An addition scheme applicable to time-delay integration (TDI) CMOS image sensor is proposed,which adds signals in the charge domain in the pixel array.A two-shared pixel structure adopting two-stage charge transfer is...An addition scheme applicable to time-delay integration (TDI) CMOS image sensor is proposed,which adds signals in the charge domain in the pixel array.A two-shared pixel structure adopting two-stage charge transfer is introduced,together with the rolling shutter with an undersampling readout timing.Compared with the conventional TDI addition methods,the proposed scheme can reduce the addition operations by half in the pixel array,which decreases the power consumption of addition circuits outside the pixel array.The timing arrangement and pixel structure are analyzed in detail.The simulation results show that the proposed pixel structure can achieve the charge addition with negligible nonlinearity,therefore the power consumption of the periphery addition circuits can be reduced by half theoretically.展开更多
This paper investigates the stability of time-delay systems via a multiple integral approach. Based on the refined Jensen-based inequality, a novel multiple integral inequality is proposed. Applying the multiple integ...This paper investigates the stability of time-delay systems via a multiple integral approach. Based on the refined Jensen-based inequality, a novel multiple integral inequality is proposed. Applying the multiple integral inequality to estimate the derivative of Lyapunov-Krasovskii functional(LKF) with multiple integral terms, a novel stability condition is formulated for the linear time-delay systems. Two numerical examples are employed to demonstrate the improvements of our results.展开更多
A linear matrix inequality （LMI）-based sliding surface design method for integral sliding mode control of uncertain time- delay systems with mismatching uncertainties is proposed. The uncertain time-delay system und...A linear matrix inequality （LMI）-based sliding surface design method for integral sliding mode control of uncertain time- delay systems with mismatching uncertainties is proposed. The uncertain time-delay system under consideration may have mis- matching norm bounded uncertainties in the state matrix as well as the input matrix, A sufficient condition for the existence of a sliding surface is given to guarantee asymptotic stability of the full order slJdJng mode dynamics. An LMI characterization of the slid- ing surface is given, together with an integral sliding mode control law guaranteeing the existence of a sliding mode from the initial time. Finally, a simulation is given to show the effectiveness of the proposed method.展开更多
To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （I...To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.展开更多
This paper presents an Ethernet based hybrid method for predicting random time-delay in the networked control system.First,db3 wavelet is used to decompose and reconstruct time-delay sequence,and the approximation com...This paper presents an Ethernet based hybrid method for predicting random time-delay in the networked control system.First,db3 wavelet is used to decompose and reconstruct time-delay sequence,and the approximation component and detail components of time-delay sequences are fgured out.Next,one step prediction of time-delay is obtained through echo state network(ESN)model and auto-regressive integrated moving average model(ARIMA)according to the diferent characteristics of approximate component and detail components.Then,the fnal predictive value of time-delay is obtained by summation.Meanwhile,the parameters of echo state network is optimized by genetic algorithm.The simulation results indicate that higher accuracy can be achieved through this prediction method.展开更多
For several superior controllers of the first-order integrating processes with long delay, the windup problems are analyzed in detail when the control signal saturates. The results show that these controllers have sim...For several superior controllers of the first-order integrating processes with long delay, the windup problems are analyzed in detail when the control signal saturates. The results show that these controllers have similar characteristics about the process input limitation. And then, a simple and effective anti-windup scheme, without an additional parameter, is designed for these controllers. Simulations run with three main controllers, and the results illustrate that the proposed method may achieve good performance under the nominal and model uncertainty cases.展开更多
This paper focuses on the delay-dependent stability for a kind of Markovian jump time-delay systems(MJTDSs),whose transition rates are incompletely known. In order to reduce the computational complexity and achieve be...This paper focuses on the delay-dependent stability for a kind of Markovian jump time-delay systems(MJTDSs),whose transition rates are incompletely known. In order to reduce the computational complexity and achieve better performance,auxiliary function-based double integral inequality is combined with extended Wirtinger's inequality and Jensen inequality to deal with the double integral and the triple integral in augmented Lyapunov-Krasovskii function(ALKF) and their weak infinitesimal generator respectively, the more accurate approximation bounds with a fewer variables are derived. As a result, less conservative stability criteria are proposed in this paper. Finally,numerical examples are given to show the effectiveness and the merits of the proposed method.展开更多
For the first-order integrating processes with long delay, the disturbance observer-based 2DoF control scheme is analyzed in detail with regard to the control input limitation. After that, a simple anti-windup scheme,...For the first-order integrating processes with long delay, the disturbance observer-based 2DoF control scheme is analyzed in detail with regard to the control input limitation. After that, a simple anti-windup scheme, without an additional parameter, is proposed to compensate for the adverse effects of the input saturation. The proposed method can properly keep the control signal saturated for an optimum length of time without discarding the control energy. The simulation results show that the control input saturation can dramatically degrade the closed loop system performance. Under the nonfinal and model uncertainty cases, the controller with anti-windup strategy will obtain fast and smooth responses. Furthermore, the simulation results illustrate that the proposed anti-windup scheme may achieve good performance for the high order integrating processes with long delay.展开更多
Aiming at the problem that it is difficult to locate all the aperture positions of the large size component using Houghcircle detection method,this article presents a non-contact measurement method combining the integ...Aiming at the problem that it is difficult to locate all the aperture positions of the large size component using Houghcircle detection method,this article presents a non-contact measurement method combining the integral imaging technology withHough circle detection algorithm.Firstly,a set of integral imaging information acquisition algorithms were proposed accordingto the classical imaging theory.Secondly,the camera array experiment device was built by using two-dimensional translationstage and charge coupled device(CCD)camera.When the system is operating,element image array captured with the camera isused to achieve the positioning of the component aperture using Hough circle detection and coordinate acquisition algorithm.Based on the above theory,a verification experiment was carried out.The results show that the detection error of the componentaperture position is within0.3mm,which provides effective theoretical support for the application of integral imagingtechnology in high precision detection展开更多
This study focuses on a graphical approach to determine the robust stabilizing regions of fractional-order PIλ（proportional integration） controllers for fractional-order systems with time-delays. By D-decomposition...This study focuses on a graphical approach to determine the robust stabilizing regions of fractional-order PIλ（proportional integration） controllers for fractional-order systems with time-delays. By D-decomposition technique, the existence conditions and calculating method of the real root boundary（RRB） curves, complex root boundary（CRB） curves and infinite root boundary（IRB）lines are investigated for a given stability degree. The robust stabilizing regions in terms of the RRB curves, CRB curves and IRB lines are identified by the proposed criteria in this paper. Finally, two illustrative examples are given to verify the effectiveness of this graphical approach for different stability degrees.展开更多
This paper proposes a robust integral sliding mode (RISM) manifold and the corresponding stabilization control law for uncertain systems with multiple time-varying time delays based on the techniques of linear matrix ...This paper proposes a robust integral sliding mode (RISM) manifold and the corresponding stabilization control law for uncertain systems with multiple time-varying time delays based on the techniques of linear matrix inequalities (LMI). The sufficient condition for the existence of the RISM manifold is given in terms of LMI, and then, the sliding mode control (SMC) law that can keep the system state on the RISM manifold from the initial time moment is developed. The efficiency and feasibility of the results are illustrated by a numerical example.展开更多
Time-delayed state feedback is an easy realizable control method that generates control force by differencing the current and the delayed versions of the system states.In this paper,a new form of the time-delayed stat...Time-delayed state feedback is an easy realizable control method that generates control force by differencing the current and the delayed versions of the system states.In this paper,a new form of the time-delayed state feedback structure is introduced.Based on the proposed time-delayed state feedback method,a new robust tracking system is designed.This tracking system improves the conventional state feedback with integral action disturbance rejection characteristics in the presence of the disturbance signals imposed on the system dynamics or on the sensors that measure the system states.Also,the proposed tracking system tracks the ramp-shaped reference input signal,which is not achievable through conventional state feedback.Moreover,since the proposed method adds delays to the closed-loop system dynamics,the ordinary differential equation of the system changes to a delay differential equation with an infinite number of characteristic roots.Thus,conventional pole placement techniques cannot be used to design the time-delayed state feedback controller parameters.In this paper,the simulated annealing algorithm is used to determine the proposed control system parameters and move the unstable roots of the delay differential equation to the left half-plane.Finally,the efficiency of the proposed reference input tracker is demonstrated by presenting two numerical examples.展开更多
智能汽车是全球汽车产业发展的重要方向,为适应智能汽车实践教学的新需求,设计并搭建了一套智能汽车视频注入实验平台。首先,结合虚拟仿真与车载域控制器,设计了一套虚实融合的实验平台方案;其次,开发了摄像头仿真模型并进行了虚拟标定...智能汽车是全球汽车产业发展的重要方向,为适应智能汽车实践教学的新需求,设计并搭建了一套智能汽车视频注入实验平台。首先,结合虚拟仿真与车载域控制器,设计了一套虚实融合的实验平台方案;其次,开发了摄像头仿真模型并进行了虚拟标定验证,同时构建了基于GMSL2(Gigabit Multimedia Serial Link 2)与CSI-2(Camera Serial Interface 2)协议的摄像头数据链路,实现了虚拟仿真信号与车载域控制器硬件之间的有效交互;将开发环境中训练的深度学习模型进行量化与通用格式转换,并部署至车载域控制器,使其能与虚拟仿真环境实现实时交互;最后,应用建立的实验系统,为学生提供了理论与实践相结合的学习环境,帮助学生深入理解摄像头原理,并掌握多路视频信号从生成、传输到感知算法部署过程。实验结果表明,智能汽车视频注入实验系统能有效提升学生在智能汽车技术领域的实践能力和创新能力。展开更多
To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single inp...To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.展开更多
基金Supported by National Natural Science Foundation of China (No.61036004 and No. 61076024)Ph.D. Programs Foundation of Ministry of Education of China (No. 20100032110031)
文摘An addition scheme applicable to time-delay integration (TDI) CMOS image sensor is proposed,which adds signals in the charge domain in the pixel array.A two-shared pixel structure adopting two-stage charge transfer is introduced,together with the rolling shutter with an undersampling readout timing.Compared with the conventional TDI addition methods,the proposed scheme can reduce the addition operations by half in the pixel array,which decreases the power consumption of addition circuits outside the pixel array.The timing arrangement and pixel structure are analyzed in detail.The simulation results show that the proposed pixel structure can achieve the charge addition with negligible nonlinearity,therefore the power consumption of the periphery addition circuits can be reduced by half theoretically.
基金supported by the National Natural Science Foundation of China(61473070,61433004,61627809)SAPI Fundamental Research Funds(2013ZCX01,2013ZCX14)
文摘This paper investigates the stability of time-delay systems via a multiple integral approach. Based on the refined Jensen-based inequality, a novel multiple integral inequality is proposed. Applying the multiple integral inequality to estimate the derivative of Lyapunov-Krasovskii functional(LKF) with multiple integral terms, a novel stability condition is formulated for the linear time-delay systems. Two numerical examples are employed to demonstrate the improvements of our results.
基金supported in part by the National Basic Research Program of China(973 Program)(61334)
文摘A linear matrix inequality （LMI）-based sliding surface design method for integral sliding mode control of uncertain time- delay systems with mismatching uncertainties is proposed. The uncertain time-delay system under consideration may have mis- matching norm bounded uncertainties in the state matrix as well as the input matrix, A sufficient condition for the existence of a sliding surface is given to guarantee asymptotic stability of the full order slJdJng mode dynamics. An LMI characterization of the slid- ing surface is given, together with an integral sliding mode control law guaranteeing the existence of a sliding mode from the initial time. Finally, a simulation is given to show the effectiveness of the proposed method.
基金Project(2007011049) supported by the Natural Science Foundation of Shanxi Province,China
文摘To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.
基金supported by National Natural Science Foundation of China(No.61034005)
文摘This paper presents an Ethernet based hybrid method for predicting random time-delay in the networked control system.First,db3 wavelet is used to decompose and reconstruct time-delay sequence,and the approximation component and detail components of time-delay sequences are fgured out.Next,one step prediction of time-delay is obtained through echo state network(ESN)model and auto-regressive integrated moving average model(ARIMA)according to the diferent characteristics of approximate component and detail components.Then,the fnal predictive value of time-delay is obtained by summation.Meanwhile,the parameters of echo state network is optimized by genetic algorithm.The simulation results indicate that higher accuracy can be achieved through this prediction method.
基金the National "863" High Technology Development Program(2001AA413130).
文摘For several superior controllers of the first-order integrating processes with long delay, the windup problems are analyzed in detail when the control signal saturates. The results show that these controllers have similar characteristics about the process input limitation. And then, a simple and effective anti-windup scheme, without an additional parameter, is designed for these controllers. Simulations run with three main controllers, and the results illustrate that the proposed method may achieve good performance under the nominal and model uncertainty cases.
基金supported by the National Natural Science Foundation of China(61403001,61572032)in part by the Natural Science Foundation of Anhui Province of China(1508085QF136)in part by the Natural Science Foundation of Universities of Anhui Province of China(KJ2016A058)
文摘This paper focuses on the delay-dependent stability for a kind of Markovian jump time-delay systems(MJTDSs),whose transition rates are incompletely known. In order to reduce the computational complexity and achieve better performance,auxiliary function-based double integral inequality is combined with extended Wirtinger's inequality and Jensen inequality to deal with the double integral and the triple integral in augmented Lyapunov-Krasovskii function(ALKF) and their weak infinitesimal generator respectively, the more accurate approximation bounds with a fewer variables are derived. As a result, less conservative stability criteria are proposed in this paper. Finally,numerical examples are given to show the effectiveness and the merits of the proposed method.
文摘For the first-order integrating processes with long delay, the disturbance observer-based 2DoF control scheme is analyzed in detail with regard to the control input limitation. After that, a simple anti-windup scheme, without an additional parameter, is proposed to compensate for the adverse effects of the input saturation. The proposed method can properly keep the control signal saturated for an optimum length of time without discarding the control energy. The simulation results show that the control input saturation can dramatically degrade the closed loop system performance. Under the nonfinal and model uncertainty cases, the controller with anti-windup strategy will obtain fast and smooth responses. Furthermore, the simulation results illustrate that the proposed anti-windup scheme may achieve good performance for the high order integrating processes with long delay.
基金National Natural Science Foundation of China(No.61172120)National Key Science Foundation of Tianjin(No.13JCZDJC34800)
文摘Aiming at the problem that it is difficult to locate all the aperture positions of the large size component using Houghcircle detection method,this article presents a non-contact measurement method combining the integral imaging technology withHough circle detection algorithm.Firstly,a set of integral imaging information acquisition algorithms were proposed accordingto the classical imaging theory.Secondly,the camera array experiment device was built by using two-dimensional translationstage and charge coupled device(CCD)camera.When the system is operating,element image array captured with the camera isused to achieve the positioning of the component aperture using Hough circle detection and coordinate acquisition algorithm.Based on the above theory,a verification experiment was carried out.The results show that the detection error of the componentaperture position is within0.3mm,which provides effective theoretical support for the application of integral imagingtechnology in high precision detection
基金supported by National Natural Science Foundation of China(No.61304094)
文摘This study focuses on a graphical approach to determine the robust stabilizing regions of fractional-order PIλ（proportional integration） controllers for fractional-order systems with time-delays. By D-decomposition technique, the existence conditions and calculating method of the real root boundary（RRB） curves, complex root boundary（CRB） curves and infinite root boundary（IRB）lines are investigated for a given stability degree. The robust stabilizing regions in terms of the RRB curves, CRB curves and IRB lines are identified by the proposed criteria in this paper. Finally, two illustrative examples are given to verify the effectiveness of this graphical approach for different stability degrees.
基金supported by the Science and Research Foundation of North China Institute of Science and Technology
文摘This paper proposes a robust integral sliding mode (RISM) manifold and the corresponding stabilization control law for uncertain systems with multiple time-varying time delays based on the techniques of linear matrix inequalities (LMI). The sufficient condition for the existence of the RISM manifold is given in terms of LMI, and then, the sliding mode control (SMC) law that can keep the system state on the RISM manifold from the initial time moment is developed. The efficiency and feasibility of the results are illustrated by a numerical example.
文摘Time-delayed state feedback is an easy realizable control method that generates control force by differencing the current and the delayed versions of the system states.In this paper,a new form of the time-delayed state feedback structure is introduced.Based on the proposed time-delayed state feedback method,a new robust tracking system is designed.This tracking system improves the conventional state feedback with integral action disturbance rejection characteristics in the presence of the disturbance signals imposed on the system dynamics or on the sensors that measure the system states.Also,the proposed tracking system tracks the ramp-shaped reference input signal,which is not achievable through conventional state feedback.Moreover,since the proposed method adds delays to the closed-loop system dynamics,the ordinary differential equation of the system changes to a delay differential equation with an infinite number of characteristic roots.Thus,conventional pole placement techniques cannot be used to design the time-delayed state feedback controller parameters.In this paper,the simulated annealing algorithm is used to determine the proposed control system parameters and move the unstable roots of the delay differential equation to the left half-plane.Finally,the efficiency of the proposed reference input tracker is demonstrated by presenting two numerical examples.
文摘智能汽车是全球汽车产业发展的重要方向,为适应智能汽车实践教学的新需求,设计并搭建了一套智能汽车视频注入实验平台。首先,结合虚拟仿真与车载域控制器,设计了一套虚实融合的实验平台方案;其次,开发了摄像头仿真模型并进行了虚拟标定验证,同时构建了基于GMSL2(Gigabit Multimedia Serial Link 2)与CSI-2(Camera Serial Interface 2)协议的摄像头数据链路,实现了虚拟仿真信号与车载域控制器硬件之间的有效交互;将开发环境中训练的深度学习模型进行量化与通用格式转换,并部署至车载域控制器,使其能与虚拟仿真环境实现实时交互;最后,应用建立的实验系统,为学生提供了理论与实践相结合的学习环境,帮助学生深入理解摄像头原理,并掌握多路视频信号从生成、传输到感知算法部署过程。实验结果表明,智能汽车视频注入实验系统能有效提升学生在智能汽车技术领域的实践能力和创新能力。
基金supported in part by the Australian Research Council Discovery Project(DP190101557)
文摘To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.
