BP神经网络在永磁同步电机中的应用

永磁同步电机是一个多变量、非线性、强耦合的系统,传统PID速度控制效果不理想.在分析永磁同步电机数学模型的基础上,采用改进型BP神经网络与传统PID控制相结合作为速度控制器,应用于永磁同步电机调速系统中.在电机初始运行阶段采用传统PID控制,网络学习一段时间后,切换到经过改进的BP神经网络在线自整定PID控制,实现了电机速度的自适应控制.仿真结果表明:应用这种新型控制方式的永磁同步电机调速系统具有良好的动态性能和稳态精度.     

超声电机测控系统的一种实现方法

设计了一套基于微机的超声电机速度和位置测试与控制系统.该系统解决了超声电机长时间工作时由于压电陶瓷特性的改变导致电机速度不稳定问题,采用PI算法的闭环控制时,电机速度可以稳定在3%之内.位置控制实验结果表明:采用模糊推理 PI控制器对电机进行位置精密伺服控制是完全可行的,精度可以达到0.09°.     

空间遥感相机的指向控制系统设计

设计了一个基于FPGA的指向控制系统,可控制遥感相机镜头快速跟踪角度指令.指向控制系统实现了角度位置控制、转向速度控制和平稳调速等功能.本系统采用步进电机作为角运动执行机构;使用FPGA生成电机控制驱动信号,从而简化了电机控制系统构成,降低了系统成本.指向控制系统因模块化设计可灵活应用于多种场合.     

超声电机参数摄动与广义预测控制

针对超声电机速度与驱动频率具有很强的非线性,理论建模困难,难以实现高精确控制的问题,采用辨识的方法建立了旋转行波超声电机的Hammerstein模型,并测量了该模型的参数摄动;针对电机参数在大范围内摄动,提出采用两步法广义预测控制方法,整定了广义预测控制算法的参数,并对超声电机两步法广义预测控制进行了稳定性分析和速度控制仿真。理论分析和仿真结果都表明,超声电机Hammerstein模型参数在大范围内摄动时,两步法广义预测控制器能够准确地跟踪速度设定值的变化,证明了超声电机广义预测控制的可行性,为超声电机高精度控制提供了控制模型和控制方法。     

基于单片机的悬挂运动控制系统设计

本设计采用AT89C51对步进电机进行控制,通过单片机I／O口输出的方波作为步进电机的控制信号,信号经过L298N驱动电路来驱动步进电机,完成相应的规定动作：同时用键盘来控制任意坐标点的参数,并用LCD液晶显示器显示悬挂物体中画笔所在位置的坐标：软件功能模块主要完成对步进电机运动的位置、速度、方向以及运动时间的控制。     

永磁直线电机基于ESO的速度辨识与控制

运用自抗扰控制技术,分别对永磁同步直线电机的直轴电流id和动子速度口设计了控制器．直轴电流的白抗扰控制器除完成对id控制外,还要借助于控制器中的扩张状态观测器(ESO),完成对动子速度的辨识．速度的辨识信号作为速度环自抗扰控制器的反馈信号,从而可设计出一种新型的无速度传感器永磁直线电机的控制系统．由于采用基于过程误差的非线性控制律,观测器受电机参数的影响极小,具有算法简单、辨识精度高等优点。     

基于单片机的步进电机控制系统的设计

随着微电子与计算机行业的发展,单片机的优点越来越为人们所认识,其应用得到人们越来越多的重视。本论文的主要讨论对象就是以单片机为基础而设计的步进电机的控制系统。我们的控制系统系统选用的单片机类别为AT89C5,采用的控制方式为键盘控制,控制对象是步进电机的转动,包括转动方向及转动速度两个内容,另外,我们还将步进电机的转动速度动态予以,以此作为系统控制的依据。我们的设计系统涵盖为软硬件二个方面,软硬件双方互相依存,每一方面都不可或缺。硬件设计包括电源部分、按键控制部分、步进电机驱动部分、数码显示部分,四大部分相互配合,合理连接,是软件运行的必要前提与基础。软件设计的手段是计算机程序编写,目的是控制步进电机转动方向及转速速度,主要内容包括键盘控制、步进电机脉冲控制程序、数码管动态显示程序以及转速信号采集的控制程序。     

基于TB6588FG的无传感器BLDC电机控制器设计及实现

无传感器BLDC电机具有直流电机结构简单,运行可靠,维护方便等一系列优点现已广泛应用于工业控制的各个领域。本设计方案中采用东芝三相直流无刷驱动器TB6588FG和MSP430F2012作为核心硬件电路,详细介绍了电机调速控制电路,电机保护电路和电机速度调速的信号检测和调整的软件实现方法。     

TB6588FG的无传感器BLDC电机控制器设计

无传感器BLDC电机具有直流电机结构简单、运行可靠、维护方便等一系列优点,现已广泛应用于工业控制的各个领域。本设计方案采用东芝三相直流无刷驱动器TB6588FG和MSP430F2012作为核心硬件电路,详细介绍了电机调速控制电路、电机保护电路和电机速度调速的信号检测及调整的软件实现方法。     

稀土永磁电动机的16位单片机控制

NJACM—045永磁电动机采用数模混合控制,快速电流闭环为模拟控制,速度和位置闭环由8095单片机构成。本文讨论8095专用计算机的硬件和软件设计,其中用光电脉冲发生器实现电机转子位置和速度检测、永磁电机磁场定向控制原理实现和获得接近理想过渡过程的速度调节器参数选择等问题的分析,对构成高性能电机速度和位置调节系统有指导意义。     

Neural-optimal control algorithm for real-time regulation of in-line storage in combined sewer systems

Attempts at implementing real-time control systems as a cost-effective means of minimizing the pollution impacts of untreated combined sewer overflows have largely been unsustained due to the complexity of the real-time control problem. Optimal real-time regulation of flows and in-line storage in combined sewer systems is challenging due to the need for complex optimization models integrated with urban stormwater runoff prediction and fully dynamic routing of sewer flows within 5–15 min computational time increments. A neural-optimal control algorithm is presented that fully incorporates the complexities of dynamic, unsteady hydraulic modeling of combined sewer system flows and optimal coordinated, system-wide regulation of in-line storage. The neural-optimal control module is based on a recurrent Jordan neural network architecture that is trained using optimal policies produced by a dynamic optimal control module. The neural-optimal control algorithm is demonstrated in a simulated real-time control experiment for the King County combined sewer system, Seattle, Washington, USA. The algorithm exhibits an effective adaptive learning capability that results in near-optimal performance of the control system while satisfying the time constraints of real-time implementation.     

A methodological approach to the design of optimising control strategies for sewer systems

This study focuses on designing an optimisation based control for sewer system in a methodological way and linking it to a regulatory control. Optimisation based design is found to depend on proper choice of a model, formulation of objective function and tuning of optimisation parameters. Accordingly, two novel optimisation configurations are developed, where the optimisation either acts on the actuators or acts on the regulatory control layer. These two optimisation designs are evaluated on a sub-catchment of the sewer system in Copenhagen, and found to perform better than the existing control; a rule based expert system. On the other hand, compared with a regulatory control technique designed earlier in Mollerup et al. (2015), the optimisation showed similar performance with respect to minimising overflow volume. Hence for operation of small sewer systems, regulatory control strategies can offer promising potential and should be considered along more advanced strategies when identifying novel solutions.     

The control of sewage sampling using a portable computer

Software to control automatic samplers for sampling sewage flows has been developed for use on a Golden River Conquest Environmental Computer. The equipment is being used in Dundee as part of the UK National study currently underway investigating the polluting effects of sewage sludges that are washed out of combined sewers under storm conditions. Sewage is sampled automatically by samplers that are triggered from a control computer that is monitoring rising water levels in a sewer during storm and dry weather conditions. Increases in sewer flow cause entrainment of previously deposited sewage sludges which are potentialy very polluting if they reach a watercourse via a storm sewage overflow.Experience gained so far has shown that the Conquest computer is ideally suited to use in harsh sewer environments. Problems have been encountered, however, in maintaining power in the battery-operated computer sufficient to ensure that the requisite regular monitoring for rising water levels is being made. The solution to this problem has been to allow the computer to switch-off by going into a ‘sleep’ mode, awakening only to check sewer flow levels once every fifteen minutes. As a rise in level is noted, the ‘sleeping’ time is reduced and levels are monitored every one minute, with an ensuing fully operational state for the computer occurring only once levels reach a certain predetermined threshold.The polyFORTH software developed for this system is described, together with details of the sampling system and early results from the sewer flow quality monitoring study underway.The paper concludes that recent advances in the mathematical modelling of sewer flows and the associated quality implications for receiving watercourses have only been possible because of the parallel developments in computational systems for use in harsh environments such as sewers.     

A study of an autonomous mobile robot for a sewer inspection system

This article describes a prototype autonomous mobile robot, KANTARO, designed for inspecting sewer pipes. It is able to move autonomously in 200–300-mm-diameter sewer pipes, to turn smoothly through 90° at a junction, and to go down a 5-cm step. KANTARO carries all the resources required, such as a control unit, a camera, a 2D laser, and an IR sensor. Damage or abnormalities in sewer pipes are detected based on recorded sensory data. KANTARO has demonstrated its effectiveness in inspection and in autonomous navigation in a dry sewer test field at the FAIS–Robotics Development Support Office (FAIS–RDSO). This work was presented in part at the 11th International Symposium on Artificial Life and Robotics, Oita, Japan, January 23–25, 2006     

Sewage flow optimization algorithm for large-scale urban sewer networks based on network community division

By considering the flow control of urban sewer networks to minimize the electricity consumption of pumping stations, a decomposition-coordination strategy for energy savings based on network community division is developed in this paper. A mathematical model characterizing the steady-state flow of urban sewer networks is first constructed, consisting of a set of algebraic equations with the structure transportation capacities captured as constraints. Since the sewer networks have no apparent natural hierarchical structure in general, it is very difficult to identify the clustered groups. A fast network division approach through calculating the betweenness of each edge is successfully applied to identify the groups and a sewer network with arbitrary configuration could be then decomposed into subnetworks. By integrating the coupling constraints of the subnetworks, the original problem is separated into N optimization subproblems in accordance with the network decomposition. Each subproblem is solved locally and the solutions to the subproblems are coordinated to form an appropriate global solution. Finally, an application to a specified large-scale sewer network is also investigated to demonstrate the validity of the proposed algorithm.     

Evolutionary algorithm enhancement for model predictive control and real-time decision support

Effective decision support and model predictive control of real-time environmental systems require that evolutionary algorithms operate more efficiently. A suite of model predictive control (MPC) genetic algorithms are developed and tested offline to explore their value for reducing combined sewer overflow (CSO) volumes during real-time use in a deep-tunnel sewer system. MPC approaches include the micro-GA, the probability-based compact GA, and domain-specific GA methods that reduce the number of decision variable values analyzed within the sewer hydraulic model, thus reducing algorithm search space. Minimum fitness and constraint values achieved by all GA approaches, as well as computational times required to reach the minimum values, are compared to large population sizes with long convergence times. Optimization results for a subset of the Chicago combined sewer system indicate that genetic algorithm variations with a coarse decision variable representation, eventually transitioning to the entire range of decision variable values, are best suited to address the CSO control problem. Although diversity-enhancing micro-GAs evaluate a larger search space and exhibit shorter convergence times, these representations do not reach minimum fitness and constraint values. The domain-specific GAs prove to be the most efficient for this case study. Further MPC algorithm developments are suggested to continue advancing computational performance of this important class of problems with dynamic strategies that evolve as the external constraint conditions change.     

基于LabWindows/CVI的排水管道机器人测控系统设计

介绍了国内排水管道现状及检测与维护情况,针对排水管道机器人特殊的作业环境,设计了一种基于LabWindows/CVI的排水管道机器人测控系统。该系统以PLC为核心,采用电涡流位移传感器与摄像头结合检测管道缺陷,引入模糊控制算法,增强了系统的鲁棒性和可靠性。通过基于LabWindows/CVI虚拟仪器设计的上位机软件与下位机PLC实时通信,实现了系统对机器人动作的控制,以及数据的采集、处理、存储、显示等功能。整个系统人机交互简单、抗干扰性强、可靠性好,可满足机器人作业时的清理和检测要求。     

Minimization of combined sewer overflows by large-scale mathematical programming

There is a critical need for the development and implementation of control strategies for minimizing receiving water pollution caused by overflows from urban combined sewer systems. Automation and control of such systems has risen as a viable approach to this problem. Control is carried out through regulation of ambient and/or auxiliary storage in the system. The goal is to detain storm flows in the system long enough to prevent flows of a magnitude that exceeds treatment plant capacity, thereby reducing overflow into receiving waters. The problem is first attacked by dividing the large combined sewer system into several mildly interconnected subsystems for which control logic can be developed from application of mathematical programming algorithms consistent with the special characteristics of each subsystem. A flow-projection technique is developed for subsystems not amenable to direct solution by standard optimization techniques.     

Catchment & sewer network simulation model to benchmark control strategies within urban wastewater systems

This paper aims at developing a benchmark simulation model to evaluate control strategies for the urban catchment and sewer network. Various modules describing wastewater generation in the catchment, its subsequent transport and storage in the sewer system are presented. Global/local overflow based evaluation criteria describing the cumulative and acute effects are presented. Simulation results show that the proposed set of models is capable of generating daily, weekly and seasonal variations as well as describing the effect of rain events on wastewater characteristics. Two sets of case studies explaining possible applications of the proposed model for evaluation of: 1) Control strategies; and, 2) System modifications, are provided. The proposed framework is specifically designed to allow for easy development and comparison of multiple control possibilities and integration with existing/standard wastewater treatment models (Activated Sludge Models) to finally promote integrated assessment of urban wastewater systems.     

Integrated urban hydrologic and hydraulic modelling in Chicago,Illinois

With rapidly growing urbanization, urban flooding and water quality control are becoming a vital component of sustainable urban infrastructure. Integrated urban hydrologic and hydraulic modelling represents a potential framework for capturing system interactivity and optimizing the design, operation, and engineering of urban systems. This work describes how a widely-used hydrodynamic model, the Environmental Fluid Dynamics Code (EFDC), was made compliant with the Open Modelling Interface (OpenMI) standard. The new version of the EFDC has potential to be coupled with any OpenMI-compliant model for various studies. As an example, this paper presents an application of the OpenMI version of EFDC coupled with InfoWorks-CS for a representative highly urbanized area in the city of Chicago, Illinois, United States. The integrated modelling simulates the two-way linkage between the sewer network and the Chicago Area Waterway System (CAWS). This interaction between the river and sewer pipe systems can not be described by decoupled models. By coupling the models, it is possible to observe the interaction between the sewer system overflow discharge and the hydraulic head in the pipe network. This is particularly important since higher water levels in the pipe system increase the potential for flooding.