A multilevel sampled‐data approach for resilient navigation and control of autonomous systems

Autonomous systems are rapidly becoming an integrated part of the modern life. Safe and secure navigation and control of these systems present significant challenges in the presence of uncertainties, physical failures, and cyber attacks. In this paper, we formulate a navigation and control problem for autonomous systems using a multilevel control structure, in which the high‐level reference commands are limited by a saturation function, whereas the low‐level controller tracks the reference by compensating for disturbances and uncertainties. For this purpose, we consider a class of nested, uncertain, multiple‐input–multiple‐output systems subject to reference command saturation, possibly with nonminimum phase zeros. A multirate output‐feedback adaptive controller is developed as the low‐level controller. The sampled‐data (SD) design of this controller facilitates the direct implementation on digital computers, where the input/output signals are available at discrete time instances with different sampling rates. In addition, stealthy zero‐dynamics attacks become detectable by considering a multirate SD formulation. Robust stability and performance of the overall closed‐loop system with command saturation and multirate adaptive control are analyzed. Simulation scenarios for navigation and control of a fixed‐wing drone under failures/attacks are provided to validate the theoretical findings.     

共享交通的时空轨迹检索与群体发现

为解决共享交通下的共乘用户群体发现效率低、准确率不高问题，依据R-树原理建立GeoOD-Tree索引，并在此基础上提出以最大化共乘率为目标的群体发现策略。首先，对原始时空轨迹数据进行特征提取与标定处理，挖掘有效出行起讫点（OD）轨迹；其次，针对用户起讫点轨迹的特征，建立GeoOD-Tree索引进行有效的存储管理；最后，给出以最大化共乘行程为目标的群体发现模型，并运用K最近邻（KNN）查询对搜索空间剪枝压缩，提高群体发现效率。采用西安市近12000辆出租车营运轨迹数据，选取动态时间规整（DTW）等典型算法与所提算法在查询效率与准确率上进行性能对比分析。与DTW算法相比，所提算法的准确率提高了10.12%，查询效率提高了约15倍。实验结果表明提出的群体发现策略能有效提高共乘用户群体发现的准确率和效率，可有效提升共乘出行方式的出行率。     

一种交直流混合输电系统直流侧双极故障保护策略

为进一步分析含柔性直流输电(MMC-HVDC)的交直流混合输电系统的故障特征,基于交直流混合输电系统和模块化多电平换流器(MMC)的拓扑结构,推导了MMC的数学模型,研究了直流系统双极短路的故障机理和故障特征,针对含MMC-HVDC的交直流混合输电系统的双极短路故障,设计了限流电路及闭锁换流站与交流断路器跳闸相结合的故障保护方案。以厦门市柔性直流输电系统为例,在PSCAD/EMTDC中搭建了交直流混合系统,并对保护方案进行了仿真验证。结果表明,提出的保护策略能有效地降低故障电流,提高系统稳定性。     

基于一种云计算数据保护的多级加密算法的应用研究

云计算是分布式计算技术的一种,其最基本的概念是透过网络将庞大的计算处理程序自动分拆成无数个较小的子程序,再交由多部服务器所组成的庞大系统经搜寻、计算分析之后将处理结果回传给用户。云计算中的数据泄漏已经成为云计算的巨大威胁,据不完全统计数据,仅在2019年1年,大约有超40亿条信息被泄露。这些信息涵盖科技、医疗、政府、金融、教育、制造等十几个领域数百个行业,数据泄露已经成为云计算中数据安全的巨大威胁。主要提出了一种多级加密算法,能更好地保护云计算中的数据,并能以极小的成本在云计算中得到应用。     

An integrated qualitative and quantitative modeling framework for computer‐assisted HAZOP studies

The article proposes a novel practical framework for computer‐assisted hazard and operability (HAZOP) that integrates qualitative reasoning about system function with quantitative dynamic simulation in order to facilitate detailed specific HAZOP analysis. The practical framework is demonstrated and validated on a case study concerning a three‐phase separation process. The multilevel flow modeling (MFM) methodology is used to represent the plant goals and functions. First, means‐end analysis is used to identify and formulate the intention of the process design in terms of components, functions, objectives, and goals on different abstraction levels. Based on this abstraction, qualitative functional models are constructed for the process. Next MFM‐specified causal rules are extended with systems specific features to enable proper reasoning. Finally, systematic HAZOP analysis is performed to identify safety critical operations, its causes and consequences. The outcome is a qualitative hazard analysis of selected process deviations from normal operations and their consequences as input to a traditional HAZOP table. The list of unacceptable high risk deviations identified by the qualitative HAZOP analysis is used as input for rigorous analysis and evaluation by the quantitative analysis part of the framework. To this end, dynamic first‐principles modeling is used to simulate the system behavior and thereby complement the results of the qualitative analysis part. The practical framework for computer‐assisted HAZOP studies introduced in this article allows the HAZOP team to devote more attention to high consequence hazards. © 2014 American Institute of Chemical Engineers AIChE J 60: 4150–4173, 2014     

独柱式多层立交桥非线性地震反应分析

对上海成都路和延安路高架立交桥进行了非线性地震反应分析,从而对其抗震安全性作出评价,并提出合理建议.在分析中,考虑了四层高架结构在地震时的耦合振动作用,以及地震波传播方向的任意性.     

基于单谐振支路的多电平均压型DC-DC变换器

提出一种基于单谐振支路的多电平均压型DC-DC变换器通用型拓扑及其简化拓扑。在该拓扑结构的基础上,给出顺序控制和循环控制两种控制策略,并分别对这两种控制策略下的变换器工作原理进行分析。所提出的拓扑结构具有单谐振支路、开关器件少、控制策略简单的优点,并且所有开关器件均可以实现零电流开关,所有直流支撑电容均可以实现电压自平衡。最后,通过实验验证了上述拓扑及其控制策略的正确性和有效性。     

MMC-MTDC系统直流单极对地短路故障保护策略

直流侧故障保护是基于模块化多电平换流器(MMC)的多端柔性直流输电(MTDC)系统的关键问题。现有文献主要对直流双极短路故障展开研究,而直流单极接地故障同样可能对系统安全运行产生严重影响。首先针对不同的换流器接地方式,分析半桥型MMC-MTDC单极对地短路故障特性,指出交流侧低阻抗接地方式下存在的问题,为实际工程接地阻抗选择提供一定参考。利用全桥型MMC的短路电流清除能力,提出一种单极对地短路故障快速恢复保护策略,能够在交流侧低阻抗接地方式下避免交流断路器跳闸。PSCAD/EMTDC仿真结果证明了故障特性分析的正确性和所提出的故障保护策略的有效性。