水下机器人T-S型模糊神经网络控制

针对水下机器人模糊神经网络控制器运算量大和对强外界扰动的鲁棒性差及存在滞后性的问题,提出基于混合学习算法的水下机器人T-S型模糊神经网络控制方法.采用免疫遗传算法离线优化和神经网络自学习在线调整隶属函数的参数,从而减少神经网络的运算量,增强水下机器人对环境变化的反应能力.采用T-S模型,由后件网络动态调整模糊规则,提高控制系统的适应性.通过某微小型水下机器人的仿真和外场实验验证方法的可行性和优越性.实验结果表明,控制器对外界扰动具有较强的鲁棒性,保证即使在恶劣情况下,控制性能仍保持在较高水平.     

The electrification accelerator: Understanding the implications of autonomous vehicles for electric utilities

The intersection of autonomous vehicles, ride sharing and transportation electrification could have significant implications for electric utilities. This paper analyses how the development of shared autonomous electric vehicles may make electrified transportation more likely and why this may lead to a more rapid than expected shift in the current transportation paradigm. We also discuss how these trends may affect utilities and suggest what they can do to prepare for the transition.     

New control approach for a PV-diesel autonomous power system

A new control scheme for the hybrid photovoltaic-diesel single-phase autonomous power system is proposed. The main advantage of this scheme is that the voltage control is accomplished by the interface inverter without need to the automatic voltage regulator of the diesel-driven generator. Unlike three-phase systems, frequency and voltage control in single-phase autonomous power systems imposes additional complexity. This is due to the pulsating nature of the single-phase loads instantaneous power at twice the rated frequency that may degrade the control efficacy. This obstacle is addressed in this paper and a new scheme is presented. The approach includes three control loops for maximum power tracking, voltage control and frequency control. The generator field current is held constant at its nominal value avoiding the saturation in the field circuit. A robust fuzzy logic controller is adopted for the speed control loop of the diesel engine. The dynamic performance of the system is investigated under different operating conditions.     

Quintic G2-splines for the iterative steering ofvision-based autonomous vehicles

This paper presents a new motion planning primitive to be used for the iterative steering of vision-based autonomous vehicles. This primitive is a parameterized quintic spline, denoted as η-spline, that allows interpolating an arbitrary sequence of points with overall second-order geometric (G²-) continuity. Issues such as completeness, minimality, regularity, symmetry, and flexibility of these G²-splines are addressed in the exposition. The development of the new primitive is tightly connected to the inversion control of nonholonomic car-like vehicles. The paper also exposes a supervisory strategy for iterative steering that integrates feedback vision data processing with the feedforward inversion control     

A stable vision system for moving vehicles

This paper presents a novel approach to stabilize the output of video camera installed on a moving vehicle in a rugged environment. A 2.5D interframe motion model is proposed so that the stabilization system can perform in situations where significant depth changes are present and the camera has both rotation and translation. Inertial motion filtering is proposed in order to eliminate the vibration of the video sequences with enhanced perceptual properties. The implementation of this new approach integrates four modules: pyramid-based motion detection, motion identification and 2.5D motion parameter estimation, inertial motion filtering, and affine-based motion compensation. The stabilization system can smooth unwanted vibrations or shakes of video sequences and achieve real-time speed. We test the system on IBM PC compatible machines and the experimental results show that our algorithm outperforms many algorithms which require parallel pipeline image processing machines     

电动汽车用动力电池性能检测系统

电动汽车用动力电池性能检测系统以AT 89C 5 2系列单片机作为系统的控制核心 ,采用电子逆变技术 ,由IGBT构成恒流充电电路及VMOS管并联方式组成恒流放电电路 ,以达到节能 ,减小体积 ,降低功耗的目的。系统集电池电压采样、数据处理、充放电控制、数据及曲线打印、键盘显示于一体 ,不需上位微机即可完成全部检测。充放电过程既可自动控制 ,也可手动控制。经实际应用证明 ,本系统性能稳定、实用性强 ,节能效果明显 ,充放电电流可达到 5 0 0A ,满足了电动汽车用大容量动力电池及电池组的充放电性能检测、容量和能量测量及寿命实验 ,解决了电动汽车用动力电池检测的难题。     

电动汽车混合储能系统的自适应滑模控制

针对电动汽车蓄电池/超级电容混合储能系统,提出一种自适应积分滑模控制方案.基于两个储能模块和各自所连接的变换器,推导了混合储能系统的平均状态模型.在控制器的设计过程中,结合投影算子,设计了自适应律来估计系统模型中的未知参数.构造积分滑模面,设计了积分滑模控制方法来实现控制目标的跟踪.运用Lyapunov稳定性理论对整个闭环控制系统进行分析,结果表明系统是渐进稳定的.最后搭建了MATLAB仿真平台,模拟电动汽车各个行驶工况,验证了所设计控制方案的有效性.     

电动汽车用动力电池组性能测试系统

介绍了新研制的电动汽车动力电池组性能测试系统。该系统以工业控制计算机为核心,采用全桥逆变器作为充电器主电路,Cuk变换器作为放电器主电路,可根据多种控制时序自动完成充放电过程。另外该系统还具有实时采集与显示数据、数据自动保存及处理、数据及曲线打印等多项功能,并可用于电动汽车动力电池实际运行状况的模拟。大量试验证明,该系统性能稳定,测试结果准确,完全可用于电动汽车动力电池组的性能测试。     

电动汽车电机驱动系统寿命模型

针对电动汽车电机驱动系统在运行过程中承受剧烈的热应力容易导致系统出现故障的问题,从热应力疲劳失效的观点出发,分析了系统寿命影响因素及其薄弱环节的失效机理,提出了一种以电动汽车电机驱动系统运行工况和电机输出扭矩为输入建立系统寿命模型的方法。建立了100/160 kW纯电动大客车电机驱动系统寿命模型,并以北京121电动公交车的实际运行工况为模型输入预计了系统寿命。     

混合电动车用MH-Ni电源系统若干问题探讨

针对混合电动车用MH-Ni电源系统的设计及应用中的若干问题进行了探讨。对电池容量和功率的选择、SOC精度要求、电池的一致性等提出了建议。并对当前车用电源系统研究过程中存在的其他一些问题如系统的可靠性、检测标准等进行了探讨。     

纯电动汽车分布式电池管理系统的设计

为了使应用于某纯电动汽车的锂电池组安全、高效运行,采用模块化思想设计了与之匹配的分布式电池管理系统。该系统由1个中央主控模块和4个数据采集模块组成,并通过CAN总线连接,实现了电池组电压及温度等信息监控、数据间的实时高效通信、故障报警等功能。采用修正安时计量法对电池荷电状况(SOC)进行估算,提高了估算精度。试验表明,所设计系统能够有效地对电池组进行监控和管理。     

由S7-200双机通信组成的地铁车机控制系统

叙述了地铁架车机的原理、组成及特点 ,该系统由2个S7200PLC连网通讯构成的低成本控制系统。     

Preventive control in an autonomous decentralized system

For more rational operation and control of future electric power systems which would continue to expand in size and complexity, an autonomous decentralized control system is proposed as one of the new control architectures. In the autonomous decentralized control system, each generating station and substation behaves independently and cooperatively without being controlled by the central station. Besides the inherent fault-tolerant characteristics of the architecture, flexible and rapid control depending on the circumstances can be achieved. In this paper, the fundamental logic of preventive control in an autonomous decentralized system is developed. It is based on the bidding method in which each station proposes its own output taking into consideration its own situation and cooperation with others. The economic load dispatch including preventive control can be performed, based on the bidding rule adopting the equivalent incremental generating cost curve in which the security constraints are incorporated. Application of the logic to a model system revealed satisfactory control performance for preventing the overload of transmission lines and the undervoltage.     

GMDH‐based autonomous modeling and compensation for nonlinear friction in a table drive system

This paper presents a novel mathematical model‐based compensation algorithm for the nonlinear friction in table drive systems using Group Method of Data Handling (GMDH). In the proposed compensation, the nonlinear friction can be autonomously modeled as a polynomial expression of appropriate control state variables according to the process of GMDH and, as a result, the complicated structural modeling and its parameterization, indispensable in conventional model‐based strategies, can be completely eliminated. In addition, since the proposed GMDH‐based model can easily achieve the generalization ability for table drive condition, the robust compensation for friction can be attained against the change of drive conditions. The proposed algorithm has been verified by experiments using a table drive system of actual machine tools and proved the significant performance improvement in the trajectory control with velocity reversal motion. © 2001 Scripta Technica, Electr Eng Jpn, 136(3): 58–66, 2001     

Springrobot: a prototype autonomous vehicle and its algorithms for lane detection

This work presents the current status of the Springrobot autonomous vehicle project, whose main objective is to develop a safety-warning and driver-assistance system and an automatic pilot for rural and urban traffic environments. This system uses a high precise digital map and a combination of various sensors. The architecture and strategy for the system are briefly described and the details of lane-marking detection algorithms are presented. The R and G channels of the color image are used to form graylevel images. The size of the resulting gray image is reduced and the Sobel operator with a very low threshold is used to get a grayscale edge image. In the adaptive randomized Hough transform, pixels of the gray-edge image are sampled randomly according to their weights corresponding to their gradient magnitudes. The three-dimensional (3-D) parametric space of the curve is reduced to the two-dimensional (2-D) and the one-dimensional (1-D) space. The paired parameters in two dimensions are estimated by gradient directions and the last parameter in one dimension is used to verify the estimated parameters by histogram. The parameters are determined coarsely and quantization accuracy is increased relatively by a multiresolution strategy. Experimental results in different road scene and a comparison with other methods have proven the validity of the proposed method.     

氢电混合燃料电池汽车动力系统研究进展

零排放和高效率的燃料电池混合动力汽车是人类"可持续移动"的最理想解决方案。介绍了一种氢燃料电池-锂离子电池混合动力系统;讨论了车用燃料电池动力系统能源效率的影响因素及提高动力系统效率的途径,总结了氢燃料电池汽车动力系统的国内外研究进展。     

Operation of vehicles in AGV system and method for analyzing operation

It is important to discuss the behavior of traffic at merging sections for the design and realization of an automated guided vehicle system (AGVS). In this study, we deal with a merging section of the AGVS by considering the time limit for the merging of vehicles. Near the merging section, the traffic flow in one direction forms a queue to avoid collisions between vehicles. We present an improvement of the control strategy proposed in previous research. However, since it is difficult to analyze the mathematical model of the merging section, analysis can be performed only for the case in which the time limit is set to the least values. We also propose a method for analyzing the model for an arbitrary time limit by using a linear recurrence relation. We discuss quantitatively the influence of the time limit on the average queue length and the detour rate. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 178(1): 56–68, 2012; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21190