文中研究了中继合作协议下具有多面体不确定性系统的鲁棒模型预测控制问题。为了缓解网络化控制系统中远距离传输中的信道严重衰落问题,将放大转发中继合作协议应用到传感器和远程控制器通信链路中,从而提高信号传输质量。由于难以获取...文中研究了中继合作协议下具有多面体不确定性系统的鲁棒模型预测控制问题。为了缓解网络化控制系统中远距离传输中的信道严重衰落问题,将放大转发中继合作协议应用到传感器和远程控制器通信链路中,从而提高信号传输质量。由于难以获取实际系统状态,文中提出了RMPC(Robust Model Predictive Control)框架下的动态输出反馈控制策略。由于传感器和放大转发中继传输功率存在随机性,引入一组具有特定概率分布的随机变量来表征其发射功率。利用奇异值分解技术处理由未知变量耦合引起的非凸问题,提出辅助可解优化问题并得到底层系统的均方稳定性的充分条件。实验结果表明,所提控制框架使系统的控制性能更好,验证了该控制策略的有效性。展开更多
针对自动驾驶货车相较于普通乘用车具有较大模型不确定性、执行器偏差以及存在曲率扰动等外部影响因素导致路径跟踪精度不足问题,本文提出一种基于鲁棒模型预测控制(robust model predictive control,RMPC)的分层式控制方法。首先,在转...针对自动驾驶货车相较于普通乘用车具有较大模型不确定性、执行器偏差以及存在曲率扰动等外部影响因素导致路径跟踪精度不足问题,本文提出一种基于鲁棒模型预测控制(robust model predictive control,RMPC)的分层式控制方法。首先,在转角增量式控制误差模型的基础上,根据实际车辆系统与标称模型之间的偏差,设计鲁棒控制律并构建上层多目标约束RMPC控制器,提高跟踪精度。然后,针对自动驾驶货车不足转向以及定位误差问题,设计下层转角补偿器和基于中值滤波的状态估计器,改善执行响应,提升车辆稳定性。最后,通过TruckSim/Simulink联合仿真和实车试验验证,结果表明:所提出的控制方法能够有效处理模型失配和不确定性扰动,具备良好的鲁棒性和适应性。展开更多
The resin-matrix pantograph contact strip (RMPCS),which has excellent abrasion resistance with electrical current and friction-reducing function,was developed in view of the traditional contact strips with high mainte...The resin-matrix pantograph contact strip (RMPCS),which has excellent abrasion resistance with electrical current and friction-reducing function,was developed in view of the traditional contact strips with high maintenance cost,high wear rate with electrical current and severe damage to the copper conducting wire.The characteristics of worn surfaces,cross-section and typical elemental distributions of RMPCS were studied by scanning electron microscopy (SEM) and energy dispersion spectrometry (EDS).The wear behavior and arc discharge of RMPCS against copper were investigated with self-made electrical wear tester.The results show that the electrical current plays a critical role in determining the wear behavior,and the wear rate of the RMPCS against copper with electrical current is 2.7-5.8 times higher than the value without electrical current.The wear rate of the contact strip increases with the increase of the sliding speed and electrical current density.The main wear mechanism of RMPCS against copper without electrical current is low stress grain abrasive and slightly adhesive wear,while arc erosion wear and oxidation wear are the dominate mechanism with electrical current,which is accompanied by adhesive wear during the process of wear.展开更多
The robust fault-tolerant control problem of linear uncertain systems is studied. It is shown that a solution for this problem can be obtained from a H∞ robust predictive controller （RMPC） by the method of linear m...The robust fault-tolerant control problem of linear uncertain systems is studied. It is shown that a solution for this problem can be obtained from a H∞ robust predictive controller （RMPC） by the method of linear matrix inequality （LMI）. This approach has the advantages of both H∞ control and MPC： the robustness and ability to handle constraints explicitly. The robust closed-loop stability of the linear uncertain system with input and output constraints is proven under an actuator and sensor faults condition. Finally, satisfactory results of simulation experiments verify the validity of this algorithm.展开更多
文摘文中研究了中继合作协议下具有多面体不确定性系统的鲁棒模型预测控制问题。为了缓解网络化控制系统中远距离传输中的信道严重衰落问题,将放大转发中继合作协议应用到传感器和远程控制器通信链路中,从而提高信号传输质量。由于难以获取实际系统状态,文中提出了RMPC(Robust Model Predictive Control)框架下的动态输出反馈控制策略。由于传感器和放大转发中继传输功率存在随机性,引入一组具有特定概率分布的随机变量来表征其发射功率。利用奇异值分解技术处理由未知变量耦合引起的非凸问题,提出辅助可解优化问题并得到底层系统的均方稳定性的充分条件。实验结果表明,所提控制框架使系统的控制性能更好,验证了该控制策略的有效性。
文摘针对自动驾驶货车相较于普通乘用车具有较大模型不确定性、执行器偏差以及存在曲率扰动等外部影响因素导致路径跟踪精度不足问题,本文提出一种基于鲁棒模型预测控制(robust model predictive control,RMPC)的分层式控制方法。首先,在转角增量式控制误差模型的基础上,根据实际车辆系统与标称模型之间的偏差,设计鲁棒控制律并构建上层多目标约束RMPC控制器,提高跟踪精度。然后,针对自动驾驶货车不足转向以及定位误差问题,设计下层转角补偿器和基于中值滤波的状态估计器,改善执行响应,提升车辆稳定性。最后,通过TruckSim/Simulink联合仿真和实车试验验证,结果表明:所提出的控制方法能够有效处理模型失配和不确定性扰动,具备良好的鲁棒性和适应性。
基金Project (06FJ3041) supported by the Key Laboratory Open Foundation of Hunan Province, China
文摘The resin-matrix pantograph contact strip (RMPCS),which has excellent abrasion resistance with electrical current and friction-reducing function,was developed in view of the traditional contact strips with high maintenance cost,high wear rate with electrical current and severe damage to the copper conducting wire.The characteristics of worn surfaces,cross-section and typical elemental distributions of RMPCS were studied by scanning electron microscopy (SEM) and energy dispersion spectrometry (EDS).The wear behavior and arc discharge of RMPCS against copper were investigated with self-made electrical wear tester.The results show that the electrical current plays a critical role in determining the wear behavior,and the wear rate of the RMPCS against copper with electrical current is 2.7-5.8 times higher than the value without electrical current.The wear rate of the contact strip increases with the increase of the sliding speed and electrical current density.The main wear mechanism of RMPCS against copper without electrical current is low stress grain abrasive and slightly adhesive wear,while arc erosion wear and oxidation wear are the dominate mechanism with electrical current,which is accompanied by adhesive wear during the process of wear.
基金the "973" National Safety Importance Basal Research (5131201)"863" National DefenseHigh Technology ResearchDevelopment plan of China (2002AA715021).
文摘The robust fault-tolerant control problem of linear uncertain systems is studied. It is shown that a solution for this problem can be obtained from a H∞ robust predictive controller （RMPC） by the method of linear matrix inequality （LMI）. This approach has the advantages of both H∞ control and MPC： the robustness and ability to handle constraints explicitly. The robust closed-loop stability of the linear uncertain system with input and output constraints is proven under an actuator and sensor faults condition. Finally, satisfactory results of simulation experiments verify the validity of this algorithm.
