Control Engineering of China

A Survey of Diagnosis Methods for Wind Power System

SHEN Yan -xia，LI Fan

2013, 20(5): 789-799.

Asbtract ( )

Related Articles | Metrics

Abstract: Wind power systems are often installed where is remote，inaccessible or the climate is not suitable for human to stay for long
time． So the traditional scheduled maintenance and breakdown maintenance can not meet the demands． It is very essential to ensure re-
liable and stable operation，and to reduce the cost of maintenance，condition monitoring and fault diagnosis of wind power system． The
existing fault diagnosis methods for the main failure components of wind power system，including gear boxes，generator，power electronic
devices，blade and so on，were introduced and classified． This work will provide an effective reference to the improvemet of the reliability of wind power system，reduction of cost and promoting the engineering process．

Automatic Control System of Flotation Processes

LI Hai-bo，CHAI Tian-you，YUE Heng

2013, 20(5): 796-799.

Asbtract ( )

Related Articles | Metrics

According to the conditions of the low level of automation and low labour productivity，an automatic control system for flotation
process was designed and developed innovatively based on the ControlLogix series software and hardware platform of Ｒockwell Company．
The structure and function of the control system are introduced carefully． The control strategies of the pulp level，the air flowrate
and the flotation reagent feeding are described in detail． The control software and human － machine interface are designed and developed．
The actual industrial application results show that the control system operates steadily，safely and reliably，the worker labor intensities
are decreased obviously，and the work condition is improved，the competitiveness of the enterprise is enhanced．

Decentralized Control for Interconnected Systems with Arbitrary Topology and Communication Failure

YU Miao，LU Chao

2013, 20(5): 800-804.

Asbtract ( )

Related Articles | Metrics

A analysis method of the problems of interconnected systems and the decentralized controller design method are presented in
this paper． That the topology of the interconnection is arbitrary and the exchanged information between subsystems is lost cause the unreliable
link． Firstly，the stochastic variable responsible for the situation of the lossy communication is regarded as a source of model uncertainty，
and the system is modeled in linear fractional transformation． Then the robust control theory is employed for system analysis，
and the largest probability of communication failure，which is tolerated by the interconnected systems keeping mean square stable，can
be obtained． Decentralized state feedback controllers are designed to ensure that the whole systems are mean square stable for a given
communication failure rate，based on the technique of linear matrix inequalities． Finally，an illustrative example of power network
which is a part of China southern power grid is presented finally to show the effectiveness of the proposed model and method． Simulation
results demonstrate that when the communication faults occur between the power components in the China southern power grid，using the
method described in this paper can make the network well designed and wide-area controlled and the local power network mean square
stable．

Parameter Identification Method of 6-axis Industrial Robot

CAI Jin-da，ZHANG Jian-hao，QIN Xu-xiang

2013, 20(5): 805-808.

Asbtract ( )

Related Articles | Metrics

he position and pose accuracy of the robot end depends on the geometrical parameters accuracy of each joint． An easy and practical method of parameter identification method is put forward to improve the pose accuracy． Using the robot kinematics equation depending on D-H algorithm，the relationship between the end and each joint is obtained． This particular method as well as the corresponding experiment is designed to solve the problems in the identification process，the actual geometric structure parameters are obtained according to the accurate measurement by laser tracker． The experimental results verify the effectiveness of the presented method．

Application of Support Vector Machine( SVM) in Prediction of Molten Iron Temperature in Blast Furnace

CUI Gui-mei，SUN Tong，Zhang Yong

2013, 20(5): 809-812.

Asbtract ( )

Related Articles | Metrics

As a key parameter in blast furnace smelting process，the temperature of molten iron is of importance for smooth operation of
blast furnace and the energy consumption． This paper studies on the important indicator for heat state of the blast furnace，namely molten
iron temperature． By taking advantages of both method of K-means clustering and support vector machine( SVM) ，a K-means clustering
－ based SVM model is proposed for predicting the temperature of molten iron． Firstly，the training sample data are divided into m
classes and m SVM regression prediction models are established accordingly． At the same time，a particle swarm optimization algorithm
is utilized to optimize the model parameters． Then，m discriminant functions are established to recognize which class the sample data
belongs to． Finally，the sample data are put into the corresponding class of regression model to predict temperature． Compared to the
standard SVM － based prediction method，the proposed method predict the molten iron temperature with a higher accuracy．

Fuzzy Self-tuning PI Control Approach for Freeway On-Ramp Metering

CHI Rong-hu，YANG Xiu-qin，LI Jian-ying，LIU Xiang-peng

2013, 20(5): 813-817.

Asbtract ( )

Related Articles | Metrics

On-ramp metering is an effective tool for traffic management on freeway networks． In this paper，based on the ordinary differential equation( ODE) model of the ramp system，a new fuzzy self-tuning PI controller for freeway ramp metering is designed． By considering the upstream and downstream traffic flow information sufficiently，the designed PI controller can effectively suppress the influence of the system disturbances． Furthermore，a fuzzy logic is esigned to tune of the PI controller parameters automatically． Compared with both PID and ALINEA approaches，the simulation results illustrate the validity and efficiency of the presented method intensively．

Building Blocks Design and Implementation of Glareshield for A320 Simulator

CHEN Jing-jie，XIAO Chen，QIAN Wen-gao

2013, 20(5): 818-820.

Asbtract ( )

Related Articles | Metrics

A building block approach is presented to design Glareshield of a simulator． On the basis of its function categorization，this
approach aims at designing independent functional blocks through appropriately lowering relative dependence on connections between
blocks of operating board and control board，realising separation of function and structure，module segmentation and data communication
between modules． Furthermore，taking communication between blocks as an example，independent communication blocks were designed，
which effectively prevented frequent occurrence of system crashes due to code disorder in communication． Through experiments
in applications，it proves that the building block design approach can greatly improve the reliability of the simulator． Furthermore，this
approach could also be applied in the design of front roof and center control console．

Dynamic Pricing Model of Perishable Items with Price-dependent Demand

CAO Xiao-gang，WEN Hui，LI Ji-zi，ZHENG Ben-rong

2013, 20(5): 821-824.

Asbtract ( )

Related Articles | Metrics

The dynamic pricing model of the perishable product with the price-dependent demand using the optimal control theory is established．
The objective is to maximize the total sales profit within the sale planning horizon． The optimal conditions of the sale price are
obtained according to the Pontryagin maximum principle． And if the sale price is between the unit purchasing cost of the product and the
upper limit of the sale price，a lower limit of the optimal sale price and a higher limit of the optimal inventory level at every time point
of the sale planning horizon are obtained which are both related to the perishable rate and the unit holding cost of the product at every
time point of the sale planning horizon．

PSO-BP-PID Control of Ladle Furnace Proportioning System

OU Qing-li，WU Xing-zhong，OU Da-xian

2013, 20(5): 825-828.

Asbtract ( )

Related Articles | Metrics

In accordance with the control features of material proportioning process of the ladle refining furnace，e. g. ，inertia，time
lag，non-linearity，a kind of compound control algorithm is proposed based on particle swarm optimization algorithm( PSO) ， error back
propagation( BP) neural network and proportion integration differentiation( PID) algorithm． The PSO-BP-PID compound algorithm is applied
in a 150t ladle refining furnace burden weighing control system． The particle swarm optimization algorithm with global optimization
characteristics improves the convergence of the BP neural network which the initial weights of BP neural network is optimized． The optimized
BP neural network is then used to adjust PID parameters on-line． The PID controller based on PSO and the BP neural network
controls real-time the proportioning process of the ladle refining furnace． The simulation and operation experimental results show that the
control effect of the PSO-BP-PID algorithm is better than the control effect of the traditional PID algorithm． The control system of the ladle
furnace ingredients based on PSO-BP-PID algorithm can significantly improve the accuracy of ingredients，and effectively solve the
contradiction between ingredients weighing speed and accuracy．

The Research of Hybrid Noise Filtering for Images Based on Pulse Coupled Neural Network

ZHANG Yan-zhu,LI Yuan,LI Xiao-juan

2013, 20(5): 829-832.

Asbtract ( )

Related Articles | Metrics

To the speciality of mixed noise constituted by pulse noise and Gauss noise，we present a comprehensive algorithm in this
text，which is based on the simplified PCNN model，utilizing several technique specialities of the model，selecting parameters properly，
and combining with mathematical morphology method，median filtering and wiener filtering． This method performs better than average
filters and median filters on hybrid noise reduction while retaining edges and detail information of the image． Experiments show that the
effect of eliminating grey image mixed noise which applying the simplified PCNN eliminating algorithm proposed in this paper is good．
This algorithm can show a big advantage when in the comparison with other algorithms． This algorithm not only can effectively filter hybrid
noise but also can excel in real-time tasks because of its reduced computation complexity． With the increase of the image populated
by blends noise，the advantage is obvious．

Decoupling Phase Locking Based Control System Simulation of Grid-connected Wind Power

WU Xin-kai，LIU Yang

2013, 20(5): 833-836.

Asbtract ( )

Related Articles | Metrics

By using the decoupled double synchronous coordinate system software phase locked loop ( DDSRF-SPLL) ，it can detect the
unbalanced grid voltage of positive sequence component and negative sequence component，and put forward the coordinate transformation
of the mathematical to establish the grid side of directly-driven permanent wind generator's mathematical model，which includes
network side PWM inverter control and Voltage phase locked loop． A kind of current decoupling control strategy is proposed． It uses the
space vector pulse width modulation ( SVPWM) on AC output current control． This method can independently control the output current
of the active and reactive component，and can make the output current waveform of sine and grid voltage in phase with the same frequency．
Thus it can greatly reduce the harmonic pollution． It can eliminate the influence of unbalance voltage，and to achieve a precise
phase-locked output current and gird voltage three-phase grid voltage amplitude imbalance． In this paper，using Matlab /Simulink software
platform，the simulation proves the validity and feasibility of the control system when the grid stays in balance and unbalance． This
system improves reliability of wind power grid connection．

Boundary Control for a Class of Parabolic Distributed Parameter Systems

WEI Ping，DING Mao，ZUO Xin，LUO Xiong-lin

2013, 20(5): 837-840.

Asbtract ( )

Related Articles | Metrics

Using classical Lie symmetry theory，boundary control for a class of parabolic distributed parameter systems has been studied，
and the control laws on open loop and closed loop have been designed to control the system reaching the fixed stationary state． By
means of infinitesimal generators and invariance condition，the analytic control conditions on open loop and closed loop are presented after
having the classical Lie symmetry of the system，which is expressed by infinitesimal generators． The control purpose can be satisfied
under the two types of control laws by setting system parameters，initial condition and control purpose ahead． Comparatively，from the
simulation，the convergence of output error under open loop control is slower than that under closed loop control，and however there are
overshoot phenomena nearby the intake under closed loop control． The result proposed in the paper can be applied for controlling a class
of temperature or concentration models with conduction and convention characteristics．

The Research of Algorithm for Dynamic Network of Power Line Carrier Communications

LIN Jing-dong，QIN Yu-long，LIAO Xiao-yong

2013, 20(5): 841-843.

Asbtract ( )

Related Articles | Metrics

The uncertainty of the Power carrier communication network makes it unable to form a network，using the general communication
networking method． To solve this problem，this paper designed a improved genetic algorithm applicable to path optimization． The
algorithm can rapidly and accurately build global communication network． Firstly，the genetic algorithm is used to all communications
nodes and communication paths for global searching． Then，when the communication node breaks down，the genetic algorithm will use
its global optimization characteristics to build communication network． During the network process，Dijkstra algorithm and the thought of
Graph Traversing algorithm are introduced to overcome the shortcomings of the genetic algorithm，such as，easiness to converge to a local
optimal solution and small Processing scale． Finally，according to the most optimized reserved principle of The Niching Technique，
the improved genetic algorithm can get the best network results． Matlab simulation experiments verifies the convergence and feasibility of
the algorithm． The algorithm improves the efficiency and rapidity of network to meet instantaneous and accuracy requirements of the
Power carrier communication dynamic network，and has practical value．

Research on the Control of Doubly － fed Induction Wind Power Generator without Speed Sensor

LIU Ting，HUANG Shou-dao，DENG Qiu-ling，CHEN Guo-fu，PU Qing-yun，GUO Deng-ta

2013, 20(5): 844-848.

Asbtract ( )

Related Articles | Metrics

The proportional relation of the current of stator and rotor is indirectly used to analyze the relation of the rotor current and rotor
position observer． By analyzing the simulation results a vector control strategy for doubly － fed induction generator ( DFIG) based on PQ －
power rotor position observer is proposed． This control strategy overcomes the drawback of incorrect observation in other speed observer
methods when running at the synchronous speed． The proposed control strategy has wider speed range，and can achieve the control performance
similar as the control method using speed sensor． Finally，a DFIG experimental system is built up and the experiments are performed．
The simulation and experimental results have a good agreement verifying the effectiveness of the proposed control method．

Relative Stability Analysis Method of LTI System with Time Delay

ZENG Qi-jie，ZHANG Yun，TANG Bin

2013, 20(5): 849-853.

Asbtract ( )

Related Articles | Metrics

Time-delay is frequently encountered in many control problems． The existence of time-delay induces difficulty in stability analysis
and may thereby lead to oscillations or degraded performance in closed-loop systems． This paper investigates the stability analysis
of linear time-invariant( LTI) systems with time delay depending upon the solution of the characteristic equation． Not only the absolute
stability but also the relative stabilities the transient performances are depended on the locations of the characteristic equation roots． The
existence of time delay transforms the closed-loop characteristic equation into a transcendental equation with an infinite number of roots．
By investigating the real part and the imaginary part of the transcendental equation，the characteristic equation can be transformed into a
rotation equation with two vectors related to the system parameters． The characteristic roots on the given region boundaries can be determined
exactly and concisely． Numerical examples are provided to illustrate the proposed algorithm．

Dynamic Weapon Target Assignment Method Based on Embedded Markov Chain

ZHANG Hai-long，SUN Shi-yu

2013, 20(5): 854-858.

Asbtract ( )

Related Articles | Metrics

In this paper，the technical limitations of minimizing resource losing model and maximizing threat model are analyzed via reviewing
the current research of weapon target assignment ( WTA) problem． To solve the non － real － time problem with the existing
methods，a dynamic WTA method is proposed which accords with the practical combat． Firstly，to make the allocation model being real
－ time and general，the dynamic input of target is introduced at random． Secondly，aiming at the dynamic random system with target inputs，
the state of rebirth time is analyzed，and the system is transformed into a Markov process by embedded Markov Chain． Then the
system state transition probability is resolved． Thirdly，the objective function is constructed，and the target assignment dynamic model is
established by state transition matrix． Finally，the solution of model is given，and its validity and real － time characteristics are proved．
The method proposed in this paper refines and complements current weapon target assignment models．

Robust Fault Tolerant Control for Networked Control System with Variable Sampling Period

FAN Jin -rong,FANG Hua -jing

2013, 20(5): 859-863.

Asbtract ( )

Related Articles | Metrics

Robust fault tolerant control of networked control system ( NCS) with variable sampling period and time delays was studied in
this paper． First，a discrete － time model with parameter uncertainties lying inside a polytypic framework whose vertices were determined
through the Real Jordan form approximation is proposed． Based on the model，an observer was proposed to estimate the fault and guarantee
the convergence speed of fault estimation． Furthermore，the robust active fault tolerant controller based on dynamic output feedback
was designed to guarantee the stability of the closed － loop system． A sufficient condition for the existence of controller to guarantee
the system asymptotically stable is established in terms of linear matrix inequalities ( LMIs) ． When the LMIs have an optimal solution，
explicit expression of the desired optimal H∞ tolerant fault controller can be determined． Finally，numerical simulation is presented to illustrate
the effectiveness of the proposed design techniques．

Hardness Prediction for CAPL Based on Process Average Trajectory

PENG Jun，WANG Jian-hui，TAN Shuai，WANG Yuan

2013, 20(5): 864-868.

Asbtract ( )

Related Articles | Metrics

The grain of strip steel can be turned to uniform． And the work hardening and inner stress can be eliminated by continuous
annealing line． So it is the key for improving steel’s mechanical properties． But in a real production process，the mechanism of continuous
annealing is complicated． The coupling operation parameters could change the characteristics of strip steel，and the detection of steel
hardness has a long time lag，which brings grate obstacle to improve steel quality． PLS is used to build the relationship between average
trajectory process and hardness． It can guarantee the safety of production process by realizing hardness prediction and process monitoring
timely． Simulations in real process shows the feasibility and effectiveness of the proposed method．

Research on a Seam Tracking System Based on Laser Vision Sensor Measuring

HE Hong-lin，LEI Xiu-cai，GONG Ye-fei，ZHAO Can

2013, 20(5): 869-872.

Asbtract ( )

Related Articles | Metrics

Aimed to improve the seam tracking precision while welding，this paper proposes a laser vision seam tracking system which
is composed of a laser vision sensor，a deviation correction controller，two stepping motors and a cross slider． While the tracking system
runs，the laser vision sensor measures position deviation between the seam gun’s current position and desired position，and the controller
determine the correcting value，and the motors drive the cross slider to modulate the seam gun’s position and posture so as to offset
seam tracking error． The prototype of the system was constructed． Seam tracking experiments show that the tracking error can limit to being
less than 0. 5mm． It is concluded the laser vision seam tracking system exists wide application prospect in precision welding engineering．

Research on Power Cable On-line Insulation Monitoring for Underground Coalmine

DONG Ai-hua，LIU Zeng-yin，GENG Xin-lin，WANG Shao-hua

2013, 20(5): 873-876.

Asbtract ( )

Related Articles | Metrics

On the basis of the analysis and comparison of the existing power cable insulation monitoring methods，it designs the online
monitoring system of the underground power cable insulation approach for the operational characteristics of the underground coalmine cable
lines． The system uses the low-frequency signal injection method，injecting the low-frequency signal into the cable through the reactor
neutral point． It constitutes a loop of the low － frequency signal，the cable insulation resistance and the Earth． Under the circumstances
of injecting certain low-frequency voltage，it can achieve on － line monitoring of the cable insulation，by detecting the value of
the low-frequency current-line，so the problems of poor reliability and low sensitivity on-line insulation monitoring of the power cable are
solved better． The experiment shows that this method has a low error and high accuracy in detection; it can monitor not only the single
cable insulation but also the multiple ones． It can apply to both the main cable circuits and the branch ones．

Neuro-fuzzy Based PID Cascade Control of Main Steam Temperature of Fire Electrical Engineering Set

JIA Li，CHAI Zhong-jun

2013, 20(5): 877-881.

Asbtract ( )

Related Articles | Metrics

How to quickly control the main steam temperature to the setpoint is difficult problem in the field of fire power station control．
Considering the control problem of the main steam temperature of super critical boiler machine set，a neuro-fuzzy model based adaptive
PID cascade control for the main steam temperature of fire electrical engineering set is proposed in this paper． A neuro-fuzzy
model for main steam temperature is established by using the information of attemperation water flow，inlet temperature of high temperature
superheater，main steam flow and the main steam temperature． Then the adaptive PID cascade control of main steam temperature is
implemented． A PI controller is employed in the inner loop to overcome inner disturbance，which can decrease the influence of the leading
area＇s differential temperature． Then the single neuron PID controller ( SNAC) is implemented to control the called generalized
process，which includes PI closed loop and inert segment． This controller is adjusted to eliminate the error between the predicted value
and the output value． Finally，the effectiveness of this methodology is verified by simulation example．

The Research of Passenger’s Evacuation in Ships by Using Improved Ant Colony Algorithm

SHEN Ji-Hong，WANG Kan，LI Pu

2013, 20(5): 882-886.

Asbtract ( )

Related Articles | Metrics

With the background conditions，this paper gives an accurate model to describe the passenger’s evacuation in ships． Also
an improved ant colony algorithm is given by using a new heuristic function and convergence conditions． The new algorithm can increase
the influence of social factors and psychological factors in personnel evacuation． The simulation result shows that it can successfully
solve the problems and it is better than basic ant colony algorithm in both time and efficiency． It can provide a new idea in this kind of
problems．

The Research of Sense Pruning for WSD

XIN Ri-hua

2013, 20(5): 887-890.

Asbtract ( )

Related Articles | Metrics

Word sense disambiguation is one of the first problems in natural language processing system so far． It trys to solve the problem
of word sense disambiguation in natural language processing by Sense Pruning using HowNet． We proposes that the objective of
WSD is to reduce the number of plausible meanings of a word as much as possible through“Sense Pruning”． After Sense Pruning，it
will associate a word with a list of plausible meanings． It would like to keep the truly correct sense of each word on its own meaning list．
Developing a human-machine mutual word sense tagging system and two set of criteria were used for the evaluation of Sense Pruning algorithm:
recall rate and reduction of the number of possible meanings of a sentence． Effects of the size of the analytical window and the
analytical unit were studied．

Research on Parameter Identification of Overhead Crane Based on Energy Reservation

LU Xing-long，WANG Liang-yong

2013, 20(5): 891-895.

Asbtract ( )

Related Articles | Metrics

Aiming at solving the problem of poor availability of the physical parameters of a practical overhead crane，this thesis proposes
a parameter identification method based on energy reservation． It builds up regression equations for identification based on energy
reservation principle，and then applies non-negative least squares algorithm to deal with data，obtaining the controller design model of overhead
crane． This thesis has the identification experiments done on the overhead crane experimental system simulating the characteristics
of the operation of practical overhead crane and gets the mathematical model of the system． On the basis of the mathematical model，
an LQR controller has been designed to testify the accuracy of the identification results，confirming that the parameter identification
method can help a lot on control of overhead crane．

Moral Hazard and Incentive Mechanism of Virtual Enterprise with Fairness Preference

CHEN Ke-gui，HUANG Min，WANG Xing -wei

2013, 20(5): 896-899.

Asbtract ( )

Related Articles | Metrics

To ensure virtual enterprise ( VE) reaches the desired goals，the owner should design effective mechanisms to avoid moral
hazard． In view of the VE exists principal agent relationship between the owner and the partner，we incorporate the partner’s fairness
preferences psychology and design an effective incentive mechanism considering the partner’s fairness concern to prevent the moral
hazard problem，and compared to the traditional principal agent model． Analysis results show that the fairness preference has changed
some of the conclusions of the traditional principal agent model that influences the effort level and the revenue sharing． The owner
should try to choose the partners with lower intensity fairness preferences psychology to avoid moral hazard in order to increase its own
profit．

Passive Scattering Transform Bilateral Teleoperation for an Internet － Based Mobile Robot

CHEN Yi -bin，XI Ning，LI Hong-yi

2013, 20(5): 900-905.

Asbtract ( )

Related Articles | Metrics

The random time delay brings great challenges to the controller design for the Internet － based teleoperation system，the worst
case is that it can destabilize the Internet － based teleoperation system． First it gives a brief historical preview of bilateral passive control
theory and the wave variable control approach，and then a passive scattering transform method，extending the passive bilateral control
method to the Internet － based random time delay teleoperation system，is advanced to guarantee the teleoperation system’s stability
with any non － symmetric random network time delay． Finally，a virtual master － slave manipulator bilateral control scheme is designed
for mobile robot teleoperation based on the passive scattering transformation method，and simulations are carried out to verify the results
at the end of this paper．

The Design of Control Law of Transition Zone of Missile Based on Gauss Pseudospectral Method

WANG Li-xin，LENG Shan，WANG Jian-hua

2013, 20(5): 906-909.

Asbtract ( )

Related Articles | Metrics

Aiming at the control problem of glide stage to cruise stage，considering rotation of the Earth and stamping constraint and initial
state constraint of the cruise stage，control law design model has been build． Optimal control problem have been translated to nonlinear
programming problem Using Gauss pseudospectral methods． Nonlinear programming problem has been solved by SNOPT． The simulation
results show that Gauss pseudospectral methods can solve optimal control law problems of glide stage to cruise stage．

Hovering Control for Quadrotor Unmanned Helicopter Based on Fuzzy Self-tuning PID Algorithm

LI Yi-bo，SONG Shu-xi

2013, 20(5): 910-914.

Asbtract ( )

Related Articles | Metrics

Quadrotor Unmanned Helicopter ( QUH) is a kind of under － actuated system with multiple inputs and strong coupling． It
has a broad application prospect，such as aerial photography，archaeology，patrolling border，anti － terrorism investigation． Dynamical
model can be established according to Euler＇s theorem and Newton＇s law，considering the effect of air resistance and rotating torque． A
dual － loop control system is designed based PID algorithm，and then another system is designed based on fuzzy self － tuning PID controller．
Simulation results of two controllers reveal that the QUH can arrive at the specified position and keep hovering and control effects
of fuzzy self － tuning PID controller are better than that of classic PID in the aspect of response time and stability．

Quadrotor UAV Robust Adaptive Attitude Control

ZHEN Hong-tao，QI Xiao-hui，XIA Ming-qi，SU Li-Jun

2013, 20(5): 915-919.

Asbtract ( )

Related Articles | Metrics

The attitude control is the key of the automatic flight control for quadrotor UAV． In order to improve the robustness of quadrotor
UAV for various uncertainties，a robust adaptive backstepping controller is designed． The whole attitude kinematical model is obtained
and translated into a MIMO nonlinear system with generalized uncertainty． Because the design feature of the system is strict feedback，
the backstepping controller is designed． A robust adaptive function is designed to counteract the influence of the uncertainties，
which include external disturbance and interior parameters perturbation． The nonlinear tracking differentiator is introduced to estimate
the differential signal of the virtual control law and to reduce the“computer explosion”problem which is ubiquitous in the backtepping
controller． The closed － loop system is proved to be stable and converge exponentially through constructing Lyapunov function． Simulation
results are presented to corroborate the effectiveness and robustness of the proposed control strategy．

Research on Disturbance in Nearspace Vehicle Longitudinal Trajectory System

HE Nai-bao，GAO Qian，Luo Yin-sheng

2013, 20(5): 920-922.

Asbtract ( )

Related Articles | Metrics

Considering the severe changes of aero － dynamic parameters and susceptibility on the external disturbances of nearspace vehicle
( NSV) ，a backstepping control strategy with robust adaptive dynamic surface is proposed in this paper for the disturbance problem in the NSV
longitudinal trajectory system during the hypersonic process． Firstly，the complex nonlinear longitudinal dynamic model is transformed into
nonlinear non － affine model by using the input － output feedback linearization method． Then，the“computer explosion“in the computation
procedures for derivatives is avoided with the estimation of the virtual control law in one － order low pass filter． The robustness item in the virtual
controller combined with approximation capability of neural network is used to eliminate the parameter uncertainties and external disturbances
in NSV． The simulation results show the improved robustness in this method with reduced complexity．

Research on the Aircraft Terrain Avoidance Strategy Based on the Interacting Multiple Models

GENG Jian-zhong，Wu Hu-zi，DUAN Zhuo-yi

2013, 20(5): 923-928.

Asbtract ( )

Related Articles | Metrics

Since the disadvantages and limitation of anti-collision system with radar in aircraft ( ACSR-anti-collision system with radar
in aircraft) ，the terrain avoidance strategy was proposed，which adopted the virtual radar to substitute the airborne radar system to solve
the problem of the terrain anti-collision． According to characteristics of aircraft motion，uniform motion model，uniformly accelerated
motion model and the current statistic model were established，which are suitable for fast and accurate prediction． The principle of the
interacting multiple model and Kalman filtering were adopted to predict the aircraft flight conditions in real time which were used to
match the airborne terrain database to avoid crash． The prediction arithmetic was testified by simulation，and the results show that the
prediction time has important effect on deviation． But the warning level can be determined according to the forecast time． The research
demonstrated that terrain avoidance is much more advanced than ACSR，and it can replace ACSR．

Passivity-Based Control for SPMSM Based on Unified PCHD Modeling

HOU Li-min，SONG Shao-lou，WANG Wei

2013, 20(5): 929-933.

Asbtract ( )

Related Articles | Metrics

In view of the nonlinear characteristics of the SPMSM drive system，the unified PCHD modeling and speed control of PMSM
is presented based on the interconnection and damping assignment of energy-shaping method and port-controlled Hamiltonian systems
with dissipation( PCHD) theory，to obtain high performance of the speed control system． First，from an energy-balancing point of view，
uncertain system unified PCHD modeling is established including the inverter，SPMSM with iron losses and mechanical load． And then，
the passive controller of the SPMSM drive system is designed，and the nonlinear disturbance caused by the inverter is compensated using
the extended state observer． Finally，speed regulator is designed by using ADRC in order to get the desired q axis current，both the design
and the implementation of the controller becomes simpler and easier． The simulation results show that the proposed method can ensure
global stability，strong robustness． The system achieves a satisfactory dynamic and static performance．

Gray Neural Network Algorithm Improved by Genetic Algorithm

LI Guo-yong，YAN Fang，GUO Xiao-feng

2013, 20(5): 934-937.

Asbtract ( )

Related Articles | Metrics

BP algorithm usually has slow convergence speed and is easy to fall into local minimum value． On the basis of the analysis
and study for the domestic market of air conditioning order． This article proposes a method of the model parameters of grey neural network
optimized by genetic algorithm． By utilizing the property of gray model that the randomness of data can be reduced and the strong
nonlinearity of neural network，the method establishes a non-linear prediction model for air conditioning demand，and the genetic algorithm
is used to optimize it so as to improve the accuracy of forecasting and speed up the degree of convergence． Simulation results indicate
that the algorithm can better solve the problem of air conditioner order forecasting and can be widely apply to similar prediction．

Study on Advance － Booking Discount Strategy in a Two － Level Supply Chain with Multi － Loss － Averse Retailers

HU Zhi-jun，CHANG Jia-jia，XIANG Shu-wen

2013, 20(5): 938-942.

Asbtract ( )

Related Articles | Metrics

The classical newsvendor model ( CNM) is often used to study the supply chain coordinating problem with perishable products
in single period，and only one order is permitted in the CNM，which is inappropriate in fact． However，for some perishable products
with the special consumed time，such as the moon － cake for Middle － Autumn Festival，etc．，the manufacture for these items provide
a price discount for advanced booking in order to reduce inventory level． This paper considered a two － stage supply chain composed
of a risk － neutral supplier and multiple competing loss － averse retailers，and investigated the combined impact of the competition
and retailer’s loss aversion attitude on the decision － making behavior of retailer and the coordination of supply chain within the
advanced － booking discount contract． Based on game theory，it shows that in this supply chain game，there exists a unique symmetric
pure Nash equilibrium，and the optimal total order quantity increases as the degree of competition increases but decreases as the loss aversion
increases． Moreover it is found that，advance － booking discount contract can coordinate the supply chain． At last，the effectiveness
of advanced － booking discount Contract is verified in supply chain by a case study．

A Modified Differential Evolution Algorithm Based on Hybrid Mutation Strategy for Function Optimization

QIAO Jun-fei，FU Si-peng，HAN Hong-gui

2013, 20(5): 943-947.

Asbtract ( )

Related Articles | Metrics

The traditional mutation strategy of differential evolution algorithm can not reach a good balance between the global search
and the local search and the operators are constant． The differential evolution algorithm leads to premature convergence and the low
search efficiency． Based on analysis of the performance of the optimization strategies，a hybrid mutation strategy is proposed in this paper．
The scheme attempts to balance the exploration and exploitation abilities． In this way，emphasis is laid on the global search at the
beginning，which results in maintaining the diversity of population． Later，contribution from the local search increases in order to converge
to the optimal faster． Meanwhile，the random normal scaling factor F and the time － varying crossover probability factor CR are
used synchronously to improve the performance of DE． Finally，the modified differential evolution algorithm is tested on benchmark
functions． The simulation results show that the modified algorithm can effectively avoid the premature convergence，as well as modified
the global convergence ability and the search efficiency remarkably．

Optimization for Output Feedback Dynamic Surface Control Based on Genetic Algorithm

HE Lei，SUN Xiu-xia，LI Xiao-dong，DONG Wen-han，YU Xiu-duan

2013, 20(5): 948-952.

Asbtract ( )

Related Articles | Metrics

For a class of uncertain systems with only output available and nonlinearities in the presence of unmeasured state，a state observer
based on input signal replacement is firstly established by using the neural networks，then，an output feedback adaptive control
scheme is proposed by employing dynamic surface theory． The controller parameters' range is initially selected by theoretical analysis． It
is guaranteed that all signals in the closed － loop system are semi － global uniformly ultimately bounded． Parameters optimization strategy
is proposed by using genetic algorithm． Then the optimal initial input and controller parameters are chosen，so the problem of input
impulsion is solved and tracking precision is improved．

Multi-Objective Differential Evolution Algorithm For Reactive Power Optimization

MA Li-xin，Sun Jin，PENG Hua-kun

2013, 20(5): 953-956.

Asbtract ( )

Related Articles | Metrics

The voltage level to reactive power optimization dispatch and control problem is incorporated． A model of reactive power optimization
is established based on multi-objective differential evolution，which takes into account of loss minimization，voltage level best
target． Considering the drawbacks of traditional differential evolution ( DE) algorithm such as premature and slow search speed，a
strategy of self-adapting parameter improved differential evolution algorithm was proposed and first applied in reactive power optimization
problem． By adjusting the mutation F and crossover CR during the evolution process，the diversity of population is increased and the
global search area is expanded，which avoids algorithm into a local optimal solution，at the same time，the convergence speed is accelerated
later． The simulations are carried out on IEEE-14 bus system，and the results show the validity of the proposed algorithm．

An Improved DAGSVM Hand Gesture Recognition Approach and Its Applications

CAI Jun，LI Xiao-juan，ZHANG Yi，LUO Yuan

2013, 20(5): 957-959.

Asbtract ( )

Related Articles | Metrics

On the basis of SVM( Support Vector Machine) multiclass classification，an improved DAGSVM ( Directed Acyclic Graph
Support Vector Machine) hand gesture recognition approach is put forward． Firstly，depth information of the scene is collected by using
Kinect sensor and hand region is obtained． Then feature vectors are extracted，which are used to train multiple binary SVM classifiers．
DAGSVM classifier is constructed using DAG topological structure with trained binary SVM classifiers and its structure sequence is improved．
Finally，the experimental results proved that the improved DAGSVM could reach higher recognition rate and can be used in the
control of intelligent wheelchair successfully．

Dynamic Quantization H_∞Control for Networked Control Systems

WEN Dan-li，WANG Ke-sheng，CHEN Zhi-xun

2013, 20(5): 960-965.

Asbtract ( )

Related Articles | Metrics

The state feedback H∞ control problem for networked control systems with quantization and random packet dropouts is discussed．
The random packet dropouts from the sensor to the controller and from the controller to the actuator are considered． The quantizer
considered here is dynamic． The state feedback H∞ controller can be constructed via solving a linear matrix inequality． A quantized
H∞ control strategy is derived，with a condition on the quantization range and the error bound satisfied，such that the closed － loop system
with quantization and random delays exponentially mean － square stable and with a prescribed H∞ performance bound． An example
is presented to illustrate the effectiveness of the proposed method．

Fast IF Automatic Gain Control System Based on FPGA

ZHANG Chun-jie，TAN Zhen-wei,LI Na

2013, 20(5): 966-969.

Asbtract ( )

Related Articles | Metrics

In order to meet the needs of the system dynamic range and response time，this paper proposed a FPGA － based rapid IF automatic
gain control ( AGC) system． First，computer simulation is carryed out using Quartus II simulation to verify the timing and logic
functions of the system algorithm． And then the design and implementation of the system hardware are completed． Finally，the paper realizes
a control module inside the FPGA，up to 60 dB of dynamic range control． The validation of the logic simulation software and testing
of the hardware circuit proved that the response of the system is fast and has high control accuracy，and systems have achieved better
results in the actual radar receiver，and the proposed method increases the dynamic range of the receiver to improve the performance
of the radar system．

Design and Development of the High -speed Data Acquisition System Based on FPGA

GUAN Shou-ping，YOU Fu-qiang，DONG Guo-wei

2013, 20(5): 970-975.

Asbtract ( )

Related Articles | Metrics

The construction and techno － realization of high － speed data acquisition system are presented． The FPGA is adopted to realize
the design of the hardware，which includes analog signals filtering plastic circuit，high － speed AD interface circuit，USB interface
circuit． The system application software design is also analyzed in detailed，which includes FPGA program design，USB firmware program，
upper computer application software，etc． The experimental results show the feasibility of the designed method．

Robustness of Sampled-Data Control Systems with LTI Hold Functions

LI Xia-yu，JIN Hui-liang，DONG Sui-rong，ZHONG Qing-chang

2013, 20(5): 976-979.

Asbtract ( )

Related Articles | Metrics

This paper extended Bernstein and Hollot's robust stability test to linear time-invariant ( LTI) uncertain sampled-data control
systems． Unlike that of the most previous works，it directly uses the data of the continuous-time plant and therefore it is expected to be
less conservative． This paper uses exponential-like structure construct an upper bound on the standard quadratic Lyapunov function．
This upper bound is independent of the uncertain parameters but a free scalar parameter which is artificially introduced to reduce the
conservativeness of the upper bound． This paper gives out a reliable numerical algorithm． And then this algorithm is improved so that it
can be used to check the robust stability condition for system with an arbitrary GSHF．

Leader /Follower Formation Control of Underactuated Surface Ships

LIU Yang，LIU Mei-jie

2013, 20(5): 980-983.

Asbtract ( )

Related Articles | Metrics

The formation control for underactuated surface ships with 3 degree － of － freedom is investigated，and the shape tracking
controllers based on Leader /Follower method are developed． The ship is controlled respective，when the system received the shape-command．
The Leader tracked the shape-command directly，and the Followers tracked the designed trajectory，which is designed by the
shape-command and the state of the Leader． For the design of tracking control，firstly，reference tracking path and reference forward
speed are designed based on desired formation shape． Secondly，path tracking controller and speed tracking controller are constructed by
nonlinear control theory and Lyapunov theory． Finally，the shape tracking error of the follower is uniformly ultimately bounded． Numerical
simulations show the system can tracking any curves． The results validate the effectiveness of proposed controller．

Modeling and Optimization of Resources Management of Construction Programme Based on HTCPN

LI Hai-ling，LIU Ke-jian，TAO Xue-ming

2013, 20(5): 984-989.

Asbtract ( )

Related Articles | Metrics

Resource conflict between the project caused by the limited resources is an important factor affecting the construction period
and benefits of the construction programme． The building of an accurate model which can describe the information about resource management，
such as relations among tasks，resource requirements and task duration and so on is the key to the process management and
optimal allocation of resources for implementation stage of construction programme． Resource model for implementation stage of construction
programme was defined based on HTCPN by analyzing the resource characteristics of non － depletable resources and the modeling
requirements for implementation stage of construction programme． The model can accurately describe the whole process of programme，
and also can find resource conflict，analyze the construction period and choose the optimal resource planning by simulation． With CPN
Tools simulation platform，taking an example of a construction programme，the authors built its resource model and verified the correctness
and effectiveness of the model．

Table of Content