Many Bayesian learning approaches to the multi-layer perceptron （MLP） parameter optimization have been proposed such as the extended Kalman filter （EKF）. This paper uses the unscented Kalman particle filter （UPF...Many Bayesian learning approaches to the multi-layer perceptron （MLP） parameter optimization have been proposed such as the extended Kalman filter （EKF）. This paper uses the unscented Kalman particle filter （UPF） to train the MLP in a self- organizing state space （SOSS） model. This involves forming augmented state vectors consisting of all parameters （the weights of the MLP） and outputs. The UPF is used to sequentially update the true system states and high dimensional parameters that are inherent to the SOSS moder for the MLP simultaneously. Simulation results show that the new method performs better than traditional optimization methods.展开更多
Formal state space models of quantum control systems are deduced and a scheme to establish formal state space models via quantization could been obtained for quantum control systems is proposed. State evolution of qua...Formal state space models of quantum control systems are deduced and a scheme to establish formal state space models via quantization could been obtained for quantum control systems is proposed. State evolution of quantum control systems must accord with Schrdinger equations, so it is foremost to obtain Hamiltonian operators of systems. There are corresponding relations between operators of quantum systems and corresponding physical quantities of classical systems, such as momentum, energy and Hamiltonian, so Schrdinger equation models of corresponding quantum control systems via quantization could been obtained from classical control systems, and then establish formal state space models through the suitable transformation from Schrdinger equations for these quantum control systems. This method provides a new kind of path for modeling in quantum control.展开更多
A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task ...A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.展开更多
This paper presents state space methods for decentralized Hoe control, which contain two respects: a parametrization approach and an iterative algorithm. For large scale systems with N subsystems, decentralized Hoe c...This paper presents state space methods for decentralized Hoe control, which contain two respects: a parametrization approach and an iterative algorithm. For large scale systems with N subsystems, decentralized Hoe con trollers can be derived by a parametrization result for centralized Her: controllers and designed by an iterative algorithm with structured constraint to the controllers.展开更多
This paper presents the development of dynamic simulation of a flexible plate structure with various boundary conditions. A flexible square plate is considered. A finite-difference method is used to discretise the gov...This paper presents the development of dynamic simulation of a flexible plate structure with various boundary conditions. A flexible square plate is considered. A finite-difference method is used to discretise the governing partial differential equation formulation describing its dynamic behaviour. The model thus developed has been validated against characteristic parameters of the plate. The model thus developed is further formulated using discrete state-space representation, to allow easy and fast implementation for simulating the dynamic behaviour of the plate with various boundary conditions. The simulation algorithm thus developed is validated, and accurate results with representation of the first five modes of vibration of the plate have been achieved. The algorithm thus developed is used in subsequent research work as a platform for development and verification of suitable control strategies for vibration suppression of flexible plate structures.展开更多
A design and verification of linear state observers which estimate state information such as angular velocity and load torque for retraction control of the motorized seat belt (MSB) system were described. The motorize...A design and verification of linear state observers which estimate state information such as angular velocity and load torque for retraction control of the motorized seat belt (MSB) system were described. The motorized seat belt system provides functions to protect passengers and improve passenger's convenience. Each MSB function has its own required belt tension which is determined by the function's purpose. To realize the MSB functions, state information, such as seat belt winding velocity and seat belt tension are required. Using a linear state observer, the state information for MSB operations can be estimated without sensors. To design the linear state observer, the motorized seat belt system is analyzed and represented as a state space model which contains load torque as an augmented state. Based on the state space model, a linear state observer was designed and verified by experiments. Also, the retraction control of the MSB algorithm using linear state observer was designed and verified on the test bench. With the designed retraction control algorithm using the linear state observer, it is possible to realize various types of MSB functions.展开更多
用于中高压直流电网互联和隔离的模块化多电平直流变压器(modular multilevel DC transformer,MMDCT)在传输功率变化的过程中会出现电流欠阻尼振荡的问题,从而降低了装置的稳定性,因此文中对振荡抑制展开了研究。首先,通过差模和共模电...用于中高压直流电网互联和隔离的模块化多电平直流变压器(modular multilevel DC transformer,MMDCT)在传输功率变化的过程中会出现电流欠阻尼振荡的问题,从而降低了装置的稳定性,因此文中对振荡抑制展开了研究。首先,通过差模和共模电路中的振荡现象分析,并基于状态空间平均法建立数学模型,从而揭示了MMDCT中的电流振荡机理;进一步提出了一种基于共模和差模分离的电流振荡抑制方法,利用变副边交流侧电压占空比的方式实现漏感电流振荡的抑制,同时采用变桥臂电压占空比的方式进行环流电流振荡的抑制,并给出了相应控制器参数设计依据。最后,通过仿真和实验验证了所提控制方法的有效性,结果表明在基于共模和差模分离的振荡抑制方法下,MMDCT可以在功率变化过程中快速实现电流稳定,有利于提升装置稳定性。展开更多
固态变压器(solid state transformer,SST)在新型电力系统中的应用逐渐增加,因其复杂的拓扑结构、节点数多、子模块内开关频率高等特点,使得面向SST的电磁暂态仿真计算效率低,目前针对SST大步长仿真方法的研究较少。为此,提出一种基于...固态变压器(solid state transformer,SST)在新型电力系统中的应用逐渐增加,因其复杂的拓扑结构、节点数多、子模块内开关频率高等特点,使得面向SST的电磁暂态仿真计算效率低,目前针对SST大步长仿真方法的研究较少。为此,提出一种基于离散状态空间小步合成的SST大步长仿真方法。首先,建立小步长建模、小步长仿真的离散状态空间模型;然后,根据离散状态空间方程的特点,采用小步迭代合成法构建离散状态空间大步长仿真模型,从而实现小步长建模、大步长仿真;最后,给出大步长仿真模型的二次等效方法,减少系统整体建模的系数矩阵维度,降低计算复杂度。结果表明,所提方法不仅能减少数值积分误差和电力电子开关动作误差,实现100 k Hz开关频率下SST换流系统的精确仿真,还能显著提升SST的仿真效率。展开更多
Oil-paper compound insulation has been widely used in power transformers for quite a long time because of its good performances. The insulation gradually degrades under combined thermal, electrical and chemical stress...Oil-paper compound insulation has been widely used in power transformers for quite a long time because of its good performances. The insulation gradually degrades under combined thermal, electrical and chemical stresses during routine operations, mainly because of space charges inside. This work investigated the space charge characteristics in oil-paper insulation under oil aging circumstance. New trans- former oil samples are thermally aged to obtain different aging states, and their physical and chemical properties are analyzed. New Kraft papers are dried in vacuum and fully immersed in these different aged oil samples, and three kinds of oil-paper samples are obtained. We use the pulsed electro-acoustic (PEA) method to measure space charge under both DC voltage-on and voltage-off conditions at room temperature. The effect of oil aging state on characteristics of space charge injection, accumulation, and decay is analyzed and discussed. The results show that comparing with the DC voltage-off condition, more charges are injected into samples at the interface of electrode and dielectric when DC voltage is on. When the oil-aged state gets worse, more charges are induced at both cathode and anode, more space charges are accumulated in the bulk, the area of negative charges is larger, and local electric field is distorted more seriously. Moreover, for the voltage-off condition, aged oil is good for space charge decay, and trapped positive space charges decay faster than trapped negative charges.展开更多
The Bayesian approach is considered as the most general formulation of the state estimation for dynamic systems. However, most of the existing Bayesian estimators of stochastic hybrid systems only focus on the Markov ...The Bayesian approach is considered as the most general formulation of the state estimation for dynamic systems. However, most of the existing Bayesian estimators of stochastic hybrid systems only focus on the Markov jump system, few liter- ature is related to the estimation problem of nonlinear stochastic hybrid systems with state dependent transitions. According to this problem, a new methodology which relaxes quite a restrictive as- sumption that the mode transition process must satisfy Markov properties is proposed. In this method, a general approach is presented to model the state dependent transitions, the state and output spaces are discreted into cell space which handles the nonlinearities and computationally intensive problem offline. Then maximum a posterior estimation is obtained by using the Bayesian theory. The efficacy of the estimator is illustrated by a simulated example .展开更多
基金supported by the National Natural Science Foundation of China(7092100160574058)+1 种基金the Key International Cooperation Programs of Hunan Provincial Science & Technology Department (2009WK2009)the General Program of Hunan Provincial Education Department(11C0023)
文摘Many Bayesian learning approaches to the multi-layer perceptron （MLP） parameter optimization have been proposed such as the extended Kalman filter （EKF）. This paper uses the unscented Kalman particle filter （UPF） to train the MLP in a self- organizing state space （SOSS） model. This involves forming augmented state vectors consisting of all parameters （the weights of the MLP） and outputs. The UPF is used to sequentially update the true system states and high dimensional parameters that are inherent to the SOSS moder for the MLP simultaneously. Simulation results show that the new method performs better than traditional optimization methods.
文摘Formal state space models of quantum control systems are deduced and a scheme to establish formal state space models via quantization could been obtained for quantum control systems is proposed. State evolution of quantum control systems must accord with Schrdinger equations, so it is foremost to obtain Hamiltonian operators of systems. There are corresponding relations between operators of quantum systems and corresponding physical quantities of classical systems, such as momentum, energy and Hamiltonian, so Schrdinger equation models of corresponding quantum control systems via quantization could been obtained from classical control systems, and then establish formal state space models through the suitable transformation from Schrdinger equations for these quantum control systems. This method provides a new kind of path for modeling in quantum control.
基金the National Natural Science Foundation of China (60428303).
文摘A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.
文摘This paper presents state space methods for decentralized Hoe control, which contain two respects: a parametrization approach and an iterative algorithm. For large scale systems with N subsystems, decentralized Hoe con trollers can be derived by a parametrization result for centralized Her: controllers and designed by an iterative algorithm with structured constraint to the controllers.
文摘This paper presents the development of dynamic simulation of a flexible plate structure with various boundary conditions. A flexible square plate is considered. A finite-difference method is used to discretise the governing partial differential equation formulation describing its dynamic behaviour. The model thus developed has been validated against characteristic parameters of the plate. The model thus developed is further formulated using discrete state-space representation, to allow easy and fast implementation for simulating the dynamic behaviour of the plate with various boundary conditions. The simulation algorithm thus developed is validated, and accurate results with representation of the first five modes of vibration of the plate have been achieved. The algorithm thus developed is used in subsequent research work as a platform for development and verification of suitable control strategies for vibration suppression of flexible plate structures.
基金Project supported by the Second Stage of Brain Korea 21 Projects and Changwon National University in 2011-2012
文摘A design and verification of linear state observers which estimate state information such as angular velocity and load torque for retraction control of the motorized seat belt (MSB) system were described. The motorized seat belt system provides functions to protect passengers and improve passenger's convenience. Each MSB function has its own required belt tension which is determined by the function's purpose. To realize the MSB functions, state information, such as seat belt winding velocity and seat belt tension are required. Using a linear state observer, the state information for MSB operations can be estimated without sensors. To design the linear state observer, the motorized seat belt system is analyzed and represented as a state space model which contains load torque as an augmented state. Based on the state space model, a linear state observer was designed and verified by experiments. Also, the retraction control of the MSB algorithm using linear state observer was designed and verified on the test bench. With the designed retraction control algorithm using the linear state observer, it is possible to realize various types of MSB functions.
文摘用于中高压直流电网互联和隔离的模块化多电平直流变压器(modular multilevel DC transformer,MMDCT)在传输功率变化的过程中会出现电流欠阻尼振荡的问题,从而降低了装置的稳定性,因此文中对振荡抑制展开了研究。首先,通过差模和共模电路中的振荡现象分析,并基于状态空间平均法建立数学模型,从而揭示了MMDCT中的电流振荡机理;进一步提出了一种基于共模和差模分离的电流振荡抑制方法,利用变副边交流侧电压占空比的方式实现漏感电流振荡的抑制,同时采用变桥臂电压占空比的方式进行环流电流振荡的抑制,并给出了相应控制器参数设计依据。最后,通过仿真和实验验证了所提控制方法的有效性,结果表明在基于共模和差模分离的振荡抑制方法下,MMDCT可以在功率变化过程中快速实现电流稳定,有利于提升装置稳定性。
文摘固态变压器(solid state transformer,SST)在新型电力系统中的应用逐渐增加,因其复杂的拓扑结构、节点数多、子模块内开关频率高等特点,使得面向SST的电磁暂态仿真计算效率低,目前针对SST大步长仿真方法的研究较少。为此,提出一种基于离散状态空间小步合成的SST大步长仿真方法。首先,建立小步长建模、小步长仿真的离散状态空间模型;然后,根据离散状态空间方程的特点,采用小步迭代合成法构建离散状态空间大步长仿真模型,从而实现小步长建模、大步长仿真;最后,给出大步长仿真模型的二次等效方法,减少系统整体建模的系数矩阵维度,降低计算复杂度。结果表明,所提方法不仅能减少数值积分误差和电力电子开关动作误差,实现100 k Hz开关频率下SST换流系统的精确仿真,还能显著提升SST的仿真效率。
基金Project supported by China National Fund for Distinguished Young Scientists (51125029)National High-tech Research and Development Program of China (863 Program) (2007AA04Z411)
文摘Oil-paper compound insulation has been widely used in power transformers for quite a long time because of its good performances. The insulation gradually degrades under combined thermal, electrical and chemical stresses during routine operations, mainly because of space charges inside. This work investigated the space charge characteristics in oil-paper insulation under oil aging circumstance. New trans- former oil samples are thermally aged to obtain different aging states, and their physical and chemical properties are analyzed. New Kraft papers are dried in vacuum and fully immersed in these different aged oil samples, and three kinds of oil-paper samples are obtained. We use the pulsed electro-acoustic (PEA) method to measure space charge under both DC voltage-on and voltage-off conditions at room temperature. The effect of oil aging state on characteristics of space charge injection, accumulation, and decay is analyzed and discussed. The results show that comparing with the DC voltage-off condition, more charges are injected into samples at the interface of electrode and dielectric when DC voltage is on. When the oil-aged state gets worse, more charges are induced at both cathode and anode, more space charges are accumulated in the bulk, the area of negative charges is larger, and local electric field is distorted more seriously. Moreover, for the voltage-off condition, aged oil is good for space charge decay, and trapped positive space charges decay faster than trapped negative charges.
基金supported by the National Natural Science Foundation of China (6097400161104121)the Fundamental Research Funds for the Central Universities (JUDCF11039)
文摘The Bayesian approach is considered as the most general formulation of the state estimation for dynamic systems. However, most of the existing Bayesian estimators of stochastic hybrid systems only focus on the Markov jump system, few liter- ature is related to the estimation problem of nonlinear stochastic hybrid systems with state dependent transitions. According to this problem, a new methodology which relaxes quite a restrictive as- sumption that the mode transition process must satisfy Markov properties is proposed. In this method, a general approach is presented to model the state dependent transitions, the state and output spaces are discreted into cell space which handles the nonlinearities and computationally intensive problem offline. Then maximum a posterior estimation is obtained by using the Bayesian theory. The efficacy of the estimator is illustrated by a simulated example .
