Dear Editor,This letter presents a model predictive control(MPC)scheme for human-robot interaction(HRI)in a multi-joint exoskeleton robot(ER)driven by series elastic actuator(SEA).The proposed scheme in robot-in-charg...Dear Editor,This letter presents a model predictive control(MPC)scheme for human-robot interaction(HRI)in a multi-joint exoskeleton robot(ER)driven by series elastic actuator(SEA).The proposed scheme in robot-in-charge(RIC)mode facilitates the ER driven by SEA to provide the required assistance and support for the subject.展开更多
This article proposes a Gaussian process(GP) based model predictive control(MPC) method to solve the tracking control of wheeled mobile robot( WMR) with uncertain model parameters.Firstly,a Gaussian process velocity p...This article proposes a Gaussian process(GP) based model predictive control(MPC) method to solve the tracking control of wheeled mobile robot( WMR) with uncertain model parameters.Firstly,a Gaussian process velocity prediction model is proposed to compensate for the unknown dynamic model,as the kinematic model cannot accurately characterize the motion characteristics of the robot.Then,by introducing the Lorentz function,the improved iterative linear quadratic regulator(iLQR) method is used to solve the nonlinear MPC(NMPC) controller with constraints.In addition,in order to reduce computational burden,a closed gradient calculation method is introduced to improve algorithm efficiency.Finally,the feasibility and effectiveness of this method are verified through simulation and experiment.展开更多
With the growing integration of renewable energy sources(RESs)and smart interconnected devices,conventional distribution networks have turned to active distribution networks(ADNs)with complex system model and power fl...With the growing integration of renewable energy sources(RESs)and smart interconnected devices,conventional distribution networks have turned to active distribution networks(ADNs)with complex system model and power flow dynamics.The rapid fluctuation of RES power may easily result in frequent voltage violation issues.Taking the flexible RES reactive power as control variables,this paper proposes a two-layer control scheme with Koopman wide neural network(WNN)based model predictive control(MPC)method for optimal voltage regulation and network loss reduction.Based on Koopman operator theory,a data-driven WNN method is presented to fit a high-dimensional linear model of power flow.With the model,voltage and network loss sensitivities are computed analytically,and utilized for ADN partition and control model formulation.In the lower level,a dual-mode adaptive switching MPC strategy is put forward for optimal voltage control and network loss optimization in each individual partition to decide the RES reactive power.The upper level is to calculate the adjustment coefficients of the RES reactive power given in the low level by taking the coupling effects of different partitions into account,and then the final reactive power dispatches of RESs are obtained to realize optimal control of voltage and network loss.Simulation results on two ADNs demonstrate that the proposed strategy can reliably maintain the voltage at each node within the secure range,reduce network power losses,and enhance the overall system security and economic efficiency.展开更多
Digital modeling and autonomous control of the die forging process are significant challenges in realizing high-quality intelli-gent forging of components.Using the die forging of AA2014 aluminum alloy as a case study...Digital modeling and autonomous control of the die forging process are significant challenges in realizing high-quality intelli-gent forging of components.Using the die forging of AA2014 aluminum alloy as a case study,a machine-learning-assisted method for di-gital modeling of the forging force and autonomous control in response to forging parameter disturbances was proposed.First,finite ele-ment simulations of the forging processes were conducted under varying friction factors,die temperatures,billet temperatures,and for-ging velocities,and the sample data,including process parameters and forging force under different forging strokes,were gathered.Pre-diction models for the forging force were established using the support vector regression algorithm.The prediction error of F_(f),that is,the forging force required to fill the die cavity fully,was as low as 4.1%.To further improve the prediction accuracy of the model for the ac-tual F_(f),two rounds of iterative forging experiments were conducted using the Bayesian optimization algorithm,and the prediction error of F_(f) in the forging experiments was reduced from 6.0%to 1.5%.Finally,the prediction model of F_(f) combined with a genetic algorithm was used to establish an autonomous optimization strategy for the forging velocity at each stage of the forging stroke,when the billet and die temperatures were disturbed,which realized the autonomous control in response to disturbances.In cases of−20 or−40℃ reductions in the die and billet temperatures,forging experiments conducted with the autonomous optimization strategy maintained the measured F_(f) around the target value of 180 t,with the relative error ranging from−1.3%to+3.1%.This work provides a reference for the study of di-gital modeling and autonomous optimization control of quality factors in the forging process.展开更多
This editorial critically evaluated the recent study by Wang et al,which systematically investigated the efficacy of perioperative disinfection and isolation measures(including preoperative povidone-iodine disinfectio...This editorial critically evaluated the recent study by Wang et al,which systematically investigated the efficacy of perioperative disinfection and isolation measures(including preoperative povidone-iodine disinfection,intraoperative sterile barrier techniques,and postoperative intensive care)in reducing infection rates.The study further incorporated the surgical site infection risk prediction model(constructed via the least absolute shrinkage and selection operator al-gorithm,integrating patients'baseline characteristics,surgical indicators,and regional antibiotic-resistant bacterial data),and proposed a dynamic prevention and control system termed“disinfection protocols-predictive models–real-time monitoring”.The article highlighted that preoperative risk stratification,intraoperative personalized antibiotic selection,and postoperative multidimensional monitoring(encompassing inflammatory biomarkers,imaging,and microbiological testing)enabled the precise identification of high-risk patients and optimized intervention thresholds.Future research is deemed necessary to validate the synergistic effects of disinfection protocols and predictive models through large-scale multicenter studies,combined with advanced intraoperative rapid microbial detection technologies.This approach aims to establish standardized infection control protocols tailored for precision medicine and regional adaptability.Future research should prioritize validating the synergistic effects of disinfection protocols and predictive models via multi-center studies,while incorporating advanced rapid intraoperative microbial detection technologies to develop standardized infection prevention and control procedures.Such efforts will enhance the implementation of precise and regionally adaptive infection control strategies.展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the s...Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.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
The cooperation between an autonomous vehicle and a nearby vehicle is critical to ensure driving safety in the laneexchanging scenario.The nearby vehicle trajectory needs to be predicted,from which the autonomous vehi...The cooperation between an autonomous vehicle and a nearby vehicle is critical to ensure driving safety in the laneexchanging scenario.The nearby vehicle trajectory needs to be predicted,from which the autonomous vehicle is controlled to prevent possible collisions.This paper proposes a lane-exchanging driving strategy for the autonomous vehicle to cooperate with the nearby vehicle by integrating vehicle trajectory prediction and motion control.A trajectory prediction method is developed to anticipate the nearby vehicle trajectory.The Gaussian mixture model(GMM),together with the vehicle kinematic model,are synthesized to predict the nearby vehicle trajectory.A potential-feldbased model predictive control(MPC)approach is utilized by the autonomous vehicle to conduct the lane-exchanging maneuver.The potential feld of the nearby vehicle is considered in the controller design for collision avoidance.On-road driving data verifcation shows that the nearby vehicle trajectory can be predicted by the proposed method.CarSim®simulations validate that the autonomous vehicle can perform the lane-exchanging maneuver and avoid the nearby vehicle using the proposed driving strategy.The autonomous vehicle can thus safely perform the laneexchanging maneuver and avoid the nearby vehicle.展开更多
Fluctuating voltage levels in power grids necessitate automatic voltage regulators(AVRs)to ensure stability.This study examined the modeling and control of AVR in hydroelectric power plants using model predictive cont...Fluctuating voltage levels in power grids necessitate automatic voltage regulators(AVRs)to ensure stability.This study examined the modeling and control of AVR in hydroelectric power plants using model predictive control(MPC),which utilizes an extensive mathe-matical model of the voltage regulation system to optimize the control actions over a defined prediction horizon.This predictive feature enables MPC to minimize voltage deviations while accounting for operational constraints,thereby improving stability and performance under dynamic conditions.Thefindings were compared with those derived from an optimal proportional integral derivative(PID)con-troller designed using the artificial bee colony(ABC)algorithm.Although the ABC-PID method adjusts the PID parameters based on historical data,it may be difficult to adapt to real-time changes in system dynamics under constraints.Comprehensive simulations assessed both frameworks,emphasizing performance metrics such as disturbance rejection,response to load changes,and resilience to uncertainties.The results show that both MPC and ABC-PID methods effectively achieved accurate voltage regulation;however,MPC excelled in controlling overshoot and settling time—recording 0.0%and 0.25 s,respectively.This demonstrates greater robustness compared to conventional control methods that optimize PID parameters based on performance criteria derived from actual system behavior,which exhibited settling times and overshoots exceeding 0.41 s and 5.0%,respectively.The controllers were implemented using MATLAB/Simulink software,indicating a significant advancement for power plant engineers pursuing state-of-the-art automatic voltage regulations.展开更多
Effective source-load prediction and reasonable dispatching are crucial to realize the economic and reliable operations of integrated energy systems(IESs).They can overcome the challenges introduced by the uncertainti...Effective source-load prediction and reasonable dispatching are crucial to realize the economic and reliable operations of integrated energy systems(IESs).They can overcome the challenges introduced by the uncertainties of new energies and various types of loads in the IES.Accordingly,a robust optimal dispatching method for the IES based on a robust economic model predictive control(REMPC)strategy considering source-load power interval prediction is proposed.First,an operation model of the IES is established,and an interval prediction model based on the bidirectional long short-term memory network optimized by beetle antenna search and bootstrap is formulated and applied to predict the photovoltaic power and the cooling,heating,and electrical loads.Then,an optimal dispatching scheme based on REMPC is devised for the IES.The source-load interval prediction results are used to improve the robustness of the REPMC and reduce the influence of source-load uncertainties on dispatching.An actual IES case is selected to conduct simulations;the results show that compared with other prediction techniques,the proposed method has higher prediction interval coverage probability and prediction interval normalized averaged width.Moreover,the operational cost of the IES is decreased by the REMPC strategy.With the devised dispatching scheme,the ability of the IES to handle the dispatching risk caused by prediction errors is enhanced.Improved dispatching robustness and operational economy are also achieved.展开更多
Considering the actual demand for high-speed operation of induction motors in industrial occasions,the characteristics of induction motors in different regions are analyzed,especially the field weakening characteristi...Considering the actual demand for high-speed operation of induction motors in industrial occasions,the characteristics of induction motors in different regions are analyzed,especially the field weakening characteristics of induction motors in high-speed operation are studied.A field weakening control method of induction motor based on model predictive control(MPC)algorithm is proposed,which can predict the future state of the controlled object,and then obtain the optimal control variables by colling optimization.The simulation results show that the field-weakening control method based on MPC algorithm has faster response speed,stronger robustness and better control performance than the traditional control methods.展开更多
In the forward channel of a networked control system （NCS）, by defining the network states as a hidden Markov chain and quantizing the network-induced delays to a discrete sequence distributing over a finite time in...In the forward channel of a networked control system （NCS）, by defining the network states as a hidden Markov chain and quantizing the network-induced delays to a discrete sequence distributing over a finite time interval, the relation between the network states and the network-induced delays is modelled as a discrete-time hidden Markov model （DTHMM）. The expectation maximization （EM） algorithm is introduced to derive the maximumlikelihood estimation （MLE） of the parameters of the DTHMM. Based on the derived DTHMM, the Viterbi algorithm is introduced to predict the controller-to-actuator （C-A） delay during the current sampling period. The simulation experiments demonstrate the effectiveness of the modelling and predicting methods proposed.展开更多
In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
基金supported in part by the National Natural Science Foundation of China(62173048,62373065,61873304,62106023)the Key Science and Technology Projects of Jilin Province,China(20230204081YY)the Research and Innovation Team of Anhui Province(2024AH010023)。
文摘Dear Editor,This letter presents a model predictive control(MPC)scheme for human-robot interaction(HRI)in a multi-joint exoskeleton robot(ER)driven by series elastic actuator(SEA).The proposed scheme in robot-in-charge(RIC)mode facilitates the ER driven by SEA to provide the required assistance and support for the subject.
基金Supported by the Zhejiang Provincial Natural Science Foundation of China (No.LR23F030002)。
文摘This article proposes a Gaussian process(GP) based model predictive control(MPC) method to solve the tracking control of wheeled mobile robot( WMR) with uncertain model parameters.Firstly,a Gaussian process velocity prediction model is proposed to compensate for the unknown dynamic model,as the kinematic model cannot accurately characterize the motion characteristics of the robot.Then,by introducing the Lorentz function,the improved iterative linear quadratic regulator(iLQR) method is used to solve the nonlinear MPC(NMPC) controller with constraints.In addition,in order to reduce computational burden,a closed gradient calculation method is introduced to improve algorithm efficiency.Finally,the feasibility and effectiveness of this method are verified through simulation and experiment.
基金supported by the Science and Technology Project of State Grid Jiangsu Electric Power Co.,Ltd.(J2024162).
文摘With the growing integration of renewable energy sources(RESs)and smart interconnected devices,conventional distribution networks have turned to active distribution networks(ADNs)with complex system model and power flow dynamics.The rapid fluctuation of RES power may easily result in frequent voltage violation issues.Taking the flexible RES reactive power as control variables,this paper proposes a two-layer control scheme with Koopman wide neural network(WNN)based model predictive control(MPC)method for optimal voltage regulation and network loss reduction.Based on Koopman operator theory,a data-driven WNN method is presented to fit a high-dimensional linear model of power flow.With the model,voltage and network loss sensitivities are computed analytically,and utilized for ADN partition and control model formulation.In the lower level,a dual-mode adaptive switching MPC strategy is put forward for optimal voltage control and network loss optimization in each individual partition to decide the RES reactive power.The upper level is to calculate the adjustment coefficients of the RES reactive power given in the low level by taking the coupling effects of different partitions into account,and then the final reactive power dispatches of RESs are obtained to realize optimal control of voltage and network loss.Simulation results on two ADNs demonstrate that the proposed strategy can reliably maintain the voltage at each node within the secure range,reduce network power losses,and enhance the overall system security and economic efficiency.
基金financially supported by the National Key Research and Development Program of China(No.2022YFB3706901)the National Natural Science Foundation of China(No.52090041)the Young Elite Scientists Sponsorship Program by CAST(No.2022QNRC 001).
文摘Digital modeling and autonomous control of the die forging process are significant challenges in realizing high-quality intelli-gent forging of components.Using the die forging of AA2014 aluminum alloy as a case study,a machine-learning-assisted method for di-gital modeling of the forging force and autonomous control in response to forging parameter disturbances was proposed.First,finite ele-ment simulations of the forging processes were conducted under varying friction factors,die temperatures,billet temperatures,and for-ging velocities,and the sample data,including process parameters and forging force under different forging strokes,were gathered.Pre-diction models for the forging force were established using the support vector regression algorithm.The prediction error of F_(f),that is,the forging force required to fill the die cavity fully,was as low as 4.1%.To further improve the prediction accuracy of the model for the ac-tual F_(f),two rounds of iterative forging experiments were conducted using the Bayesian optimization algorithm,and the prediction error of F_(f) in the forging experiments was reduced from 6.0%to 1.5%.Finally,the prediction model of F_(f) combined with a genetic algorithm was used to establish an autonomous optimization strategy for the forging velocity at each stage of the forging stroke,when the billet and die temperatures were disturbed,which realized the autonomous control in response to disturbances.In cases of−20 or−40℃ reductions in the die and billet temperatures,forging experiments conducted with the autonomous optimization strategy maintained the measured F_(f) around the target value of 180 t,with the relative error ranging from−1.3%to+3.1%.This work provides a reference for the study of di-gital modeling and autonomous optimization control of quality factors in the forging process.
文摘This editorial critically evaluated the recent study by Wang et al,which systematically investigated the efficacy of perioperative disinfection and isolation measures(including preoperative povidone-iodine disinfection,intraoperative sterile barrier techniques,and postoperative intensive care)in reducing infection rates.The study further incorporated the surgical site infection risk prediction model(constructed via the least absolute shrinkage and selection operator al-gorithm,integrating patients'baseline characteristics,surgical indicators,and regional antibiotic-resistant bacterial data),and proposed a dynamic prevention and control system termed“disinfection protocols-predictive models–real-time monitoring”.The article highlighted that preoperative risk stratification,intraoperative personalized antibiotic selection,and postoperative multidimensional monitoring(encompassing inflammatory biomarkers,imaging,and microbiological testing)enabled the precise identification of high-risk patients and optimized intervention thresholds.Future research is deemed necessary to validate the synergistic effects of disinfection protocols and predictive models through large-scale multicenter studies,combined with advanced intraoperative rapid microbial detection technologies.This approach aims to establish standardized infection control protocols tailored for precision medicine and regional adaptability.Future research should prioritize validating the synergistic effects of disinfection protocols and predictive models via multi-center studies,while incorporating advanced rapid intraoperative microbial detection technologies to develop standardized infection prevention and control procedures.Such efforts will enhance the implementation of precise and regionally adaptive infection control strategies.
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金supported in part by the National Natural Science Foundation of China under Grant 52077002。
文摘Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.
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Supported by Project of National Natural Science Foundation of China(Grand No.52102469)Science and Technology Major Project of Guangxi(Grant Nos.AB21196029 and AA18242033)State Key Laboratory of Automotive Safety and Energy(Grant No.KF2014).
文摘The cooperation between an autonomous vehicle and a nearby vehicle is critical to ensure driving safety in the laneexchanging scenario.The nearby vehicle trajectory needs to be predicted,from which the autonomous vehicle is controlled to prevent possible collisions.This paper proposes a lane-exchanging driving strategy for the autonomous vehicle to cooperate with the nearby vehicle by integrating vehicle trajectory prediction and motion control.A trajectory prediction method is developed to anticipate the nearby vehicle trajectory.The Gaussian mixture model(GMM),together with the vehicle kinematic model,are synthesized to predict the nearby vehicle trajectory.A potential-feldbased model predictive control(MPC)approach is utilized by the autonomous vehicle to conduct the lane-exchanging maneuver.The potential feld of the nearby vehicle is considered in the controller design for collision avoidance.On-road driving data verifcation shows that the nearby vehicle trajectory can be predicted by the proposed method.CarSim®simulations validate that the autonomous vehicle can perform the lane-exchanging maneuver and avoid the nearby vehicle using the proposed driving strategy.The autonomous vehicle can thus safely perform the laneexchanging maneuver and avoid the nearby vehicle.
文摘Fluctuating voltage levels in power grids necessitate automatic voltage regulators(AVRs)to ensure stability.This study examined the modeling and control of AVR in hydroelectric power plants using model predictive control(MPC),which utilizes an extensive mathe-matical model of the voltage regulation system to optimize the control actions over a defined prediction horizon.This predictive feature enables MPC to minimize voltage deviations while accounting for operational constraints,thereby improving stability and performance under dynamic conditions.Thefindings were compared with those derived from an optimal proportional integral derivative(PID)con-troller designed using the artificial bee colony(ABC)algorithm.Although the ABC-PID method adjusts the PID parameters based on historical data,it may be difficult to adapt to real-time changes in system dynamics under constraints.Comprehensive simulations assessed both frameworks,emphasizing performance metrics such as disturbance rejection,response to load changes,and resilience to uncertainties.The results show that both MPC and ABC-PID methods effectively achieved accurate voltage regulation;however,MPC excelled in controlling overshoot and settling time—recording 0.0%and 0.25 s,respectively.This demonstrates greater robustness compared to conventional control methods that optimize PID parameters based on performance criteria derived from actual system behavior,which exhibited settling times and overshoots exceeding 0.41 s and 5.0%,respectively.The controllers were implemented using MATLAB/Simulink software,indicating a significant advancement for power plant engineers pursuing state-of-the-art automatic voltage regulations.
基金supported by the National Key Research and Development Project of China(2018YFE0122200).
文摘Effective source-load prediction and reasonable dispatching are crucial to realize the economic and reliable operations of integrated energy systems(IESs).They can overcome the challenges introduced by the uncertainties of new energies and various types of loads in the IES.Accordingly,a robust optimal dispatching method for the IES based on a robust economic model predictive control(REMPC)strategy considering source-load power interval prediction is proposed.First,an operation model of the IES is established,and an interval prediction model based on the bidirectional long short-term memory network optimized by beetle antenna search and bootstrap is formulated and applied to predict the photovoltaic power and the cooling,heating,and electrical loads.Then,an optimal dispatching scheme based on REMPC is devised for the IES.The source-load interval prediction results are used to improve the robustness of the REPMC and reduce the influence of source-load uncertainties on dispatching.An actual IES case is selected to conduct simulations;the results show that compared with other prediction techniques,the proposed method has higher prediction interval coverage probability and prediction interval normalized averaged width.Moreover,the operational cost of the IES is decreased by the REMPC strategy.With the devised dispatching scheme,the ability of the IES to handle the dispatching risk caused by prediction errors is enhanced.Improved dispatching robustness and operational economy are also achieved.
基金National Natural Science Foundation of China(No.61663022)Changjiang Scholars and Innovaton Team Develpment Plan(No.Rt_16R36)。
文摘Considering the actual demand for high-speed operation of induction motors in industrial occasions,the characteristics of induction motors in different regions are analyzed,especially the field weakening characteristics of induction motors in high-speed operation are studied.A field weakening control method of induction motor based on model predictive control(MPC)algorithm is proposed,which can predict the future state of the controlled object,and then obtain the optimal control variables by colling optimization.The simulation results show that the field-weakening control method based on MPC algorithm has faster response speed,stronger robustness and better control performance than the traditional control methods.
基金supported in part by the National Natural Science Foundation of China (60774098 60843003+3 种基金 50905172)the Science Foundation of Anhui Province (090412071 090412040)the University of Science and Technology of China Initiative Foundation
文摘In the forward channel of a networked control system （NCS）, by defining the network states as a hidden Markov chain and quantizing the network-induced delays to a discrete sequence distributing over a finite time interval, the relation between the network states and the network-induced delays is modelled as a discrete-time hidden Markov model （DTHMM）. The expectation maximization （EM） algorithm is introduced to derive the maximumlikelihood estimation （MLE） of the parameters of the DTHMM. Based on the derived DTHMM, the Viterbi algorithm is introduced to predict the controller-to-actuator （C-A） delay during the current sampling period. The simulation experiments demonstrate the effectiveness of the modelling and predicting methods proposed.
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
