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.     

欠驱动水下机器人航迹跟踪控制

针对欠驱动水下机器人强非线性、模型不确定及存在外界未知干扰等特点,提出自适应模糊反演滑模控制系统,解决其水平面航迹跟踪问题。首先,采用模糊逻辑系统逼近模型未知函数,将反演思想与滑模控制技术相结合,设计反演滑模控制器;然后对水下机器人纵向速度进行控制,将航向角作为航迹跟踪误差的虚拟输入,设计航向角的镇定函数和航迹参数的变化率,实现水下机器人的航迹跟踪;最后使用李亚普诺夫稳定性定理,证明控制系统的稳定性。仿真实验表明,设计的控制系统能有效地处理水下机器人模型不确定性和外界干扰,控制性能良好,具有极强的鲁棒性,且避免了执行机构的抖振现象。     

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.     

水下机器人基于sigmoid函数的软变结构控制

针对水下机器人滑模变结构控制系统抖振问题,利用具有光滑性和饱和性的sigmoid函数,提出一种水下机器人软变结构控制策略.利用Lyapunov稳定性理论,讨论控制受限情形的水下机器人软变结构控制系统的稳定性,构造基于sigmoid函数的软变结构控制器,给出水下机器人软变结构控制的具体算法.将基于sigmoid函数的软变结构控制策略用于水下机器人仿真实验研究,实验结果验证了该方法的可行性和有效性.与线性控制、饱和线性控制和基于变饱和函数的软变结构控制3种控制方法进行对比仿真分析,分析结果表明,基于sigmoid函数设计的软变结构控制系统调节精确度高、响应速度快,有效地削弱了系统抖振,具有良好的动态性能.     

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     

Adaptive formation control of autonomous underwater vehicles with model uncertainties

This paper investigates the formation control problem of underactuated autonomous underwater vehicles (AUVs). What makes this problem different and challenging is that, in the AUV model, the mass and damping matrices are not diagonal with nonzero off‐diagonal terms and unknown hydrodynamic damping terms. To address the effect of nonzero off‐diagonal terms, we introduce a coordinate transformation, while the unknown hydrodynamic damping terms are approximated adaptively by a neural network. Then, a leader‐follower control strategy is presented, where each follower needs to track a virtual vehicle. This strategy translates the formation control problem into a set of position (including heading) tracking problems for the following AUVs. The position and heading tracking controller is designed based on Lyapunov direct method and backstepping technique, taking into account the effect of the nonzero off‐diagonal terms in the mass matrix and the unknown hydrodynamic damping terms. Simulations are given to demonstrate the effectiveness of the control method proposed.     

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。     

AGC for autonomous power system using combined intelligent techniques

In the present work two intelligent load frequency controllers have been developed to regulate the power output and system frequency by controlling the speed of the generator with the help of fuel rack position control. The first controller is obtained using fuzzy logic (FL) only, whereas the second one by using a combination of FL, genetic algorithms and neural networks. The aim of the proposed controller(s) is to restore in a very smooth way the frequency to its nominal value in the shortest time possible whenever there is any change in the load demand etc. The action of these controller(s) provides a satisfactory balance between frequency overshoot and transient oscillations with zero steady-state error. The design and performance evaluation of the proposed controller(s) structure are illustrated with the help of case studies applied (without loss of generality) to a typical single-area power system. It is found that the proposed controllers exhibit satisfactory well overall dynamic performance and overcome the possible drawbacks associated with other competing techniques.     

分散控制系统自主可控技术的发展

分散控制系统（DCS）作为火力发电领域的核心控制系统,其软硬件长期严重依赖进口产品,存在重大安全隐患和断供风险。在说明国产品牌DCS发展历程及软硬件国产化现状的基础上,分析了国产化替代对于实现自主可控的必要性,并提出实现DCS国产化并非简单的硬件替代与软件移植,还需重点解决好专用芯片替代、芯片功能缺陷、软硬件适配及综合算力等问题;然后介绍了全国产、自主可控DCS如华能睿渥、华电睿蓝、国能智深、南京科远和浙江中控等发展应用现状,全国产DCS在300、600、1 000 MW等级机组相继投入运行,标志着我国DCS已实现完全自主可控,具备大规模推广应用的条件;最后对国产DCS推广应用中存在问题,如缺少嵌入式低功耗处理器、国产元器件性能存在批次性差异、国产软硬件性价比和供应链安全等进行分析,并提出了相关建议。     

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。     

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。     

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。     

用于变电站自主巡视机器人的图像传输系统研究

为了实现变电站自主巡视机器人稳定可靠的传输高清图像,采取了WLAN与3G/GPRS相结合的方式,采用稳定可靠的3G/GPRS网络传输必须的图像数据,而采用WLAN网络传输非必须的高清实时视频信息。设计了图像服务器与控制客户端,针对不同的摄像机分别采用专用SDK与开源Live555+FFmpeg项目实现各个子函数。图像服务器能正确地传输图像数据和转发实时视频流。控制客户端可以接收保存图像数据和播放实时视频,图像清晰且传输时延较小。     

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。