Anti‐Sway Crane Control Considering Wind Disturbance and Container Mass

A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately and must use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, and therefore the observer parameter is not suitable. We already proposed robust antisway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of the friction force. In this paper, we first propose a container mass estimation method when a crane system performs rolling up control. The observer parameter can be selected using the estimated mass value. Second, in crane parallel shift control, we propose a robust antisway control even when there is a wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm through experiments that the proposed method can reduce vibration.     

Design of disturbance observer based on adaptive-neural control for large-scale time-delay systems in the presence of actuator fault and unknown dead zone

This article presents an adaptive neural compensation scheme for a class of large-scale time delay nonlinear systems in the presence of unknown dead zone, external disturbances, and actuator faults. In this article, the quadratic Lyapunov–Krasovskii functionals are introduced to tackle the system delays. The unknown functions of the system are estimated by using radial basis function neural networks. Furthermore, a disturbance observer is developed to approximate the external disturbances. The proposed adaptive neural compensation control method is constructed by utilizing a backstepping technique. The boundedness of all the closed-loop signals is guaranteed via Lyapunov analysis and the tracking errors are proved to converge to a small neighborhood of the origin. Simulation results are provided to illustrate the effectiveness of the proposed control approach.     

A probabilistic load shedding concept considering highly volatile local generation

Automatic load shedding is the ultimate countermeasure against imbalance in a power system and can effectively help preventing large blackouts. Taking into account a high penetration of renewable energy sources (RES) in the distribution grid, a clear distinction between load and generation at the PCC becomes increasingly more difficult. For that reason an adaptation of frequency relay parameters and their locations of installation are necessary. In Europe this is rest on a multi-step plan based on values such as the yearly peak load. In this paper a novel probabilistic method for automatic load shedding is presented that uses the average values instead of peak values for load shedding. Its applicability is verified by a dynamic power system model that was developed to compare the classical and novel probabilistic load shedding principle. The method is verified using data from a German TSO.     

Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy.     

基于热负荷自动调节的延迟焦化加热炉三点注汽量智能优化

针对国内某炼油厂延迟焦化加热炉三点注汽问题，采用热负荷自动调节的算法进行了研究。运用该模型方法，分析了三点注汽量对加热炉热负荷和炉管结焦系数的影响，发现三点注汽量的改变均会对热负荷和炉管结焦系数产生影响，主要表现为提高注汽量将会提高热负荷，同时降低结焦系数；第1点注汽量和第2点注汽量对热负荷和结焦系数的影响较强，第3点注汽量对热负荷和结焦系数的影响较弱。在实际操作中，加热炉中的结焦程度既不能太强也不能太弱，合适的结焦系数能够保证正常开工周期里炉管不结焦，也能保证瓦斯、注汽量等参数的合理分配。通过对热负荷、注汽量的智能分配，可得到不同原料油加工负荷条件下更加合理的装置运行方案。     

An architecture to support scalable distributed virtual environment systems on grid

A Distributed Virtual Environment (DVE) system offers a computer-generated virtual world in which individuals located at different places in the physical world can interact with one another. In order to achieve real-time response for a large user base, DVE systems need to have a scalable architecture. In this paper, we present the design of a grid-enabled service oriented framework for facilitating the construction of scalable DVE systems on computing grids. A service component called “gamelet” is proposed, whose distinctive mark is its high mobility for supporting dynamic load sharing. We propose a gamelet migration protocol which can ensure the transparency and efficiency of gamelet migration, and an adaptive gamelet load-balancing (AGLB) algorithm for making gamelet redistribution decisions at runtime. The algorithm considers both the synchronization costs of the DVE system and network latencies inherent in the grid nodes. The activities of the users and the heterogeneity of grid resources are also considered in order to carry out load sharing more effectively. We evaluate the performance of the proposed mechanisms through a multiplayer online game prototype implemented using the Globus toolkit. The results show that our approach can achieve faster response times and higher throughputs than some existing approaches. This research is supported in part by the China National Grid project (863 program) and the HKU Foundation Seed Grant 28506002.     

异构分层无线网络中基于逗留时间的动态流量均衡算法研究

为使异构分层无线网络能服务更多的移动用户,提出了一种基于逗留时间的动态流量均衡算法.该算法首先根据用户移动模型计算其在小区内的逗留时间,然后基于小区呼叫到达率和重叠覆盖小区的流量状态来确定一个周期内呼叫转移的数量,最后依据逗留时间门限值将重负载小区中满足条件的呼叫转移到轻负载的重叠覆盖小区中.为降低切换呼叫掉线率,还对异构网间的呼叫切换策略做了改进.仿真实验结果表明,本算法在新呼叫阻塞率和切换呼叫掉线率等性能指标上比传统方法有显著的提高.     

三相交流电动机启动过程参数数值模拟

提出一种进行模拟计算电动机启动过程中各参数的新方法。利用电机运行理论,结合物体定轴转动定律,推导出电机运行参数随时间变化的函数关系式。将计算公式离散化后,对电机启动过程运行规律进行求解。实例计算了一种型号潜油三相电动机启动时电动机定子电流、转子电流、激磁电流、扭转力矩、转速参数及效率参数等随时间或转差率的变化规律,其变化曲线与试验结果基本一致,说明提出的计算方法是有效、正确、适用的。     

对CFG桩质量缺陷的探讨

根据具体工程的概况及水文地质条件，分析了CFG桩在地下水位出现大面积缩颈现象和复合地基载荷试验达不到设计要求的原因，并介绍了地基补强措施，以满足工程质量的要求。     

A Bluetooth Based Sensor Network for Civil Infrastructure Health Monitoring

Communicating with sensors has long been limited either to wired connections or to proprietary wireless communication protocols. Using a ubiquitous and inexpensive wireless communication technology to create Sensor Area Networks (SANs) will accelerate the extensive deployment of sensor technology. Bluetooth, an emerging, worldwide standard for inexpensive, local wireless communication is a viable choice for SANs because of its inherent support for some of the important requirements – low power, small form factor, low cost and sufficient communication range. In this paper we outline an approach, centered on the Bluetooth technology, to support a sensor network composed of fixed wireless sensors for health monitoring of highways, bridges and other civil infrastructures. We present a topology formation scheme that not only takes into account the traffic generated by different sensors but also the associated link strengths, buffer capacities and energy availability. The algorithm makes no particular assumptions as to the placement of nodes, and not all nodes need to be in radio proximity of each other. The output is a tree shaped scatternet rooted at the sensor hub (data logger) that is balanced in terms of traffic carried on each of the links. We also analyze the scheduling, routing and healing aspects of the resulting sensor-net topology.