混合不确定性系统的鲁棒镇定及性能设计

采用双回路控制方法讨论具有混合不确定性系统的鲁棒镇定及性能设计问题，其内环控制器可改善对象特性，从而使整个双回路闭环系统具有鲁棒稳定性．     

动态不确定非线性系统直接自适应模糊backstepping控制

对一类单输入单输出动态不确定非线性系统,提出一种直接自适应模糊backstepping和小增益相结合的控制方法.设计中,首先用模糊逻辑系统逼近虚拟控制器:其次把自适应模糊控制和backstepping控制设计技术相结合.给出了直接自适应模糊控制设计方法.最后基于Lyapunov函数和小增益方法证明了整个闭环系统的稳定性.仿真实例进一步验证了所提方法的有效性.     

一种欠驱动船舶编队滑模鲁棒控制方法

为实现模型参数不确定和外界风浪流干扰情况下的欠驱动水面船舶编队控制,提出一种跟随者仅利用领航船的位置及航向信息,而不利用领航船的速度、角速度和动力学信息的编队控制方法.根据领航船的位置及航向角信息设计虚拟船,使其轨迹与参考船在有限时间内重合;基于虚拟船策略建立领导-跟随模式下的船舶编队控制模型;将反步法与滑模变结构方法相结合,设计了一种可以有效处理模型参数摄动和外界环境干扰问题的鲁棒控制器,使得跟随船沿着虚拟船的轨迹运动,从而与领航者保持期望的队形,达到编队控制的目的.通过对由3只“Northern Clipper”实船所组成的船舶编队进行编队控制仿真实验,结果验证了所提方法的正确性和有效性.     

考虑风电与高载能负荷调度不确定性的鲁棒机组组合

为缓解弃风问题,甘肃等电网开展了高载能负荷与风电的协调调度。然而,以电弧炉为代表的冶炼类高载能负荷在运行时存在有功功率波动,会对电网的自动发电控制(AGC)系统产生影响。为研究高载能负荷功率波动对负荷与风电协调调度的影响,文中提出一种考虑高载能负荷功率波动以及风电不确定性的鲁棒机组组合方法。该方法充分考虑高载能负荷有功功率波动与设备运行状态的关系,对负荷有功功率的不确定性进行建模。接着,考虑高载能负荷与风电协调调度时,负荷不确定性与风电不确定性对电力系统共同作用的特点,构建最小化弃风与切负荷风险的鲁棒机组组合模型,使电网对高载能负荷进行调控时,可充分考虑高载能负荷不确定性的影响。最后,在IEEE RTS-79系统中对所提方法进行了验证,并分析了高载能负荷不确定性对协调调度的影响。     

基于曲面二次标准型逼近的最近电压稳定临界点求取方法

针对切平面不能准确描述电压稳定极限曲面极限点邻域性质的缺陷,文中提出一种考虑负荷增长方向不确定性的基于曲面二次标准型逼近的两层规划模型,求解最近电压稳定临界点。该方法首先计算初始化负荷增长方向上的电压稳定临界点,并利用Weingarten映射获得该点处极限曲面的主曲率,进而获得极限曲面的二次标准型逼近,最后采用基于信赖域思想的二次规划法迭代搜索最近的电压稳定临界点。所提模型可同时考虑鞍节点分岔和极限诱导分岔两种临界点。对多个IEEE系统及中国东部某实际大区域电网等系统的分析证明了该方法的有效性。分析表明,所提方法具有收敛速度快、鲁棒性好,全局寻优能力强的优点,可快速确定电力系统的电压薄弱区域,并可直接用于大系统分析。     

基于需求响应的虚拟电厂多时间尺度优化调度

随着我国不断加快新型电力系统建设,风电、光伏等越来越多的分布式资源大规模并网,但其随机性、波动性及分散性的特点给电力系统带来了多重不确定性。提出了一种考虑价格型需求响应的虚拟电厂多时间尺度优化调度方法,在日内调度模型中引入用户价格型需求响应,对用户负荷进行精准调控;采用基于蒙特卡罗与曼哈顿概率距离的场景生成与削减法处理风光出力、电价不确定性,减少日前日内出力偏差,再结合日前调度构成了多时间尺度优化调度模型,并采用滚动优化得到日内优化调度结果。以湖南某小型虚拟电厂系统进行算例仿真,结果表明,所提多时间尺度优化调度策略能够精确预测风光出力及用户负荷,在有效抑制功率波动的同时保证了系统的经济性。     

SGCMGs驱动的挠性航天器有限时间自适应鲁棒控制

针对挠性航天器系统中同时存在单框架控制力矩陀螺群(Single gimbaled control moment gyroscopes, SGCMGs) 摩擦非线性、电磁干扰力矩、惯量摄动以及外部干扰等问题, 提出了一种有限时间自适应鲁棒控制(Finite-time adaptive robust control, FTARC) 方法. 针对系统中存在未知参数的情况, 分别设计自适应更新律, 使得控制器的设计不依赖参数信息, 同时减小外部干扰对系统的不利影响. 应用Lyapunov稳定性理论证明了闭环系统姿态角误差和姿态角速度误差可在有限时间内收敛到原点附近的邻域内. 仿真结果表明, 所提控制律可实现挠性航天器姿态快速机动, 并获得甚高指向精度.     

Adaptive backstepping control for an n-degree of freedom robotic manipulator based on combined state augmentation

The aim of this paper is to improve the tracking performance of a robotic manipulator by designing an adaptive controller and implementing it on the system. The proposed controller guarantees the system stability as well as good tracking performance in existence of nonlinearity and parameter uncertainties. The requirement to decrease the system response overshoot and steady state error as well as increasing speed of tracking for manipulators is essential to many manufacturers. To this mean, in this paper, the tracking error equations for an n-DOF manipulator are derived and the response characteristics are improved by augmenting a new state to the system equations. The stability of the closed-loop system is guaranteed based on the Lyapunov theory via backstepping control approach. The robotic manipulator model contains parametric uncertainties and many of the parameter values are unknown. To solve the problem, an adaption law is proposed via adaptive backstepping mechanism. Different experiments are carried out for a 2-DOF manipulator to show the effectiveness of the proposed approach and the results are compared with four of the recently revealed researches on control. Experimental results present the superiority of the state augmented adaptive backstepping in tracking the desired joint angles. Moreover, in order to present the industrial application of the proposed control method, it is simulated for a large industrial Scara manipulator.     

Long-time simulation of water distribution systems for the design of small hydropower systems

The implementation of small hydropower systems (SHPS) in existing Alpine Water distribution systems (WDS) is a meaningful strategy for the reduction of CO₂ emissions. Typically, the water consumption patterns of one or several representative days are used for the design procedure of these systems. For the design of the SHPS in WDS, the most important issue is to preserve the water supply without constraints. However, regarding water quality issues (especially related to water age), SHPS can exert a positive influence on the WDS performance. In this study, a long-time simulation model (10 years) is established for a WDS model and is subsequently used for the design of the SHPS. This study is performed to establish a more efficient design of these systems and to evaluate the long-term effects on the pressure and water quality issues, i.e., water age. With a simulation time over one decade on an hourly basis, full load hours and water flows for different turbine sizes are determined in detail. Based on that information, the detailed design and optimisation of the SHPS were performed, and the most cost-efficient device size was determined.     

Buoyancy effects on the laminar boundary layer heat transfer along vertically moving cylinders

Abstract

The effects of buoyancy forces on the laminar boundary layer flow and heat transfer along vertically moving cylinders are analyzed for the cases of prescribed surface temperature and prescribed wall heat flux in power of streamwise distance. Local similarity solutions are obtained to show the effects of buoyancy parameters and the transverse curvature of the cylinder on the surface friction and heat transfer rate.