Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee...Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control（IMC） algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom（DOF） robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.展开更多
A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept...A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.展开更多
Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in orde...Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.展开更多
The 7-DOF model of a full vehicle with an active suspension is developed in this paper.The model is written into the state equation style.Actuator forces are treated as inputs in the state equations.Based on the basic...The 7-DOF model of a full vehicle with an active suspension is developed in this paper.The model is written into the state equation style.Actuator forces are treated as inputs in the state equations.Based on the basic optimal control theory,the optimal gains for the control system are figured out.So an optimal controller is developed and implemented using Matlab/Simulink,where the Riccati equation with coupling terms is deduced using the Hamilton equation.The all state feedback is chosen for the controller.The gains for all vehicle variables are traded off so that majority of indexes were up to optimal.The active suspension with optimal control is simulated in frequency domain and time domain separately,and compared with a passive suspension.Throughout all the simulation results,the optimal controller developed in this paper works well in the majority of instances.In all,the comfort and ride performance of the vehicle are improved under the active suspension with optimal control.展开更多
Analysis of a gravity-induced film flow of a fluid containing both nanoparticles and gyrotactic microorganisms along a convectively heated vertical surface is presented.The Buongiorno model is applied. Two kinds of bo...Analysis of a gravity-induced film flow of a fluid containing both nanoparticles and gyrotactic microorganisms along a convectively heated vertical surface is presented.The Buongiorno model is applied. Two kinds of boundary conditions, the passive and the active boundary conditions, are considered to investigate this film flow phenomenon.Through a set of similarity variables, the ordinary differential equations that describe the conservation of the momentum, the thermal energy, the nanoparticles, and the microorganisms are derived and then solved numerically by an efficient finite difference technique.The effects of various physical parameters on the profiles of momentum, thermal energy,nanoparticles, microorganisms, local skin friction, local Nusselt number, local wall mass flux, and local wall motile microorganisms flux are investigated. It is expected that the passively controlled nanofluid model can be much more easily achieved and applied in real circumstances than the actively controlled model.展开更多
The dynamic interaction between moving vehicles and two-span continuous guideway was discussed. With the consideration of the magnetic levitation system, the maglev vehicle/guideway dynamic interaction model was devel...The dynamic interaction between moving vehicles and two-span continuous guideway was discussed. With the consideration of the magnetic levitation system, the maglev vehicle/guideway dynamic interaction model was developed. Numerical simulation was performed to understand dynamic characteristics of the guideway used in practice. The results show that vehicle speed, span length and primary frequency of the guideway have an important influence on the dynamic responses of the guideway and there is no distinct trend towards resonance vibration when fl equals 1.0. The definite way is to control the impact coefficient and acceleration of the guideway. The conclusions can serve the design of high speed maglev guideway.展开更多
First, a three-tier coordinated scheduling system consisting of a distribution network dispatch layer, a microgrid centralized control layer, and local control layer in the energy internet is proposed. The multi-time ...First, a three-tier coordinated scheduling system consisting of a distribution network dispatch layer, a microgrid centralized control layer, and local control layer in the energy internet is proposed. The multi-time scale optimal scheduling of the microgrid based on Model Predictive Control（MPC） is then studied, and the optimized genetic algorithm and the microgrid multi-time rolling optimization strategy are used to optimize the datahead scheduling phase and the intra-day optimization phase. Next, based on the three-tier coordinated scheduling architecture, the operation loss model of the distribution network is solved using the improved branch current forward-generation method and the genetic algorithm. The optimal scheduling of the distribution network layer is then completed. Finally, the simulation examples are used to compare and verify the validity of the method.展开更多
A new hybrid control scheme is presented with a robust multiple model fusion control（RMMFC） law for a UH-60 helicopter and an active disturbance rejection control（ADRC） controller for its engines.This scheme is a ...A new hybrid control scheme is presented with a robust multiple model fusion control（RMMFC） law for a UH-60 helicopter and an active disturbance rejection control（ADRC） controller for its engines.This scheme is a control design method with every subsystem designed separately but fully considering the couplings between them.With three subspaces with respect to forward flight velocity,a RMMFC is proposed to devise a four-loop reference signal tracing control for the helicopter,which escapes the closed-loop system from unstable state due to the extreme complexity of this integrated nonlinear system.The engines are controlled by the proposed ADRC decoupling controller,which fully takes advantage of a good compensation ability for unmodeled dynamics and extra disturbances,so as to compensate torque disturbance in power turbine speed loop.By simulating a forward acceleration flight task,the RMMFC for the helicopter is validated.It is apparent that the integrated helicopter and engine system（IHES） has much better dynamic performance under the new control scheme.Especially in the switching process,the large transient is significantly weakened,and smooth transition among candidate controllers is achieved.Over the entire simulation task,the droop of power turbine speed with the proposed ADRC controller is significantly slighter than with the conventional PID controller,and the response time of the former is much faster than the latter.By simulating a rapid climb and descent flight task,the results also show the feasibility for the application of the proposed multiple model fusion control.Although there is aggressive power demand in this maneuver,the droop of power turbine speed with an ADRC controller is smaller than using a PID controller.The control performance for helicopter and engine is enhanced by adopting this hybrid control scheme,and simulation results in other envelope state give proofs of robustness for this new scheme.展开更多
Wind power plants(WPPs)are increasingly mandated to provide temporary frequency support to power systems during contingencies involving significant power shortages.However,the frequency support capabilities of WPPs un...Wind power plants(WPPs)are increasingly mandated to provide temporary frequency support to power systems during contingencies involving significant power shortages.However,the frequency support capabilities of WPPs under derated operations remain insufficiently investigated,highlighting the potential for further improvement of the frequency nadir.This paper proposes a bi-level optimized temporary frequency support(OTFS)strategy for a WPP.The implementation of the OTFS strategy is collaboratively accomplished by individual wind turbine(WT)controllers and the central WPP controller.First,to exploit the frequency support capability of WTs,the stable operational region of WTs is expanded by developing a novel dynamic power control approach in WT controllers.This approach synergizes the WTs'temporary frequency support with the secondary frequency control of synchronous generators,enabling WTs to release more kinetic energy without causing a secondary frequency drop.Second,a model predictive control strategy is developed for the WPP controller.This strategy ensures that multiple WTs operating within the expanded stable region are coordinated to minimize the magnitude of the frequency drop through efficient kinetic energy utilization.Finally,comprehensive case studies are conducted on a real-time simulation platform to validate the effectiveness of the proposed strategy.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51375009)PhD Research Foundation of Liaocheng University,China(Grant No.318051523)Tsinghua University Initiative Scientific Research Program,China
文摘Because of vehicle＇s external disturbances and model uncertainties,robust control algorithms have obtained popularity in vehicle stability control.The robust control usually gives up performance in order to guarantee the robustness of the control algorithm,therefore an improved robust internal model control（IMC） algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness.The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties.In order to separate the design process of model tracking from the robustness design process,the improved 2 degree of freedom（DOF） robust internal model controller structure is given from the standard Youla parameterization.Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm,on the basis of a nonlinear vehicle simulation model with a magic tyre model.Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance,which can enhance the vehicle stability and handling,regardless of variations of the vehicle model parameters and the external crosswind interferences.Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.
基金Project(61273132)supported by the National Natural Foundation of ChinaProject(20110010010)supported by Higher School Specialized Research Fund for the Doctoral Program,China
文摘A novel control scheme of active disturbance rejection internal model control(ADRIMC) is proposed to improve the anti-interference ability and robustness for the dead-time process. The active anti-interference concept is introduced into the internal model control(IMC) by analyzing the relationship between IMC and disturbance observer control(DOB). Further, a design process of disturbance filter is presented to realize the active anti-interference ability for ADRIMC scheme. The disturbance filter is used to estimate an equivalent disturbance consisting of both external disturbances and internal disturbances caused by model mismatches.Simulation results demonstrate that the proposed method possesses a good disturbance rejection performance, though losing some partial dynamic performance. In other words, the proposed method shows a tradeoff between the dynamic performance and the system robust.
基金Supported by National Natural Science Foundation of China(Grant Nos.11072106,51375009)
文摘Because of the tire nonlinearity and vehicle＇s parameters＇uncertainties,robust control methods based on the worst cases,such as H_∞,μsynthesis,have been widely used in active front steering control,however,in order to guarantee the stability of active front steering system（AFS）controller,the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control.In this paper,a generalized internal model robust control（GIMC）that can overcome the contradiction between performance and stability is used in the AFS control.In GIMC,the Youla parameterization is used in an improved way.And GIMC controller includes two sections：a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters＇uncertainties and some external disturbances.Simulations of double lane change（DLC）maneuver and that of braking on split-μroad are conducted to compare the performance and stability of the GIMC control,the nominal performance PID controller and the H_∞controller.Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle＇s parameters variations,H_∞controller is conservative so that the performance is a little low,and only the GIMC controller overcomes the contradiction between performance and robustness,which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller.Therefore,the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system,that is,can solve the instability of PID or LQP control methods and the low performance of the standard H_∞controller.
文摘The 7-DOF model of a full vehicle with an active suspension is developed in this paper.The model is written into the state equation style.Actuator forces are treated as inputs in the state equations.Based on the basic optimal control theory,the optimal gains for the control system are figured out.So an optimal controller is developed and implemented using Matlab/Simulink,where the Riccati equation with coupling terms is deduced using the Hamilton equation.The all state feedback is chosen for the controller.The gains for all vehicle variables are traded off so that majority of indexes were up to optimal.The active suspension with optimal control is simulated in frequency domain and time domain separately,and compared with a passive suspension.Throughout all the simulation results,the optimal controller developed in this paper works well in the majority of instances.In all,the comfort and ride performance of the vehicle are improved under the active suspension with optimal control.
基金Project supported by the Program for New Century Excellent Talents in University(No.NCET-12-0347)
文摘Analysis of a gravity-induced film flow of a fluid containing both nanoparticles and gyrotactic microorganisms along a convectively heated vertical surface is presented.The Buongiorno model is applied. Two kinds of boundary conditions, the passive and the active boundary conditions, are considered to investigate this film flow phenomenon.Through a set of similarity variables, the ordinary differential equations that describe the conservation of the momentum, the thermal energy, the nanoparticles, and the microorganisms are derived and then solved numerically by an efficient finite difference technique.The effects of various physical parameters on the profiles of momentum, thermal energy,nanoparticles, microorganisms, local skin friction, local Nusselt number, local wall mass flux, and local wall motile microorganisms flux are investigated. It is expected that the passively controlled nanofluid model can be much more easily achieved and applied in real circumstances than the actively controlled model.
基金The National High Technology Research and Development Program(863)of China(No.863CF-G0403-01)
文摘The dynamic interaction between moving vehicles and two-span continuous guideway was discussed. With the consideration of the magnetic levitation system, the maglev vehicle/guideway dynamic interaction model was developed. Numerical simulation was performed to understand dynamic characteristics of the guideway used in practice. The results show that vehicle speed, span length and primary frequency of the guideway have an important influence on the dynamic responses of the guideway and there is no distinct trend towards resonance vibration when fl equals 1.0. The definite way is to control the impact coefficient and acceleration of the guideway. The conclusions can serve the design of high speed maglev guideway.
基金supported by Beijing Municipal Science Technology commission research(No.Z171100000317003)
文摘First, a three-tier coordinated scheduling system consisting of a distribution network dispatch layer, a microgrid centralized control layer, and local control layer in the energy internet is proposed. The multi-time scale optimal scheduling of the microgrid based on Model Predictive Control（MPC） is then studied, and the optimized genetic algorithm and the microgrid multi-time rolling optimization strategy are used to optimize the datahead scheduling phase and the intra-day optimization phase. Next, based on the three-tier coordinated scheduling architecture, the operation loss model of the distribution network is solved using the improved branch current forward-generation method and the genetic algorithm. The optimal scheduling of the distribution network layer is then completed. Finally, the simulation examples are used to compare and verify the validity of the method.
基金Funding of Jiangsu Innovation Program for Graduate Education (CXLX11_0213)Aeronautical Science Foundation of China (2010ZB52011)
文摘A new hybrid control scheme is presented with a robust multiple model fusion control（RMMFC） law for a UH-60 helicopter and an active disturbance rejection control（ADRC） controller for its engines.This scheme is a control design method with every subsystem designed separately but fully considering the couplings between them.With three subspaces with respect to forward flight velocity,a RMMFC is proposed to devise a four-loop reference signal tracing control for the helicopter,which escapes the closed-loop system from unstable state due to the extreme complexity of this integrated nonlinear system.The engines are controlled by the proposed ADRC decoupling controller,which fully takes advantage of a good compensation ability for unmodeled dynamics and extra disturbances,so as to compensate torque disturbance in power turbine speed loop.By simulating a forward acceleration flight task,the RMMFC for the helicopter is validated.It is apparent that the integrated helicopter and engine system（IHES） has much better dynamic performance under the new control scheme.Especially in the switching process,the large transient is significantly weakened,and smooth transition among candidate controllers is achieved.Over the entire simulation task,the droop of power turbine speed with the proposed ADRC controller is significantly slighter than with the conventional PID controller,and the response time of the former is much faster than the latter.By simulating a rapid climb and descent flight task,the results also show the feasibility for the application of the proposed multiple model fusion control.Although there is aggressive power demand in this maneuver,the droop of power turbine speed with an ADRC controller is smaller than using a PID controller.The control performance for helicopter and engine is enhanced by adopting this hybrid control scheme,and simulation results in other envelope state give proofs of robustness for this new scheme.
基金supported by the National Key R&D Program of China under Grant 2021YFB2400500。
文摘Wind power plants(WPPs)are increasingly mandated to provide temporary frequency support to power systems during contingencies involving significant power shortages.However,the frequency support capabilities of WPPs under derated operations remain insufficiently investigated,highlighting the potential for further improvement of the frequency nadir.This paper proposes a bi-level optimized temporary frequency support(OTFS)strategy for a WPP.The implementation of the OTFS strategy is collaboratively accomplished by individual wind turbine(WT)controllers and the central WPP controller.First,to exploit the frequency support capability of WTs,the stable operational region of WTs is expanded by developing a novel dynamic power control approach in WT controllers.This approach synergizes the WTs'temporary frequency support with the secondary frequency control of synchronous generators,enabling WTs to release more kinetic energy without causing a secondary frequency drop.Second,a model predictive control strategy is developed for the WPP controller.This strategy ensures that multiple WTs operating within the expanded stable region are coordinated to minimize the magnitude of the frequency drop through efficient kinetic energy utilization.Finally,comprehensive case studies are conducted on a real-time simulation platform to validate the effectiveness of the proposed strategy.
