Modern power systems increasingly depend on interconnected microgrids to enhance reliability and renewable energy utilization.However,the high penetration of intermittent renewable sources often causes frequency devia...Modern power systems increasingly depend on interconnected microgrids to enhance reliability and renewable energy utilization.However,the high penetration of intermittent renewable sources often causes frequency deviations,voltage fluctuations,and poor reactive power coordination,posing serious challenges to grid stability.Conventional Interconnection FlowControllers(IFCs)primarily regulate active power flowand fail to effectively handle dynamic frequency variations or reactive power sharing in multi-microgrid networks.To overcome these limitations,this study proposes an enhanced Interconnection Flow Controller(e-IFC)that integrates frequency response balancing and an Interconnection Reactive Power Flow Controller(IRFC)within a unified adaptive control structure.The proposed e-IFC is implemented and analyzed in DIgSILENT PowerFactory to evaluate its performance under various grid disturbances,including frequency drops,load changes,and reactive power fluctuations.Simulation results reveal that the e-IFC achieves 27.4% higher active power sharing accuracy,19.6% lower reactive power deviation,and 18.2% improved frequency stability compared to the conventional IFC.The adaptive controller ensures seamless transitions between grid-connected and islanded modes and maintains stable operation even under communication delays and data noise.Overall,the proposed e-IFCsignificantly enhances active-reactive power coordination and dynamic stability in renewable-integrated multi-microgrid systems.Future research will focus on coupling the e-IFC with tertiary-level optimization frameworks and conducting hardware-in-the-loop validation to enable its application in large-scale smart microgrid environments.展开更多
The new energy power generation is becoming increasingly important in the power system.Such as photovoltaic power generation has become a research hotspot,however,due to the characteristics of light radiation changes,...The new energy power generation is becoming increasingly important in the power system.Such as photovoltaic power generation has become a research hotspot,however,due to the characteristics of light radiation changes,photovoltaic power generation is unstable and random,resulting in a low utilization rate and directly affecting the stability of the power grid.To solve this problem,this paper proposes a coordinated control strategy for a newenergy power generation system with a hybrid energy storage unit based on the lithium iron phosphate-supercapacitor hybrid energy storage unit.Firstly,the variational mode decomposition algorithm is used to separate the high and low frequencies of the power signal,which is conducive to the rapid and accurate suppression of the power fluctuation of the energy storage system.Secondly,the fuzzy control algorithm is introduced to balance the power between energy storage.In this paper,the actual data is used for simulation,and the simulation results show that the strategy realizes the effective suppression of the bus voltage fluctuation and the accurate control of the internal state of the energy storage unit,effectively avoiding problems such as overshoot and over-discharge,and can significantly improve the stability of the photovoltaic power generation systemand the stability of the Direct Current bus.It is of great significance to promote the development of collaborative control technology for photovoltaic hybrid energy storage units.展开更多
Large-scale new energy grid connection leads to the weakening of the system frequency regulation capability,and the system frequency stability is facing unprecedented challenges.In order to solve rapid frequency fluct...Large-scale new energy grid connection leads to the weakening of the system frequency regulation capability,and the system frequency stability is facing unprecedented challenges.In order to solve rapid frequency fluctuation caused by new energy units,this paper proposes a new energy power system frequency regulation strategy with multiple units including the doubly-fed pumped storage unit(DFPSU).Firstly,based on the model predictive control(MPC)theory,the state space equations are established by considering the operating characteristics of the units and the dynamic behavior of the system;secondly,the proportional-differential control link is introduced to minimize the frequency deviation to further optimize the frequency modulation(FM)output of the DFPSU and inhibit the rapid fluctuation of the frequency;lastly,it is verified on theMatlab/Simulink simulation platform,and the results show that the model predictive control with proportional-differential control link can further release the FM potential of the DFPSU,increase the depth of its FM,effectively reduce the frequency deviation of the system and its rate of change,realize the optimization of the active output of the DFPSU and that of other units,and improve the frequency response capability of the system.展开更多
A 32 kbit OTP(one-time programmable)memory for MCUs(micro-controller units)used in remote controllers was designed.This OTP memory is used for program and data storage.It is required to apply 5.5V to BL(bit-line)and 1...A 32 kbit OTP(one-time programmable)memory for MCUs(micro-controller units)used in remote controllers was designed.This OTP memory is used for program and data storage.It is required to apply 5.5V to BL(bit-line)and 11V to WL(word-line)for a OTP cell of 0.35μm ETOX(EEPROM tunnel oxide)type by MagnaChip.We use 5V transistors on column data paths to reduce the area of column data paths since they require small areas.In addition,we secure device reliability by using HV(high-voltage)transistors in the WL driver.Furthermore,we change from a static logic to a dynamic logic used for the WL driver in the core circuit.Also,we optimize the WD(write data)switch circuit.Thus,we can implement them with a small-area design.In addition,we implement the address predecoder with a small-area logic circuit.The area of the designed 32 kbit OTP with 5V and HV devices is 674.725μm×258.75μm(=0.1745mm2)and is 56.3% smaller than that using 3.3V devices.展开更多
During this decade,many countries have experienced natural and accidental disasters,such as typhoons,floods,earthquakes,and nuclear plant accidents,causing catastrophic damage to infrastructures.Since the end of 2019,...During this decade,many countries have experienced natural and accidental disasters,such as typhoons,floods,earthquakes,and nuclear plant accidents,causing catastrophic damage to infrastructures.Since the end of 2019,all countries of the world are struggling with the COVID-19 and pursuing countermeasures,including inoculation of vaccine,and changes in our lifestyle and social structures.All these experiences have made the residents in the affected regions keenly aware of the need for new infrastructures that are resilient and autonomous,so that vital lifelines are secured during calamities.A paradigm shift has been taking place toward reorganizing the energy social service management in many countries,including Japan,by effective use of sustainable energy and new supply schemes.However,such new power sources and supply schemes would affect the power grid through intermittency of power output and the deterioration of power quality and service.Therefore,new social infrastructures and novel management systems to supply energy and social service will be required.In this paper,user-friendly design,operation and control assist tools for resilient microgrids and autonomous communities are proposed and applied to the standard microgrid to verify its effectiveness and performance.展开更多
A robust Adaptive Discrete-time Sliding Mode Controller (ADSMC) is formulated, and is applied to control the pitch motion of a simulated Flapping-Wing Micro Air Vehicle (FWMAV). There is great potential for FWMAVs to ...A robust Adaptive Discrete-time Sliding Mode Controller (ADSMC) is formulated, and is applied to control the pitch motion of a simulated Flapping-Wing Micro Air Vehicle (FWMAV). There is great potential for FWMAVs to be used as aerial tools to assist with gathering data and surveying environments. Thanks to modern manufacturing and technology, along with an increased comprehension behind the aerodynamics of wing flaps, these vehicles are now a reality, though not without limitations. Given their diminutive size, FWMAVs are susceptible to real-world disturbances, such as wind gusts, and are sensitive to particular variations in their build quality. While external forces such as wind gusts can be reasonably bounded, the unknown variations in the state may be difficult to characterize or bound without affecting performance. To address these problems, an ADSMC is developed. First, the FWMAV model is converted from continuous-time to discrete-time. Second, an ADSMC for the newly discretized FWMAV model is developed. Using this controller, the trajectory tracking performance of the FWMAV is assessed against a traditional discrete sliding mode controller, and is found to have a decreased chattering frequency and decreased control effort for the same task. Therefore, the ADSMC is assessed as the superior controller, despite being completely unaware of the model parameters or wind gust.展开更多
Micro/nanorobots have exhibited excellent application potential in the biomedical field,such as drug delivery,minimally invasive surgery,and bio-sensing.Furthermore,in order to achieve practical application,it is esse...Micro/nanorobots have exhibited excellent application potential in the biomedical field,such as drug delivery,minimally invasive surgery,and bio-sensing.Furthermore,in order to achieve practical application,it is essential for swimming micro/nanorobots to navigate towards specific targets or adjust their speed and morphology in complete environments.The navigation of swimming micro/nanorobots with temporal and spatial precision is critical for fulfilling the demand of applications.Here,we introduced a fully integrated wearable control system for micro/nanorobots navigation and manipulation,which is composed of a multifunctional sensor array,an artificial intelligence(AI)planner,and a magnetic field generator.The sensor array could perceive real-time changes in gestures,wrist rotation,and acoustic signals.AI planner based on machine learning offers adaptive path planning in response to dynamically changing signals to generate magnetic fields for the on-demand manipulation of micro/nanorobots.Such a novel,feasible control strategy was validated in the biological experiment in which cancer cells were targeted and killed by photothermal therapy using micro/nanorobots and integrated control platform.This wearable control system could play a crucial role in future intelligent medical applications and could be easily reconfigured toward other medical robots’control.展开更多
BACKGROUND Prolonged immobility during intensive care unit(ICU)admission has been a cause of muscle atrophy and worsening functional outcomes with longer recovery times.Prior research has demonstrated that mobilizatio...BACKGROUND Prolonged immobility during intensive care unit(ICU)admission has been a cause of muscle atrophy and worsening functional outcomes with longer recovery times.Prior research has demonstrated that mobilization within a week of ICU admission potentially benefits physical function in critically ill patients.AIM To evaluate the effects of initiating mobilization within 72 hours of ICU admission in critically ill patients through an updated systematic review and meta-analysis.METHODS A systematic search was performed through MEDLINE,Scopus,and Cochrane Library from inception until September 2024 for randomized controlled trials(RCTs)comparing early mobilization(EM)with usual or conventional care in critically ill adult patients.Primary outcomes included length of ICU(days)and ventilation duration(days).Secondary outcomes included muscle strength,functional status,adverse events,all-cause mortality,and quality of life(QOL).A random effects meta-analysis was performed for pooled effect estimates and to derive risk ratios(RR)and corresponding 95%confidence intervals(CI).RESULTS Out of 3487 results,16 RCTs were included with a population of 2385 patients(1195 receiving EM and 1190 with usual care.)A significant reduction in the length of ICU stays[mean difference(MD)=-1.02,95%CI:-1.96 to-0.09;P=0.03;I2=60%]and ventilation duration(MD=-1.07,95%CI:-1.91 to-0.23,P=0.01;I2=57%)was observed in the EM group compared to usual care.EM significantly improved muscle strength[standard MD(SMD)=0.47,95%CI:0.18-0.75,P=0.001;I2=79%]and functional status(SMD=0.70,95%CI:0.40-1.00,P<0.00001;I2=81%)in ICU patients.No statistically significant difference was observed in adverse events(RR=1.72,95%CI:1.01-2.94,P=0.05;I2=31%),all-cause mortality(RR=1.10,95%CI:0.79-1.53,P=0.57;I2=30%),and QOL(SMD=0.04,95%CI:-0.07-0.15,P=0.50;I2=9%)between the two groups.CONCLUSION Initiating mobilization within 72 hours of ICU admission is associated with improved functional outcomes and reduced ICU length of stay and ventilation duration.These findings indicate that EM may be a safe option for ICU patients,contributing to lower recovery times and healthcare costs.Further extensive research is required to validate the long-term effects on survival and QOL.展开更多
This study focuses on exploring the practical path of Micro Project-Based Learning from the perspective of integrated unit teaching,aiming to address the issue of integrating the Project Section with other sections in...This study focuses on exploring the practical path of Micro Project-Based Learning from the perspective of integrated unit teaching,aiming to address the issue of integrating the Project Section with other sections in the new junior high school English textbook published by Shanghai Education Press.Based on two rounds of action research,a micro-project design framework is constructed,which includes“unit micro-project design”,“micro-project-based unit teaching”,“micro-project achievement display”,and“evaluation and reflection”.Practice shows that with the guidance of task lists and scaffolding support,this framework effectively promotes the integration of subject knowledge and the development of students’core competence,providing a transferable implementation paradigm for integrated unit teaching.展开更多
Minimizing the footprint and energy consumption of integrated Ⅲ–Ⅴ lasers necessitates tight optical confinement in all three dimensions. Limited by the small index contrast of conventional vertical epitaxy, light c...Minimizing the footprint and energy consumption of integrated Ⅲ–Ⅴ lasers necessitates tight optical confinement in all three dimensions. Limited by the small index contrast of conventional vertical epitaxy, light confinement in the vertical direction is often achieved via undercutting sacrificial layers or transferring onto foreign low-index substrates. In contrast, selective lateral heteroepitaxy enables the architecture of Ⅲ–Ⅴ-on-insulator and supports strong vertical mode confinement.展开更多
In high-renewable-energy power systems,the demand for fast-responding capabilities is growing.To address the limitations of conventional closed-loop frequency control,where the integral coefficient cannot dynamically ...In high-renewable-energy power systems,the demand for fast-responding capabilities is growing.To address the limitations of conventional closed-loop frequency control,where the integral coefficient cannot dynamically adjust the frequency regulation command based on the state of charge(SoC)of energy storage units,this paper proposes a secondary frequency regulation control strategy based on variable integral coefficients for multiple energy storage units.First,a power-uniform controller is designed to ensure that thermal power units gradually take on more regulation power during the frequency regulation process.Next,a control framework based on variable integral coefficients is proposed within the secondary frequency regulation model,along with an objective function that simultaneously considers both Automatic Generation Control(AGC)command tracking performance and SoC recovery requirements of energy storage units.Finally,a gradient descent optimization method is used to dynamically adjust the gain of the energy storage integral controller,allowingmultiple energy storage units to respond in real-time to AGC instructions and SoC variations.Simulation results confirmthe effectiveness of the proposedmethod.Compared to traditional strategies,the proposed approach takes into account the SoCdiscrepancies amongmultiple energy storage units and the duration of system net power imbalances.It successfully implements secondary frequency regulation while achieving dynamic power allocation among the units.展开更多
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force con...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
The problem of flapping motion control of Micro Air Vehicles (MAVs) with flapping wings was studied in this paper.Based upon the knowledge of skeletal and muscular components of hummingbird, a dynamic model for flappi...The problem of flapping motion control of Micro Air Vehicles (MAVs) with flapping wings was studied in this paper.Based upon the knowledge of skeletal and muscular components of hummingbird, a dynamic model for flapping wing wasdeveloped.A control scheme inspired by human memory and learning concept was constructed for wing motion control ofMAVs.The salient feature of the proposed control lies in its capabilities to improve the control performance by learning fromexperience and observation on its current and past behaviors, without the need for system dynamic information.Furthermore,the overall control scheme has a fairly simple structure and demands little online computations, making it attractive for real-timeimplementation on MAVs.Both theoretical analysis and computer simulation confirms its effectiveness.展开更多
Microjets are used to control the internal flow to improve the performance of an ultra-compact serpentine inlet. A highly offset serpentine inlet with length-to-diameter ratio of 2.5 is designed and static tests are c...Microjets are used to control the internal flow to improve the performance of an ultra-compact serpentine inlet. A highly offset serpentine inlet with length-to-diameter ratio of 2.5 is designed and static tests are conducted to analyze the internal flow characteristics in terms of pressure recovery, distortion and flow separation. Flow separation is encountered in the second S-turn, and two strong counter-rotating vortices are formed at the aerodynamic interthce plane （AIP） face which occupy a quarter of the outlet area and result in severe pressure loss and distortion. A flow control model employing a row of microjets in the second turn is designed based on the internal flow characteristics and simplified CFD simulations. Flow control tests are conducted to verify the control effectiveness and understand the characteristics as a function of inlet throat Mach number, injection mass flow ratio, jet Mach number and momentum coefficient. At all test Mach numbers, microjet flow control （MFC） effectively improves the recovery and reduces the distortion intensity. Between inlet throat Mach number 0.2 and 0.5, the strong flow separation in the second S-turn is suppressed at an optimum jet flow ratio of less than 0.65%, resulting in a maximum improvement of 4% for pressure recovery coefficient and a maximum decrease of 75% for circumferential distortion intensity at cruise. However, in order to suppress the flow separation, the injection rate should retain in an effective range. When the injection rate is higher than this range, the flow is degraded and the distortion contour is changed from 90° circumferential distortion pattern to 180° circumferential distortion pattern. Detailed data analysis shows that this optimum flow ratio depends on inlet throat Mach number and the monlcntunl coefficient affects the control effectiveness in a dual stepping manner.展开更多
The distributed-power electric multiple units(EMUs)are widely used in high-speed railway.Due to the structural characteristic of mutual-coupled power units in EMUs,each power unit is set as an agent.Combining with the...The distributed-power electric multiple units(EMUs)are widely used in high-speed railway.Due to the structural characteristic of mutual-coupled power units in EMUs,each power unit is set as an agent.Combining with the traction/brake characteristic curve and running data of EMUs,a subtractive clustering method and pattern classification algorithm are adopted to set up a multi-model set for every agent.Then,the multi-agent model is established according to the multi-agent network topology and mutual-coupled constraint relations.Finally,we adopt a smooth start switching control strategy and a multi-agent distributed coordination control algorithm to ensure the synchronous speed tracking control of each agent.Simulation results on the actual CRH380A running data show the effectiveness of the proposed approach.展开更多
The control of ultra-supercritical(USC) power unit is a difficult issue for its characteristic of the nonlinearity, large dead time and coupling of the unit. In this paper, model predictive control(MPC) based on multi...The control of ultra-supercritical(USC) power unit is a difficult issue for its characteristic of the nonlinearity, large dead time and coupling of the unit. In this paper, model predictive control(MPC) based on multi-model and double layered optimization is introduced for coordinated control of USC unit. The linear programming(LP) combined with quadratic programming(QP) is used in steady optimization for computation of the ideal value of dynamic optimization. Three inputs(i.e. valve opening, coal flow and feedwater flow) are employed to control three outputs(i.e. load, main steam temperature and main steam pressure). The step response models for the dynamic matrix control(DMC) are constructed using the three inputs and the three outputs. Piecewise models are built at selected operation points. Double-layered multi-model predictive controller is implemented in simulation with satisfactory performance.展开更多
The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the ...The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.展开更多
The control of gas fractionation unit(GFU) in petroleum industry is very difficult due to multivariable characteristics and a large time delay.PID controllers are still applied in most industry processes.However,the t...The control of gas fractionation unit(GFU) in petroleum industry is very difficult due to multivariable characteristics and a large time delay.PID controllers are still applied in most industry processes.However,the traditional PID control has been proven not sufficient and capable for this particular petro-chemical process.In this work,an incremental multivariable predictive functional control(IMPFC) algorithm was proposed with less online computation,great precision and fast response.An incremental transfer function matrix model was set up through the step-response data,and predictive outputs were deduced with the theory of single-value optimization.The results show that the method can optimize the incremental control variable and reject the constraint of the incremental control variable with the positional predictive functional control algorithm,and thereby making the control variable smoother.The predictive output error and future set-point were approximated by a polynomial,which can overcome the problem under the model mismatch and make the predictive outputs track the reference trajectory.Then,the design of incremental multivariable predictive functional control was studied.Simulation and application results show that the proposed control strategy is effective and feasible to improve control performance and robustness of process.展开更多
基金the Deanship of Scientific Research at Northern Border University,Arar,Saudi Arabia,for funding this research work through the project number“NBU-FFR-2025-3623-11”.
文摘Modern power systems increasingly depend on interconnected microgrids to enhance reliability and renewable energy utilization.However,the high penetration of intermittent renewable sources often causes frequency deviations,voltage fluctuations,and poor reactive power coordination,posing serious challenges to grid stability.Conventional Interconnection FlowControllers(IFCs)primarily regulate active power flowand fail to effectively handle dynamic frequency variations or reactive power sharing in multi-microgrid networks.To overcome these limitations,this study proposes an enhanced Interconnection Flow Controller(e-IFC)that integrates frequency response balancing and an Interconnection Reactive Power Flow Controller(IRFC)within a unified adaptive control structure.The proposed e-IFC is implemented and analyzed in DIgSILENT PowerFactory to evaluate its performance under various grid disturbances,including frequency drops,load changes,and reactive power fluctuations.Simulation results reveal that the e-IFC achieves 27.4% higher active power sharing accuracy,19.6% lower reactive power deviation,and 18.2% improved frequency stability compared to the conventional IFC.The adaptive controller ensures seamless transitions between grid-connected and islanded modes and maintains stable operation even under communication delays and data noise.Overall,the proposed e-IFCsignificantly enhances active-reactive power coordination and dynamic stability in renewable-integrated multi-microgrid systems.Future research will focus on coupling the e-IFC with tertiary-level optimization frameworks and conducting hardware-in-the-loop validation to enable its application in large-scale smart microgrid environments.
基金supported by the State Grid Corporation of China Science and Technology Project,grant number 52270723000900K.
文摘The new energy power generation is becoming increasingly important in the power system.Such as photovoltaic power generation has become a research hotspot,however,due to the characteristics of light radiation changes,photovoltaic power generation is unstable and random,resulting in a low utilization rate and directly affecting the stability of the power grid.To solve this problem,this paper proposes a coordinated control strategy for a newenergy power generation system with a hybrid energy storage unit based on the lithium iron phosphate-supercapacitor hybrid energy storage unit.Firstly,the variational mode decomposition algorithm is used to separate the high and low frequencies of the power signal,which is conducive to the rapid and accurate suppression of the power fluctuation of the energy storage system.Secondly,the fuzzy control algorithm is introduced to balance the power between energy storage.In this paper,the actual data is used for simulation,and the simulation results show that the strategy realizes the effective suppression of the bus voltage fluctuation and the accurate control of the internal state of the energy storage unit,effectively avoiding problems such as overshoot and over-discharge,and can significantly improve the stability of the photovoltaic power generation systemand the stability of the Direct Current bus.It is of great significance to promote the development of collaborative control technology for photovoltaic hybrid energy storage units.
基金supported by the National Natural Science Foundation of China(Project No.52377082)the Scientific Research Program of Jilin Provincial Department of Education(Project No.JJKH20230123KJ).
文摘Large-scale new energy grid connection leads to the weakening of the system frequency regulation capability,and the system frequency stability is facing unprecedented challenges.In order to solve rapid frequency fluctuation caused by new energy units,this paper proposes a new energy power system frequency regulation strategy with multiple units including the doubly-fed pumped storage unit(DFPSU).Firstly,based on the model predictive control(MPC)theory,the state space equations are established by considering the operating characteristics of the units and the dynamic behavior of the system;secondly,the proportional-differential control link is introduced to minimize the frequency deviation to further optimize the frequency modulation(FM)output of the DFPSU and inhibit the rapid fluctuation of the frequency;lastly,it is verified on theMatlab/Simulink simulation platform,and the results show that the model predictive control with proportional-differential control link can further release the FM potential of the DFPSU,increase the depth of its FM,effectively reduce the frequency deviation of the system and its rate of change,realize the optimization of the active output of the DFPSU and that of other units,and improve the frequency response capability of the system.
基金Project supported by the Second Stage of Brain Korea 21 Projects,Korea
文摘A 32 kbit OTP(one-time programmable)memory for MCUs(micro-controller units)used in remote controllers was designed.This OTP memory is used for program and data storage.It is required to apply 5.5V to BL(bit-line)and 11V to WL(word-line)for a OTP cell of 0.35μm ETOX(EEPROM tunnel oxide)type by MagnaChip.We use 5V transistors on column data paths to reduce the area of column data paths since they require small areas.In addition,we secure device reliability by using HV(high-voltage)transistors in the WL driver.Furthermore,we change from a static logic to a dynamic logic used for the WL driver in the core circuit.Also,we optimize the WD(write data)switch circuit.Thus,we can implement them with a small-area design.In addition,we implement the address predecoder with a small-area logic circuit.The area of the designed 32 kbit OTP with 5V and HV devices is 674.725μm×258.75μm(=0.1745mm2)and is 56.3% smaller than that using 3.3V devices.
文摘During this decade,many countries have experienced natural and accidental disasters,such as typhoons,floods,earthquakes,and nuclear plant accidents,causing catastrophic damage to infrastructures.Since the end of 2019,all countries of the world are struggling with the COVID-19 and pursuing countermeasures,including inoculation of vaccine,and changes in our lifestyle and social structures.All these experiences have made the residents in the affected regions keenly aware of the need for new infrastructures that are resilient and autonomous,so that vital lifelines are secured during calamities.A paradigm shift has been taking place toward reorganizing the energy social service management in many countries,including Japan,by effective use of sustainable energy and new supply schemes.However,such new power sources and supply schemes would affect the power grid through intermittency of power output and the deterioration of power quality and service.Therefore,new social infrastructures and novel management systems to supply energy and social service will be required.In this paper,user-friendly design,operation and control assist tools for resilient microgrids and autonomous communities are proposed and applied to the standard microgrid to verify its effectiveness and performance.
文摘A robust Adaptive Discrete-time Sliding Mode Controller (ADSMC) is formulated, and is applied to control the pitch motion of a simulated Flapping-Wing Micro Air Vehicle (FWMAV). There is great potential for FWMAVs to be used as aerial tools to assist with gathering data and surveying environments. Thanks to modern manufacturing and technology, along with an increased comprehension behind the aerodynamics of wing flaps, these vehicles are now a reality, though not without limitations. Given their diminutive size, FWMAVs are susceptible to real-world disturbances, such as wind gusts, and are sensitive to particular variations in their build quality. While external forces such as wind gusts can be reasonably bounded, the unknown variations in the state may be difficult to characterize or bound without affecting performance. To address these problems, an ADSMC is developed. First, the FWMAV model is converted from continuous-time to discrete-time. Second, an ADSMC for the newly discretized FWMAV model is developed. Using this controller, the trajectory tracking performance of the FWMAV is assessed against a traditional discrete sliding mode controller, and is found to have a decreased chattering frequency and decreased control effort for the same task. Therefore, the ADSMC is assessed as the superior controller, despite being completely unaware of the model parameters or wind gust.
基金supported by the National Key Research and Development Program(2022YFB4701700)National Excellent Youth Science Fund Project of the National Natural Science Foundation of China(52322502)+6 种基金the National Outstanding Youth Science Fund Project of National Natural Science Foundation of China(52025054)National Natural Science Foundation of China(52175009),Postdoctoral Fellowship Program of CPSF(GZC20232498)Postdoctoral Innovative Talents in Shandong Province(SDBX2023011)China Postdoctoral Science Foundation Grant(2023M733341)Key R&D Program of Shandong Province,China(2021ZLGX04)National Heilongjiang Providence Nature Science Foundation of China(YQ2022E022)Fundamental Research Funds for the Central Universities。
文摘Micro/nanorobots have exhibited excellent application potential in the biomedical field,such as drug delivery,minimally invasive surgery,and bio-sensing.Furthermore,in order to achieve practical application,it is essential for swimming micro/nanorobots to navigate towards specific targets or adjust their speed and morphology in complete environments.The navigation of swimming micro/nanorobots with temporal and spatial precision is critical for fulfilling the demand of applications.Here,we introduced a fully integrated wearable control system for micro/nanorobots navigation and manipulation,which is composed of a multifunctional sensor array,an artificial intelligence(AI)planner,and a magnetic field generator.The sensor array could perceive real-time changes in gestures,wrist rotation,and acoustic signals.AI planner based on machine learning offers adaptive path planning in response to dynamically changing signals to generate magnetic fields for the on-demand manipulation of micro/nanorobots.Such a novel,feasible control strategy was validated in the biological experiment in which cancer cells were targeted and killed by photothermal therapy using micro/nanorobots and integrated control platform.This wearable control system could play a crucial role in future intelligent medical applications and could be easily reconfigured toward other medical robots’control.
文摘BACKGROUND Prolonged immobility during intensive care unit(ICU)admission has been a cause of muscle atrophy and worsening functional outcomes with longer recovery times.Prior research has demonstrated that mobilization within a week of ICU admission potentially benefits physical function in critically ill patients.AIM To evaluate the effects of initiating mobilization within 72 hours of ICU admission in critically ill patients through an updated systematic review and meta-analysis.METHODS A systematic search was performed through MEDLINE,Scopus,and Cochrane Library from inception until September 2024 for randomized controlled trials(RCTs)comparing early mobilization(EM)with usual or conventional care in critically ill adult patients.Primary outcomes included length of ICU(days)and ventilation duration(days).Secondary outcomes included muscle strength,functional status,adverse events,all-cause mortality,and quality of life(QOL).A random effects meta-analysis was performed for pooled effect estimates and to derive risk ratios(RR)and corresponding 95%confidence intervals(CI).RESULTS Out of 3487 results,16 RCTs were included with a population of 2385 patients(1195 receiving EM and 1190 with usual care.)A significant reduction in the length of ICU stays[mean difference(MD)=-1.02,95%CI:-1.96 to-0.09;P=0.03;I2=60%]and ventilation duration(MD=-1.07,95%CI:-1.91 to-0.23,P=0.01;I2=57%)was observed in the EM group compared to usual care.EM significantly improved muscle strength[standard MD(SMD)=0.47,95%CI:0.18-0.75,P=0.001;I2=79%]and functional status(SMD=0.70,95%CI:0.40-1.00,P<0.00001;I2=81%)in ICU patients.No statistically significant difference was observed in adverse events(RR=1.72,95%CI:1.01-2.94,P=0.05;I2=31%),all-cause mortality(RR=1.10,95%CI:0.79-1.53,P=0.57;I2=30%),and QOL(SMD=0.04,95%CI:-0.07-0.15,P=0.50;I2=9%)between the two groups.CONCLUSION Initiating mobilization within 72 hours of ICU admission is associated with improved functional outcomes and reduced ICU length of stay and ventilation duration.These findings indicate that EM may be a safe option for ICU patients,contributing to lower recovery times and healthcare costs.Further extensive research is required to validate the long-term effects on survival and QOL.
基金this paper is funded by Project Information:2023 Guangdong Undergraduate Colleges and Universities Teaching Quality and Teaching Reform Project Construction Project,Project Name:Action Research on Whole-area Nurturing of English Reading Teaching in Universities,Secondary and Primary Schools under the Perspective of Discipline Nurturing.Project serial number:895.
文摘This study focuses on exploring the practical path of Micro Project-Based Learning from the perspective of integrated unit teaching,aiming to address the issue of integrating the Project Section with other sections in the new junior high school English textbook published by Shanghai Education Press.Based on two rounds of action research,a micro-project design framework is constructed,which includes“unit micro-project design”,“micro-project-based unit teaching”,“micro-project achievement display”,and“evaluation and reflection”.Practice shows that with the guidance of task lists and scaffolding support,this framework effectively promotes the integration of subject knowledge and the development of students’core competence,providing a transferable implementation paradigm for integrated unit teaching.
基金National Natural Science Foundation of China(62475289,RLZY20231001-02,62135012)。
文摘Minimizing the footprint and energy consumption of integrated Ⅲ–Ⅴ lasers necessitates tight optical confinement in all three dimensions. Limited by the small index contrast of conventional vertical epitaxy, light confinement in the vertical direction is often achieved via undercutting sacrificial layers or transferring onto foreign low-index substrates. In contrast, selective lateral heteroepitaxy enables the architecture of Ⅲ–Ⅴ-on-insulator and supports strong vertical mode confinement.
文摘In high-renewable-energy power systems,the demand for fast-responding capabilities is growing.To address the limitations of conventional closed-loop frequency control,where the integral coefficient cannot dynamically adjust the frequency regulation command based on the state of charge(SoC)of energy storage units,this paper proposes a secondary frequency regulation control strategy based on variable integral coefficients for multiple energy storage units.First,a power-uniform controller is designed to ensure that thermal power units gradually take on more regulation power during the frequency regulation process.Next,a control framework based on variable integral coefficients is proposed within the secondary frequency regulation model,along with an objective function that simultaneously considers both Automatic Generation Control(AGC)command tracking performance and SoC recovery requirements of energy storage units.Finally,a gradient descent optimization method is used to dynamically adjust the gain of the energy storage integral controller,allowingmultiple energy storage units to respond in real-time to AGC instructions and SoC variations.Simulation results confirmthe effectiveness of the proposedmethod.Compared to traditional strategies,the proposed approach takes into account the SoCdiscrepancies amongmultiple energy storage units and the duration of system net power imbalances.It successfully implements secondary frequency regulation while achieving dynamic power allocation among the units.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
文摘The problem of flapping motion control of Micro Air Vehicles (MAVs) with flapping wings was studied in this paper.Based upon the knowledge of skeletal and muscular components of hummingbird, a dynamic model for flapping wing wasdeveloped.A control scheme inspired by human memory and learning concept was constructed for wing motion control ofMAVs.The salient feature of the proposed control lies in its capabilities to improve the control performance by learning fromexperience and observation on its current and past behaviors, without the need for system dynamic information.Furthermore,the overall control scheme has a fairly simple structure and demands little online computations, making it attractive for real-timeimplementation on MAVs.Both theoretical analysis and computer simulation confirms its effectiveness.
基金co-supported by the Postdoctoral Foundation of China (Nos. 2013M542525, 2014T71019)
文摘Microjets are used to control the internal flow to improve the performance of an ultra-compact serpentine inlet. A highly offset serpentine inlet with length-to-diameter ratio of 2.5 is designed and static tests are conducted to analyze the internal flow characteristics in terms of pressure recovery, distortion and flow separation. Flow separation is encountered in the second S-turn, and two strong counter-rotating vortices are formed at the aerodynamic interthce plane （AIP） face which occupy a quarter of the outlet area and result in severe pressure loss and distortion. A flow control model employing a row of microjets in the second turn is designed based on the internal flow characteristics and simplified CFD simulations. Flow control tests are conducted to verify the control effectiveness and understand the characteristics as a function of inlet throat Mach number, injection mass flow ratio, jet Mach number and momentum coefficient. At all test Mach numbers, microjet flow control （MFC） effectively improves the recovery and reduces the distortion intensity. Between inlet throat Mach number 0.2 and 0.5, the strong flow separation in the second S-turn is suppressed at an optimum jet flow ratio of less than 0.65%, resulting in a maximum improvement of 4% for pressure recovery coefficient and a maximum decrease of 75% for circumferential distortion intensity at cruise. However, in order to suppress the flow separation, the injection rate should retain in an effective range. When the injection rate is higher than this range, the flow is degraded and the distortion contour is changed from 90° circumferential distortion pattern to 180° circumferential distortion pattern. Detailed data analysis shows that this optimum flow ratio depends on inlet throat Mach number and the monlcntunl coefficient affects the control effectiveness in a dual stepping manner.
基金Supported by National Natural Science Foundation of China(61164013,U1334211,51174091)the Key Program of China Ministry of Railway(2011Z002-D)Natural Science Foundation of Jiangxi Province(20122BAB201021)
文摘The distributed-power electric multiple units(EMUs)are widely used in high-speed railway.Due to the structural characteristic of mutual-coupled power units in EMUs,each power unit is set as an agent.Combining with the traction/brake characteristic curve and running data of EMUs,a subtractive clustering method and pattern classification algorithm are adopted to set up a multi-model set for every agent.Then,the multi-agent model is established according to the multi-agent network topology and mutual-coupled constraint relations.Finally,we adopt a smooth start switching control strategy and a multi-agent distributed coordination control algorithm to ensure the synchronous speed tracking control of each agent.Simulation results on the actual CRH380A running data show the effectiveness of the proposed approach.
基金Supported by the National Natural Science Foundation of China(60974119)
文摘The control of ultra-supercritical(USC) power unit is a difficult issue for its characteristic of the nonlinearity, large dead time and coupling of the unit. In this paper, model predictive control(MPC) based on multi-model and double layered optimization is introduced for coordinated control of USC unit. The linear programming(LP) combined with quadratic programming(QP) is used in steady optimization for computation of the ideal value of dynamic optimization. Three inputs(i.e. valve opening, coal flow and feedwater flow) are employed to control three outputs(i.e. load, main steam temperature and main steam pressure). The step response models for the dynamic matrix control(DMC) are constructed using the three inputs and the three outputs. Piecewise models are built at selected operation points. Double-layered multi-model predictive controller is implemented in simulation with satisfactory performance.
文摘The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.
基金Project(61203021)supported by the National Natural Science Foundation of ChinaProject(2011216011)supported by the Scientific and Technological Program of Liaoning Province,China+2 种基金Project(2013020024)supported by the Natural Science Foundation of Liaoning Province,ChinaProject(2012BAF05B00)supported by the National Science and Technology Support Program,ChinaProject(LJQ2015061)supported by the Program for Liaoning Excellent Talents in Universities,China
文摘The control of gas fractionation unit(GFU) in petroleum industry is very difficult due to multivariable characteristics and a large time delay.PID controllers are still applied in most industry processes.However,the traditional PID control has been proven not sufficient and capable for this particular petro-chemical process.In this work,an incremental multivariable predictive functional control(IMPFC) algorithm was proposed with less online computation,great precision and fast response.An incremental transfer function matrix model was set up through the step-response data,and predictive outputs were deduced with the theory of single-value optimization.The results show that the method can optimize the incremental control variable and reject the constraint of the incremental control variable with the positional predictive functional control algorithm,and thereby making the control variable smoother.The predictive output error and future set-point were approximated by a polynomial,which can overcome the problem under the model mismatch and make the predictive outputs track the reference trajectory.Then,the design of incremental multivariable predictive functional control was studied.Simulation and application results show that the proposed control strategy is effective and feasible to improve control performance and robustness of process.
