Energy storage-equipped photovoltaic(PV-storage)systems can meet frequency regulation requirements under various operating conditions,and their coordinated support for grid frequency has become a future trend.To addre...Energy storage-equipped photovoltaic(PV-storage)systems can meet frequency regulation requirements under various operating conditions,and their coordinated support for grid frequency has become a future trend.To address frequency stability issues caused by low inertia and weak damping,this paper proposes a multi-timescale frequency regulation coordinated control strategy for PV-storage integrated systems.First,a self-synchronizing control strategy for grid-connected inverters is designed based on DC voltage dynamics,enabling active inertia support while transmitting frequency variation information.Next,an energy storage inertia support control strategy is developed to enhance the frequency nadir,and an active frequency support control strategy for PV system considering a frequency regulation deadband is proposed,where the deadband value is determined based on the power regulation margin of synchronous generators,allowing the PV-storage system to adaptively switch between inertia support and primary frequency regulation under different disturbance conditions.This approach ensures system frequency stability while fully leveraging the regulation capabilities of heterogeneous resources.Finally,the real-time digital simulation results of the PV-storage integrated system demonstrate that,compared to existing control methods,the proposed strategy effectively reduces the rate of change of frequency and improves the frequency nadir under various disturbance scenarios,verifying its effectiveness.展开更多
Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery supp...Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery support structures in electric aircraft,conventional absorbers and isolators are insufficient for effective vibration control.This study simplifies the battery support structure of electric aircraft as an integrated composite beam consisting of three interconnected beams,and investigated its structural dynamics properties and nonlinear vibration control under thermal conditions caused by battery heat.The nonlinear vibration control is performed using the Nitinol steel wire ropes(Ni Ti-ST),with nonlinear damping properties.The natural frequencies of system are determined using the Rayleigh-Ritz technique.Theoretical results are validated through both Finite Element Method(FEM)and hammer tests.Moreover,the dynamic equations are derived using the Lagrange method and discretized via the Galerkin Truncation Method(GTM).The Harmonic Balance Method(HBM)is used to evaluate the vibration responses of the integrated model,with further verification through the Runge-Kutta Method(RKM).The experiments are conducted to corroborate the theoretical analysis.The results show that the system frequency changes in stages with the increase of the stiffness of the integrated composite beam connection.Especially in the case of varying environments,as the temperature increases,the frequency of system will first increase to a certain maximum value and then gradually decrease.Furthermore,the NiTi-ST effectively reduces vibration in the integrated composite beam,particularly under varying temperatures and external excitations.展开更多
As unmanned underwater vehicles (UUVs) are increasingly designed to perform long-duration missions in highly complex and often extreme environments, traditional design methods face significant and growing challenges^(...As unmanned underwater vehicles (UUVs) are increasingly designed to perform long-duration missions in highly complex and often extreme environments, traditional design methods face significant and growing challenges^([1,2]).展开更多
Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of thr...Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of three actions:fast(errorcorrection),medium(negative feedback for expanded proportional band)and slow(reset for zero steady-state error).The focus of the paper is on the reset action,generated from a positive feedback loop,and its underlying principles with profound implications to our understanding and practice of automatic control,both basic and advanced.For example,we note that reset control and integral control,contrary to common belief,differ fundamentally in design principle and in practicality.Such difference comes to a head in the event of integrator windup:while reset windup is a problem of actuator saturation,the integrator windup is a runaway situation due to controller instability.In fact,there is no advantage gained in replacing MR with an integrator.In other words,one should not integrate the error directly as in standard PID,since doing so makes the closed-loop system internally unstable.With MR-based control formulated in this paper,there is no such threat of instability and,therefore,no need for any anti-windup mechanisms.Furthermore,the integral control is made scalable in this framework as a tradeoff between the steady-state accuracy and the controller stability.This leads to a novel MR-based control design,scalable in gain and in time to accommodate various process characteristics and design specifications.Simple in construction and transparent in principle,this MR-based control,as a basic framework of design,is readily deployable in scale.展开更多
Based on the discussion of functions, components, control structure and network computing architecture of generic shop floor control (GSFC) in computer integrated manufacturing system (CIMS), the internal integrati...Based on the discussion of functions, components, control structure and network computing architecture of generic shop floor control (GSFC) in computer integrated manufacturing system (CIMS), the internal integration between components of GSFC and the external integration between GSFC and the other components of CIMS are studied. The integration models on the aspects of function, information, processing and interface are put forward. The integration models and the methods are implemented and applied in CIMS projects successfully.展开更多
The multi-terminal direct current(DC)grid has extinctive superiorities over the traditional alternating current system in integrating large-scale renewable energy.Both the DC circuit breaker(DCCB)and the current flow ...The multi-terminal direct current(DC)grid has extinctive superiorities over the traditional alternating current system in integrating large-scale renewable energy.Both the DC circuit breaker(DCCB)and the current flow controller(CFC)are demanded to ensure the multiterminal DC grid to operates reliably and flexibly.However,since the CFC and the DCCB are all based on fully controlled semiconductor switches(e.g.,insulated gate bipolar transistor,integrated gate commutated thyristor,etc.),their separation configuration in the multiterminal DC grid will lead to unaffordable implementation costs and conduction power losses.To solve these problems,integrated equipment with both current flow control and fault isolation abilities is proposed,which shares the expensive and duplicated components of CFCs and DCCBs among adjacent lines.In addition,the complicated coordination control of CFCs and DCCBs can be avoided by adopting the integrated equipment in themultiterminal DC grid.In order to examine the current flow control and fault isolation abilities of the integrated equipment,the simulation model of a specific meshed four-terminal DC grid is constructed in the PSCAD/EMTDC software.Finally,the comparison between the integrated equipment and the separate solution is presented a specific result or conclusion needs to be added to the abstract.展开更多
This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of vi...This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem.Second,a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point.The boundary layer technique is employed to mitigate the chattering phenomenon.Furthermore,a strict finite-time Lyapunov stability analysis is conducted.An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out,and the results demonstrate the superiority of the proposed control algorithm.展开更多
Integration amongst various decision-making processes, such as planning, design, and operation is necessary to dynamic and flexible batch production. To achieve a batch production integration, utilization of common mo...Integration amongst various decision-making processes, such as planning, design, and operation is necessary to dynamic and flexible batch production. To achieve a batch production integration, utilization of common models used for various decision-making processes is an effective approach. From this point of view, a batch system common model as described by a Petri net is proposed. In this article, a fault diagnosis technique for batch processes is presented using information about fault propagation and the possibilities of integration of fault analysis and controller synthesis are discussed on the basis of the Petri net based common models.展开更多
According to the construction of current coal mine monitoring and control systems in China, the paper proposes three kinds of applicable schemes of integrating PLC and DCS systems with field bus technology to digitize...According to the construction of current coal mine monitoring and control systems in China, the paper proposes three kinds of applicable schemes of integrating PLC and DCS systems with field bus technology to digitize the system and to improve the flexibility and extent of the system. Essentially, the paper introduces the integration of FCS on I/O layers. Based on a real coal mine safety-monitoring and control system applied with a CAN field bus, the major technology of system relays and extensions is discussed. We believe that one of the most applicable methods is currently replacing the connection between function-stations and field-sensors with a CAN bus on I/0 layers for system integration.展开更多
By using the precise integration method, the numerical solution of linear quadratic Gaussian (LQG) optimal control problem was discussed. Based on the separation principle, the LQG central problem decomposes, or separ...By using the precise integration method, the numerical solution of linear quadratic Gaussian (LQG) optimal control problem was discussed. Based on the separation principle, the LQG central problem decomposes, or separates, into an optimal state-feedback control problem and an optimal state estimation problem. That is the off-line solution of two sets of Riccati differential equations and the on-line integration solution of the state vector from a set of time-variant differential equations. The present algorithms are not only appropriate to solve the two-point boundary-value problem and the corresponding Riccati differential equation, but also can be used to solve the estimated state from the time-variant differential equations. The high precision of precise integration is of advantage for the control and estimation. Numerical examples demonstrate the high precision and effectiveness of the algorithm.展开更多
In recent years,the exponential proliferation of smart devices with their intelligent applications poses severe challenges on conventional cellular networks.Such challenges can be potentially overcome by integrating c...In recent years,the exponential proliferation of smart devices with their intelligent applications poses severe challenges on conventional cellular networks.Such challenges can be potentially overcome by integrating communication,computing,caching,and control(i4C)technologies.In this survey,we first give a snapshot of different aspects of the i4C,comprising background,motivation,leading technological enablers,potential applications,and use cases.Next,we describe different models of communication,computing,caching,and control(4C)to lay the foundation of the integration approach.We review current stateof-the-art research efforts related to the i4C,focusing on recent trends of both conventional and artificial intelligence(AI)-based integration approaches.We also highlight the need for intelligence in resources integration.Then,we discuss the integration of sensing and communication(ISAC)and classify the integration approaches into various classes.Finally,we propose open challenges and present future research directions for beyond 5G networks,such as 6G.展开更多
Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion ...Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion integration differentiation(PID)was proposed by analyzing the signal transmission process and the dynamic characteristics of the grinding mechanism.The simulation results showed that compared with the classical PID control strategy,the system adjustment time was shortened by 98.7%,the overshoot was reduced by 5.1%,and the control error was 0.2%-0.5%when the system was stabilized.The optimized fuzzy control system had fast adjustment speeds,precise force control and stability.The experimental analysis of the surface morphology of the machined blade was carried out by the industrial robot abrasive grinding mechanism,and the correctness of the theoretical analysis and the effectiveness of the control strategy were verified.展开更多
We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utiliz...We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utilize quadratures for singular integrals using graded points. One has a polynomial order of accuracy if the integrand has a polynomial order of smoothness except at the singular point and the other has exponential order of accuracy if the integrand has an infinite order of smoothness except at the singular point. We estimate the order of convergence and computational complexity of the corresponding approximate solutions of the equation. We prove that the second technique preserves the order of convergence and computational complexity of the original collocation method. Numerical experiments are presented to illustrate the theoretical estimates.展开更多
The rapid increase in resource sharing across domains in the cloud comput- ing environment makes the task of managing inter-domain access control policy integration difficult for the security administrators. Al- thoug...The rapid increase in resource sharing across domains in the cloud comput- ing environment makes the task of managing inter-domain access control policy integration difficult for the security administrators. Al- though a number of policy integration and sec- urity analysis mechanisms have been devel- oped, few focus on enabling the average ad- ministrator by providing an intuitive cognitive sense about the integrated policies, which considerably undermines the usability factor. In this paper we propose a visualization flame- work for inter-domain access control policy integration, which integrates Role Based Ac- cess Control （RBAC） policies on the basis of role-mapping and then visualizes the inte- grated result. The role mapping algorithm in the framework considers the hybrid role hier- archy. It can not only satisfy the security con- straints of non-cyclic inheritance and separa- tion of duty but also make visualization easier. The framework uses role-permission trees and semantic substrates to visualize the integrated policies. Through the interactive policy query visualization, the average administrator can gain an intuitive understanding of the policy integration result.展开更多
Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investig...Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investigate the integrated scheduling of communication,sensing,and control for UAV-aided FSO communication systems.Initially,a sensing-control model is established via the control theory.Moreover,an FSO communication channel model is established by considering the effects of atmospheric loss,atmospheric turbulence,geometrical loss,and angle-of-arrival fluctuation.Then,the relationship between the motion control of the UAV and radial displacement is obtained to link the control aspect and communication aspect.Assuming that the base station has instantaneous channel state information(CSI)or statistical CSI,the thresholds of the sensing-control pattern activation are designed,respectively.Finally,an integrated scheduling scheme for performing communication,sensing,and control is proposed.Numerical results indicate that,compared with conventional time-triggered scheme,the proposed integrated scheduling scheme obtains comparable communication and control performance,but reduces the sensing consumed power by 52.46%.展开更多
In order to achieve the Quality of Service(QoS) provisioning and efficient resource utili-zation in cellular network and Wireless Local Area Network(WLAN) integration,an Integrated Ser-vice-Based Call Admission Contro...In order to achieve the Quality of Service(QoS) provisioning and efficient resource utili-zation in cellular network and Wireless Local Area Network(WLAN) integration,an Integrated Ser-vice-Based Call Admission Control(ISB-CAC) scheme is proposed in this paper.The integrated network is modeled by using multi-dimensional Markov chains.The numerical analysis is presented to evaluate the important performance measures such as the blocking probability of originating calls,the dropping probability,and the average transfer time,etc.The steady-state probabilities of the multi-dimensional Markov chains are obtained by using an iterative approach,and the CAC pa-rameters are optimally designed.The analytical model is validated by the computer simulation.It is shown that compared with the conventional WLAN-First Call Admission Control(WF-CAC) scheme,the proposed ISB-CAC scheme not only provides better QoS for mobile users but also utilizes the bandwidth resources more efficiently.展开更多
Crop chemical regulation using plant growth regulators(PGRs)represents a key strategy for achieving high-efficiency cotton production in China.This review synthesizes four decades of research on mepiquat chloride(MC),...Crop chemical regulation using plant growth regulators(PGRs)represents a key strategy for achieving high-efficiency cotton production in China.This review synthesizes four decades of research on mepiquat chloride(MC),an inhibitory PGR pivotal to optimizing cotton growth architecture,stress resilience,and yield-quality parameters.We detail MC's stage-specific roles—from root development and flowering acceleration to canopy optimization and assimilate partitioning—and its mechanistic interactions with hormones(e.g.,gibberellin suppression,cytokinin enhancement)under biotic/abiotic stresses.Furthermore,we conceptualize MC deployment into three evolutionary tiers:(1)symptom-guided remedial application,(2)systemic growth-stage programming,and(3)integrated management with agronomic practices.These paradigms,supported by field validation across China's cotton belts,offer a roadmap for precision regulation.Future advancements in nano-formulations,digital agriculture,and PGR synergism are discussed to unlock next-generation yield frontiers.展开更多
Aiming at the problem that the draft-position integrated tillage depth control method with fixed comprehensive coefficient of tractor electro-hydraulic hitch system is difficult to adapt to the working environment wit...Aiming at the problem that the draft-position integrated tillage depth control method with fixed comprehensive coefficient of tractor electro-hydraulic hitch system is difficult to adapt to the working environment with large changes in soil conditions,a tractor draft-position integrated tillage depth control method with variable comprehensive coefficient was proposed.A comprehensive coefficient control scheme based on traction resistance was designed and its working principle was clarified.Aiming at the time-varying tillage depth control system,a tillage depth control algorithm based on the sliding mode control with a differential observer was designed.In order to verify the performance of the control scheme,a control system simulation model and a bench test platform were built,and the performance was compared with the draft-position integrated control method with a fixed comprehensive coefficient of 0.5.The results showed that the variable comprehensive coefficient tillage depth control method can automatically adjust the comprehensive coefficient according to the change of soil conditions,and has higher traction efficiency.In the small resistance range,it can better ensure the quality of operation;in the large resistance range,it can ensure the engine performance and protect the tractor from damage.This method is more adaptable to the complex field operation environment,which provides a reference for the research of tillage depth control method.展开更多
The integrated energy systems(IESs)offer a practical solution for achieving low-carbon targets in residential buildings.However,IES encounters several challenges related to increased energy consumption and costs due t...The integrated energy systems(IESs)offer a practical solution for achieving low-carbon targets in residential buildings.However,IES encounters several challenges related to increased energy consumption and costs due to fluctuations in renewable energy generation.Leveraging building flexibility to address these power fluctuations within IES is a promising strategy,which requires coordinated control between air-conditioning systems and other IES components.This study proposes a cross-time-scale control framework that contains optimal scheduling and on-the-fly flexible control to reduce the cost impacts of a residential IES system equipped with photovoltaic(PV)panels,batteries,a heat pump,and a domestic hot water tank.The method involves three key steps:solar irradiance prediction,day-ahead optimal scheduling of energy storage,and intra-day flexible control of the heat pump.The method is validated through a high-fidelity residential building model with actual weather and energy usage data in Frankfurt,Germany.Results reveal that the proposed method limits the cost increase to just 2.67% compared to the day-ahead schedule,whereas the cost could increase by 7.39% without the flexible control.Additionally,computational efficiency is enhanced by transforming the mixed-integer programming(MIP)into nonlinear programming(NLP)problem via introducing action-exclusive constraints.This approach offers valuable support for residential IES operations.展开更多
The rotating disk is a basic machine part that is u sed widely in industry. The motion equation is transformed into the dynamic equa tion in real modal space. The personating intelligent integration is introduced to ...The rotating disk is a basic machine part that is u sed widely in industry. The motion equation is transformed into the dynamic equa tion in real modal space. The personating intelligent integration is introduced to improve the existing control method. These modes that affect the transverse vibration mainly are included to simulate the vibration of rotating disk, and two methods are applied separately on condition that the sensor and the ac tuator are collocated and non collocated. The results obtained by all sided si mulations show that the new method can obtain better control effect, especially when the sensor and the actuator are non collocated.展开更多
基金supported by the State Grid Corporation of China under Grant for Science and Technology Projects(No.SGNXJYOOZWJS2500029).
文摘Energy storage-equipped photovoltaic(PV-storage)systems can meet frequency regulation requirements under various operating conditions,and their coordinated support for grid frequency has become a future trend.To address frequency stability issues caused by low inertia and weak damping,this paper proposes a multi-timescale frequency regulation coordinated control strategy for PV-storage integrated systems.First,a self-synchronizing control strategy for grid-connected inverters is designed based on DC voltage dynamics,enabling active inertia support while transmitting frequency variation information.Next,an energy storage inertia support control strategy is developed to enhance the frequency nadir,and an active frequency support control strategy for PV system considering a frequency regulation deadband is proposed,where the deadband value is determined based on the power regulation margin of synchronous generators,allowing the PV-storage system to adaptively switch between inertia support and primary frequency regulation under different disturbance conditions.This approach ensures system frequency stability while fully leveraging the regulation capabilities of heterogeneous resources.Finally,the real-time digital simulation results of the PV-storage integrated system demonstrate that,compared to existing control methods,the proposed strategy effectively reduces the rate of change of frequency and improves the frequency nadir under various disturbance scenarios,verifying its effectiveness.
基金supported by the National Natural Science Foundation of China(No.12272240)the Liaoning Revitalization Talents Program,China(No.XLYC2203197)。
文摘Traditional dynamic analysis of mechanical structures,often limited to individual beams or plates,fails to fully capture their dynamic behaviors.In systems where space and mass are constrained,such as the battery support structures in electric aircraft,conventional absorbers and isolators are insufficient for effective vibration control.This study simplifies the battery support structure of electric aircraft as an integrated composite beam consisting of three interconnected beams,and investigated its structural dynamics properties and nonlinear vibration control under thermal conditions caused by battery heat.The nonlinear vibration control is performed using the Nitinol steel wire ropes(Ni Ti-ST),with nonlinear damping properties.The natural frequencies of system are determined using the Rayleigh-Ritz technique.Theoretical results are validated through both Finite Element Method(FEM)and hammer tests.Moreover,the dynamic equations are derived using the Lagrange method and discretized via the Galerkin Truncation Method(GTM).The Harmonic Balance Method(HBM)is used to evaluate the vibration responses of the integrated model,with further verification through the Runge-Kutta Method(RKM).The experiments are conducted to corroborate the theoretical analysis.The results show that the system frequency changes in stages with the increase of the stiffness of the integrated composite beam connection.Especially in the case of varying environments,as the temperature increases,the frequency of system will first increase to a certain maximum value and then gradually decrease.Furthermore,the NiTi-ST effectively reduces vibration in the integrated composite beam,particularly under varying temperatures and external excitations.
基金supported by the National Natural Science Foundation of China (Grant No.52405033)。
文摘As unmanned underwater vehicles (UUVs) are increasingly designed to perform long-duration missions in highly complex and often extreme environments, traditional design methods face significant and growing challenges^([1,2]).
文摘Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of three actions:fast(errorcorrection),medium(negative feedback for expanded proportional band)and slow(reset for zero steady-state error).The focus of the paper is on the reset action,generated from a positive feedback loop,and its underlying principles with profound implications to our understanding and practice of automatic control,both basic and advanced.For example,we note that reset control and integral control,contrary to common belief,differ fundamentally in design principle and in practicality.Such difference comes to a head in the event of integrator windup:while reset windup is a problem of actuator saturation,the integrator windup is a runaway situation due to controller instability.In fact,there is no advantage gained in replacing MR with an integrator.In other words,one should not integrate the error directly as in standard PID,since doing so makes the closed-loop system internally unstable.With MR-based control formulated in this paper,there is no such threat of instability and,therefore,no need for any anti-windup mechanisms.Furthermore,the integral control is made scalable in this framework as a tradeoff between the steady-state accuracy and the controller stability.This leads to a novel MR-based control design,scalable in gain and in time to accommodate various process characteristics and design specifications.Simple in construction and transparent in principle,this MR-based control,as a basic framework of design,is readily deployable in scale.
文摘Based on the discussion of functions, components, control structure and network computing architecture of generic shop floor control (GSFC) in computer integrated manufacturing system (CIMS), the internal integration between components of GSFC and the external integration between GSFC and the other components of CIMS are studied. The integration models on the aspects of function, information, processing and interface are put forward. The integration models and the methods are implemented and applied in CIMS projects successfully.
基金supported in part by Natural Science Foundation of Jiangsu Province under Grant BK20230255Natural Science Foundation of Shandong Province under Grant ZR2023QE281.
文摘The multi-terminal direct current(DC)grid has extinctive superiorities over the traditional alternating current system in integrating large-scale renewable energy.Both the DC circuit breaker(DCCB)and the current flow controller(CFC)are demanded to ensure the multiterminal DC grid to operates reliably and flexibly.However,since the CFC and the DCCB are all based on fully controlled semiconductor switches(e.g.,insulated gate bipolar transistor,integrated gate commutated thyristor,etc.),their separation configuration in the multiterminal DC grid will lead to unaffordable implementation costs and conduction power losses.To solve these problems,integrated equipment with both current flow control and fault isolation abilities is proposed,which shares the expensive and duplicated components of CFCs and DCCBs among adjacent lines.In addition,the complicated coordination control of CFCs and DCCBs can be avoided by adopting the integrated equipment in themultiterminal DC grid.In order to examine the current flow control and fault isolation abilities of the integrated equipment,the simulation model of a specific meshed four-terminal DC grid is constructed in the PSCAD/EMTDC software.Finally,the comparison between the integrated equipment and the separate solution is presented a specific result or conclusion needs to be added to the abstract.
基金supported by the Artificial Intelligence Innovation and Development Special Fund of Shanghai(No.2019RGZN01041)the National Natural Science Foundation of China(No.92048205).
文摘This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem.Second,a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point.The boundary layer technique is employed to mitigate the chattering phenomenon.Furthermore,a strict finite-time Lyapunov stability analysis is conducted.An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out,and the results demonstrate the superiority of the proposed control algorithm.
文摘Integration amongst various decision-making processes, such as planning, design, and operation is necessary to dynamic and flexible batch production. To achieve a batch production integration, utilization of common models used for various decision-making processes is an effective approach. From this point of view, a batch system common model as described by a Petri net is proposed. In this article, a fault diagnosis technique for batch processes is presented using information about fault propagation and the possibilities of integration of fault analysis and controller synthesis are discussed on the basis of the Petri net based common models.
文摘According to the construction of current coal mine monitoring and control systems in China, the paper proposes three kinds of applicable schemes of integrating PLC and DCS systems with field bus technology to digitize the system and to improve the flexibility and extent of the system. Essentially, the paper introduces the integration of FCS on I/O layers. Based on a real coal mine safety-monitoring and control system applied with a CAN field bus, the major technology of system relays and extensions is discussed. We believe that one of the most applicable methods is currently replacing the connection between function-stations and field-sensors with a CAN bus on I/0 layers for system integration.
文摘By using the precise integration method, the numerical solution of linear quadratic Gaussian (LQG) optimal control problem was discussed. Based on the separation principle, the LQG central problem decomposes, or separates, into an optimal state-feedback control problem and an optimal state estimation problem. That is the off-line solution of two sets of Riccati differential equations and the on-line integration solution of the state vector from a set of time-variant differential equations. The present algorithms are not only appropriate to solve the two-point boundary-value problem and the corresponding Riccati differential equation, but also can be used to solve the estimated state from the time-variant differential equations. The high precision of precise integration is of advantage for the control and estimation. Numerical examples demonstrate the high precision and effectiveness of the algorithm.
基金supported in part by National Key R&D Program of China(2019YFE0196400)Key Research and Development Program of Shaanxi(2022KWZ09)+4 种基金National Natural Science Foundation of China(61771358,61901317,62071352)Fundamental Research Funds for the Central Universities(JB190104)Joint Education Project between China and Central-Eastern European Countries(202005)the 111 Project(B08038)。
文摘In recent years,the exponential proliferation of smart devices with their intelligent applications poses severe challenges on conventional cellular networks.Such challenges can be potentially overcome by integrating communication,computing,caching,and control(i4C)technologies.In this survey,we first give a snapshot of different aspects of the i4C,comprising background,motivation,leading technological enablers,potential applications,and use cases.Next,we describe different models of communication,computing,caching,and control(4C)to lay the foundation of the integration approach.We review current stateof-the-art research efforts related to the i4C,focusing on recent trends of both conventional and artificial intelligence(AI)-based integration approaches.We also highlight the need for intelligence in resources integration.Then,we discuss the integration of sensing and communication(ISAC)and classify the integration approaches into various classes.Finally,we propose open challenges and present future research directions for beyond 5G networks,such as 6G.
基金Civil Project of China Aerospace Science and Technology CorporationUniversity-Industry Collaborative Education Program of Ministry of Education of China(No.220906517214433)。
文摘Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion integration differentiation(PID)was proposed by analyzing the signal transmission process and the dynamic characteristics of the grinding mechanism.The simulation results showed that compared with the classical PID control strategy,the system adjustment time was shortened by 98.7%,the overshoot was reduced by 5.1%,and the control error was 0.2%-0.5%when the system was stabilized.The optimized fuzzy control system had fast adjustment speeds,precise force control and stability.The experimental analysis of the surface morphology of the machined blade was carried out by the industrial robot abrasive grinding mechanism,and the correctness of the theoretical analysis and the effectiveness of the control strategy were verified.
基金The NNSF (10371137 and 10201034) of Chinathe Foundation (20030558008) of Doctoral Program of National Higher Education, Guangdong Provincial Natural Science Foundation (1011170) of China and the Advanced Research Foundation of Zhongshan UniversityThe US National Science Foundation (9973427 and 0312113)NSF (10371122) of China and the Chinese Academy of Sciences under the program of "Hundred Distinguished Young Chinese Scientists."
文摘We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utilize quadratures for singular integrals using graded points. One has a polynomial order of accuracy if the integrand has a polynomial order of smoothness except at the singular point and the other has exponential order of accuracy if the integrand has an infinite order of smoothness except at the singular point. We estimate the order of convergence and computational complexity of the corresponding approximate solutions of the equation. We prove that the second technique preserves the order of convergence and computational complexity of the original collocation method. Numerical experiments are presented to illustrate the theoretical estimates.
基金supported in part by National Key Basic Research Program of China (973 Program) under Grant No.2013CB329603National Natural Science Foundation of China under Grant No.60903191
文摘The rapid increase in resource sharing across domains in the cloud comput- ing environment makes the task of managing inter-domain access control policy integration difficult for the security administrators. Al- though a number of policy integration and sec- urity analysis mechanisms have been devel- oped, few focus on enabling the average ad- ministrator by providing an intuitive cognitive sense about the integrated policies, which considerably undermines the usability factor. In this paper we propose a visualization flame- work for inter-domain access control policy integration, which integrates Role Based Ac- cess Control （RBAC） policies on the basis of role-mapping and then visualizes the inte- grated result. The role mapping algorithm in the framework considers the hybrid role hier- archy. It can not only satisfy the security con- straints of non-cyclic inheritance and separa- tion of duty but also make visualization easier. The framework uses role-permission trees and semantic substrates to visualize the integrated policies. Through the interactive policy query visualization, the average administrator can gain an intuitive understanding of the policy integration result.
文摘Recently,unmanned aerial vehicle(UAV)-aided free-space optical(FSO)communication has attracted widespread attentions.However,most of the existing research focuses on communication performance only.The authors investigate the integrated scheduling of communication,sensing,and control for UAV-aided FSO communication systems.Initially,a sensing-control model is established via the control theory.Moreover,an FSO communication channel model is established by considering the effects of atmospheric loss,atmospheric turbulence,geometrical loss,and angle-of-arrival fluctuation.Then,the relationship between the motion control of the UAV and radial displacement is obtained to link the control aspect and communication aspect.Assuming that the base station has instantaneous channel state information(CSI)or statistical CSI,the thresholds of the sensing-control pattern activation are designed,respectively.Finally,an integrated scheduling scheme for performing communication,sensing,and control is proposed.Numerical results indicate that,compared with conventional time-triggered scheme,the proposed integrated scheduling scheme obtains comparable communication and control performance,but reduces the sensing consumed power by 52.46%.
基金Supported in part by the National Grand Fundamental Research Program of China (973 Program) (No. 2007CB-310606)the Specialized Foundation for the Achievements Transformation of Science and Technology of Jiangsu Province (No. BA2006101)
文摘In order to achieve the Quality of Service(QoS) provisioning and efficient resource utili-zation in cellular network and Wireless Local Area Network(WLAN) integration,an Integrated Ser-vice-Based Call Admission Control(ISB-CAC) scheme is proposed in this paper.The integrated network is modeled by using multi-dimensional Markov chains.The numerical analysis is presented to evaluate the important performance measures such as the blocking probability of originating calls,the dropping probability,and the average transfer time,etc.The steady-state probabilities of the multi-dimensional Markov chains are obtained by using an iterative approach,and the CAC pa-rameters are optimally designed.The analytical model is validated by the computer simulation.It is shown that compared with the conventional WLAN-First Call Admission Control(WF-CAC) scheme,the proposed ISB-CAC scheme not only provides better QoS for mobile users but also utilizes the bandwidth resources more efficiently.
基金supported by the National Key Research and Development Program Projects of China(2024YFD2300600)the China Agriculture Research System(CARS-15-16)。
文摘Crop chemical regulation using plant growth regulators(PGRs)represents a key strategy for achieving high-efficiency cotton production in China.This review synthesizes four decades of research on mepiquat chloride(MC),an inhibitory PGR pivotal to optimizing cotton growth architecture,stress resilience,and yield-quality parameters.We detail MC's stage-specific roles—from root development and flowering acceleration to canopy optimization and assimilate partitioning—and its mechanistic interactions with hormones(e.g.,gibberellin suppression,cytokinin enhancement)under biotic/abiotic stresses.Furthermore,we conceptualize MC deployment into three evolutionary tiers:(1)symptom-guided remedial application,(2)systemic growth-stage programming,and(3)integrated management with agronomic practices.These paradigms,supported by field validation across China's cotton belts,offer a roadmap for precision regulation.Future advancements in nano-formulations,digital agriculture,and PGR synergism are discussed to unlock next-generation yield frontiers.
基金National Key Research and Development Plan of China(Grant No.2022YFD2001202)The Open Project of the State Key Laboratory of Intelligent Agricultural Power Equipment(SKLIAPE2023019)The Postgraduate Research and Practice Innovation Program of Jiangsu Province,China(Grant No.KYCX22_0716).
文摘Aiming at the problem that the draft-position integrated tillage depth control method with fixed comprehensive coefficient of tractor electro-hydraulic hitch system is difficult to adapt to the working environment with large changes in soil conditions,a tractor draft-position integrated tillage depth control method with variable comprehensive coefficient was proposed.A comprehensive coefficient control scheme based on traction resistance was designed and its working principle was clarified.Aiming at the time-varying tillage depth control system,a tillage depth control algorithm based on the sliding mode control with a differential observer was designed.In order to verify the performance of the control scheme,a control system simulation model and a bench test platform were built,and the performance was compared with the draft-position integrated control method with a fixed comprehensive coefficient of 0.5.The results showed that the variable comprehensive coefficient tillage depth control method can automatically adjust the comprehensive coefficient according to the change of soil conditions,and has higher traction efficiency.In the small resistance range,it can better ensure the quality of operation;in the large resistance range,it can ensure the engine performance and protect the tractor from damage.This method is more adaptable to the complex field operation environment,which provides a reference for the research of tillage depth control method.
基金supported by the National Key Research and Development Program of China(2022YFB4200902)。
文摘The integrated energy systems(IESs)offer a practical solution for achieving low-carbon targets in residential buildings.However,IES encounters several challenges related to increased energy consumption and costs due to fluctuations in renewable energy generation.Leveraging building flexibility to address these power fluctuations within IES is a promising strategy,which requires coordinated control between air-conditioning systems and other IES components.This study proposes a cross-time-scale control framework that contains optimal scheduling and on-the-fly flexible control to reduce the cost impacts of a residential IES system equipped with photovoltaic(PV)panels,batteries,a heat pump,and a domestic hot water tank.The method involves three key steps:solar irradiance prediction,day-ahead optimal scheduling of energy storage,and intra-day flexible control of the heat pump.The method is validated through a high-fidelity residential building model with actual weather and energy usage data in Frankfurt,Germany.Results reveal that the proposed method limits the cost increase to just 2.67% compared to the day-ahead schedule,whereas the cost could increase by 7.39% without the flexible control.Additionally,computational efficiency is enhanced by transforming the mixed-integer programming(MIP)into nonlinear programming(NLP)problem via introducing action-exclusive constraints.This approach offers valuable support for residential IES operations.
文摘The rotating disk is a basic machine part that is u sed widely in industry. The motion equation is transformed into the dynamic equa tion in real modal space. The personating intelligent integration is introduced to improve the existing control method. These modes that affect the transverse vibration mainly are included to simulate the vibration of rotating disk, and two methods are applied separately on condition that the sensor and the ac tuator are collocated and non collocated. The results obtained by all sided si mulations show that the new method can obtain better control effect, especially when the sensor and the actuator are non collocated.
