Control Engineering of China

Wind-light Generation System Optimization Based on Knowledge Fusion PSO Algorithm#br#

HU Ying, ZANG Da-jin, ZHANG Yong, LU Yuan

2019, 26(5): 799-805.

Asbtract ( )

Related Articles | Metrics

In order to improve the reliability of wind-light generation system and reduce the operation cost, a configured optimization method of wind-light generation system based on knowledge fusion particle swarm optimization (PSO) algorithm is presented, in which the optimization target is minimizing system installing cost and the constraint condition is power supply reliability. Firstly, in allusion to the limitation of local convergence of particle swarm optimization, using chaotic local PSO algorithm to improve its convergence; Then, clustering particle swarm using a simple method if the particle did not jump out of local optimum, and searching the global optimal particle meticulously according to the position of cluster center that optimizing the population which composed of the objective function value. Finally, the experimental results on 5 Benchmark test functions and optimizing configuration of wind-light generation system show that the effectiveness and applicability of the proposed method.

Neural NARX Model for Hysteresis in Piezoelectric Actuators

ZHANG Xin-liang, JIA Li-jie, FU Chen-lin

2019, 26(5): 806-811.

Asbtract ( )

Related Articles | Metrics

To describe the rate-dependent hysteresis behavior of the piezoelectric actuators, a cascade block-based model is proposed in this paper, i.e., a rate-independent hysteresis block cascading with a rate-dependent block. For the approximation of the hysteresis block, a hysteresis operator is introduced into the input space to represent the changing tendency of the gradient with the hysteresis. Then a neural hysteresis sub-model is constructed based on a one-to-one mapping. Meanwhile, to describe the rate-dependent characteristics of the dynamic hysteresis, a NARX (nonlinear autoregressive model with exogenous inputs) model is adopted. And a recursive stochastic Newton approximation algorithm is derived for the optimization of the model. The validation results have shown the effectiveness of the proposed model for characterizing the dynamic hysteresis.

Fuzzy Compensation Control System for Lower Limbs Rehabilitation Robot

CHEN Yu, XIA Tian, ZHANG Li, HUAN Xi

2019, 26(5): 812-817.

Asbtract ( )

Related Articles | Metrics

To study the control system of the lower limbs rehabilitative robot, through the modeling of lower limbs rehabilitative robot and kinematics analysis, a fuzzy compensation control algorithm is proposed for the friction interference generated during the motion. Firstly, analyze the motion model and establish the dynamic equation. Then, for the friction generated during the movement of interference, a fuzzy compensation friction interference control method based on the traditional fuzzy compensation control method is proposed. The motion trajectory of the lower limb rehabilitation robot is realized by interpolating the output trajectory through the Googol motion controller. According to the simulation experiments, this control method can be a good compensation for the impact of friction interference factors.

H∞ Control for a Class of Time Delay LPV Discrete Systems with Packet Dropouts

MA Tao, JIANG Shun, PAN Feng

2019, 26(5): 818-824.

Asbtract ( )

Related Articles | Metrics

This paper focuses on the problem of H∞ control for linear parameter varying (LPV) discrete time systems with a parameter varying state delay and packet dropouts. The time-delay and state matrix of LPV discrete systems are deterministic functions with parameter variation, the parameter is measurable and constantly changing. Thus, we propose a new H∞ performance criterion depends on the time-varying parameters. The guidelines by introducing an additional matrix eliminates the coupling between Lyapunov functions and system matrices，and it is easier to achieve Value. Under the new condition，the H ∞ state feedback controllers are designed. By using the linear matrix inequality technique, sufficient conditions for the existence of the controller are obtained. Further transformation can obtain the existence condition of the solution of the inequality. Finally, the validity of the method is verified by numerical simulation.

Parallel Reactive Tabu Search for Solving Container Drayage Transportation

LIU Zhu-jun, CHEN Zhi-kun, ZHANG Rui-you

2019, 26(5): 825-828.

Asbtract ( )

Related Articles | Metrics

The container drayage transportation problem is one hot point in international academic fields. A type of container drayage transportation problem considering multi-size containers is studied. Using a state-transition-based modeling method, this problem is formulated as a sequence-dependent multiple-traveling salesman problem with social constraints. Given the fact that personal computers with multiple cores of CPUs, including the computers with multiple CPUs, have been applied very widely, we design a multi-phase parallel reactive tabu search (PRTS) algorithm. The algorithm is validated extensively based on randomly generated instances. Results indicate that, compared with classical serial-implemented reactive tabu search algorithms, the PRTS algorithm can provide better solutions in shorter running time under the same computational environment.

Stability Analysis of a Predator System with Strong and Weak Allee Effect

YI Na, LIU Peng

2019, 26(5): 829-834.

Asbtract ( )

Related Articles | Metrics

The stability problem for a predator-prey system with strong and weak Allee effect is studied. The existence for the positive fixed points of the system with harvesting in the predator is investigated. The stability for the positive fixed points of the system is analyzed by the stability condition of Routh-Hurvitz. Finally, the figures of time response and phase portrait for the predator-prey system with strong and weak Allee effect are obtained by Matlab soft, respectively. For the varying capture force E, the bifurcation diagram and Lyapunov exponents of the system with the weak Allee effect are shown. The system has chaotic phenomena. The simulation results show the influence of the capture behavior on the stability of the system.

Design of Robust Controller for Rolling Based on State Space Model

LI Ming-chun, TAN Shu-bin

2019, 26(5): 835-842.

Asbtract ( )

Related Articles | Metrics

For the rolling system, it should be a multi-variable, strong disturbance and coupled nonlinear system. As the precondition of ensuring the precision of strip thickness, it is necessary to ensure that the system is robust. The controller should be able to suppress the disturbance of the system and remain the system stable under the uncertain parameters. Taking into account the complexity of the system, this paper establishes a linear state space model of the hydraulic roller system, motor transmission and rolling process system for the deeper study of the relationship between the variables in the rolling process. Considering the complexity of the external disturbance, this paper chooses the

control strategy. MATLAB is used to solve the linear matrix inequalities. By selecting the appropriate performance index, the state feedback controller could be found. The simulation result shows that the state feedback control system has better robustness and performance index.

Study on the Equivalence Between Soft-Constraint Approach and Fuzzy Method in Model Predictive Control

XU Jun, SUI Yi, LUO Xiong-Lin

2019, 26(5): 843-850.

Asbtract ( )

Related Articles | Metrics

In chemical processes, there are constraints imposed on the inputs and outputs. For constraints on the outputs, which are not hard, i.e., the constraints can be violated to some extent, we can use fuzzy membership functions to describe the violation. However, in general, the fuzzy model predictive control problem is hard to be solved. Another method dealing with the violation of the output constraints is soft constraint method, i.e., allow the constraints on the outputs to be violated and then penalize the violation. For one kind of fuzzy model predictive control problems with specific membership functions and aggregation operators, we can transform it to a soft constraint optimization problem, which is basically a quadratic programming. Hence the computational burden is largely reduced. The simulation results verify the equivalence and the savings in the computational burden.

Numerical Simulation of a PID Decoupling Control System for Temperature and Relative Humidity in an Air-conditioning Room

ZHU Qi-ran, LI Shao-yong, LI Peng-bo

2019, 26(5): 851-858.

Asbtract ( )

Related Articles | Metrics

For air-conditioning systems having dynamics of large time-delay and inertia together with strong coupling between the regulation of temperature and relative humidity, and so on, a PID decoupling control system is proposed in this paper by synthesizing the air-conditioning processing and the technologies of PID and the decoupling control method. this PID decoupling control system for temperature and relative humidity in an air-conditioning room is configured and its numerical simulation is carried out via MATLAB software. The results show that the proposed PID decoupling control system using the PCTT matrix method is feasible in theory. Compared with the traditional multi-loop PID control system based on the Ziegler-Nichols setting method, for the temperature and relative humidity of the same plant, the proposed PID decoupling control system using the PCTT matrix method can eliminate the mutual influence existing in the adjustment channels between temperature and relative humidity and its control performance is better than that of the non-decoupling PID control system.

Stabilizable Region for Markov Jump Systems with Gaussian Transition Probability

ZHOU Zi-heng, LUAN Xiao-li, LIU Fei

2019, 26(5): 859-863.

Asbtract ( )

Related Articles | Metrics

For discrete-time Markov jump linear systems with truncated Gaussian transition probabilities (GTP), the mean and the variance of GTP based state feedback controller and stabilizable region are investigated in this paper. To reduce the conservativeness of the existing results, we introduce the mean and the variance of TGTP into the design of the controller. Furthermore, to reveal the essential influence of system parameters, the mean and the variance of TGTP on controller design, the explicit solution of stabilizable domain is derived based on the approach of matrix eigenvalues boundary. Finally, several examples are presented to demonstrate the effectiveness of the proposed method.

Research of Fault Location Based on FTU for Closed Distribution Network

HU Fu-nian, ZHANG Ren, GE Miao-miao

2019, 26(5): 864-871.

Asbtract ( )

Related Articles | Metrics

In order to solve the problem of accurate fault location of single-phase ground fault in the closed distribution network with multiple power and cross branch, the fault location method based on the information from the multi-terminal FTU that is adjacent to the fault branch is proposed. The method is based on the theory of graph theory to form the fault information matrix of the distribution network topology that gets the fault criterion of the cross branch to solve the problem of false judgement in fault location. The fault section can be quickly and accurately determined in the complex network. According to the circuit characteristics of the directed graph topological structure of the ground loop of both ends of power, the effect of the grounding resistance at fault point on fault location can be neutralized, therefore the accuracy of fault location would be improved. This method takes full advantage of the existing FTU equipment, so there is no need to increase additional equipment investment, additionally, it can eliminate the error caused by other introduced links and be applied to complex distribution network. The proposed method is simulated by 11 node distribution network, and the validity and accuracy of the method are verified.

Optimized Sliding Mode Control of Power Plant SCR Flue Gas Denitration System#br#

#br#

2019, 26(5): 872-878.

Asbtract ( )

Related Articles | Metrics

Along with the consciousness of environment protection increased, the limitation of allowed emission of nitrogen oxide from power plant becomes more and more rigorous. Study the model of SCR flue gas denitration system as the controlled plant, the design that the limitation of amplitude and changing rate of control variable is used as feed-forward compensation is proposed; using differential evolution algorithm to bring the ability of adaptive to the designed sliding mode control system by the help of the designed auxiliary sliding surface. Based on the proposals mentioned above, the offset free adaptive optimized sliding mode control by using cascaded differential evolution algorithm is presented. The simulation results indicate that the optimized control systems gave above could reach the control requirement of SCR flue gas denitration system, their control quality and robustness are better than traditional way, and the practical significance is proved.

Diagnosis of Control Loops Oscillations Based on EMD and Closed-Loop Testing#br#

#br#

KONG Jie, TIAN Xue-min, SHANG Lin-yuan

2019, 26(5): 879-891.

Asbtract ( )

Related Articles | Metrics

In this work, an algorithm combining Empirical Mode Decomposition (EMD) with closed-loop testing principle is presented for identification of multiple root causes for oscillations in closed-loop systems. EMD is used to decompose the controller output data and the system output data into a finite set of IMFs, and then the closed-loop testing principle can exactly isolate the source of oscillation corresponding oscillatory IMF by injecting extra testing signal. The improved approach is used for determination of multiple causes for oscillation in linear SISO systems. Finally, the simulation experiment on the continuous stirring and mixing process validates the effectiveness and reliability of the proposed method.

Trajectory Tracking Control for Robot Manipulator Using Fractional Order-Fuzzy-ADRC

LIU Hong-yan, ZHOU Yan, MU San-min

2019, 26(5): 892-897.

Asbtract ( )

Related Articles | Metrics

In order to deal with the low precision, big stable state error and slow response dynamic of traditional control method on robotic manipulator control, a novel control method based on fractional order-fuzzy control-adaptive disturbance rejection control (FO-FC-ADRC) is proposed to control the robotic manipulator: the tracking differentiator is used to extract the speed and acceleration of manipulator without sensors; the fractional order PID (FO-PID) is adopted to realize the zero error control of robotic manipulator system, which is essentially a fractional order system; the fuzzy is utilized to optimize the parameters of the FO-PID in real time, which can improve the performance of the proposed control. The proposed FO-FC-ADRC is compared with the conventional PID control by simulation, and the results show that the proposed control for trajectory tracking of robotic manipulator is much better than the conventional PID both in dynamic and static performance index.

Linear Feedback Synchronization Control Method for Fractional Order Chaotic Systems

WU Chun-mei

2019, 26(5): 898-902.

Asbtract ( )

Related Articles | Metrics

A novel control method for synchronization problem between two fractional order chaotic systems is proposed based on linear matrix inequality (LMI): the basic principles of fractional order math and LMI is presented; the synchronization controller based on error state function and linear feedback is designed, and the stability of the proposed controller is proved based on LMI. The proposed method retains the nonlinear dynamics of the synchronization error system, and accomplishes stable synchronization between master system and slave system via simple linear feedback control. And the parameters of this two systems are not required. Numerical simulations are performed to demonstrate the effectiveness of the proposed method.

Adaptive Control for Hypersonic Gliding Vehicles with Unknown Parameters

ZHANG Yuan, DONG Xi-wang, LI Qing-dong, REN Zhang

2019, 26(5): 903-909.

Asbtract ( )

Related Articles | Metrics

HGVs (hypersonic gliding vehicles) have the obvious characteristics like high-dynamic, large flight envelop, complex flight environment and so on, in the reentry stage. These features result in severe parameter uncertainties. In order to improve the attitude control performance in the reentry stage, this paper studies the sources of the uncertainty and the unknown parameters, and investigates the adaptive control method for the unknown parameters of hypersonic flight vehicles. A nominal controller is constructed by using the approach of nonlinear dynamic inversion. A nonlinear extended state observer is introduced to estimate the unknown parameters. A compensation controller is built based on the observer. Then, the nominal controller and compensation controller are used together to guarantee the tracking attitude performance of the HGV. To verify the rationality of this method, a simulation test design is presented in light of the longitudinal attitude movement model of hypersonic flight vehicles. This simulation validates the method and shows its advantage in attitude tracking control.

Improved Application of Complementary Filtering in Three-dimensional Attitude Estimation

CHEN Wei, ZHAO Ming, CHEN Mei

2019, 26(5): 910-915.

Asbtract ( )

Related Articles | Metrics

In the process of attitude calculation of the four axis aircraft, the attitude angle is solved by fusing the multi sensor data. However, there is a problem that the yaw angle of quad - rotor aircraft will change the pitch angle and roll angle in the application of the complementary filtering algorithm to 3D attitude calculation. Aiming at the problem, The solution process of 3D attitude angle of four axis aircraft is analyzed in detail, the improvement of 3D attitude calculation algorithm is also presented, the error compensation component of the complementary filter is modified, the error compensation of the Y axis and the X axis is removed, and the error compensation of the Z axis magnetometer is added. The experimental platform includes STM32 controller, MPU6050 and AK8975 attitude sensor, which the validity of the improved algorithm is verified on. The experimental results show that the improved attitude algorithm can solve the 3D attitude angle of the four axis vehicle in real time and solve the problem of the mutual interference between the attitude angles.

2-DOF Joint Robot Trajectory Control System Based on Port-Controlled Hamiltonian and PD Algorithm Coordinate Control

CHI Jie-ru, YU Hai-sheng, YANG Jie, NIU Huan, ZHANG Qi-gao

2019, 26(5): 916-921.

Asbtract ( )

Related Articles | Metrics

A hybrid coordinated control method based on Port-controlled Hamilton (PCH) and PD algorithm is designed to solve the problem that a single control method cannot effectively realize the trajectory tracking control of a 2-DOF joint robot. The Port-controlled Hamilton (PCH) control is used to ensure the stability of the system, and the traditional PD control is used to improve the response speed of the system. The exponential function is used as the coordination function to realize the coordinated control strategy of the 2-DOF joint robot, so as to adapt to the error interference of the 2-DOF joint robot. The control system not only achieves fast tracking control, but also makes the output signal of the robot in a higher error precision range. The simulation results show that, even if there are errors in the mechanical system modeling of the robot, the proposed coordinated control method can make the system not only have good dynamic and steady-state performance, but also eliminate errors quickly.

Intelligent Penetration for UAV Based on Improved Artificial Fish Swarm Algorithm (AFSA)#br#

#br#

ZHANG Guo-feng, ZHOU Kai

2019, 26(5): 922-926.

Asbtract ( )

Related Articles | Metrics

With the risk probability graph used to describe the air defense threat environment faced by UAV penetration, the UAV penetration problem is modeled as the optimal guidance instruction design problem, which minimizes the loss risk of UAV, and the control parameters of mission urgency and damage risk are designed. In order to solve the control model quickly, the fish swarm algorithm is further improved, so that the algorithm has adaptive step-size adjustment mechanism, and overcomes the shortcomings of the convergence speed. The results of simulation and comparative analysis show that the proposed method can make the UAV achieve penetration at a lower cost based on the urgency of mission and the importance of damage risk.

Under-actuated UUV Depth Controller Design Based on Linear ADRC Technology

HUANG Jian, SHU Xiao-di

2019, 26(5): 927-934.

Asbtract ( )

Related Articles | Metrics

To improve the depth control quality of Under-actuated unmanned underwater vehicle (UUV) in the complex environment, linear active rejection disturbance control (LADRC) technology is applied to the depth control of Under-actuated UUV. First, linear extended state observer (LESO) is used to estimate the system of unknown "combined interference", and carry on dynamic feedback compensation, to simplify the system to the standard model. Then, based on the standard model the controller is designed. Finally, the controller is modified, by introducing a saturation limiter and dead zone. Comparing with the cascade feedback controller, linear ADRC has better dynamic and static characteristics and robustness in the situation of constant interference and first-order high frequency wave force interference and low frequency sinusoidal interference. Compared with the traditional nonlinear active rejection disturbance controller (NADRC), the LADRC has the advantages of less parameters and easy engineering realization under the premise of ensuring the control performance.

Target Tracking Algorithm with Double-type Agents Based on Flocking Control

WANG Shuai-lei, ZHANG Jin-chun, CAO Biao, CONG Kai

2019, 26(5): 935-940.

Asbtract ( )

Related Articles | Metrics

A target tracking algorithm with double-type agents based on flocking control for a system consisting of two kinds of agents is proposed here, and this algorithm can make different agents reach a specific leading-following state and all the agents track a moving target. Firstly, design a system consisting of two types of agents based on the classical flocking control algorithm, analyze the difference between the two types of agents, introduce the tracking relation and the interaction force. Secondly, analyze the forces and design a repulsive potential function, and builds control input for the agents respectively, which can make the agents keep a same velocity with the target and track it stably. Finally, the algorithm is analyzed by Lyapunov stability method and theoretical proof is presented. And the effectiveness of this algorithm is verified by simulation.

UAV Video Stabilization Using Homography Revised P-KLT

WANG Jie, WANG Wei-bin, YU Li, XIE Bei-min, YIN Wei-wei

2019, 26(5): 941-946.

Asbtract ( )

Related Articles | Metrics

There are inevitable shakes in videos taken by handheld devices and UAVs, which reduce the effect of video viewing and post-processing. In the video stabilization technology, similar matrix transformation is often used to perform inter-frame correction to have a real time processing. But the compensation effect for three-dimensional motion is poor to use similar matrix transformation. On the other hand, the homography matrix transformation that can represent three-dimensional motion, can not meet the real time requirements. To solve this problem, a video stabilization technique based on homography revised P-KLT is proposed. This algorithm is based on the optical flow tracking theory and realizes real-time parameter tracking calculation for the homography matrix transformation. A distortion correction algorithm based on vertex filtering is proposed to meet the requirements of 3D motion video real-time image stabilization. The experimental results show that the video images processed by this algorithm are stable and natural, especially for videos with motion blur.

Probabilistic Model Template-Based License Plate Localization Method

WANG Han, SHI Quan, Xu Zhi-huo, WEI Ming, SHAO Ye-qin

2019, 26(5): 947-951.

Asbtract ( )

Related Articles | Metrics

Under complex environment it is difficult to achieve high performance of vehicle license plate localization. A template probability model-based approach is proposed. There are two stages in the proposed method: candidate generation and probabilistic verification. In the first stage, spatial distribution of detected feature points is combined with color information to generate possible candidate region of vehicle license plate; in the second stage, the structure and geometric of standard vehicle license are employed to construct similarity measure probability function. Then the localization of vehicle license plate is detected by extracting maximum similarity measure probability from candidate region. Experimental result shows high performance of the proposed method, such as license plate successful detection rate beyond 96.2 % and miss rate less 3.8%. A novel Chinese license plate localization algorithm was proposed here, which shows low complexity, but high accuracy and practicability. So that it can be applied to license plate recognition.

Power Monitoring System Based on Compressive Sensing

LI Rong, ZHOU Si-wang

2019, 26(5): 952-956.

Asbtract ( )

Related Articles | Metrics

Using WSN to monitor the grid can save a lot of manpower costs and improve data collection in real time. However, the real-time sampling produces large amounts of data and will put pressure on the communication link and also increase energy consumption. Therefore, a compression sensing model is proposed. An improved two-step iterative threshold algorithm is used to compress the power data. By reducing the data sampling rate, the pressure on data links and communication systems is reduced and the delay is effectively reduced. And the data reconstruction is performed on this basis. The experimental results show that, compared with the computational complexity of back propagation (BP) and the low convergence rate of iterative soft thresholding (IST), the model can effectively reduce the data sampling rate and power consumption.

Sparse Auto Encoder Model Based on Firefly Learning Optimization and its Application in Bearing Fault Recognition

DU Can-yi, LIN Zu-sheng, ZHANG Shao-hui

2019, 26(5): 957-964.

Asbtract ( )

Related Articles | Metrics

Sparse Auto Encoder (SAE) finds a set of "super-complete" base vectors to mine the intrinsic structure and pattern of input data, which enables high-level output to better express the category information of input samples. Its good performance of dimension reduction has been widely concerned and gradually applied in fault diagnosis of mechanical equipment. However, the feature number of hidden layer in SAE model directly affects the expression effect of high-level output on low-level input mode. Simply setting the feature number of hidden layer is difficult to achieve ideal recognition effect. Aiming at this problem, the optimal feature number of each hidden layer is determined by using the advantages of the firefly learning algorithm, and the optimal SAE model is determined. Bearing simulation and fault state recognition experiments show that sparse automatic coding model can achieve better recognition effect than shallow structure and random parameter SAE model under different test samples after the number of hidden layer features is determined, and the recognition accuracy is higher.

Key Frame Abstraction and Retrieval of Videos Based on Deep Learning

LIANG Jian-sheng, WEN He-ping

2019, 26(5): 965-970.

Asbtract ( )

Related Articles | Metrics

In order to improve the efficiency and accuracy of video retrieval, a schema of key frame abstraction and retrieval of videos based on deep learning is proposed. Firstly, an adaptive key frame selection algorithm is designed, and the distances of wavelet transforms are used to detect the frames belong to the same shot; then, abstract information of each shot is abstracted, and the frames containing the most significant features are set as the key frame of the corresponding shot; lastly, the existing convolutional neural network framework is used to abstract the features of key frames, and unsupervised, semi supervised and supervised retraining models are designed to improve the effect of the feature abstraction of the convolutional neural network and the accuracy of the video retrieval. Experimental results based on the public video datasets show that the proposed schema realizes a good precision for video representation, and it realizes an accuracy and high efficiency video retrieval too.

MPC Based Numerical Method for Fault-tolerant Control with I/O Constraints

ZHANG Deng-feng, ZHANG Shen-peng, WANG Zhi-quan

2019, 26(5): 971-977.

Asbtract ( )

Related Articles | Metrics

For the sensor fault case of a class of discrete-time systems, the active fault-tolerant control is investigated in consideration of the control input and its rate constraints, as well as the measured output constraint. Based on the model-based predictive control (MPC) method and the constrained optimization algorithm, the design of the fault-tolerant controller is converted into the development of constrained convex optimization with the quadratic objective function. The fault-tolerant control input is then calculated online in recursive way by using the control input in the past time, the faulty sensor output and state estimation filter. Thus, a numerical fault-tolerant control method is derived based on the MPC strategy. The asymptotical stability of the closed-loop system is proved by improving the existing results in MPC. The input-output (I/O) constraints and the minimized quadratic performance are also guaranteed. Finally, simulations on the fault-tolerant control of an electronic throttle show the validity of the proposed method.

A Hybrid Digital Rotation Coordinate Positioning Algorithm Based on DSP

HU Xiao-fang

2019, 26(5): 978-983.

Asbtract ( )

Related Articles | Metrics

The solution of high precision phase belongs to an important part of the femtosecond laser tracker measurement system, in order to meet the requirements of phase precision in fixed-point DSP, the coordinate rotational digital computer (CORDIC) algorithm are studied. Based on the traditional CORDIC algorithm anyway, the mixed radix algorithm is proposed and its feasibility is verified. Two algorithms are realized on TMS320VC5402 and the performance of both are compared. The research shows that the hybrid algorithm can not only obtain the same accuracy as the traditional algorithm, and also can reduce the running time and hardware cost of the program.

Design of Central Control Mode of Handling Manipulator for Punching with MP2300S

LI Shang-rong, WANG Ke-sheng, LI Xing-cheng

2019, 26(5): 984-990.

Asbtract ( )

Related Articles | Metrics

Robots replacing people is an effective way of traditional stamping production industry technology upgrading. The design of four degrees of freedom moving manipulator with controller MP2300S is presented. The manipulator is composed of four moving parts, such as a rotational base, a moving vertically upper arm, a stretching horizontally forearm and a rotating gripper, each of which is actuated by AC servo motor. The centralized control mode that a multi-axis motion controller could control dozens of different robots whose axises are driven by AC servo motors is achieved. The results of test show that the robot could move quickly and smoothly from one place to another in the range of motion. The maximum period of the operation time is no more than 8 second per piece and the repeat positioning accuracy is 0.1 mm.

Research on Knapsack Problem Based on the Hybrid Algorithm of Particle Swarm Optimization and Simulated Annealing

GENG Ya, WU Fang-sheng

2019, 26(5): 991-996.

Asbtract ( )

Related Articles | Metrics

A hybrid algorithm of particle swarm optimization and simulated annealing based on intuitionistic fuzzy entropy (IFEPSO-SA) is proposed for solving the classical knapsack problems. In order to keep the diversity of population, an inertia weight of dynamic changes and mutation operation are built in the algorithm by using a metric based on intuitionistic fuzzy entropy (IFE) of the population. Furthermore, the partial best-solution of PSO is updated by using an exchange operation and a simulated annealing mechanism to get the better partial best-solution and global best-solution, and increase the searching ability. The experimental results show that the algorithm has better robustness and searching ability, and is useful of dealing with 0-1 knapsack problem.

Algorithm of Fog Removal of Image Based on Improved Kuwahara Filter

WEN Li-min, JU Yong-feng, ZHANG Chang-li, WANG Hui-feng

2019, 26(5): 997-1002.

Asbtract ( )

Related Articles | Metrics

Concerning the shortcoming of low efficiency of the algorithm for single-image fog removal, an algorithm based on improved Kuwahara filter is proposed to detail rough transmission of foggy images. This algorithm introduces the square integral operator to transform calculation for pixel areas into calculation of four vertices of a rectangle. Amended algorithm based on threshold for transmission is used to go a step further detail the transmission for sky areas in order to increase the efficiency of the algorithm and avoid the color-cross of sky areas. Simulation test shows that it only needs 10 ms to deal with a foggy image of 800×600 pixel, and the velocity based on the improved Kuwahara is 3 000 times of He’s, 2 000 times of Shi’s, and could meet the real-time processing need for expressway images.

Risk Identification of Electricity Market Operation Management Based on Fuzzy-Delphi and HFLTS-AHP Methods

LI Zhi-feng, SHI Hang, WU Jing-ying, WANG Miao, WANG Dong-xue

2019, 26(5): 1003-1010.

Asbtract ( )

Related Articles | Metrics

Since the publication of electricity reform No. 9, the construction of electric power market has been advanced continuously in our country. The article studies the operation and management of the electricity market from the perspective of risk, and identifies the importance of the operation and management risk of the electricity market. First, the Fuzzy-Delphi is used to screen the indicators of the operational risk of the electricity market and then the evaluation index model is established through HFLTS-AHP, and then the weights of 10 risk indicators are obtained. The importance of the risk management of the electricity market is identified. Finally, the article proposes dynamic management recommendations for the prevention of the risk management of the electricity market. The analysis shows that the imperfect risk level of the market-related system is low and in a controllable state. The risk assessment model points out that the two indicators of “legal and regulatory risks” and “management committee operational effectiveness risks” are at a high risk, and should pay close attention to the above two indicators in the process of functioning.

Table of Content