Control Engineering of China

Research on Stage Wire Smooth Transmission Method with Zero Speed Parking

LI Wei, GE Zhen-fu, GONG Jian-xing

2019, 26(9): 1605-1612.

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In terms of problems of 2D stage wire system designing that the poor performance of synchronous coordination, bad attitude curve and difficulties of ADRC parameter tuning caused by traditional staged control and inertia brake, a synchronous coordinating control method with zero speed parking mode of stage wire system is proposed, which is on the basis of ADRC technology and starting from establishing the disturbance rejection mode. First of all, it uses LESO and bandwidth-parameterization to simplify the parameter tuning of ADRC, then ensure the control performance of single wire system; Then, the suitable smooth transmission and deceleration algorithm is designed to achieve its smooth parking and zero speed braking as well as improve the track fitting effect. The simulation results show that, compared with the traditional control system, the control scheme presented in this paper shows better synchronous coordination performance and track fitting effect, it is also an effective way to ensure the stage wire dancing with the music.

Background Modeling Based Payload Swing Angle Measuring Method of Bridge Crane System

XU Peng, FANG Yong-chun, CHEN He

2019, 26(9): 1613-1619.

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Traditional angle measuring devices of bridge crane are installed in the crane system, usually using contact measuring device with potentiometer or photoelectric encoder, which have the disadvantages of complicated mechanical structure, poor independence and so on. Utilizing visual techniques, this paper proposes a computer vision based method to achieve the non-contact angle detection objective. Meanwhile, in order to improve the accuracy of payload identification and realize real-time operation, it uses the background modeling method with background subtraction for rapid recognition of moving payload to calculate the payload angle. Through experimental verification, it can be seen that this method recognizes moving payload sufficiently fast in real time, and calculate the load swing angle accurately. In particular, the algorithm does not depend on the geometry and quality distribution of the payload, which can be used to achieve accurate angle measurement for all types of payloads, making it suitable for industrial crane systems.

Fast Power-balancing Control for Dual PWM Converters

ZHONG Li-qun, WANG Hui, WU Xuan, XU Xue-gang

2019, 26(9): 1620-1626.

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A dc-link power-balancing control method is applied to a dual PWM converters system. Based on the converter and inverter power differential equations derived by their mathematical model, the strategy is to fully utilize the inverter dynamics in controlling the converter dynamics so that the converter power matches the required inverter power exactly and thus the dc-link capacitor power can keep invariant. To simplify the calculation of the load power differential, the IP control method is used in the permanent magnet synchronous motor. At the same time, in order to keep the dc-link voltage more stable, the outer loop of the converter is the dc-link voltage control. So the dc-link voltage remains stable even a very small amount of the dc-link capacitance is used. Simulation and experimental results verify the effectiveness and superiority of the proposed method.

Robust Attitude Control of Hypersonic Vehicle Based on Active Disturbance Rejection Control

PIAO Min-nan , SUN Ming-wei, HUANG Jian, CHEN Zeng-qiang

2019, 26(9): 1627-1635.

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This paper proposes a unified scheme for the three-channel attitude control of the hypersonic vehicle based on the linear active disturbance rejection control (LADRC). For the control of Euler angles, three LADRC controllers are designed for the three channels respectively. The unmodeled and parametric uncertainties, coupling effects and the external disturbances are regarded as the total disturbance and are estimated and compensated by the extended state observer in the real time. Through the stability margin tester tuning method, the expected stability margin and transient performance are guaranteed for the three channels. Moreover, through the command transformation according to the flight dynamics of the hypersonic vehicle, the control schemes for the pitch, yaw and roll angle can be applied to the control of the angle of attack, the angle of sideslip and the bank angle directly, thus realizing a unified control frame for all the attitude angles. Simulation results demonstrate the satisfactory tracking and disturbance rejection ability of the proposed methods.

Research on Improved Particle Swarm Optimization for BLDCM Speed Control System

GENG Wen-bo, ZHOU Zi-ang

2019, 26(9): 1636-1641.

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In the double closed loop speed control system of brushless DC motor(BLDCM), it was difficult to satisfy the application in high speed, high precision or large load disturbance using the PID parameters obtained with traditional optimization methods. Based on the research of standard particle swarm optimization (PSO), an improved PSO algorithm using orthogonal test mechanism was designed to optimize the PID speed controller, which solved the problem of slow optimization rate and easy to fall into local optimum in optimizing PID parameters with traditional PSO algorithm. By comparing the simulation results, it was indicated that the PID control method based on improved PSO algorithm had faster adjusting speed, smaller overshoot and strong anti-interference ability in the double closed loop speed control system of BLDCM. This method provides a new idea for the optimization of speed control system of BLDCM.

Sensorless Fuzzy Direct Torque Control System for PMSM

ZHANG Hong-wei, WANG Hai-lin

2019, 26(9): 1642-1647.

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For the issue that the efficient control of permanent magnet synchronous motor (PMSM) in electric vehicle, a fuzzy direct torque control (DTC) system without position sensor is proposed. Firstly, the fuzzy DTC is used instead of the traditional DTC to control the motor. Then, a fuzzy PI stator resistance estimator is proposed to estimate the stator resistance in real time, and compensate the stator resistance change caused by the environmental factors, so as to improve the estimation accuracy of the electromagnetic torque and stator flux in the fuzzy DTC. Finally, a model reference adaptive system (MRAS) is used to construct a motor speed estimator to realize the position sensorless control, so that it can reduce the system cost and improve the system reliability. The simulation results show that the proposed control system can precisely control the motor speed to follow the set value, and has good robustness.

Application of LMPC-PID Algorithm in Bed Temperature Control of CFBB

GUO Wei, QIAO Dong-dong, LI Tao, LI Ming-jia

2019, 26(9): 1648-1654.

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To deal with the features of bed temperature control of circulating fluidized bed boilers, such as large inertia, time-variant, multi-interference factors, a PID predictive control algorithm based on Laguerre function model is proposed. In this algorithm it changes the rolling optimization index of the predictive control algorithm based on Laguerre function model into a PID type structure. Combining the advantages of PID control and predictive control, this algorithm improves the speed, stability and robustness of the control system. The algorithm is applied to bed temperature control of circulating fluidized bed boilers, the simulation results show that it has good control quality.

Multivariable nonlinear RBF neural network predictive control based on TSA

JIANG Xue-ying, GUO Ying, SHI Hui-yuan, SU Cheng-li

2019, 26(9): 1655-1660.

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To deal the difficulty for online real-time computing the nonlinear equation with the present nonlinear predictive control method, a multivariable nonlinear neural network predictive control algorithm based on tree and seed algorithm (TSA) is proposed. This algorithm adopts the multi-RBF neural network to construct the nonlinear system, which is used as the predictive model. The optimal control law of the nonlinear predictive control system is searched online using TSA, thereby avoiding the problem of complex nonlinear optimization for directly solving the control law. Simulation results of CSTR show that the proposed control scheme has excellent tracking and resisting disturbance abilities.

Disturbance Rejection at the Output of Grid-connected Inverter based on H-infinity Control

XIAN Yan-hua, WANG Shi-qiang, JIANG Ming-xuan

2019, 26(9): 1661-1666.

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To reject disturbances at the output of grid-connected photovoltaic system such as load changes, grid voltage fluctuations and external noise, a control system model of the grid-connected inverter is constructed based on H-infinity theory. In this model, grid voltage, reference current and external noises are used as input signals, and the output current of the inverter is used as the output feedback signal to indirectly control the grid current. Meanwhile, a harmonic compensator with damping resonance is used to realize the grid current harmonics suppression. The simulation results show the grid current controlled by the designed H∞ controller can meet requirements of total harmonic distortion rate less than 5 % , same frequency and phase with grid voltage when the load varies, grid voltage waves and noise occurs at the output. The comparison of PI control, Quasi-PR control and H∞ control simulation results shows that the grid connected current controlled by H∞ control has better harmonic performance, and the robust performance of the PV system is improved.

Study for Flexible Flow Shop Scheduling Problem with Advanced HNN Algorithm#br#

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LIN Shuo, CHEN Shi-jia, HAN Zhong-hua

2019, 26(9): 1667.

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In order to solve the flexible flow shop production scheduling optimization problem (flexible flow shop schedule problem FFSP), this paper proposes a Hopfield neural network algorithm based on the principle of simulated annealing as a global optimization algorithm. This algorithm puts forward the permutation matrix of FFSP problem, and gives the energy function expression of FFSP problem, and to overcome the standard hopfield neural network algorithm (hopfield neural networks HNN) in solving FFSP easy to fall into local minimum solution of defects, the simulated annealing algorithm is applied to the hopfield neural network to solve, ensure that the output can be dispatched when the energy function tends to be stable. Finally, the advanced HNN algorithm is tested by using examples of different scales, the advanced HNN algorithm is compared with the traditional genetic algorithm and compact genetic algorithm the experiment results show that the advanced HNN algorithm is an effective method of solving FFSP problem.

Anti-saturation Robust Stability and Performance Analysis for Networked Control Systems

PENG Gao-feng, LIU Gang, LENG Yang, TAO Neng-ru, ZHAO Na

2019, 26(9): 1675-1681.

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For a class of network control systems(NCSs) with actuator saturation and time-varying delay, anti-saturation robust stability and performance are studied under the unequal interval sampling in this paper. First of all, for the NCSs with actuator saturation, a saturation controller is designed, and a mathematic model is established. Based on the analysis and processing of the sampling interval and time- varying delay, the discrete mathematics model of the closed-loop systems is established. By using a method of processing the uncertain terms, the system states are expressed in other uncertain terms of the NCSs. Then, by constructing the Lyapunov function, using the control method and the linear processing method, a delay-independent stability criterion based on LMI description systems for NCSs is obtained. Finally, the validity of this conclusion is illustrated by comparing with some methods of other literature for upper bound of time delay under different norm bound.

Study on Fault Diagnosis of Rolling Bearing Based on MFCC and CDET

WANG Qian, WANG Gang, JIANG Han-han, CHEN Shang-qing

2019, 26(9): 1682-1686.

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Aimed at the problem that the vibration sensor is difficult to be installed in engineering application and the feature vector is redundancy, a method of fault diagnosis for rolling bearing based on MFCC and CDET is proposed. The noise signal is used for monitoring the condition of rolling bearing when the machine is running. MFCC features are extracted from the noise signal and CDET is employed to reduce the dimensionality of MFCC features. Finally, the features after feature reduction are used as the inputs of SVM classifier for fault classification and its performance of feature reduction is compared with PCA. The experimental result shows that CDET has better performance of feature reduction in noise diagnosis and the method based on MFCC and CDET can detect the fault category accurately and effectively.

Aerodynamic Modeling and Control of Smart Wind Turbine Blades

QI Liang-wen, CHEN Yan, HE Ke-shan, ZHENG Li-ming, ZHOU Qi, BAI Xing-zhi

2019, 26(9): 1687-1694.

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Effective lift control of wind-turbine blades will reduce the fatigue loads of wind turbines, which can improve the reliability of wind turbines. This paper presents a simulation platform that contains a static lift control system of wind turbine blade test model with deformable trailing edge flap. In the system, the software, Matlab/Simulink, which serves as the host computer is used to establish the static lift mathematical model of the wind turbine blade test model and the system control algorithm. The real-time sampling and output are realized by PLC which serves as the slave computer. OPC technique is applied to realize the real-time communication between the host computer and the slave computer. The result shows that the control system effectively reduced the lift fluctuation of wind turbine blade test model under periodic gradient wind, periodic gust, choppy wind and the turbulent wind. Meanwhile, the control system can better make up for the lift fluctuation resulting from wind disturbance while using single neuron PID controller which has a better control result than using common PID controller.

A MPPT Method of Photovoltaic Array Based on Gradient Descent and Differential Evolution Algorithm

YE Jin, DONG Mei-chen, HE Hua-guang, HU Liang-qing

2019, 26(9): 1695-1702.

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Under the partial shading condition, the PV curve of the PV array will show the characteristics of multiple power peak points, while the traditional methods for PV array can only track the single power peak point. As it is fail to use these traditional methods to track the maximum power point in all of the multiple peak points under the partial shading condition, the existing research works are mainly based on particle swarm optimization algorithm and differential evolution algorithm. These algorithms have good global optimization ability, but the convergence stagnation problem easily arises in their local search process, therefore an improved algorithm based on adaptive gradient descent and differential evolution algorithm is proposed, which uses the adaptive gradient descent method to perform local search optimization at the later stage searching of differential evolution algorithm. The simulation results show that the proposed algorithm can find the maximum power point accurately and solve the convergence stagnation problem effectively. Compared with particle swarm optimization algorithm and difference evolution algorithm, the average total optimization time of the proposed algorithm is reduced by 52.67 % and 40.05 % respectively, and the convergence rate is further improved.

Moving Object Detection Methods Based on Adaptive ViBe

GUO Ying-chun, YANG Fei-fei , SHI Shuo

2019, 26(9): 1703-1711.

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In order to solve the problems of fixed parameter setting and ghost, an adaptive strategy for the ViBe(Visual Background Extractor) motion object detection algorithm is proposed, which includes three improved adaptive methods. First, for the sample selection, it expands the sample neighborhood with the uniform random number, which can avoid to select pixels repeatedly and reduce pixel error classification. Then for fixed match radius and background updator in ViBe, adaptive strategies are used respectively that matching radius are set by the degree of dynamic background and background updator is dynamically regulated by the motion velocity. Finally the optimal threshold of quadratic discriminant obtained by an iterative method is used to filter out the misjudgment area and eliminate the ghost areas. Compared with frame difference method, GMM(Gaussian Mixture Model), CodeBook, LSD(Low-rank and Sparse Decomposition), DECOLOR (Detecting Contiguous Outliers in the Low-rank Representation), and ViBe algorithm on the two public video datasets, Change Detection and LASIESTA, the proposed method has a better performance and it is robust for moving object detection in complex background.

Regularized Nonnegative Matrix Factorization based on L₂₁ Norm

LI Cheng, ZHAO Hai-lin

2019, 26(9): 1712-1716.

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Non-negative matrix factorization (NMF) adds non-negative constraints to matrix decomposition, and its decomposed sub-matrices are easier to interpret. The optimization target of many traditional NMF algorithms is based on L₂ norm, and they are not easy to identify the nonlinearly distributed data structures. In order to solve this problem, we propose a regularized non-negative matrix factorization algorithm based on L₂₁ norm. The objective function of the proposed algorithm is written into the form of L₂₁ norm, and we add graph regularization term to the objective function to handle complex nonlinear data sets. Finally, several benchmark data sets are used to test the performance of the proposed algorithm on the clustering task. The experimental results show that the proposed algorithm can extract the key features of the data, obtain the low-dimensional representation of the original data, and produce better clustering results.

Performance Analysis of Regulation Schemes for LLC Resonant DC/DC Converters#br#

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DING Ben

2019, 26(9): 1717-1721.

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LLC resonant converter is widely used with many advantages such as high efficiency, small volume and low loss. Based on the working principle analysis of LLC resonant-based DC/DC converter, the modulation strategy of LLC resonant DC/DC converter is designed. The performance analysis including closed-loop performance, frequency domain performance, and conduction losses for the two regulation schemes (predominantly pulse-width modulation and pulse-position modulation) are carried out with PSIM 6.0 software. In these two modulation control schemes, both the two switches of half-bridge inverters are controlled by square-wave pulses with the dead-time of 250 ns, thus avoiding short-circuit of the two switches. Simulation results indicate that over a wide range of load variation, the predominantly pulse-position modulationscheme has better performance of frequency selection at high input voltage, which makes it more suitable for the design of DC/DC converter and the improvement of performance of power conversion system.

Hybrid Supply System Energy Management Strategy of Hybrid Electric Vehicle Based on Adaptive Filter

YAN Xiao-ming, WANG Da-zhi, LIANG Yu, LI Yun-lu

2019, 26(9): 1722-1727.

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In order to improve the energy efficiency of the power supply system of hybrid electric vehicle (HEV), an energy management strategy based on adaptive filter is proposed. Firstly, the hybrid power supply system and the bi-directional DC/DC converter of HEV are modeled. Secondly, the adaptive law based on power-split is selected and the novel hybrid power adaptive energy management strategy is designed. Finally, the effectiveness of the proposed method is verified by the simulation experiment under different working conditions. The experimental results show that, the proposed method can transmit power of hybrid power system of HEV effectively to achieve high energy utilization.

Prediction of Sewage Environment Based on GM-RBF

YANG Zhuang, WU Li, QIAO Jun-fei

2019, 26(9): 1728-1732.

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Due to the fact that it is difficult to measure the chemical oxygen demand (COD) of sewage water environment parameters, a kind of gray level theoretical prediction model based on radial basis function neural network (GM-RBF) is proposed. The proposed GM-RBF can predict the chemical oxygen demand. The gray theory is used to predict the development and change of the system behavior, and the precision of the prediction model can be improved by combining the high precision approximation ability of the radial basis function neural network. The modeling and prediction of the key water quality parameters in the process of wastewater treatment is studied. The results show that the model can predict the COD with high accuracy, and the prediction is close to the actual value.

The Safety Analysis of Carrier-based Aircraft Landing Based on Baseline Statistical Methods

YUAN Xin, ZHANG Wen, SUN Ye, LIU Zhi-lin

2019, 26(9): 1733-1737.

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The carrier aircraft safe landing is very difficult and dangerous .So it is very important and necessary to research on the aircraft carrier landing safety analysis and assessment. The aircraft carrier landing simulation platform is used to obtain a large number of sample data. Statistical methods are used for analysis and processing of these data, and the baseline of standard operating procedures are formed. The whole aircraft carrier landing process is divided into important positions of each stage. By using baseline comparative leading indicators methods, the leading indicators of each position are compared and analyzed for aircraft carrier landing process to obtain evaluation of carrier pilots landing performances. The simulation results verify the effectiveness of this method.

Control Strategy of Hybrid Multi-terminal HVDC Transmission System

HUANG Zhi-da, HUANG Qing-song

2019, 26(9): 1738-1744.

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A hybrid multi-terminal HVDC transmission system is established. The rectifier side of the system is two sets of twelve pulsating line commutated converter (LCC) in series, t the inverter side is double-ended three-phase two-level voltage source converter (VSC).. On the basis of expounding its topology and working principle, the overall control strategy of system is designed and analyzed. The steady-state operation and transient fault process of the system are simulated by the electromagnetic transient simulation software PSCAD/EMTDC. The simulation results verify the effectiveness of the hybrid multi-terminal HVDC transmission system control strategy.

Capacitor Voltage Balancing Control of Modular Multilevel Converter Based on Circulation Current Suppression Strategy

MA Xiu-juan, TENG Jia-yi, YAO Tong

2019, 26(9): 1745-1750.

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There are many advantages for modular multilevel converter (MMC), such as modular structure, scalability and reduced harmonics, which makes it become a potential converter technology for high voltage direct current (HVDC) transmission system. The basic topology structure and working principle are introduced, capacitor voltage fluctuation and circulation current are analyzed, and point out the necessity of controlling. Capacitor voltage balancing control based on circulation current suppression strategy are applied to keep voltage stability of sub-module(SM) capacitor and suppress circulation current. Circulation current suppression controller based on low pass filter and quasi-proportional resonant controller is designed and added to additional capacitor voltage balancing control strategy. The effectiveness and feasibility of the proposed method is proved by Matlab/Simulink, the simulation results show that the fluctuation of capacitor voltages as well as the circulating current can be confined into acceptable range.

Research on Modeling and Path Planning of Urban Sanitary Vehicle Dispatching System#br#

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CHEN Mei, LI Bing-hui, PAN Wang-yang

2019, 26(9): 1751-1755.

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In order to improve the running route of urban sanitary vehicle and reduce the total cost, this paper builds a mathematical model of path planning for urban sanitation vehicle dispatching system with garbage, sorting center, recycling enterprises, incineration plant and landfill. The hybrid algorithm of genetic algorithm and tabu search algorithm was applied to the path planning of sanitation vehicle, and the total cost was minimized as the objective function. The algorithm was designed and simulated according to the actual case. The simulation result shows that the algorithm has good convergence and good feasibility and operability. The conclusion of this paper is of great significance to improve the operation route of urban sanitation vehicles and reduce the total cost.

Voltage Stability Analysis of Distribution Network Considering Variable Correlation#br#

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TAI De-qun, ZHOU Song-lin, ZHANG Bi-xi, SUN Chang-xiang, LUO Xi

2019, 26(9): 1756-1762.

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The distributed photovoltaic generation system connected to distribution network has strong randomness and weak controllability, which combined with random loads will cause the uncertainty of the power flow in distribution network. For simulating the correlation between photovoltaic generation and photosensitive load in the calculation of probabilistic power flow, the joint probability distribution model about the two random variables is established on base of Copula function. The time-ordered samples with certain correlation are obtained by Latin hypercube sampling technology firstly, and then are substituted into equations of power flow to calculate joint probability distribution of power flow. The simulation results of IEEE33 distribution system show that the probabilistic power flow considering the correlations of random variables are more in line with the actual, and are more helpful to analyze the probabilistic stability of node voltage.

Hidden Markov Model Based Non Parametric Bayesian Algorithm For Video Anomaly Detection

CHEN Hao-gui, XU Le-ling, TANG Xu-qing

2019, 26(9): 1763-1769.

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In order to improve the applicability of video anomaly detection algorithm, and improve the recognition accuracy and efficiency of the algorithm, we proposed an hidden markov model based non parametric bayesian algorithm for video anomaly detection. Firstly, the video sequence is divided into several segments, and then the total number of optical flow vectors and the feature vectors are extracted for all the pixels of all frames; Then, in order to solve the problem of mode number unknown in current data segmentation and hidden patterns, we used the Hidden Markov algorithm of the hierarchical Dirichlet process and nonparametric bias factor analysis to make video data stream segmentation and pattern discovery; Finally, an interactive system was introduced to allow users to check and view suspicious events. The experimental results show that the proposed algorithm can realize the adaptive pattern discovery of video anomalies and improve the recognition accuracy and efficiency of the algorithm.

Research on Optimization of Parallel Computing for SOM Image Segmentation on GPU

YANG Fei, LI Jing, ZHOU Liang

2019, 26(9): 1770-1775.

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To accelerate the segmentation method of self organizing map (SOM), the original serial method is extended to the parallel method, and the corresponding parallel computing module is designed for the specific image segmentation method. In order to reduce the computational load, by minimizing the non block edge pattern vector in-class covariance matrix to the ratio between class covariance matrix, the ratio function is calculated. And the number of segmentation is estimated by the ratio between in-class scatter matrix and class scatter matrix. Segmentation of brain magnetic resonance imaging (MRI) images shows that the proposed parallel optimization method has greatly improved the computational efficiency under the premise of ensuring the quality of image segmentation in comparison with the original serial method. And its computing efficiency is higher than that of similar parallel acceleration method.

Research on Control of Digital Hydraulic Cylinder Based on Disturbance Observer#br#

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WANG Hui, JIANG Shou-Ling

2019, 26(9): 1776-1781.

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There are various kinds of disturbances in the digital hydraulic cylinder, including uncertain parameters and uncertain nonlinearity. These factors will limit the high precision position control of the digital hydraulic cylinder. Aiming at high precision position control of digital hydraulic cylinder, a control strategy combining backstepping control with nonlinear disturbance observer is proposed to improve the tracking accuracy of position control. Firstly, the nonlinear control model of the digital hydraulic cylinder is established. Based on Lyapunov method, the designed system controller can guarantee the global stability of the system. Finally, the effectiveness of the control strategy is verified by MATLAB/Simulink simulation software. Simulation results show that the control strategy can effectively reduce the position tracking error, phase lag, steady-state limit cycle and low-speed crawling caused by uncertain parameters and uncertain nonlinearity. At the same time, it can improve the response speed of the system, make the system more robust and improve the position tracking quality.

Control Modeling and Fault Simulation Analysis of IBDGs in Microgrid

YANG Yi, LU Tian-qi, YU Chang-yong, et al

2019, 26(9): 1782-1788.

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The microgrid contains a large number of inverter based distributed generators (IBDGs), whose operation control and fault characteristics are different from that of traditional synchronous generators. The inverter control mode of IBDG is analyzed. The simulation models of different operation control modes (grid-connected operation and islanding operation) of IBDG in the microgrid are established on the DIgSILENT simulation software. The fault characteristics of both IBDG side and distribution line side, and the influences on the fault protection under different operation control modes are analyzed and compared, which provides the basis for the protection strategy of the distributed power microgrid.

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