A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and f...A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.展开更多
Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical dr...Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical drive control systems affect the performance of the control system seriously. Up to now, there is not a simple and practical method for choosing regulator parameters, which are usually determined by repeated and continual readjustment. This method is low efficient, and the parameters got are not always optimal. A method for on-line adjusting the parameters of PI regulator in the electrical drive control system by computer program is introduced in this paper. The function of adjusting PI parameters of the electrical drive control system is realized by PC program written by VC++ and controlling program written by assemble language and by the communication between PC and DSP completed by the control MSCOMM in VC++6.0. The method as mentioned above which is applied for an all-electrical tank gun control system under development is proved very available, a better performance might be obtained for the all-electrical tank gun control system easily.展开更多
The global robust output regulation problem of the singular nonlinear system is investigated. Motivated by the input-output linearization of the normal affine nonlinear system, a global diffeomorphism map is designed ...The global robust output regulation problem of the singular nonlinear system is investigated. Motivated by the input-output linearization of the normal affine nonlinear system, a global diffeomorphism map is designed under the assumption that the singular nonlinear system has a strong relative degree. The global diffeomorphism map transfers the singular nonlinear system into a new singular nonlinear system with a special structure. Attaching an internal model to the new singular nonlinear system yields an augmented singular nonlinear system and the global robust stabilization solution of the augmented system implies the global robust output regulation solution of the original singular nonlinear system. Then the global stabilization problem is solved by some appropriate assumptions and the solvability conditions of the global robust output regulation problem are established. Finally, a simulation example is given to illustrate the design approach.展开更多
为解决孤岛模式下交直流混合微电网稳定运行的问题,文中提出一种孤岛交直流混合微电网柔性多状态开关(soft normally open point, SNOP)统一下垂控制策略。该策略基于系统功率平衡关系,通过归一化方法将2条馈线的频率下垂特性和直流电...为解决孤岛模式下交直流混合微电网稳定运行的问题,文中提出一种孤岛交直流混合微电网柔性多状态开关(soft normally open point, SNOP)统一下垂控制策略。该策略基于系统功率平衡关系,通过归一化方法将2条馈线的频率下垂特性和直流电压下垂特性相结合,根据交流频率和直流电压的变化情况,判断系统的运行状态,并通过SNOP统一调节交流子网频率和直流子网电压,使交、直流微电网能够均衡承担系统总功率变化量,从而确保交流频率和直流电压稳定在系统允许范围内。同时,为了优先确保分布式电源的就近消纳,避免SNOP的非必要动作,设计了SNOP的调节死区,使得交、直流微电网能够优先利用各子网内分布式电源,从而减少SNOP交、直流侧功率的频繁交互。最后,通过MATLAB/Simulink仿真验证了所提统一下垂控制策略的有效性。展开更多
基金Project(2009AA045004)supported by the Hi-tech Research and Development Program of China
文摘A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
文摘Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical drive control systems affect the performance of the control system seriously. Up to now, there is not a simple and practical method for choosing regulator parameters, which are usually determined by repeated and continual readjustment. This method is low efficient, and the parameters got are not always optimal. A method for on-line adjusting the parameters of PI regulator in the electrical drive control system by computer program is introduced in this paper. The function of adjusting PI parameters of the electrical drive control system is realized by PC program written by VC++ and controlling program written by assemble language and by the communication between PC and DSP completed by the control MSCOMM in VC++6.0. The method as mentioned above which is applied for an all-electrical tank gun control system under development is proved very available, a better performance might be obtained for the all-electrical tank gun control system easily.
基金supported by the National Natural Science Foundation of China(61374035)the Fundamental Research Funds for the Central Universities(20720150177)
文摘The global robust output regulation problem of the singular nonlinear system is investigated. Motivated by the input-output linearization of the normal affine nonlinear system, a global diffeomorphism map is designed under the assumption that the singular nonlinear system has a strong relative degree. The global diffeomorphism map transfers the singular nonlinear system into a new singular nonlinear system with a special structure. Attaching an internal model to the new singular nonlinear system yields an augmented singular nonlinear system and the global robust stabilization solution of the augmented system implies the global robust output regulation solution of the original singular nonlinear system. Then the global stabilization problem is solved by some appropriate assumptions and the solvability conditions of the global robust output regulation problem are established. Finally, a simulation example is given to illustrate the design approach.
文摘为解决孤岛模式下交直流混合微电网稳定运行的问题,文中提出一种孤岛交直流混合微电网柔性多状态开关(soft normally open point, SNOP)统一下垂控制策略。该策略基于系统功率平衡关系,通过归一化方法将2条馈线的频率下垂特性和直流电压下垂特性相结合,根据交流频率和直流电压的变化情况,判断系统的运行状态,并通过SNOP统一调节交流子网频率和直流子网电压,使交、直流微电网能够均衡承担系统总功率变化量,从而确保交流频率和直流电压稳定在系统允许范围内。同时,为了优先确保分布式电源的就近消纳,避免SNOP的非必要动作,设计了SNOP的调节死区,使得交、直流微电网能够优先利用各子网内分布式电源,从而减少SNOP交、直流侧功率的频繁交互。最后,通过MATLAB/Simulink仿真验证了所提统一下垂控制策略的有效性。
