Conventional coordinated control strategies for DC bus voltage signal(DBS)in islanded DC microgrids(IDCMGs)struggle with coordinating multiple distributed generators(DGs)and cannot effectively incorporate state of cha...Conventional coordinated control strategies for DC bus voltage signal(DBS)in islanded DC microgrids(IDCMGs)struggle with coordinating multiple distributed generators(DGs)and cannot effectively incorporate state of charge(SOC)information of the energy storage system,thereby reducing the system flexibility.In this study,we propose an adaptive coordinated control strategy that employs a two-layer fuzzy neural network controller(FNNC)to adapt to varying operating conditions in an IDCMG with multiple PV and battery energy storage system(BESS)units.The first-layer FNNC generates optimal operating mode commands for each DG,thereby avoiding the requirement for complex operating modes based on SOC segmentation.An optimal switching sequence logic prioritizes the most appropriate units during mode transitions.The second-layer FNNC dynamically adjusts the droop power to overcome power distribution challenges among DG groups.This helps in preventing the PV power from exceeding the limits and mitigating the risk of BESS overcharging or over-discharging.The simulation results indicate that the proposed strategy enhances the coordinated operation of multi-DG IDCMGs,thereby ensuring the efficient and safe utilization of PV and BESS.展开更多
The intermittency and volatility of wind and photovoltaic power generation exacerbate issues such as wind and solar curtailment,hindering the efficient utilization of renewable energy and the low-carbon development of...The intermittency and volatility of wind and photovoltaic power generation exacerbate issues such as wind and solar curtailment,hindering the efficient utilization of renewable energy and the low-carbon development of energy systems.To enhance the consumption capacity of green power,the green power system consumption optimization scheduling model(GPS-COSM)is proposed,which comprehensively integrates green power system,electric boiler,combined heat and power unit,thermal energy storage,and electrical energy storage.The optimization objectives are to minimize operating cost,minimize carbon emission,and maximize the consumption of wind and solar curtailment.The multi-objective particle swarm optimization algorithm is employed to solve the model,and a fuzzy membership function is introduced to evaluate the satisfaction level of the Pareto optimal solution set,thereby selecting the optimal compromise solution to achieve a dynamic balance among economic efficiency,environmental friendliness,and energy utilization efficiency.Three typical operating modes are designed for comparative analysis.The results demonstrate that the mode involving the coordinated operation of electric boiler,thermal energy storage,and electrical energy storage performs the best in terms of economic efficiency,environmental friendliness,and renewable energy utilization efficiency,achieving the wind and solar curtailment consumption rate of 99.58%.The application of electric boiler significantly enhances the direct accommodation capacity of the green power system.Thermal energy storage optimizes intertemporal regulation,while electrical energy storage strengthens the system’s dynamic regulation capability.The coordinated optimization of multiple devices significantly reduces reliance on fossil fuels.展开更多
This paper concerns the exponential attitude-orbit coordinated control problems for gravitational-wave detection formation spacecraft systems.Notably,the large-scale communication delays resulting from oversized inter...This paper concerns the exponential attitude-orbit coordinated control problems for gravitational-wave detection formation spacecraft systems.Notably,the large-scale communication delays resulting from oversized inter-satellite distance of space-based laser interferometers are first modeled.Subject to the delayed communication behaviors,a new delay-dependent attitude-orbit coordinated controller is designed.Moreover,by reconstructing the less conservative Lyapunov-Krasovskii functional and free-weight matrices,sufficient criteria are derived to ensure the exponential stability of the closed-loop relative translation and attitude error system.Finally,a simulation example is employed to illustrate the numerical validity of the proposed controller for in-orbit detection missions.展开更多
In tunnel construction,tunnel boring machine(TBM)tunnelling typically relies on manual experience with sub-optimal control parameters,which can easily lead to inefficiency and high costs.This study proposed an intelli...In tunnel construction,tunnel boring machine(TBM)tunnelling typically relies on manual experience with sub-optimal control parameters,which can easily lead to inefficiency and high costs.This study proposed an intelligent decision-making method for TBM tunnelling control parameters based on multiobjective optimization(MOO).First,the effective TBM operation dataset is obtained through data preprocessing of the Songhua River(YS)tunnel project in China.Next,the proposed method begins with developing machine learning models for predicting TBM tunnelling performance parameters(i.e.total thrust and cutterhead torque),rock mass classification,and hazard risks(i.e.tunnel collapse and shield jamming).Then,considering three optimal objectives,(i.e.,penetration rate,rock-breaking energy consumption,and cutterhead hob wear),the MOO framework and corresponding mathematical expression are established.The Pareto optimal front is solved using DE-NSGA-II algorithm.Finally,the optimal control parameters(i.e.,advance rate and cutterhead rotation speed)are obtained by the satisfactory solution determination criterion,which can balance construction safety and efficiency with satisfaction.Furthermore,the proposed method is validated through 50 cases of TBM tunnelling,showing promising potential of application.展开更多
In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of un...In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.展开更多
To investigate the control of morphing wings by means of interacting effectors,this article proposes a distributed coordinated control scheme with sampled communication on the basis of a simple morphing wing model,est...To investigate the control of morphing wings by means of interacting effectors,this article proposes a distributed coordinated control scheme with sampled communication on the basis of a simple morphing wing model,established with arrayed agents. The control scheme can change the shape of airfoil into an expected one and keep it smooth during morphing. As the interconnection of communication network and the agents would make the behavior of the morphing wing system complicated,a diagrammatic stability analysis method is put forward to ensure the system stability. Two simulations are carried out on the morphing wing system by using MATLAB. The results stand witness to the feasibility of the distributed coordinated control scheme and the effectiveness of the diagrammatic stability analysis method.展开更多
Multivariables, strong coupling, nonlinearity, and large delays characterize the boiler-turbine coordinated control systems for ship power equipment. To better deal with these conditions, a compound control strategy b...Multivariables, strong coupling, nonlinearity, and large delays characterize the boiler-turbine coordinated control systems for ship power equipment. To better deal with these conditions, a compound control strategy based on a support vector machine （SVM） with inverse identification was proposed and applied to research simulating coordinated control systems. This method combines SVM inverse control and fuzzy control, taking advantage of the merits of SVM inverse controls which can be designed easily and have high reliability, and those of fuzzy controls, which respond rapidly and have good anti-jamming capability and robustness. It ensures the controller can be controlled with near instantaneous adjustments to maintain a steady state, even if the SVM is not trained well. The simulation results show that the control quality of this fuzzy-SVM compound control algorithm is high, with good performance in dynamic response speed, static stability, restraint of overshoot, and robustness.展开更多
In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on obje...In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.展开更多
Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However...Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.展开更多
An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims t...An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed.展开更多
Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utili...Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utilizing the reactive power capability of PV inverters to mitigate voltage deviations is being promoted.In recent years,droop control of inverter-based distributed energy resources has emerged as an essential tool for use in this study.The participation of PV systems in voltage regulation and its coordination with existing controllers,such as on-load tap changers,is paramount for controlling the voltage within specified limits.In this work,control strategies are presented that can be coordinated with the existing controls in a distributed manner.The effectiveness of the proposed method was demonstrated through simulation results on a distribution system.展开更多
Coordinated taxiing planning for multiple aircraft on flight deck is of vital importance which can dramatically improve the dispatching efficiency.In this paper,first,the coordinated taxiing path planning problem is t...Coordinated taxiing planning for multiple aircraft on flight deck is of vital importance which can dramatically improve the dispatching efficiency.In this paper,first,the coordinated taxiing path planning problem is transformed into a centralized optimal control problem where collision-free conditions and mechanical limits are considered.Since the formulated optimal control problem is of large state space and highly nonlinear,an efficient hierarchical initialization technique based on the Dubins-curve method is proposed.Then,a model predictive controller is designed to track the obtained reference trajectory in the presence of initial state error and external disturbances.Numerical experiments demonstrate that the proposed“offline planningþonline tracking”framework can achieve efficient and robust coordinated taxiing planning and tracking even in the presence of initial state error and continuous external disturbances.展开更多
It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions.In this study,an adaptive path tracking control...It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions.In this study,an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm.The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model.To adaptively adjust the priorities of path tracking accuracy and vehicle stability,an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function.An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions.To ensure vehicle stability,the sideslip angle,yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame.It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and largecurvature conditions.展开更多
The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better und...The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better understanding of the coordinated control of PM_(2.5)and ozone is urgently needed.Here,we collected and sorted air pollutant data for 337 cities from 2015 to 2020 to explore the characteristics of PM_(2.5)and ozone pollution based on China’s five major air pollution regions.The results show that it is necessary to continue to strengthen the emission reduction in PM_(2.5)and ozone precursors,and control NO_(x) and VOCs while promoting a dramatic emission reduction in PM_(2.5).The primary method of curbing ozone pollution is to strengthen the emission control of VOCs,with a long-term strategy of achieving substantial emission reductions in NO_(x),because VOCs and NO_(x) are also precursors to PM_(2.5);hence,their reductions also contribute to the reduction in PM_(2.5).Therefore,the implementation of a multipollutant emission reduction control strategy aimed at the prevention and control of PM_(2.5)and ozone pollution is the only means to realize the coordinated control of PM_(2.5)and ozone.展开更多
For different flight phases in an overall flight mission,different control and allocation preferences should be pursued considering lift,drag or maneuverability characteristics.The multi-objective flight control alloc...For different flight phases in an overall flight mission,different control and allocation preferences should be pursued considering lift,drag or maneuverability characteristics.The multi-objective flight control allocation problem for a multi-phase flight mission is studied.For an overall flight mission,different flight phases namely climbing,cruise,maneuver and gliding phases are defined.Firstly,a multi-objective control allocation problem considering drag,lift or control energy preference is constructed.Secondly,considering different control preferences at different flight phases,the analytic hierarchical process method is used to construct a comprehensive performance index from different objectives such as lift or drag preferences.The active set based dynamic programming optimization method is used to solve the real-time optimization problem.For the validation,the Innovative Control Effector(ICE)tailless aircraft nonlinear model and the angular acceleration measurements based adaptive Incremental Backstepping(IBKS)are used to construct the validation platform.Finally,an overall flight mission is simulated to demonstrate the efficiency of the proposed multi-phase and multi-objective flight control allocation method.The results show that the comprehensive performance index for different phases,which are determined from the Analytic Hierarchy Process(AHP)method,can suitably satisfy the preference requirements for different flight phases.展开更多
This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV)swarm to achieve formation control.First,the framework of the distributed coordinated contr...This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV)swarm to achieve formation control.First,the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC).Then,the effect of heterogeneous roles including leader,coordinator and follower is discussed,and the role-based cost functions are developed to improve the performance of coordinated control for UAV swarm.Furthermore,a group of coordination strategies are proposed for UAVs with different roles to achieve swarm conflict resolution.Numerical simulations demonstrate that the presented distributed coordinated control scheme is effective to formulate and maintain the desired formation for the UAV swarm.展开更多
In this paper, the control problem of auxiliary power unit （APU） for hybrid electric vehicles is investigated. An adaptive controller is provided to achieve the coordinated control between the engine speed and the b...In this paper, the control problem of auxiliary power unit （APU） for hybrid electric vehicles is investigated. An adaptive controller is provided to achieve the coordinated control between the engine speed and the battery charging voltage. The proposed adaptive coordinated control laws for the throttle angle of the engine and the voltage of the power-converter can guarantee not only the asymptotic tracking performance of the engine speed and the regulation of the battery charging voltage, but also the robust stability of the closed loop system under external load changes. Simulation results are given to verify the performance of the proposed adaptive controller.展开更多
The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynami...The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.展开更多
Traditional seawater desalination requires high amounts of energy, with correspondingly high costs and limited benefits, hindering wider applications of the process. To further improve the comprehensive economic benef...Traditional seawater desalination requires high amounts of energy, with correspondingly high costs and limited benefits, hindering wider applications of the process. To further improve the comprehensive economic benefits of seawater desalination, the desalination load can be combined with renewable energy sources such as solar energy, wind energy, and ocean energy or with the power grid to ensure its effective regulation. Utilizing energy internet(EI) technology, energy balance demand of the regional power grid, and coordinated control between coastal multi-source multi-load and regional distribution network with desalination load is reviewed herein. Several key technologies, including coordinated control of coastal multi-source multi-load system with seawater desalination load, flexible interaction between seawater desalination and regional distribution network, and combined control of coastal multi-source multi-load storage system with seawater desalination load, are discussed in detail. Adoption of the flexible interaction between seawater desalination and regional distribution networks is beneficial for solving water resource problems, improving the ability to dissipate distributed renewable energy, balancing and increasing grid loads, improving the safety and economy of coastal power grids, and achieving coordinated and comprehensive application of power grids, renewable energy sources, and coastal loads.展开更多
For automated vehicles,comfortable driving will improve passengers’ satisfaction.Reducing fuel consumption brings economic profits for car owners,decreases the impact on the environment and increases energy sustainab...For automated vehicles,comfortable driving will improve passengers’ satisfaction.Reducing fuel consumption brings economic profits for car owners,decreases the impact on the environment and increases energy sustainability.In addition to comfort and fuel-economy,automated vehicles also have the basic requirements of safety and car-following.For this purpose,an adaptive cruise control (ACC) algorithm with multi-objectives is proposed based on a model predictive control (MPC) framework.In the proposed ACC algorithm,safety is guaranteed by constraining the inter-distance within a safe range; the requirements of comfort and car-following are considered to be the performance criteria and some optimal reference trajectories are introduced to increase fuel-economy.The performances of the proposed ACC algorithm are simulated and analyzed in five representative traffic scenarios and multiple experiments.The results show that not only are safety and car-following objectives satisfied,but also driving comfort and fuel-economy are improved significantly.展开更多
基金supported by National Key R&D Program of ChinaunderGrant,(2021YFB2601403).
文摘Conventional coordinated control strategies for DC bus voltage signal(DBS)in islanded DC microgrids(IDCMGs)struggle with coordinating multiple distributed generators(DGs)and cannot effectively incorporate state of charge(SOC)information of the energy storage system,thereby reducing the system flexibility.In this study,we propose an adaptive coordinated control strategy that employs a two-layer fuzzy neural network controller(FNNC)to adapt to varying operating conditions in an IDCMG with multiple PV and battery energy storage system(BESS)units.The first-layer FNNC generates optimal operating mode commands for each DG,thereby avoiding the requirement for complex operating modes based on SOC segmentation.An optimal switching sequence logic prioritizes the most appropriate units during mode transitions.The second-layer FNNC dynamically adjusts the droop power to overcome power distribution challenges among DG groups.This helps in preventing the PV power from exceeding the limits and mitigating the risk of BESS overcharging or over-discharging.The simulation results indicate that the proposed strategy enhances the coordinated operation of multi-DG IDCMGs,thereby ensuring the efficient and safe utilization of PV and BESS.
基金funded by the National Key Research and Development Program of China(2024YFE0106800)Natural Science Foundation of Shandong Province(ZR2021ME199).
文摘The intermittency and volatility of wind and photovoltaic power generation exacerbate issues such as wind and solar curtailment,hindering the efficient utilization of renewable energy and the low-carbon development of energy systems.To enhance the consumption capacity of green power,the green power system consumption optimization scheduling model(GPS-COSM)is proposed,which comprehensively integrates green power system,electric boiler,combined heat and power unit,thermal energy storage,and electrical energy storage.The optimization objectives are to minimize operating cost,minimize carbon emission,and maximize the consumption of wind and solar curtailment.The multi-objective particle swarm optimization algorithm is employed to solve the model,and a fuzzy membership function is introduced to evaluate the satisfaction level of the Pareto optimal solution set,thereby selecting the optimal compromise solution to achieve a dynamic balance among economic efficiency,environmental friendliness,and energy utilization efficiency.Three typical operating modes are designed for comparative analysis.The results demonstrate that the mode involving the coordinated operation of electric boiler,thermal energy storage,and electrical energy storage performs the best in terms of economic efficiency,environmental friendliness,and renewable energy utilization efficiency,achieving the wind and solar curtailment consumption rate of 99.58%.The application of electric boiler significantly enhances the direct accommodation capacity of the green power system.Thermal energy storage optimizes intertemporal regulation,while electrical energy storage strengthens the system’s dynamic regulation capability.The coordinated optimization of multiple devices significantly reduces reliance on fossil fuels.
基金supported by the Na⁃tional Key R&D Program of China(No.2022YFC2204800)the Graduate Student Independent Exploration and Innovation Program of Central South University(No.2024ZZTS 0767).
文摘This paper concerns the exponential attitude-orbit coordinated control problems for gravitational-wave detection formation spacecraft systems.Notably,the large-scale communication delays resulting from oversized inter-satellite distance of space-based laser interferometers are first modeled.Subject to the delayed communication behaviors,a new delay-dependent attitude-orbit coordinated controller is designed.Moreover,by reconstructing the less conservative Lyapunov-Krasovskii functional and free-weight matrices,sufficient criteria are derived to ensure the exponential stability of the closed-loop relative translation and attitude error system.Finally,a simulation example is employed to illustrate the numerical validity of the proposed controller for in-orbit detection missions.
基金supported by the National Natural Science Foundation of China(Grant No.52179105)China Postdoctoral Science Foundation(Grant No.2024M762193)。
文摘In tunnel construction,tunnel boring machine(TBM)tunnelling typically relies on manual experience with sub-optimal control parameters,which can easily lead to inefficiency and high costs.This study proposed an intelligent decision-making method for TBM tunnelling control parameters based on multiobjective optimization(MOO).First,the effective TBM operation dataset is obtained through data preprocessing of the Songhua River(YS)tunnel project in China.Next,the proposed method begins with developing machine learning models for predicting TBM tunnelling performance parameters(i.e.total thrust and cutterhead torque),rock mass classification,and hazard risks(i.e.tunnel collapse and shield jamming).Then,considering three optimal objectives,(i.e.,penetration rate,rock-breaking energy consumption,and cutterhead hob wear),the MOO framework and corresponding mathematical expression are established.The Pareto optimal front is solved using DE-NSGA-II algorithm.Finally,the optimal control parameters(i.e.,advance rate and cutterhead rotation speed)are obtained by the satisfactory solution determination criterion,which can balance construction safety and efficiency with satisfaction.Furthermore,the proposed method is validated through 50 cases of TBM tunnelling,showing promising potential of application.
基金supported in part by the National Key R&D Program of China(No.2023YFB4704400)in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.
基金National Natural Science Foundation of China (90605007)
文摘To investigate the control of morphing wings by means of interacting effectors,this article proposes a distributed coordinated control scheme with sampled communication on the basis of a simple morphing wing model,established with arrayed agents. The control scheme can change the shape of airfoil into an expected one and keep it smooth during morphing. As the interconnection of communication network and the agents would make the behavior of the morphing wing system complicated,a diagrammatic stability analysis method is put forward to ensure the system stability. Two simulations are carried out on the morphing wing system by using MATLAB. The results stand witness to the feasibility of the distributed coordinated control scheme and the effectiveness of the diagrammatic stability analysis method.
文摘Multivariables, strong coupling, nonlinearity, and large delays characterize the boiler-turbine coordinated control systems for ship power equipment. To better deal with these conditions, a compound control strategy based on a support vector machine （SVM） with inverse identification was proposed and applied to research simulating coordinated control systems. This method combines SVM inverse control and fuzzy control, taking advantage of the merits of SVM inverse controls which can be designed easily and have high reliability, and those of fuzzy controls, which respond rapidly and have good anti-jamming capability and robustness. It ensures the controller can be controlled with near instantaneous adjustments to maintain a steady state, even if the SVM is not trained well. The simulation results show that the control quality of this fuzzy-SVM compound control algorithm is high, with good performance in dynamic response speed, static stability, restraint of overshoot, and robustness.
文摘In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed. In consideration of inaccuracy of the dynamic model of a multiple manipulator system, the error equations on object position and internal force are derived. Then a hybrid position/force coordinated learning control scheme is presented and its convergence is proved. The scheme can improve the system performance by modifying the control input of the system after each iterative learning. Simulation results of two planar robot manipulators holding an object show the effectiveness of this control scheme.
基金supported by Open Research Fund of State Key Laboratory of Automobile Dynamics Simulation, China (Grant No. 20101103)National Natural Science Foundation of China (Grant No. 51075176)
文摘Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.
基金Supported in part by Ministry of Science and Technology of the People’s Republic of China(Grant No.2017YFB0103600)Beijing Municipal Science and Technology Commission via the Beijing Nova Program(Grant No.Z201100006820007).
文摘An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed.
基金by a project under the scheme entitled“Developing Policies&Adaptation Strategies to Climate Change in the Baltic Sea Region”(ASTRA),Project No.ASTRA6-4(2014-2020.4.01.16-0032).
文摘Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utilizing the reactive power capability of PV inverters to mitigate voltage deviations is being promoted.In recent years,droop control of inverter-based distributed energy resources has emerged as an essential tool for use in this study.The participation of PV systems in voltage regulation and its coordination with existing controllers,such as on-load tap changers,is paramount for controlling the voltage within specified limits.In this work,control strategies are presented that can be coordinated with the existing controls in a distributed manner.The effectiveness of the proposed method was demonstrated through simulation results on a distribution system.
文摘Coordinated taxiing planning for multiple aircraft on flight deck is of vital importance which can dramatically improve the dispatching efficiency.In this paper,first,the coordinated taxiing path planning problem is transformed into a centralized optimal control problem where collision-free conditions and mechanical limits are considered.Since the formulated optimal control problem is of large state space and highly nonlinear,an efficient hierarchical initialization technique based on the Dubins-curve method is proposed.Then,a model predictive controller is designed to track the obtained reference trajectory in the presence of initial state error and external disturbances.Numerical experiments demonstrate that the proposed“offline planningþonline tracking”framework can achieve efficient and robust coordinated taxiing planning and tracking even in the presence of initial state error and continuous external disturbances.
基金Supported by the Foundation of Key Laboratory of Vehicle Advanced ManufacturingMeasuring and Control Technology(Beijing Jiaotong University)+1 种基金Ministry of Education,China(Grant No.014062522006)National Key Research Development Program of China(Grant No.2017YFB0103701)。
文摘It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions.In this study,an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm.The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model.To adaptively adjust the priorities of path tracking accuracy and vehicle stability,an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function.An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions.To ensure vehicle stability,the sideslip angle,yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame.It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and largecurvature conditions.
基金supported by the National Natural Science Foundation of China(No.91844301)by the Beijing Municipal Natural Science Fund(No.JQ21030)。
文摘The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better understanding of the coordinated control of PM_(2.5)and ozone is urgently needed.Here,we collected and sorted air pollutant data for 337 cities from 2015 to 2020 to explore the characteristics of PM_(2.5)and ozone pollution based on China’s five major air pollution regions.The results show that it is necessary to continue to strengthen the emission reduction in PM_(2.5)and ozone precursors,and control NO_(x) and VOCs while promoting a dramatic emission reduction in PM_(2.5).The primary method of curbing ozone pollution is to strengthen the emission control of VOCs,with a long-term strategy of achieving substantial emission reductions in NO_(x),because VOCs and NO_(x) are also precursors to PM_(2.5);hence,their reductions also contribute to the reduction in PM_(2.5).Therefore,the implementation of a multipollutant emission reduction control strategy aimed at the prevention and control of PM_(2.5)and ozone pollution is the only means to realize the coordinated control of PM_(2.5)and ozone.
基金co-supported by the National Natural Science Foundation of China(No.11502008)Aeronautical Science Foundation of China(Nos.2017ZA51002,20185702003)the Fundamental Research Funds for the Central Universities of China(No.YWF-19-BJ-J-280)。
文摘For different flight phases in an overall flight mission,different control and allocation preferences should be pursued considering lift,drag or maneuverability characteristics.The multi-objective flight control allocation problem for a multi-phase flight mission is studied.For an overall flight mission,different flight phases namely climbing,cruise,maneuver and gliding phases are defined.Firstly,a multi-objective control allocation problem considering drag,lift or control energy preference is constructed.Secondly,considering different control preferences at different flight phases,the analytic hierarchical process method is used to construct a comprehensive performance index from different objectives such as lift or drag preferences.The active set based dynamic programming optimization method is used to solve the real-time optimization problem.For the validation,the Innovative Control Effector(ICE)tailless aircraft nonlinear model and the angular acceleration measurements based adaptive Incremental Backstepping(IBKS)are used to construct the validation platform.Finally,an overall flight mission is simulated to demonstrate the efficiency of the proposed multi-phase and multi-objective flight control allocation method.The results show that the comprehensive performance index for different phases,which are determined from the Analytic Hierarchy Process(AHP)method,can suitably satisfy the preference requirements for different flight phases.
基金co-supported by the National Natural Science Foundation of China(Nos.61803009,61903084)Fundamental Research Funds for the Central Universities of China(No.YWF-20-BJ-J-542)the National Science Foundation of Jiangsu Province,China(No.BK20180358).
文摘This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV)swarm to achieve formation control.First,the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC).Then,the effect of heterogeneous roles including leader,coordinator and follower is discussed,and the role-based cost functions are developed to improve the performance of coordinated control for UAV swarm.Furthermore,a group of coordination strategies are proposed for UAVs with different roles to achieve swarm conflict resolution.Numerical simulations demonstrate that the presented distributed coordinated control scheme is effective to formulate and maintain the desired formation for the UAV swarm.
文摘In this paper, the control problem of auxiliary power unit （APU） for hybrid electric vehicles is investigated. An adaptive controller is provided to achieve the coordinated control between the engine speed and the battery charging voltage. The proposed adaptive coordinated control laws for the throttle angle of the engine and the voltage of the power-converter can guarantee not only the asymptotic tracking performance of the engine speed and the regulation of the battery charging voltage, but also the robust stability of the closed loop system under external load changes. Simulation results are given to verify the performance of the proposed adaptive controller.
基金the National Natural Science Foundation of China(Nos.10672040 and 10372022)the Natural Science Foundation of Fujian Province,China(No.E0410008)
文摘The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.
基金supported by the State Grid Science and Technology Project, “Study on Multi-source and Multiload Coordination and Optimization Technology Considering Desalination of Sea Water” (No. SGTJDK00DWJS1800011)
文摘Traditional seawater desalination requires high amounts of energy, with correspondingly high costs and limited benefits, hindering wider applications of the process. To further improve the comprehensive economic benefits of seawater desalination, the desalination load can be combined with renewable energy sources such as solar energy, wind energy, and ocean energy or with the power grid to ensure its effective regulation. Utilizing energy internet(EI) technology, energy balance demand of the regional power grid, and coordinated control between coastal multi-source multi-load and regional distribution network with desalination load is reviewed herein. Several key technologies, including coordinated control of coastal multi-source multi-load system with seawater desalination load, flexible interaction between seawater desalination and regional distribution network, and combined control of coastal multi-source multi-load storage system with seawater desalination load, are discussed in detail. Adoption of the flexible interaction between seawater desalination and regional distribution networks is beneficial for solving water resource problems, improving the ability to dissipate distributed renewable energy, balancing and increasing grid loads, improving the safety and economy of coastal power grids, and achieving coordinated and comprehensive application of power grids, renewable energy sources, and coastal loads.
基金Project supported by the National Hi-Tech Research and Develop-ment Program (863) of China (No. 2006AA11Z204)the Qianji-ang Program of Zhejiang Province (No. 2009R10008)
文摘For automated vehicles,comfortable driving will improve passengers’ satisfaction.Reducing fuel consumption brings economic profits for car owners,decreases the impact on the environment and increases energy sustainability.In addition to comfort and fuel-economy,automated vehicles also have the basic requirements of safety and car-following.For this purpose,an adaptive cruise control (ACC) algorithm with multi-objectives is proposed based on a model predictive control (MPC) framework.In the proposed ACC algorithm,safety is guaranteed by constraining the inter-distance within a safe range; the requirements of comfort and car-following are considered to be the performance criteria and some optimal reference trajectories are introduced to increase fuel-economy.The performances of the proposed ACC algorithm are simulated and analyzed in five representative traffic scenarios and multiple experiments.The results show that not only are safety and car-following objectives satisfied,but also driving comfort and fuel-economy are improved significantly.
