A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

This paper aims to provide a review of the conceptual design and theoretical framework of the main control schemes proposed in the literature for unmanned underwater vehicles (UUVs). Additionally, the objective of the paper is not only to present an overview of the recent control architectures validated on UUVs but also to give detailed experimental-based comparative studies of the proposed control schemes. To this end, the main control schemes, including proportional–integral–derivative (PID) based, sliding mode control (SMC) based, adaptive based, observation-based, model predictive control (MPC) based, combined control techniques, are revisited in order to consolidate the principal efforts made in the last two decades by the automatic control community in the field. Besides implementing some key tracking control schemes from the classification mentioned above on Leonard UUV, several real-time experimental scenarios are tested, under different operating conditions, to evaluate and compare the efficiency of the selected tracking control schemes. Furthermore, we point out potential investigation gaps and future research trends at the end of this survey.     

基于自适应LS-SVM的柴油机废气再循环冷却控制系统设计

针对当前柴油机废气再循环冷却控制系统受到时滞问题影响,导致系统开度走势与设定走势不一致、废气再循环效果差的问题,提出基于自适应LS-SVM的柴油机废气再循环冷却控制系统;以AT89C51单片机40针作为电控单元核心部件,利用位置传感器向系统发送负载信号,利用温度传感器来传输信号并反馈至D/A转换器;在D/A转换器中,反馈信号以串行或并行方式进入寄存器,并在转换后输出电流电压,控制系统阀门在排气再循环时的开启;伺服泵采用冷却系统,为系统提供液压动力源;利用自适应LS-SVM原理计算柴油机废气再循环冷却控制目标边界值,在最小二乘支持向量机基础上,利用求解线性方程组进行优化,消除了控制误差;根据控制差的大小,调整控制系统的输出值;由试验结果可知,该系统开度走势与设定开度走势一致,且与设定开度误差为1开度,说明使用该系统具有良好稳态特性,有效克服了系统中时滞问题,废气再循环效果较好。     

Optimal operating conditions to maximize the net power of polymer electrolyte membrane fuel cells: The stack-system interface of a commercial 18 kW module

A new, experimental method based on air flow rate rather than current is presented to optimize operating parameters for the stacks and systems of proton exchange membrane fuel cells (PEMFCs) for maximizing their net power. This approach is illustrated for a commercial 18 kW PEMFC module. The impact of contamination pressure drop across the cathode air filter is also investigated on the compressor behavior. It is further shown that a 4V reduction in the compressor voltage reduces its power consumption by 9.1%. Using the 3D graphs of the power-pressure-flow data, it is found that the stack pressure of 180 kPaa is superior to the higher tested pressures as it enhances the net power by 7.0 and 13.7% at different conditions. Application of the present study will lead to the development of PEMFCs with higher power output by optimizing stack pressure, stoichiometry and air flow to properly deliver the system design specifications.     

海上热采防砂封隔器研制与室内试验

海上稠油热采开发过程中,通常采用蒸汽吞吐的方式进行原油开采。为满足稠油热采长效密封要求,研制了HPHT-215型热采防砂封隔器。封隔器胶筒采用特制的氟硅基复合材料+玻璃纤维网结构,并开展了材料性能评价测试。通过有限元分析和室内胶筒组合测试,对胶筒材料和组合结构进行了评价优化。室内全尺寸整机测试表明:封隔器能够满足耐温350 ℃、耐压21 MPa密封性能要求,并开展了高低温多轮次密封性能评价测试。该型热采防砂封隔器的研制成功,为海上稠油蒸汽吞吐多轮次开发提供了保障,具有广泛的应用前景。     

基于软件校准的短波发射机功率控制系统设计

短波发射机功率稳定一直是通信领域致力改善的重点问题,短波发射机功率不稳定会直接影响无线电通信质量,造成通信失真、表达不清晰等问题。针对上述问题,基于软件校准设计短波发射机功率控制系统。该系统借鉴MVC设计模式搭建系统数据库层、业务逻辑层、控制层以及界面显示层基础框架；将功率计与短波发射机相连,实时采集工作状态下的短波发射机功率数据,通过信号处理器实施处理后并存储,借鉴传输元件,将数据发送到控制器,通过控制器校准短波发射机功率与预期之间的偏差,以偏差量为输入,利用改进PID运算得出控制量,生成控制命令,通过输入输出信号接口板输出命令,控制驱动装置调节短波发射机运行参数,实现功率控制。结果表明：与 控制系统、自动调谐系统应用相比较,在所设计系统应用控制下,100s内短波发射机的功率变化曲线与预期曲线之间的拟合优度指数更大,更接近1,优于对比系统,说明相比于对比系统。本系统控制表现更好,更能维持短波发射机功率稳定,达到了研究目标。     

Double-layer fuzzy adaptive NMPC coordinated control method of energy management and trajectory tracking for hybrid electric fixed wing UAVs

The energy management and trajectory tracking control are crucial to realize long-endurance autonomous flight for hybrid electric UAVs. This study aims to comprehensively consider energy management and trajectory tracking for hybrid electric fixed wing UAVs with photovoltaic panel/fuel cell/battery. A double-layer fuzzy adaptive nonlinear model predictive control method (DFNMPC) is proposed. Separated by the surplus demand power, energy management and trajectory tracking problem are decoupled into the high-layer fuzzy adaptive nonlinear model predictive controll problem (H-FNMPC) and low-layer fuzzy adaptive nonlinear model predictive controll problem (L-FNMPC). H-FNMPC solves the trajectory tracking and navigation control probelm for the greatest benefit of solar energy. L-FNMPC solves the power allocation problem of hybrid energy system for minimum equivalent hydrogen consumption. A fuzzy adaptive prediction horizon adjustment method based on UAV maneuvering degree is proposed to effectively improve proposed method adaptability to different mission profiles. Analogously, a fuzzy adaptive equivalent hydrogen consumption factor adjustment method in L-FNMPC is proposed to ensure the flexible utilization of battery. In addition, an equivalent hydrogen flow rate calculation method based on the real-time current ratio is proposed for PV/FC/Battery hybrid energy system. Numerical simulation results including a spiral trajectory tracking and a quadrilateral trajectory tracking, demonstrate that DFNMPC can simultaneously handle energy management and trajectory tracking problem for hybrid electric UAVs. Compared to hierarchical fuzzy state machine strategy, DFNMPC can save 13.3% hydrogen for the spiral trajectory tracking, and 56.9% for the quadrilateral trajectory tracking. It indicates that the energy efficiency can be improved from both levels of energy management and flight motion. The proposed method prospected for exploring high-energy-efficiency autonomous flight of hybrid electric UAVs in the future.     

Process knowledge-based random forest regression for model predictive control on a nonlinear production process with multiple working conditions

In process industry, predictive control approaches have been widely used for nonlinear production processes. Practically, the predictor in a predictive controller is extremely important since it provides future states for the optimization problem of controllers. The conventional predictive controller with precise mathematical predictors approximating the state space of physical systems is difficult and time-consuming for nonlinear production processes, and it performs poorly over a wide range of working conditions and with significant disturbances. To address the challenges, the trend of applying artificial intelligence emerges. However, the industrial process-specific knowledge is ignored in most cases. In this study, a predictive controller with a control process knowledge-based random forest (RF) model is proposed. Specifically, working data are clustered at first to handle diverse working conditions. Then, a process knowledge-based forest predictor, namely MIW-RF model with a redesigned cascading RF structure, is proposed to incorporate control process knowledge into modeling. Thus, future states of controlled variables could be more accurately acquired for the optimizer. A simplified version of the predictive model is also developed with quick model training and updating. The proposed predictive methods are finally introduced into the controller design. According to the empirical results, the proposed methods deliver a better control performance against benchmarks, including more accurate anticipated controlled-variable responses, better set-point tracking and disturbance rejection capability.     

Real time power management strategy for fuel cell hybrid electric bus based on Lyapunov stability theorem

The fuel cell/battery durability and hybrid system stability are major considerations for the power management of fuel cell hybrid electric bus (FCHEB) operating on complicated driving conditions. In this paper, a real time nonlinear adaptive control (NAC) with stability analyze is formulated for power management of FCHEB. Firstly, the mathematical model of hybrid power system is analyzed, which is established for control-oriented design. Furthermore, the NAC-based strategy with quadratic Lyapunov function is set up to guarantee the stability of closed-loop power system, and the power split between fuel cell and battery is controlled with the durability consideration. Finally, two real-time power management strategies, state machine control (SMC) and fuzzy logic control (FLC), are implemented to evaluate the performance of NAC-based strategy, and the simulation results suggest that the guaranteed stability of NAC-based strategy can efficiently prolong fuel cell/battery lifespan and provide better fuel consumption economy for FCHEB.     

关于多功能液压支架拖运车的电控系统设计

本文简介多功能液压支架拖运车的电控系统,包括电控箱的设计和主要电气元件的性能和选择依据。此电控系统能够一般电控系统的各种功能和保护,而且能够通过摄像头做到操作盲区和使用遥控器进行远程控制,从而提高液压支架的拖运效率、降低劳动强度和提高安全保障。