Control Engineering of China

Design of Control System for Landing Pose Simulation Mechanism

XIE Zhi-jiang, ZHOU Yang, GUO Zong-huan

2019, 26(10): 1789-1795.

Asbtract ( )

Related Articles | Metrics

According to the requirements of lunar sampling experiment, a motion control system based on PC control technology and high speed Ethernet bus EtherCAT technology is designed to realize the lifting, pitching and rolling high-precision position adjustment functions of the lunar landing pose simulation mechanism. The closed-loop and synchronization control strategy of the mechanism are analyzed. The inverse solution of the mechanism is deduced. The hardware structure of the control system is established. The TwinCAT software is used to develop motion control program of the mechanism. The pose adjustment function of the mechanism is realized through the combination of hardware and software. The results show that the control system can realize the continuity and synchronization of the motion of the pose adjustment mechanism, and meet the requirements of the high precision index of the sampling equipment.

A Method Based on Multi–sensor Data Fusion in Gimbal Self-stabilization Control

LI Hui-jun, YUAN Shuai, TANG Xiang, TANG Chao-quan

2019, 26(10): 1796-1802.

Asbtract ( )

Related Articles | Metrics

The stability of gimbal has great influence on carrying equipment’s accuracy. In order to make gimbal keep balance, a self-stabilization control method of gimbal based on multi-sensor data fusion is proposed. AHRS(Attitude and heading reference system) based on three-axis gyroscope, accelerometer and geomagnetic is adopted to obtain angular velocity, acceleration and geomagnetic intensity. Kalman filter algorithm is used to filter the acceleration and quaternion is adopted to fuse three kinds of information to get gimbal’s pitch and yaw angle. The control method is cascade double closed-loop PID. Experimental results show that this method make the gimbal remain stable in a complex environment with high accuracy and anti-jamming capability at the same time the overshot is small and robustness is strong.

Research on the Walking Model of Lower-Limb Walking Assist Exoskeleton

HE Yu-yi, Li Pei-xing, YAN Wei-xin, ZHAO Yan-zheng

2019, 26(10): 1803-1809.

Asbtract ( )

Related Articles | Metrics

The widely used method of gait planning for the lower-limb walking assist exoskeleton, based on the captured walking trajectories from the able-bodied people, has many disadvantages. A gait modeling method based on the kinematics and dynamics of the lower-limb walking assist exoskeleton is put forward. The motion curves of various time-varying parameters in the model for gait analysis are obtained, which provides theoretical basis for the autonomous gait planning when the walking parameters vary. The problem of parameter adaptability of the trajectory planning can be solved. The experimental results show that, this method aimed at satisfying the specific requirements of the lower-limb walking assist exoskeleton, can obtain the optimized parameters of different configurations, and plan the optimized walking motion of the exoskeleton.

AUV Horizontal Hover Control Based on Position-speed Closed Loop

MA Yan-tong, ZHENG Rong, YU Chuang, AN Jia-yu

2019, 26(10): 1810-1814.

Asbtract ( )

Related Articles | Metrics

A kind of position-speed closed loop control method is designed for the heavy AUV (Autonomous Underwater Vehicle) with long rotary shape to realize AUV's horizontal hovering function. Aiming at the weak maneuvering and slow time-varying characteristics of AUV in hovering process, the speed feedback is introduced based on position closed-loop control, and the target speed is obtained by linear combination of distance deviation and sailing speed, which then can control the main propeller rotating speed. Based on the analysis of AUV hydrodynamic characteristics and control variables, the dynamic control method is designed, and the parameter configuration is completed to realize the stable hovering at the target point. Finally, through the lake trials, it is concluded that AUV can be stabilized within the target point of 4 m. Compared with the traditional position closed-loop control, the hover range is greatly reduced, and large adjustment caused by the inertia overshoot is improved, which verify the effectiveness of the linear position-speed closed loop control method.

Merging Maneuvers and Optimal Merging Control of Heavy-Duty Vehicles

YUAN Hao-nan, GUO Ge

2019, 26(10): 1815-1823.

Asbtract ( )

Related Articles | Metrics

With the question of how to coordinate different trucks scattered on road to form a platoon, an optimal merging strategy of heavy-duty vehicles based on velocity and overall fuel consumption is proposed. Firstly, based on the research of two heavy-duty vehicles, the merging condition, the optimal acceleration, the optimal merging speed and the location of the merging point can be obtained. Then the results are generalized and forming the general decision-making algorithm and the merging system controller design method. Numerical simulation and experiments show that the proposed method can greatly reduce the overall fuel consumption of vehicle fleets in fact.

Sliding Mode Variable Structure Control for a Class of Underactuated Systems

YU Tao, ZHAO Wei, YANG Kun

2019, 26(10): 1824-1829.

Asbtract ( )

Related Articles | Metrics

A novel sliding mode variable structure control scheme is proposed for a class of underactuated systems with two degrees of freedom. The whole system is decomposed into two subsystems, and the sliding surfaces of both subsystems are defined. The equivalent control of the first sub-sliding surface is utilized to construct the control input of the controlled system, and the sliding surface of the second subsystem is incorporated into the switching control law. The switching control of the controller is derived based on the sliding surface of the first subsystem, and then the ultimate sliding mode control law is obtained. The derived control law, which guarantees that both sub-sliding surfaces are asymptotically stable, can dynamically adjust its switching gain according to the variation of the second sub-sliding surface. The simulation results of an overhead crane system confirm the effectiveness and robustness of the proposed control scheme.

Composite DOBC & GMVC for a Class of Linear Stochastic Systems

LIU Yun-long, ZHOU Ping, LI Ming-jie, Rong Jian

2019, 26(10): 1830-1834.

Asbtract ( )

Related Articles | Metrics

A novel control scheme combining disturbance observer technique and generalized minimum variance method is investigated for a class of linear stochastic systems. The unknown external disturbance is supposed to be generated by a exogenous system with perturbation, and the reduced-order and full-order disturbance observers based on minimum variance benchmark, which can be designed separately from the controller design, are constructed, respectively, for the cases that the state can be measured and the state cannot be measured. By integrating the disturbance observers with generalized minimum variance control laws, the disturbances can be rejected and the desired dynamic performances can be guaranteed. Finally, a numerical example is proved to show the effectiveness of the approach.

Dual-Loop Adaptive Tracking Control with Physical Constraint

Nonlinear system, adaptive control, control saturation, dual-loop tracking control

2019, 26(10): 1835-1842.

Asbtract ( )

Related Articles | Metrics

A dual-loop robust tracking control method is proposed for the tracking control of generalized second-order nonlinear systems with variable parameters and bounded state and control inputs. The system is decomposed into two independent subsystems by introducing virtual tracking controller, the outer loop virtual controller tracks the input globally asymptotically and generates the inner loop virtual input, the inner loop adopts adaptive control method to realize robustness which caused by parameter’s perturbation, external disturbance and exceed saturated amplitude, and to ensure the exponential convergence of the virtual input. Dual-loop adaptive tracking controller can satisfy the tracking accuracy and robustness to uncertainties under bounded state and control inputs. The system with dual-loop tracking controller has higher reliability than the one with backstepping controller. Numerical simulation of spacecraft attitude tracking control problem verifies the validity of the method.

Reduced-order Observer-based Backstepping Control of Permanent Magnet Synchronous Motor

LAN Yong-hong, CHEN Qian, WANG Liang-liang, CHEN Cai-xue

2019, 26(10): 1843-1849.

Asbtract ( )

Related Articles | Metrics

For the speed tracking control problem of permanent magnet synchronous motor (PMSM), an reduced-order observer-based back-stepping speed tracking control method is presented. Firstly, the output value of the rotational speed of the PMSM is used to construct a full dimensional Luenberger observer. By using Lyapunov stability theory, the linear matrix inequality (LMI) based design method of observer is obtained. Then, based on the full order observer, a reduced order observer is designed by using matrix decomposition techniques. To realize the high precision tracking for the motor speed, a back-stepping control strategy of the closed-loop system is also proposed. Finally, the effectiveness of the proposed method is verified by numerical simulation. The simulation results show that the designed controller can make the output of the system quickly track the reference speed and has high tracking accuracy.

Adaptive Fault Estimation and Fault-Tolerant Control of a Flexible Hypersonic Vehicle

HUANG Xin, WANG Jie, MA Xiao

2019, 26(10): 1850-1856.

Asbtract ( )

Related Articles | Metrics

In order to improve the security and reliable of the hypersonic vehicle, an adaptive sliding mode fault-tolerant control method is proposed to deal with the actuator faults. Firstly, a fault model is established based on the longitudinal dynamic model of flexible hypersonic vehicles, and transformed into strict feedback form. Secondly, the Back-stepping method is utilized to design the control input, and the adaptive sliding mode fault tolerant control law is proposed to deal with the actuator faults timely and quickly. Finally, the stability of the system is proved by Lyapunov stability theory. Simulations results show that the proposed method can effectively deal with the actuator effectiveness loss fault, and has good robustness and fault tolerant performance.

Research on Control Algorithm of Two-Inertia Resonance System

PAN Heng

2019, 26(10): 1857-1862.

Asbtract ( )

Related Articles | Metrics

Since two-inertia resonant system is inclined to produce low frequency mechanical resonance, the two degree of freedom speed controller with feed forward & feedback control and the full state feedback controller are proposed to solve the problem. Based on the kinetic equation of the motor and the load, the mathematical model of the two-inertia resonance system is established. And the two degree of freedom controller and the state feedback controller are designed based on this model. Considering the reference input tracking ability and the anti-disturbance torque capability of the control system, the gain of the control system is obtained by different pole allocation strategies. Contrast simulation results show that the proposed speed control algorithm is feasible and effective.

Routing Control of Multi Commodity Flow Vehicles for Virtual Vehicle Communication Network

GUO Xu-kun, FAN Bing-bing, CHEN Chun-lian, SUN Gang

2019, 26(10): 1863-1869.

Asbtract ( )

Related Articles | Metrics

In order to improve the traffic efficiency of vehicles in traffic road network, a multi commodity flow back pressure routing control strategy based on virtual vehicle communication network data is proposed. Firstly, the road network composed of on-board wireless network nodes was used for the implementation of the road and vehicle information collection. In order to improve the real-time and forward-looking routing control, here introduce traffic flow forecasting methods to construct the virtual vehicle queue. And then the multi commodity flow backpressure routing method was put forward, and vehicle adaptive routing control strategy was designed. According to the status of traffic pressure, the improvement on the back pressure strategy weight is realized, which could enhance the ability to adapt to backpressure routing algorithm parameter optimization. Finally, simulation experiments show that the proposed method can be more effective in traffic vehicles controlling and the traffic smoothness can be improved.

Multi-objective Combustion Optimization Based on Constrained Fuzzy Association Rule

ZHENG Wei, WANG Chao, LIU Da

2019, 26(10): 1870-1874.

Asbtract ( )

Related Articles | Metrics

For improving boiler combustion performance of coal-fired power plant, a new optimized method based on constrained fuzzy association rule is proposed to determine boiler operation parameters. The associated relationship can be discovered between primary operation parameters and performance indexes by mining an ocean of historical operation data with different working conditions. According to the association relationship, the desired values of boiler parameters which are crucial to high-efficiency and low-emission operation can be acquired. Taking the data mining result of oxygen content in flue gas as an example, its optimization values in different working conditions are demonstrated. Multi-objective boiler combustion optimization based on constrained fuzzy association rule doesn’t only provide the theoretical basis for regulating boiler parameters at present, but also establishes the foundation on set points of important parameters for closed-loop control in the future.

Research on the Method of Multi-AUV Formation Control Based on Self-organized Artificial Potential Filed

CHEN Yang-yang , ZHU Da-qi , LI Xin

2019, 26(10): 1875-1881.

Asbtract ( )

Related Articles | Metrics

In this paper, self -organizing map (SOM) and artificial potential field methods are combined to solve the multi-AUV (autonomous underwater vehicle) formation and obstacle avoidance problem. An self-organized artificial potential filed formation control method is then proposed. First of all, according to the location of the leader AUV, virtual AUVs’ positions are generated. Virtual AUV positions are used as the input vectors of the SOM network for calculation. The output are the positions of the follower AUVs which are able to control the follower AUVs to reach the desired target points. Secondly, considering the formation problem of obstacle avoidance, the artificial potential field method is used to avoid obstacle and re-plan paths for formation. Finally, the effectiveness of the proposed algorithm is verified by simulations.

Research on Management and Decision-making Based on Big Data

2019, 26(10): 1882-1891.

Asbtract ( )

Related Articles | Metrics

This is the age of big data, which brings new opportunities for a lot of industries. The combination of big data technologies and decision-making theories changes the conventional decision modes, thereby providing a new trend for development. This paper mainly researches on management and decision-making based on big data, and the constructions are as follows: Firstly, the development and current trend of the big data management are analysed here with respect to three aspects, namely the parameter, the graduation and the technology. Then, on this basis, the development history of decision-making theories is figured out, and the research status of data-driven decision-making is analysed. In order to develop a unified framework, the current models of management and decision based on big data are summarized, and the related application status with some instances is discussed. In the end, some challenges that the management and decision may face in this era are discussed, and some possible trends are presented.

Data-driven Vessel Smart Fault Diagnosis method

JIA Bao-zhu, JIA Zhi-tao, YU Pei-wen, AN Lian-tong

2019, 26(10): 1892-1898.

Asbtract ( )

Related Articles | Metrics

There are huge of data in the engineroom integrated monitoring and control system, which prognosis the health and fault status of system. Aiming at the redundant condition attributes in raw datum, the equivalence attribute is defined based on rough set, and an effective attribute reduction method is proposed depend on equivalence attribute. The basic probability and evidential decision coefficient are used to measure the contribution of condition attribution to decision attribution. According to this, the minimization attribute decision table is derived after evidential reasoning. The calculating example with sample datum of central cooling water system shows that the proposed method is effective for system hidden fault diagnosis.

Performance Assessment of Parallel Cascade Control System Based On Minimum Entropy

LIU Yang , WANG Ya-gang

2019, 26(10): 1899-1904.

Asbtract ( )

Related Articles | Metrics

Cascade control is a frequently used control strategy in industrial processes. It can reduce the maximum deviation and the integral error compared with the single loop. Currently, the minimum variance method of parallel cascade control system are developed based on the assumption that all the disturbance are subject to Gaussian distribution. However, in the practical condition, some disturbances do not obey the Gaussian distribution. The minimum entropy index of performance assessment of the parallel cascade control system subjected to non-Gaussian disturbances is proposed. In the stochastic process, the information entropy has more general significance than mean or variance for any random variable. The estimated ARMA model for the parallel cascade control loop based on the minimum entropy instead of the minimum mean squares error has better performance for non-Gaussian disturbances. The result of proposed methods are demonstrated through a simulation example.

Internal Model Control of Voltage-sourced PWM Rectifier Based on Inverted Decoupling

LI Xiang-yu, ZHAO Zhi-cheng, WANG Wen-yu

2019, 26(10): 1905-1910.

Asbtract ( )

Related Articles | Metrics

For three-phase voltage-sourced PWM rectifier, a novel double closed loop control method is proposed in this paper, which is based on the mathematical model in synchronous rotating coordinate system. Considering the coupling characteristics, the inner-current loop adopted reverted decoupling internal model control (IMC) method and designed IMC-PI controller for the decoupled generalized controlled object, which could realize the complete decoupling of the nominal systems. On this basis, the IMC-PID controller was designed based on the simplified model of voltage loop. The simulation results show that the proposed method can ensure the complete decoupling of the system, reduce the controller′s tuning parameters, and provide better dynamic performance and robustness.

Iterative Learning Control of Multi Inputs and Multi Outputs Gas Tungsten Arc Welding process

LIU Jian, BU Xu-hui, LIANG Jia-qi

2019, 26(10): 1911-1916.

Asbtract ( )

Related Articles | Metrics

The welding of same parts have the same welding trajectory, so the welding process has strong repeatability. Aiming at the repeatability of welding process, the tracking control problem of gas tungsten arc welding process with double input and output is studied based on iterative learning control. According to the dynamic model of gas tungsten arc welding, the iterative learning control algorithm of welding process control is designed, and the convergence of the algorithm is analyzed. It turns out that the repeated information of welding can be used effectively by the iterative learning control in the process of welding. After 80 times of iteration, the actual output of the welding system can better track on the desired trajectory and realize the high precision tracking control in the finite interval. It verifies the effectiveness of the proposed method. The better tracking performance can be acquired by ILC in contrast to PID algorithm.

The Tracking Control of Unmanned Underwater Vehicles Based on Model Predictive Control

MEI Man, ZHU Da-qi, GAN Wen-yang, JIANG Xiao-di

2019, 26(10): 1917-1924.

Asbtract ( )

Related Articles | Metrics

In terms of the tracking problem of unmanned underwater vehicles (UUV) in two-dimension, a new approach of the tracking control algorithm is investigated by analyzing and building the two-dimension kinematic model of UUV in this paper, that is model predictive control. The model predictive control is employed based on the linear error model, the optimization problem of minimizing the objective function is transformed to a quadratic programming problem, which makes it effective to realize the tracking control and avoid the speed jump problem under the condition of satisfying the control constraints. The experimental results show the efficiency in terms of the trajectory tracking control problem for UUV, when compared with the method of backstepping.

Multi-Model Fusion Soft Sensor Modeling Using FCM-ABC-MKRVM

ZHANG Hong-de, XIA Lu-yue, LIU Yong, PAN Hai-tian

2019, 26(10): 1925-1931.

Asbtract ( )

Related Articles | Metrics

Many chemical processes have the characteristics of strong nonlinearity, complex mechanism and multiple operating conditions. Aiming at the problem that traditional soft sensor model can’t fully describe the process characteristics, which leads to the low prediction accuracy, a multi-model fusion soft sensor modeling method based on FCM-ABC-MKRVM is proposed. Firstly, the fuzzy C-means (FCM) clustering algorithm was used to divide the training samples into several subclasses and the clustering centers of each subclass were determined. Then, the multi-kernel relevance vector machine (MKRVM) sub-models were established by training each subclass samples. The kernel parameter and weight factor were optimized by artificial bee colony (ABC) algorithm. In the stage of the model prediction, the membership values between the test samples and the cluster centers were calculated as the weight coefficients of the output values of sub models. The final prediction output was obtained by the multi-model fusion. The proposed modeling method was applied to develop polypropylene melt index soft sensor. The result shows that the melt index soft sensor model based on FCM-ABC-MKRVM has better predicting accuracy compared with the MKRVM model and the ABC-MKRVM model. The proposed modeling method could provide guidance for online predicting of the quality index of chemical process under complex multi-operating modes.

Research on Learning Algorithm of Neural Networks Based on Improved Fading Unscented Kalman Filter

YANG Yi, GAO Yi, LIU Hai-long

2019, 26(10): 1932-1938.

Asbtract ( )

Related Articles | Metrics

Aiming at the defects in the training process of BP neural networks, a novel learning algorithm of neural networks is designed based on the improved fading unscented Kalman filtering in this paper. In this algorithm, the filter gain matrix in the algorithm of UKFNN is adjusted by introducing the adaptive factor, which is calculated by an improved calculation method. Therefore, the influence of sample noise on the weights updating is limited and thus the training accuracy is improved. Meanwhile, the calculation burden of fading factor could be simplified by the improved calculation method. Finally, the proposed algorithm is applied to INS/GPS integrated navigation system for establishing an error estimation model. The experiment results demonstrate that the fitting precision of the prediction model could be advanced by the proposed algorithm, and the adaptive ability for noise samples could be improved effectively, as well as has better application prospects.

Voronoi Map Localization Algorithm Based on Geometric Modification of Multi Anchor Nodes

XIA Lei, TAN Zhi

2019, 26(10): 1939-1943.

Asbtract ( )

Related Articles | Metrics

According to the error caused by imperfect direct distance ranging technology in static networks, an improved Voronoi graph localization algorithm based on geometric constraint is proposed. The Cayley-Menger determinant is introduced to limit the distance relation, and the constraint equation of distance error is obtained, and then the optimal problem is solved by using the Lagrange multiplier method, the distances between nodes satisfy the true geometric constraints after the optimization. At the same time, the distance information is applied to the location of many anchor nodes. At last, the modified distance is applied to the Voronoi map positioning algorithm to optimize the algorithm. Simulation results show that the proposed algorithm is superior to the traditional positioning algorithm based on Voronoi map, which can effectively improve the success rate of positioning and positioning accuracy, and it has wider application scope.

Direct Torque Control of Brushless DC Motor Based on the Second-order Sliding Mode Observer

ZHAO Hong-fei, ZHAO Zhi-cheng, ZHANG Jing-gang

2019, 26(10): 1944-1949.

Asbtract ( )

Related Articles | Metrics

To solve the difficulty of acquiring back electromotive force (back-EMF) and the chattering problem existing in the conventional sliding mode control, a direct torque control (DTC) based on the second-order sliding mode observer (SOSMO) is proposed for brushless DC motor (BLDCM). According to the mathematical model of BLDCM, traditional linear sliding mode surface and its first-order derivative are selected to constitute the second-order sliding mode surface. Simultaneously, the control law was deduced by using an improved reaching law. Then, the SOSMO was designed, and it could make the sliding mode chattering be focused on the higher order differential of phase error and integrate the higher order differential term. So, the weaker chattering and faster convergence was guaranteed. Moreover, the back-EMF could be accurately estimated by SOSMO without an additional low-pass filter. The SOSMO was applied to DTC of sensorless BLDCM, and the torque ripple and system performance could be improved effectively. The simulation results show that the proposed method is superior.

Study on Dynamic Optimal Control of Fed-batch Fermentation Process

LI Hai-bo, PAN Feng

2019, 26(10): 1950-1954.

Asbtract ( )

Related Articles | Metrics

In the biochemical process, such as ethanol fermentation, some problems such as high nonlinearity and poor stability cause more difficulties on the optimal control of the fed-batch process. In order to solve these problems and improve the optimization efficiency as well as maximizing the product concentration, rolling optimization strategy is proposed based on the core idea of predictive control. In the optimization process, the penalty function method was used to transform the original optimization problem with constraints into an unconstrained optimization problem. And hybrid optimization algorithm combining ant colony algorithm and iterative dynamic programming has been applied into the substrate flow rate control trajectory optimization. Compare this new optimization algorithm with ant colony algorithm, the simulation results show that some performances such as optimization speed, optimization performance have been improved greatly.

The Multi-model Soft Sensor Modeling Based on Affinity Propagation Clustering

XU Hai-xia

2019, 26(10): 1955-1959.

Asbtract ( )

Related Articles | Metrics

The data of a fermentation process is large, a single data-based soft sensor model suffers from heavy burden calculation and poor precision. In order to solve these problems, an improved multi-model soft sensor modeling method is proposed based on neural network and affinity propagation (AP) clustering. AP clustering algorithm is presented to solve the existed problems in original clustering algorithms, such as clustering number should be determined in advance and cluster accuracy depends on data distribution. Sub neural network models can be constructed based on the clusters. The proposed modeling method was applied to monitor the biomass concentration of an erythromycin fermentation process. Case studies show that the approach has better performance on calculation and accuracy.

Research on Smelting and Rolling Integrate Production Scheduling Based on SPC-EA Algorithms

ZHANG Hao-yu, ZHANG Jian-xin

2019, 26(10): 1960-1965.

Asbtract ( )

Related Articles | Metrics

The production scheduling of steelmaking-casting-hot rolling (SM-CC-HR) integrate production is a class of complex job-shop scheduling problems. The integrated production process is described as a job-shop model in this paper. Based on the model, the active schedules encoding and decoding approaches for production scheduling processes are respectively proposed to improve the efficiency of integrate production. In order to avoid illegal chromosome and reserve the good characteristics of parent generation, an single parent crossover-evolution algorithm(SPC-EA)is presented. The simulation results show that the proposed SPC-EA can effectively deal with the job-shop scheduling problems with fast convergences and obtain the high quality solutions.

Research on the Matrix Information Aggregation Method Based on the Firefly Algorithm

ZHANG Lei

2019, 26(10): 1966-1970.

Asbtract ( )

Related Articles | Metrics

Because of the universality and importance of group decision making, the research of the judgment matrix aggregation method is an important issue of the group decision making, which is becoming more and more widely and deeply. First, in view of the diversity of the judgment matrix in the group decision making, the glowworm swarm optimization is used to solve the matrix aggregation. Then, the introduction of the consistency ratio in the objective function of the glowworm swarm optimization can reduce the subjectivity and information loss of the aggregation process. Finally, through the concrete empirical research, the improved algorithm can provide an effective and relatively uniform method for judgment matrix aggregation in group decision making.

Table of Content