基于BPNN-PID的风电机组桨距控制分析

变桨控制技术是风力发电机组的核心技术之一,开展对风力发电机组变桨控制方面的研究具有重要的理论和应用价值。根据风力发电机组在额定风速以上如何保持输出功率稳定和降低风轮转速波动的控制技术进行研究,在传统的变桨距控制策略基础上,提出了基于BP神经网络(Neural Network,NN)整定PID的控制策略,并在Matlab/simulink环境下对PID控制和BP神经网络控制相结合的复合控制系统进行建模与分析。对1.5MW风电机组的仿真验证了BPNN-PID算法的有效性,提出算法不仅能够解决传统PID控制器参数整定困难的问题,而且优化效率更高,可以得到优良的控制性能。     

压延机挂胶帘布厚度自动检测及控制系统（续完）

(接上期)5　控制系统中相关参数的数据采集及控制处理5 1　速度自动检测本控制系统中速度检测是通过对交流测速电机的信号进行采样,通过AC/DC转换变为标准电压信号,输入到计算机进行A/D转换,并通过软件进行线形化处理后,参与压延数据分析及控制。速度信号转换电路简图如图15所示。图15　速度转换电路5 2　帘布长度自动检测本控制系统中长度检测是通过对冷却后的帘布进行长度计量,传感器选用了台湾EHM A3型计长器。其测量精度为0.1m,该传感器输出信号为标准脉冲信号,并进行光电隔离后,直接送入计算机运算即可实现长度测量。长度信号转换…     

Underactuated fingers controlled by robust and adaptive trajectory following methods

Choosing an appropriate control scheme to alleviate nonlinearities and uncertainties is not a trivial task, especially when models are not easily available and practical evaluation provides the only means for actual performance assessment. Various factors can contribute to these nonlinearities and uncertainties, such as friction and stiction. Thus, this article investigates four different control schemes, namely PID, adaptive, conventional sliding mode control (SMC) and integral sliding mode control (ISMC) which are implemented in the Bristol Elumotion Robot Hand (BERUL) to analyse and overcome the aforementioned problems. The hand has five fingers with 16 joints and all fingers are underactuated. The implementation of the proposed control schemes are challenging since the BERUL fingers have significant friction, stiction and unknown parameters. The fingers are light in weight and fragile. Comparative performance characteristics have shown that the ISMC is the most suitable candidate to provide good experimental trajectory following and positioning control for underactuated BERUL fingers.     

Variability of light absorption properties in optically complex inland waters of Lake Chaohu,China

Absorption coefficients of phytoplankton, colored detrital matter (CDM), non-algal particles (NAP), colored dissolved organic matter (CDOM), and their relative contributions to total non-water absorption (a_t ? w) are essential variables for bio-optical and radiative transfer models. Light absorption properties showed large range and variability sampled at 194 stations throughout Lake Chaohu between May 2013 and April 2015. The a_t ? w was dominated by phytoplankton absorption (a_ph) and NAP absorption (a_d). The contribution of CDOM absorption to a_t ? w was lower than 30%. Phytoplankton and NAP were the primary sources of spatial and vertical variability in absorption properties. Light absorption by CDOM, though significant in magnitude, was relatively constant. CDM absorption (a_dg) was dominated by NAP. The spatial variation of the absorption coefficients from each of the optically active constituents were driven by several main inflow rivers in the western and middle part of Lake Chaohu. Algal blooms and bottom resuspension contributed to vertical variability as observed by phytoplankton and NAP profiles. Specific absorption of phytoplankton had significant spatial and seasonal variations without vertical variation. The spectral slope of absorption showed no significant spatial variability (p > 0.05). Variations of absorption affected different ranges of remote sensing reflectance (R_rs) spectrum, thereby increasing the difficulty of applying the remote sensing algorithm in optically complex waters. Parameters and relationships presented in this study provide useful information for bio-optical models and remote sensing of lakes similar to Lake Chaohu in terms of optical properties.     

简论电力财务预算管理与风险管理的关系

电力是现代社会生活、生产的重要能源之一。在电力行业不断发展进步的今天,由于其预算管理已无法满足时代要求,风险管理存在诸多漏洞,导致电力企业的发展受到一定的阻碍。这就需要我们充分分析电力企业的财务预算管理与风险管理的关系,并妥善处理二者间的问题,从而规避企业财务风险。     

压延机挂胶帘布厚度自动检测及控制系统（续一）

(接上期 )4　厚度自动控制及软件实现方法4 1　压延机理描述和建模原理一般情况 ,压延机压延胶片的厚度取决于两辊之间的距离 ,压延力也起较大的作用。压延力越大 ,压延机加工的产品越薄。被加工材料的压延力特性如图 1 1中的曲线a所示 ,该曲线随工艺条件的变化而变化 ,压延力F可以看成是加工温度θ、压延速度U、材料种类R及产品加工厚度X的函数 ,即F =f(θ ,U ,R ,X) ( 6)　　当加工条件恒定时 ,压延力F可看成是产品厚度X的函数 ,即F =f(X)。另外 ,还有包含了压延机各种机理特性直线b。曲线a与直线b的交点P0 是加工状态的工作点 ,当…     

电子横移伺服LQR最优控制器设计

为了提高系统的稳态精度和动态性能,将LQR最优控制算法应用于高速经编机电子横移伺服控制系统.建立了伺服系统状态空间模型,引入了一类具有指数衰减度的二次型函数作为系统性能指标.仿真结果表明,所提出的电子横移伺服LQR最优控制算法易于工程实现,保证了系统的稳定性,具有良好的频响特性,改善了系统的动态特性,实现了无静差高精度控制.     

An analysis,design and tuning of Cascade Control Systems in the presence of constraints in actuator and process outputs

In the presence of rate constraints in actuator, design of cascade controller based on the primary controller conditional integration can result into closed-loop system oscillations. Stability analysis, performed by the describing function technique and confirmed by simulation, demonstrates that the solution based on the Anti-Reset Windup Cascade Control System (ARW CCS) structure is successful. Design and tuning of the ARW CCS secondary controller is a standard ARW single-input single-output problem. In the present paper tuning is proposed for the ARW CCS primary controller. For the serial process modeling simple rules are derived and confirmed by experimental results, obtained on a drum type boiler of a 210 MWe lignite coal fired unit. General design of the ARW CCS is based on the parallel process modeling and optimization of the primary controller. Optimization is performed in the frequency domain, under constraints on the maximum sensitivity, multiplicative uncertainty bound and sensitivity to measurement noise. Simulation and experimental results on a laboratory thermal plant demonstrate effectiveness of the proposed optimization.     

基于模糊PID大型电力机组温度过热控制

随着高精密技术的发展,高精度、超高精度的温控系统越来越多被人们运用于大型电力机组中。传统的温度控制系统对各异的真实系统适配性较差,不能保证系统性能,适应性较差。针对这些问题,提出了一种模糊自适应PID大型电力机组温度过热控制算法,即专家-模糊PID控制器方法,根据温度偏差选择采用专家控制还是模糊PID控制,克服适应性差的问题。用专家控制避免设定值震荡,并通过模糊PID温度控制较快达到设定初始目标温度值,并稳定在该值上。最后通过仿真实验证明这种模糊PID超精度温度控制系统对于大型电力机组的温度过热控制问题具有控制精度高、响应速度快、温度波动小等优点。     

改进的细菌觅食优化算法

细菌觅食优化算法是一种受大肠杆菌觅食现象启发产生的一种群体进化算法,该算法具有良好的全局优化能力,鲁棒性强,算法简单等优点,但其也存在易早熟,收敛速度慢等缺点. 根据其缺点,提出了一种改进的细菌觅食优化算法,改进后的算法收敛速度加快,在一定程度上避免了易早熟的缺点. 将原算法和改进算法应用于PID参数的在线自整定,通过matlab仿真实验证明了算法改进后的优越性.