基于差分进化算法的手眼标定方法

针对眼在手机器人视觉系统的手眼标定问题，提出了一种基于差分进化算法的手眼标定方法。首先建立了眼在手机器人视觉系统手眼标定的数学模型，通过李群李代数理论，将手眼标定问题转化为误差函数的优化问题，同时保证了优化问题的最优解落在特殊欧氏群ＳＥ（３）上。通过差分进化算法对优化问题进行求解，避免了求解过程中的局部最优问题。最后在实物平台上进行了手眼标定实验，实验结果验证了算法的可行性和有效性。     

Mechanical,surface morphological and multi-objective optimization of tribological properties of V2O5 doped lead calcium titanate borosilicate glass ceramics

In the 55[(Pb_xCa_1−x).OTiO₂]-44[2SiO₂.B₂O₃]-1V₂O₅ system, various experimental studies were performed to obtain the mechanical and tribological properties of synthesized glass ceramics (GCs). The surface morphological study and elemental analysis were carried out using scanning electron microscope (SEM) followed by EDAX. The tribological measurements were also performed; based on Taguchi's L₂₅ orthogonal array, considering different GC compositions, sliding speeds and loads. The signal to noise (S/N) ratio was used to identify the influencing parameters on minimizing wear coefficient (k) and coefficient of friction (COF). To improve the tribological properties, the modeling of output responses was performed using response surface methodology (RSM) that was being used for multi-objective optimization using a Pareto optimality approach i.e. Genetic Algorithm (GA). The experimentally achieved k and COF were compared with the earlier work that carried out by the authors for germanium (Ge) doped GC samples. It is observed that the various mechanical properties (Vickers hardness, 29 GPa, Young's modulus, 1808 MPa, and compressive strength, 221 MPa) improved significantly in comparison to the Ge doped GC samples. The improved mechanical and tribological properties of the synthesized GC can be used as a coating material for the structural alloys and machine tool slides in view of its effective wear and corrosion resistance.     

基于ＰＩＤ控制算法的直流微网容错控制方法研究

构建直流微网容错控制对象模型，调节直流微电网的输出回路参数；以输出功率、直流微网的 参考电压、弱电网下系统惯性响应特征等为约束参量，构建直流微网容错控制目标函数，在不同电网强度下 进行直流微网容错控制的参数自整定性调节，采用无功环比例积分控制方法进行直流微网容错寻优分析， 建立模糊 ＰＩＤ控制模型，采用变结构的模糊 ＰＩＤ控制方法进行直流微网容错控制过程中的自适应加权学习 和误差反馈调节，实现直流微网容错控制改进设计。仿真结果表明，采用该方法进行直流微网控制的容错 性能较好，输出稳定性较强，具有较好的直流微网输出增益。     

Power flow calculation for a distribution system with multi-port PETs: an improved AC-DC decoupling iterative method

Recently, power electronic transformers (PETs) have received widespread attention owing to their flexible networking, diverse operating modes, and abundant control objects. In this study, we established a steady-state model of PETs and applied it to the power flow calculation of AC–DC hybrid systems with PETs, considering the topology, power balance, loss, and control characteristics of multi-port PETs. To address new problems caused by the introduction of the PET port and control equations to the power flow calculation, this study proposes an iterative method of AC–DC mixed power flow decoupling based on step optimization, which can achieve AC–DC decoupling and effectively improve convergence. The results show that the proposed algorithm improves the iterative method and overcomes the overcorrection and initial value sensitivity problems of conventional iterative algorithms.     

基于VMD瞬时能量与GA- RBF的滚动轴承故障诊断

针对滚动轴承早期故障的有效识别,提出了一种基于VMD瞬时能量与GA优化的RBF神经网络的滚动轴承故障诊断方法,可以有效对滚动故障做出诊断。首先,VMD将滚动轴承振动信号进行分解成合适数目的本证模态函数;其次,计算本证模态函数分量的瞬时能量并组成特征向量;最后,将特征向量输入到GA优化的RBF神经网络实现轴承故障识别。通过滚动轴承故障诊断实验对该方法进行验证。结果表明,该方法识别滚动轴承故障的准确率为96.43%,较默认参数的RBF神经网络和EEMD瞬时能量与GA-RBF神经网络有明显的提高,证明了所提方法的可行性。     

Using hybridized ANN-GA prediction method for DOE performed drying experiments

Abstract

Coal is an important component in the energy industry and plays a key role in energy-producing facilities. Moisture is a common condition that has a considerable impact on coal. Coal drying has long been a question of great interest in a wide range of fields. Defining parameters in the coal drying is obtained by experiments. High costs, time constraints, and repetition of an experiment are one of the most frequently stated problems with experimental works. Using qualitative methods with experiments can be more useful for identifying and characterizing the coal drying process. The purpose of this article is finding the effective parameters in the coal drying process by using a hybridized prediction method. Genetic Algorithm (GA) and Artificial Neural Network (ANN) are hybridized with each other to identify and characterize the coal drying process. GA-ANN algorithm is applied to the coal drying process to predict the moisture of coal, but it does not provide a decent result at first. Later, the Design of Experiment (DoE) methodology is performed to determine the main effects of six parameters. Two scenarios are generated because two parameters are not statistically significant. The first scenario excludes the air relative humidity parameter, and the second scenario excludes the air relative humidity and the velocity of air parameters. Following the application of the DoE method, GA-ANN reaches decent results in scenario-2.     

Optimal filtering and control for wireless networked closed-loop control systems

This article studies the optimal filtering and control for wireless networked control systems (WNCSs). In WNCSs, packets may be lost in both control and feedback channels and user datagram protocol is usually used to improve the performance of the real-time control. Relevant literature indicates that the conventional optimal filtering for such a system cannot be applied in practice due to the complex calculation with Gaussian mixtures. This paper proposes a novel scheme to realize the optimal filtering and the linear quadratic Gaussian control for WNCSs, in which the controlled node performs a local estimation and the remote-control node performs the final estimation and control, and a synchronization of two estimators is guaranteed by a communication mechanism. An optimal filtering algorithm is developed, the stability condition of the filtering error covariance is obtained, optimal finite-horizon and infinite-horizon control are derived, and the stability of the closed-loop control system is proved. Numerical simulations show the validity and feasibility of the theoretical results.     

基于目标级联技术的含风电互联电网机组组合策略

针对含风电互联电网日前安全约束机组组合的规模大、约束复杂、求解困难等问题,提出基于目标级联分析技术的分散协调优化策略。将问题分解为负责区域间边界节点电压相角协调的上层优化问题和以并行方式独立优化各区域发电计划的下层优化问题。下层优化以弃风电量期望和电量不足期望,量化各区域内风电、负荷预测误差,以及常规机组强迫停运等系统运行不确定性所带来的风险,并以罚函数的形式引入目标函数,以综合优化系统可靠性与经济性。2区域12节点系统和IEEE RTS96三区域互联系统算例仿真验证所建模型和算法的有效性。     

基于随机模型的动车组制动模块稳健优化设计

针对目前产品优化设计中未考虑设计变量随机性和灵敏度指数对产品质量特性的影响及优化求解效率低等问题，提出一种综合考虑灵敏度指数与质量损失函数的稳健优化设计方法。通过假设设计变量的分布类型，得到设计变量的概率分布特征，将设计变量对产品质量特性的灵敏度指数与质量损失函数加权整合，并以此作为优化目标，以设计变量的容差作为约束条件，构建随机稳健优化模型。通过扩大种群数目、改进控制参数及增加惩罚因子的方法对遗传算法进行改进，结合改进的遗传算法对优化模型进行求解，得到优化模型的全局稳健最优解。以某动车组制动模块为例，采用给出的方法对其进行稳健优化设计，验证该方法的有效性与合理性。优化结果表明，该方法能够实现动车组制动模块的稳健优化设计，提高了制动模块的抗干扰能力。     

气候环境实验室地面结冰云雾模拟控制系统设计

飞机结冰会引起飞机气动特性、动力系统性能改变,甚至造成飞行事故。地面结冰云雾模拟设施作为一种模拟飞机飞行结冰条件的重要设备,常用于飞机防除冰系统功能验证。针对气候环境实验室结冰云雾试验条件需要,在对地面结冰云雾模拟系统进行研究的基础上,对适用于气候环境实验室的结冰云雾模拟系统进行了设计。对系统关键设计技术、系统功能及组成进行了分析,并对控制系统方案进行了详细阐述。试验表明,控制系统人机界面友好,运行可靠,能够满足液态水含量、雾滴直径参数的精确调节,产生符合试验所需的结冰环境。