In order to optimize the embedded system implementation for Ethernet-based computer numerical control （CNC） system, it is very necessary to establish the performance analysis model and further adopt the codesign met...In order to optimize the embedded system implementation for Ethernet-based computer numerical control （CNC） system, it is very necessary to establish the performance analysis model and further adopt the codesign method from the control, communication and computing perspectives. On the basis of analyzing real-time Ethemet, system architecture, time characteristic parameters of control-loop ere, a performance analysis model for real-time Ethemet-based CNC system was proposed, which is able to include the timing effects caused by the implementation platform in the simulation. The key for establishing the model is accomplished by designing the error analysis module and the controller nodes. Under the restraint of CPU resource and communication bandwidth, the experiment with a case study was conducted, and the results show that if the deadline miss ratio of data packets is 0.2%, then the percentage error is 1.105%. The proposed model can be used at several stages of CNC system development.展开更多
Based on the abort strategy of fixed periods, a novel predictive control scheduling methodology was proposed to efficiently solve overrun problems. By applying the latest control value in the prediction sequences to t...Based on the abort strategy of fixed periods, a novel predictive control scheduling methodology was proposed to efficiently solve overrun problems. By applying the latest control value in the prediction sequences to the control objective, the new strategy was expected to optimize the control system for better performance and yet guarantee the schedulability of all tasks under overrun. The schedulability of the real-time systems with p-period overruns was analyzed, and the corresponding stability criteria was given as well. The simulation results show that the new approach can improve the performance of control system compared to that of conventional abort strategy, it can reduce the overshoot and adjust time as well as ensure the schedulability and stability.展开更多
In parallel real-time database systems, concurrency control protocols must satisfy time constraints as well as the integrity constraints. The authors present a validation concurrency control(VCC) protocol, which can e...In parallel real-time database systems, concurrency control protocols must satisfy time constraints as well as the integrity constraints. The authors present a validation concurrency control(VCC) protocol, which can enhance the performance of real-time concurrency control mechanism by reducing the number of transactions that might miss their deadlines, and compare the performance of validation concurrency control protocol with that of HP2PL(High priority two phase locking) protocol and OCC-TI-WAIT-50(Optimistic concurrency control-time interval-wait-50) protocol under shared-disk architecture by simulation. The simulation results reveal that the protocol the author presented can effectively reduce the number of transactions restarting which might miss their deadlines and performs better than HP2PL and OCC-TI-WAIT-50. It works well when arrival rate of transaction is lesser than threshold. However, due to resource contention the percentage of missing deadline increases sharply when arrival rate is greater than the threshold.展开更多
This work considers those road networks in which there are multi-route choices for bifurcation-destination(or origin-destination) pairs, and designs a real-time variable message sign(VMS)-based routing control strateg...This work considers those road networks in which there are multi-route choices for bifurcation-destination(or origin-destination) pairs, and designs a real-time variable message sign(VMS)-based routing control strategy in the model predictive control(MPC) framework. The VMS route recommendation provided by the traffic management authority is directly considered as the control variable, and the routing control model is established, in which a multi-dimensional control vector is introduced to describe the influence of route recommendations on flow distribution. In the MPC framework, a system optimum routing strategy with the constraints regarding drivers' acceptability with recommended routes is designed, which can not only meet the traffic management authority's control requirement but also improve drivers' satisfaction with the route guidance system. The simulation carried out shows that the proposed routing control can effectively mitigate traffic congestion, reduces followers' time delay, and improves drivers' satisfaction with routing control in road networks.展开更多
A DMVOCC-MVDA （distributed multiversion optimistic concurrency control with multiversion dynamic adjustment） protocol was presented to process mobile distributed real-time transaction in mobile broadcast environment...A DMVOCC-MVDA （distributed multiversion optimistic concurrency control with multiversion dynamic adjustment） protocol was presented to process mobile distributed real-time transaction in mobile broadcast environments. At the mobile hosts, all transactions perform local pre-validation. The local pre-validation process is carried out against the committed transactions at the server in the last broadcast cycle. Transactions that survive in local pre-validation must be submitted to the server for local final validation. The new protocol eliminates conflicts between mobile read-only and mobile update transactions, and resolves data conflicts flexibly by using multiversion dynamic adjustment of serialization order to avoid unnecessary restarts of transactions. Mobile read-only transactions can be committed with no-blocking, and respond time of mobile read-only transactions is greatly shortened. The tolerance of mobile transactions of disconnections from the broadcast channel is increased. In global validation mobile distributed transactions have to do check to ensure distributed serializability in all participants. The simulation results show that the new concurrency control protocol proposed offers better performance than other protocols in terms of miss rate, restart rate, commit rate. Under high work load （think time is ls） the miss rate of DMVOCC-MVDA is only 14.6%, is significantly lower than that of other protocols. The restart rate of DMVOCC-MVDA is only 32.3%, showing that DMVOCC-MVDA can effectively reduce the restart rate of mobile transactions. And the commit rate of DMVOCC-MVDA is up to 61.2%, which is obviously higher than that of other protocols.展开更多
In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based po...In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based positioning error sources.The method focused on overcoming the abnormal observations in satellite observation data caused by railway environment rather than the positioning results.Specifically,the relative positioning experimental platform was built and the zero-baseline method was firstly employed to evaluate the carrier phase data quality,and then,GNSS combined observation models were adopted to construct the detection values,which were applied to judge abnormal-data through the dual-frequency observations.Further,ambiguity fixing optimization was investigated based on observation data selection in partly-blocked environments.The results show that the proposed method can effectively detect and address abnormal observations and improve positioning stability.Cycle slips and gross errors can be detected and identified based on dual-frequency global navigation satellite system data.After adopting the data selection strategy,the ambiguity fixing percentage was improved by 29.2%,and the standard deviation in the East,North,and Up components was enhanced by 12.7%,7.4%,and 12.5%,respectively.The proposed method can provide references for train positioning performance optimization in railway environments from the perspective of positioning error sources.展开更多
One of the main challenges for multi-wheel hub motor driven vehicles is the coordination of individual drivetrains to improve mobility and stability in the steering process.This paper proposes a dual-steering mode bas...One of the main challenges for multi-wheel hub motor driven vehicles is the coordination of individual drivetrains to improve mobility and stability in the steering process.This paper proposes a dual-steering mode based on direct yaw moment control for enhancing vehicle steering ability in complex environ ments.The control system is designed as a hierarchical structure,with a yaw moment decision layer and a driving force distribution layer.In the higher-level layer,the objective optimization function is con-structed to obtain the slip steering ratio,which represents the degree of vehicle slip steering in the dual-steering mode.Ayaw moment controller using active disturbance rejection control theory is designed for continuous yaw rate control.When the actual yaw rate of the vehicle deviates from the reference yaw rate obtained by the vehicle reference model and the slip steering ratio,the yaw moment controller isactuated to determine the yaw moment demand for vehicle steering.In the lower-level layer,there is a torque distribution controller based on distribution rules,which meets the requirement of yaw moment demand without affecting the total longitudinal driving force of the vehicle.For verifying the validity and feasibility of the dual-steering mode,simulations were conducted on the hardware-in-loop real-time simulation platfomm.Additionally,corresponding real vehicle tests were carried out on an eight-wheel prototype vehicle.Test results were generally consistent with the simulation results,thereby demon-strating that the proposed dual-steering mode reduces steering radius and enhances the steering per-formance of the vehicle.展开更多
This paper discusses two industrial control applications using advanced control techniques. They are theoptimal-tuning nonlinear PID control of hydraulic systems and the neural predictive control of combustor acoustic...This paper discusses two industrial control applications using advanced control techniques. They are theoptimal-tuning nonlinear PID control of hydraulic systems and the neural predictive control of combustor acoustic ofgas turbines. For hydraulic control systems, an optimal PID controller with inverse of dead zone is introduced toovercome the dead zone and is designed to satisfy desired time-domain performance requirements. Using the adaptivemodel, an optimal-tuning PID control scheme is proposed to provide optimal PID parameters even in the case wherethe system dynamics is time variant. For combustor acoustic control of gas turbines, a neural predictive controlstrategy is presented, which consists of three parts: an output model, output predictor and feedback controller. Theoutput model of the combustor acoustic is established using neural networks to predict the output and overcome thetime delay of the system, which is often very large, compared with the sampling period. The output-feedback con-troller is introduced which uses the output of the predictor to suppress instability in the combustion process. The a-bove control strategies are implemented in the SIMULINK/dSPACE controller development environment. Theirperformance is evaluated on the industrial hydraulic test rig and the industrial combustor test rig.展开更多
基金Projects(50875090,50905063) supported by the National Natural Science Foundation of ChinaProject(2009AA04Z111) supported by the National High Technology Research and Development Program of China+2 种基金Project(20090460769) supported by China Postdoctoral Science FoundationProject(2011ZM0070) supported by the Fundamental Research Funds for the Central Universities in ChinaProject(S2011010001155) supported by the Natural Science Foundation of Guangdong Province,China
文摘In order to optimize the embedded system implementation for Ethernet-based computer numerical control （CNC） system, it is very necessary to establish the performance analysis model and further adopt the codesign method from the control, communication and computing perspectives. On the basis of analyzing real-time Ethemet, system architecture, time characteristic parameters of control-loop ere, a performance analysis model for real-time Ethemet-based CNC system was proposed, which is able to include the timing effects caused by the implementation platform in the simulation. The key for establishing the model is accomplished by designing the error analysis module and the controller nodes. Under the restraint of CPU resource and communication bandwidth, the experiment with a case study was conducted, and the results show that if the deadline miss ratio of data packets is 0.2%, then the percentage error is 1.105%. The proposed model can be used at several stages of CNC system development.
基金Project (60505018) supported by the National Natural Science Foundation of China
文摘Based on the abort strategy of fixed periods, a novel predictive control scheduling methodology was proposed to efficiently solve overrun problems. By applying the latest control value in the prediction sequences to the control objective, the new strategy was expected to optimize the control system for better performance and yet guarantee the schedulability of all tasks under overrun. The schedulability of the real-time systems with p-period overruns was analyzed, and the corresponding stability criteria was given as well. The simulation results show that the new approach can improve the performance of control system compared to that of conventional abort strategy, it can reduce the overshoot and adjust time as well as ensure the schedulability and stability.
文摘In parallel real-time database systems, concurrency control protocols must satisfy time constraints as well as the integrity constraints. The authors present a validation concurrency control(VCC) protocol, which can enhance the performance of real-time concurrency control mechanism by reducing the number of transactions that might miss their deadlines, and compare the performance of validation concurrency control protocol with that of HP2PL(High priority two phase locking) protocol and OCC-TI-WAIT-50(Optimistic concurrency control-time interval-wait-50) protocol under shared-disk architecture by simulation. The simulation results reveal that the protocol the author presented can effectively reduce the number of transactions restarting which might miss their deadlines and performs better than HP2PL and OCC-TI-WAIT-50. It works well when arrival rate of transaction is lesser than threshold. However, due to resource contention the percentage of missing deadline increases sharply when arrival rate is greater than the threshold.
基金Projects(61304203,51409157)supported by the National Natural Science Foundation of ChinaProject(12ZR1444800)supported by the Natural Science Foundation of Shanghai,China
文摘This work considers those road networks in which there are multi-route choices for bifurcation-destination(or origin-destination) pairs, and designs a real-time variable message sign(VMS)-based routing control strategy in the model predictive control(MPC) framework. The VMS route recommendation provided by the traffic management authority is directly considered as the control variable, and the routing control model is established, in which a multi-dimensional control vector is introduced to describe the influence of route recommendations on flow distribution. In the MPC framework, a system optimum routing strategy with the constraints regarding drivers' acceptability with recommended routes is designed, which can not only meet the traffic management authority's control requirement but also improve drivers' satisfaction with the route guidance system. The simulation carried out shows that the proposed routing control can effectively mitigate traffic congestion, reduces followers' time delay, and improves drivers' satisfaction with routing control in road networks.
基金Project(20030533011)supported by the National Research Foundation for the Doctoral Program of Higher Education of China
文摘A DMVOCC-MVDA （distributed multiversion optimistic concurrency control with multiversion dynamic adjustment） protocol was presented to process mobile distributed real-time transaction in mobile broadcast environments. At the mobile hosts, all transactions perform local pre-validation. The local pre-validation process is carried out against the committed transactions at the server in the last broadcast cycle. Transactions that survive in local pre-validation must be submitted to the server for local final validation. The new protocol eliminates conflicts between mobile read-only and mobile update transactions, and resolves data conflicts flexibly by using multiversion dynamic adjustment of serialization order to avoid unnecessary restarts of transactions. Mobile read-only transactions can be committed with no-blocking, and respond time of mobile read-only transactions is greatly shortened. The tolerance of mobile transactions of disconnections from the broadcast channel is increased. In global validation mobile distributed transactions have to do check to ensure distributed serializability in all participants. The simulation results show that the new concurrency control protocol proposed offers better performance than other protocols in terms of miss rate, restart rate, commit rate. Under high work load （think time is ls） the miss rate of DMVOCC-MVDA is only 14.6%, is significantly lower than that of other protocols. The restart rate of DMVOCC-MVDA is only 32.3%, showing that DMVOCC-MVDA can effectively reduce the restart rate of mobile transactions. And the commit rate of DMVOCC-MVDA is up to 61.2%, which is obviously higher than that of other protocols.
基金Project(52272339)supported by the National Natural Science Foundation of ChinaProject(2023YFB390730303)supported by the National Key Research and Development Program of China+2 种基金Project(L2023G004)supported by the Science and Technology Research and Development Program of China State Railway Group Co.,Ltd.Project(QZKFKT2023-005)supported by the State Key Laboratory of Heavy-duty and Express High-power Electric Locomotive,ChinaProject(2022JZZ05)supported by the Open Foundation of MOE Key Laboratory of Engineering Structures of Heavy Haul Railway(Central South University),China。
文摘In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based positioning error sources.The method focused on overcoming the abnormal observations in satellite observation data caused by railway environment rather than the positioning results.Specifically,the relative positioning experimental platform was built and the zero-baseline method was firstly employed to evaluate the carrier phase data quality,and then,GNSS combined observation models were adopted to construct the detection values,which were applied to judge abnormal-data through the dual-frequency observations.Further,ambiguity fixing optimization was investigated based on observation data selection in partly-blocked environments.The results show that the proposed method can effectively detect and address abnormal observations and improve positioning stability.Cycle slips and gross errors can be detected and identified based on dual-frequency global navigation satellite system data.After adopting the data selection strategy,the ambiguity fixing percentage was improved by 29.2%,and the standard deviation in the East,North,and Up components was enhanced by 12.7%,7.4%,and 12.5%,respectively.The proposed method can provide references for train positioning performance optimization in railway environments from the perspective of positioning error sources.
基金This work was supported by the Weapons and Equipment Pre-Research Project of China(No.301051102).
文摘One of the main challenges for multi-wheel hub motor driven vehicles is the coordination of individual drivetrains to improve mobility and stability in the steering process.This paper proposes a dual-steering mode based on direct yaw moment control for enhancing vehicle steering ability in complex environ ments.The control system is designed as a hierarchical structure,with a yaw moment decision layer and a driving force distribution layer.In the higher-level layer,the objective optimization function is con-structed to obtain the slip steering ratio,which represents the degree of vehicle slip steering in the dual-steering mode.Ayaw moment controller using active disturbance rejection control theory is designed for continuous yaw rate control.When the actual yaw rate of the vehicle deviates from the reference yaw rate obtained by the vehicle reference model and the slip steering ratio,the yaw moment controller isactuated to determine the yaw moment demand for vehicle steering.In the lower-level layer,there is a torque distribution controller based on distribution rules,which meets the requirement of yaw moment demand without affecting the total longitudinal driving force of the vehicle.For verifying the validity and feasibility of the dual-steering mode,simulations were conducted on the hardware-in-loop real-time simulation platfomm.Additionally,corresponding real vehicle tests were carried out on an eight-wheel prototype vehicle.Test results were generally consistent with the simulation results,thereby demon-strating that the proposed dual-steering mode reduces steering radius and enhances the steering per-formance of the vehicle.
文摘This paper discusses two industrial control applications using advanced control techniques. They are theoptimal-tuning nonlinear PID control of hydraulic systems and the neural predictive control of combustor acoustic ofgas turbines. For hydraulic control systems, an optimal PID controller with inverse of dead zone is introduced toovercome the dead zone and is designed to satisfy desired time-domain performance requirements. Using the adaptivemodel, an optimal-tuning PID control scheme is proposed to provide optimal PID parameters even in the case wherethe system dynamics is time variant. For combustor acoustic control of gas turbines, a neural predictive controlstrategy is presented, which consists of three parts: an output model, output predictor and feedback controller. Theoutput model of the combustor acoustic is established using neural networks to predict the output and overcome thetime delay of the system, which is often very large, compared with the sampling period. The output-feedback con-troller is introduced which uses the output of the predictor to suppress instability in the combustion process. The a-bove control strategies are implemented in the SIMULINK/dSPACE controller development environment. Theirperformance is evaluated on the industrial hydraulic test rig and the industrial combustor test rig.
