A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line...A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line speed control and orientation control. The speed control algorithm isimplemented by using piecewise control, and orientation control is realized by fuzzy logic. Combiningwith step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and appliedto the closed-loop experimental system that uses a vision-based position sensing subsystem to providefeedback. Experiments confirm the reliability and e?ectiveness of the presented algorithms.展开更多
Linguistic dynamic systems (LDS) are dynamic systems whose state variables are generalized from numbers to words. Generally speaking, LDS can model all evolving processes in word domains by using linguistic evolving l...Linguistic dynamic systems (LDS) are dynamic systems whose state variables are generalized from numbers to words. Generally speaking, LDS can model all evolving processes in word domains by using linguistic evolving laws which are naturally the linguistic extension of evolving laws in numbers. There are two kinds of LDS; namely, type-I and type-II LDS. If the word domain is modeled by fuzzy sets, then the evolving laws of a type-I LDS are constructed by applying the fuzzy extension principle to those of its conventional counterpart. On the other hand, the evolving laws of a type-II LDS are modeled by fuzzy if/then rules. Note that the state spaces of both type-I and type-II LDSs are word continuum. However, in practice, the representation of the state space of a type-II LDS consists of finite number while its computation actually involves a word continuum. In this paper, the existence of fixed points of type-II LDS is studied based on point-to-fuzzy-set mappings. The properties of the fixed point of type-II LDS are also studied. In addition, linguistic controllers are designed to control type-II LDS to goal states specified in words.展开更多
In this paper an approach to the design of learning controllers is studied. The conditions for the convergence of control errors are given by using the Banach Contraction Mapping Theorem It is proved that the design o...In this paper an approach to the design of learning controllers is studied. The conditions for the convergence of control errors are given by using the Banach Contraction Mapping Theorem It is proved that the design of leaming controllers can be equivalent to that of conventional feedback controllers in a certain sense. Finally, the theoretical results are vcrificd by some design examples of the SISO system, and the simulation results are given herewith.展开更多
It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace an...It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.展开更多
To implement a simulation of fir-floating-platform with higher frequency vibration, A satdlite-gesture emulation system with the functions of selectable high-frequency vibration-simulation and high-accuracy stability ...To implement a simulation of fir-floating-platform with higher frequency vibration, A satdlite-gesture emulation system with the functions of selectable high-frequency vibration-simulation and high-accuracy stability （with the control resolution within ± 5 × 10^-4 angle-degrees）, controlled by using filtered-feedback and fuzzy-preeminence technology is designed and structured. The system is based on the analysis of dynamic and static composed-force-moment and disturhance factors. Through computational simulation, laboratory experiments and field-demo, it is proved that the system operation is available, practical, and propitious for minifying drive-power. These system structures and control strategies can be widely used in the fields such as astronomy, space navigation, deep-sea operation, high altitude motion, and weightless experiment, where a floating body must be controlled or simulated.展开更多
风电机组运行过程中,一些故障导致设备状态发生改变,状态的改变发生在一个持续的时间序列中,找到变化点的时间对于故障回溯及根本原因分析具有重要价值。该文研究风电信号及状态时序变化的特点,引入统计学中的Change-Point算法,通过划...风电机组运行过程中,一些故障导致设备状态发生改变,状态的改变发生在一个持续的时间序列中,找到变化点的时间对于故障回溯及根本原因分析具有重要价值。该文研究风电信号及状态时序变化的特点,引入统计学中的Change-Point算法,通过划分不同置信区间求取置信度方法解决奇异变点的不确定度问题。通过实验对算法进行验证,得出以下结论:Change-Point算法能够有效挖掘到历史数据中的一维及二维模型数据的变化,并给出变点;Change-Point算法思想是挖掘出数据本身的规律性,不受其他条件限制,因此可广泛应用于风电机组数据采集与监视控制(supervisory control and data acquisition,SCADA)系统变量数据挖掘中的问题回溯,快速定位SCADA数据状态变化点。展开更多
在光储孤岛直流微电网中,需要最大化利用光伏发电,通常对光伏系统采用最大功率点跟踪(maximum power point tracking, MPPT)技术。但传统的MPPT控制速度慢、精度低,特别是在局部阴影情形下极易陷入局部最优解。基于此,首先提出一种将布...在光储孤岛直流微电网中,需要最大化利用光伏发电,通常对光伏系统采用最大功率点跟踪(maximum power point tracking, MPPT)技术。但传统的MPPT控制速度慢、精度低,特别是在局部阴影情形下极易陷入局部最优解。基于此,首先提出一种将布谷鸟搜索算法与电导增量法相结合的混合MPPT控制。利用布谷鸟搜索算法快速全局寻优,再使用电导增量法精确定位,实现快速而准确地跟踪最大功率点。储能单元是光储直流微电网的重要组成部分,其输出电流均分、荷电状态(stateof charge, SoC)均衡和直流母线电压稳定是主要控制目标。但电流均分受线路电阻差异的影响,进而影响SoC均衡和直流母线电压稳定,于是设计一种新的电压电流双环控制策略以实现上述目标。该策略在电压外环采用母线电压作为反馈值,在电流内环中设计了基于一致性算法的控制策略,将SoC与指数函数结合并引入加速因子,使得在充放电过程中实现SoC的快速均衡。所提控制策略既不需要下垂控制,也无需二次补偿控制,减轻了通信负担。最后在Matlab/Simulink中搭建直流微电网系统模型,验证所设计新的混合MPPT控制和电压电流双环控制策略的有效性。展开更多
文摘A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line speed control and orientation control. The speed control algorithm isimplemented by using piecewise control, and orientation control is realized by fuzzy logic. Combiningwith step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and appliedto the closed-loop experimental system that uses a vision-based position sensing subsystem to providefeedback. Experiments confirm the reliability and e?ectiveness of the presented algorithms.
基金This work has been supported in part by Outstanding Overseas Scholar Award and Outstanding Young Scientist Research Fund.
文摘Linguistic dynamic systems (LDS) are dynamic systems whose state variables are generalized from numbers to words. Generally speaking, LDS can model all evolving processes in word domains by using linguistic evolving laws which are naturally the linguistic extension of evolving laws in numbers. There are two kinds of LDS; namely, type-I and type-II LDS. If the word domain is modeled by fuzzy sets, then the evolving laws of a type-I LDS are constructed by applying the fuzzy extension principle to those of its conventional counterpart. On the other hand, the evolving laws of a type-II LDS are modeled by fuzzy if/then rules. Note that the state spaces of both type-I and type-II LDSs are word continuum. However, in practice, the representation of the state space of a type-II LDS consists of finite number while its computation actually involves a word continuum. In this paper, the existence of fixed points of type-II LDS is studied based on point-to-fuzzy-set mappings. The properties of the fixed point of type-II LDS are also studied. In addition, linguistic controllers are designed to control type-II LDS to goal states specified in words.
文摘In this paper an approach to the design of learning controllers is studied. The conditions for the convergence of control errors are given by using the Banach Contraction Mapping Theorem It is proved that the design of leaming controllers can be equivalent to that of conventional feedback controllers in a certain sense. Finally, the theoretical results are vcrificd by some design examples of the SISO system, and the simulation results are given herewith.
基金Supported by Natural Science Basic Research Plan in Shaanxi Province of China(2014JQ8366)Fundamental Research Foundation of Northwestern Polytechnical University(JC20120210,JC20110238)Aeronautical Science Foundation of China(20120853007)
基金supported in part by the National Natural Science Foundation of China under Grant 60875067the Natural Science Foundation of Heilongjiang Province under Grant F200602the Technical Innovation Talent Foundation of Harbin under Grant 2010RFQXG010
文摘It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.
文摘To implement a simulation of fir-floating-platform with higher frequency vibration, A satdlite-gesture emulation system with the functions of selectable high-frequency vibration-simulation and high-accuracy stability （with the control resolution within ± 5 × 10^-4 angle-degrees）, controlled by using filtered-feedback and fuzzy-preeminence technology is designed and structured. The system is based on the analysis of dynamic and static composed-force-moment and disturhance factors. Through computational simulation, laboratory experiments and field-demo, it is proved that the system operation is available, practical, and propitious for minifying drive-power. These system structures and control strategies can be widely used in the fields such as astronomy, space navigation, deep-sea operation, high altitude motion, and weightless experiment, where a floating body must be controlled or simulated.
文摘风电机组运行过程中,一些故障导致设备状态发生改变,状态的改变发生在一个持续的时间序列中,找到变化点的时间对于故障回溯及根本原因分析具有重要价值。该文研究风电信号及状态时序变化的特点,引入统计学中的Change-Point算法,通过划分不同置信区间求取置信度方法解决奇异变点的不确定度问题。通过实验对算法进行验证,得出以下结论:Change-Point算法能够有效挖掘到历史数据中的一维及二维模型数据的变化,并给出变点;Change-Point算法思想是挖掘出数据本身的规律性,不受其他条件限制,因此可广泛应用于风电机组数据采集与监视控制(supervisory control and data acquisition,SCADA)系统变量数据挖掘中的问题回溯,快速定位SCADA数据状态变化点。
文摘在光储孤岛直流微电网中,需要最大化利用光伏发电,通常对光伏系统采用最大功率点跟踪(maximum power point tracking, MPPT)技术。但传统的MPPT控制速度慢、精度低,特别是在局部阴影情形下极易陷入局部最优解。基于此,首先提出一种将布谷鸟搜索算法与电导增量法相结合的混合MPPT控制。利用布谷鸟搜索算法快速全局寻优,再使用电导增量法精确定位,实现快速而准确地跟踪最大功率点。储能单元是光储直流微电网的重要组成部分,其输出电流均分、荷电状态(stateof charge, SoC)均衡和直流母线电压稳定是主要控制目标。但电流均分受线路电阻差异的影响,进而影响SoC均衡和直流母线电压稳定,于是设计一种新的电压电流双环控制策略以实现上述目标。该策略在电压外环采用母线电压作为反馈值,在电流内环中设计了基于一致性算法的控制策略,将SoC与指数函数结合并引入加速因子,使得在充放电过程中实现SoC的快速均衡。所提控制策略既不需要下垂控制,也无需二次补偿控制,减轻了通信负担。最后在Matlab/Simulink中搭建直流微电网系统模型,验证所设计新的混合MPPT控制和电压电流双环控制策略的有效性。
