Robust energy-to-peak sideslip angle estimation with applications to ground vehicles

In this paper, the observer design problem for the sideslip angle of ground vehicles is investigated. The sideslip angle is an important signal for the vehicle lateral stability, which is not measurable by using an affordable physical sensor. Therefore, we aim to estimate the sideslip angle with the yaw rate measurements by employing the vehicle dynamics. The nonlinear lateral dynamics is modeled firstly. As the tyre model is nonlinear and the road adhesive coefficient is subject to a large variation, the nonlinear lateral dynamics is transformed into an uncertain model. Considering the variation of longitudinal velocity, an uncertain linear-parameter-varying (LPV) system is obtained. Based on the LPV model, a gain-scheduling observer is proposed and the observer gain can be determined with off-line computation and on-line computation. The off-line computation includes the calculation of a set of linear matrix inequalities and the on-line computation contains several algebraic operations. The proposed design methodology is applied to a four-wheel-independent-drive electric vehicle in simulation. It infers from different maneuvers that the designed observer has a good performance on estimating the sideslip angle.     

Recursive least squares estimation methods for a class of nonlinear systems based on non-uniform sampling

Many dynamic processes in practice have nonlinear characteristics and must be described by using nonlinear models. It remains to be a challenging problem to build the models of such nonlinear systems and to estimate their parameters. This article studies the parameter estimation problem for a class of Hammerstein-Wiener nonlinear systems based on non-uniform sampling. By means of the auxiliary model identification idea, an auxiliary model-based recursive least squares algorithm is derived for the systems. In order to enhance the computational efficiency, an auxiliary model-based hierarchical least squares algorithm is proposed by utilizing the hierarchical identification principle. The simulation results confirm the effectiveness of the proposed algorithms.     

Parameter identification for Wiener-finite impulse response system with output data of missing completely at random mechanism and time delay

In this paper, the parameter estimation issue of Wiener system with random time delay and missing output data is studied. The linear part of Wiener system is described by Finite Impulse Response (FIR) model. The mathematical formula of the Expectation Maximum algorithm to identify Wiener-FIR system that contains the random time delay and the nonlinear output data in missing completely at random mechanism is derived, which is never considered before. To obtain the unmeasurable intermediate variable in Wiener-FIR system, the idea of auxiliary model is adopted. The time delay and system parameters can be estimated simultaneously by this method. Numerical example and the identification of water tank system example are carried out, the effectiveness of the algorithm is proved.     

A new numerical algorithm to check the observability and bad-data processing ability of the metering scheme

This paper provides a unified approach for the optimization of measurements placements employed for power system online monitoring through state estimation. The proposed methodology, which can be suitable for the mixed measure system, preserves state estimation observability and bad-data processing capability by employing numerical algorithms for observability checking, critical measurements and critical couple identification. First, node injection radix measurements and measurement categories are defined. According to the above definitions, the coefficient matrix can be solved. The analysis on the column vectors of the coefficient matrix can determine each measurement classification. Furthermore, the numbers of each measurement class contains can determine bad-data processing capability. The observability can be checked by the type number of measurements. The proposed method is illustrated with the IEEE39-bus system and the IEEE118-bus system. Results from the case studies are presented to demonstrate that the approach adequately fulfills the desired properties related to observability, bad-data processing, cost, and robustness.     

Benefits of variable structure techniques for parameter estimation in stochastic systems using least squares method and instrumental variables

In this paper, we study the benefits of the equivalent control method, implemented on parameter estimation algorithms like the least squares method and instrumental variables on continuous‐time stochastic systems. Here, we show how the equivalent‐control, adapted to the stochastic case, improves the performance of these estimation algorithms in continuous‐time systems under white noise perturbations. Some numerical examples show the effectiveness of these techniques. Copyright © 2014 John Wiley & Sons, Ltd.     

Power system state estimation using a direct non-iterative method

This paper describes a new method for state estimation of a non-linear AC power system in a non-iterative manner. This method is based on the Kipnis–Shamir relinearization technique that is used to solve over-defined sets of polynomial equations. The technique transforms the equations to a higher dimensional linear space which allows the states to be solved in a non-iterative manner. Given accurate measurements, this new state estimation method provides the same results as traditional iterative state estimation methods, and the proposed method does not require an initial guess of system states nor does it have issues with convergence.     

SiC单晶片切割力建模与自适应控制

Si C单晶因优良的物理和机械性能而大量用于大功率器件和IC行业。但由于材料的高硬度和高脆性,使其加工过程变得很困难。为此,分析了Si C单晶片切割过程,建立切割过程模型,通过F检验法进行系统阶次辨识,采用遗忘因子递推最小二乘算法在线估计模型参数,建立进给量与切割力的差分方程,设计基于最小方差自校正的切割力控制器,并进行实验验证。结果表明:控制器能够很好的跟踪不同信号,具有良好的鲁棒性,提高了Si C单晶片的加工效率和表面质量。     

Parameter characterization of HTPEMFC using numerical simulation and genetic algorithms

This paper develops a novel approach to the parameterisation of high temperature exchange membrane fuel cells (HTPEMFC) with limited and non-invasive measurements. The proposed method allows an effective identification of electrochemical parameters for three-dimensional fuel cell models by combining computational simulation tools and genetic algorithms. To avoid each evaluation undertaken by the optimisation method involving a complete computational simulation of the 3D model, a strategy has been designed that, thanks to an iterative process, makes it possible to decouple the fluid dynamic resolution from the electrochemistry one.Two electrochemical models have been incorporated into these tools to describe the behaviour of the catalyst layer, Butler-Volmer and spherical aggregate. For each one, a case study has been carried out to validate the results by comparing them with empirical data in the first model and with data generated by numerical simulation in the second. Results show that, from a set of measured operating conditions, it is possible to identify a unique set of electrochemical parameters that fits the 3D model to the target polarisation curve. The extension of this framework can be used to systematically estimate any model parameter in order to reduce the uncertainty in 3D simulation predictions.     

Identification and U-control of a state-space system with time-delay

This article presents a state-space model with time-delay to map the relationship between known input-output data for discrete systems. For the given input-output data, a model identification algorithm combining parameter estimation and state estimation is proposed in line with the causality constraints. Consequently, this article proposes a least squares parameter estimation algorithm, and analyzes its convergence for the studied systems to prove that the parameter estimation errors converge to zero under the persistent excitation conditions. In control system design, the U-model based control is introduced to provide a unilateral platform to improve the design efficiency and generality. A simulation portfolio from modeling to control is provided with computational experiments to validate the derived results.     

频率域电磁法在采空区探测中的应用

隐伏采空区的探测已成为近年来研究课题,采用无人机搭载发射装置,高空平面布置探测线和测点,克服在陡峭的山坡难以布置探测工作,消除地形地貌及其它条件对探测工作带的误差。对已知空区的探测和分析,验证了该方法的有效性和精确程度,为后续其它探测提供了频率域区间和参数校正。研究表明:此方法具有适用性强、工作效率高和精确度高优点,是一种可用于隐伏空区的探测方法,分析过程中可以辨别采空区变形情况。