-level Team"Open Ranking"Project(Grant No.3132023502).
文摘The objective of this study was to achieve a better control effect of the controller on the liquid level of the liquefied natural gas(LNG)carrier and to achieve the goal of energy saving and carbon reduction.This paper took the loaded square tank of an S175 highspeed container ship as the research plant,combined with the closed-loop gain-shaping algorithm(CGSA)and nonlinear modification technology to further optimize the controller.We initially employed a third-order CGSA approach in formulating the foundation of our linear controller.Subsequently,we introduced a non-linear modification to this controller by harnessing the power of the hyperbolic tangent function,and the control effect is verified by the MATLAB simulation experiment.Based on the outcomes of MATLAB simulations,by integrating the third-order CGSA technique and introducing non-linear modification through the hyperbolic tangent function,we observed a significant enhancement in the controller’s performance.Specifically,it outperformed the traditional PID controller by a substantial margin,demonstrating a remarkable 19%boost in control efficacy.Additionally,it provides better energy savings than the non-linear controller.The controller designed in this paper has a better control effect on the liquid tank-level control of LNG ships,the control process is more energy-saving and the purpose of carbon reduction is realized.
基金Project supported by the National Basic Research Program of China （No. 2012CB934104）, the National Natural Science Foundation of China （No. 61474034）, the Natural Science Foundation of Heilongjiang Province of China （No. F201418）, and the Fundamental Research Funds for the Central Universities, China （Nos. HIT.NSRIF. 2014040 and HIT.NSRIF.2013040）
文摘Rotating speed is a critical parameter affecting the performance of rotor gyroscopes. Rotor gyroscopes must operate at the rated rotating speed. To shorten the start time of the ball-disk rotor gyroscope, this paper presents a new design of the drive system for a ball-disk rotor gyroscope. The drive system is monitored by a microeontroUer. First, the microcontroller generates a sine pulse width modulation signal to drive the permanent magnet rotor. Second, the position of the rotor is detected according to the back electromotive force in the non-energized coil. Third, a piecewise closed-loop control algorithm is implemented to keep the angular acceleration of the rotor within the safe range automatically during the acceleration process and when running at a constant speed. This control algorithm can avoid rotor stalling due to loss of steps. Experimental result shows that with the help of adaptive quick-start technique, the start time of the device can be shortened by up to 36.6%.
