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Collision-Free Maneuvering for a UAV Swarm Based on Parallel Control 认领 引用
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作者 Jiacheng Li Wenhui Ma +2 位作者 YangWang Fang Dengxiu Yu C.L.Philip Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第4期761-775,共15页
The maneuvering of a large-scale unmanned aerial vehicle(UAV)swarm,notable for flexible flight with collisionfree,is still challenging due to the significant number of UAVs and the compact configuration of the swarm.I... The maneuvering of a large-scale unmanned aerial vehicle(UAV)swarm,notable for flexible flight with collisionfree,is still challenging due to the significant number of UAVs and the compact configuration of the swarm.In light of this problem,a novel parallel control method that utilizes space and time transformation is proposed.First,the swarm is decomposed based on a grouping-hierarchical strategy,while the distinct flight roles are assigned to each UAV.Then,to achieve the desired configuration(DCF)in the real world,a bijection transformation is conducted in the space domain,converting an arbitrarily general configuration(GCF)into a standard configuration(SCF)in the virtual space.Further,to improve the flexibility of the swarm,the time scaling transformation is adopted in the time domain,which ensures the desired prescribed-time convergence of the swarm independent of initial conditions.Finally,simulation results demonstrate that collision-free maneuvering,including formation changes and turning,can be effectively and rapidly achieved by the proposed parallel control method.Overall,this research contributes a viable solution for enhancing cooperation among largescale UAV swarms. 展开更多
关键词 Bijection transform large-scale UAV swarm maneuvering parallel control prescribed-time
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Parallel Control for Optimal Tracking via Adaptive Dynamic Programming 认领 引用 被引量：31
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作者 Jingwei Lu Qinglai Wei Fei-Yue Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第6期1662-1674,共13页
This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear systems.Unlike existing optimal state feedback control,the control input of the optimal parallel control is int... This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear systems.Unlike existing optimal state feedback control,the control input of the optimal parallel control is introduced into the feedback system.However,due to the introduction of control input into the feedback system,the optimal state feedback control methods can not be applied directly.To address this problem,an augmented system and an augmented performance index function are proposed firstly.Thus,the general nonlinear system is transformed into an affine nonlinear system.The difference between the optimal parallel control and the optimal state feedback control is analyzed theoretically.It is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index function.Moreover,an adaptive dynamic programming(ADP)technique is utilized to implement the optimal parallel tracking control using a critic neural network(NN)to approximate the value function online.The stability analysis of the closed-loop system is performed using the Lyapunov theory,and the tracking error and NN weights errors are uniformly ultimately bounded(UUB).Also,the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference signals.Finally,the effectiveness of the developed optimal parallel control method is verified in two cases. 展开更多
关键词 Adaptive dynamic programming(ADP) nonlinear optimal control parallel controller parallel control theory parallel system tracking control neural network(NN)
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Research Progress of Parallel Control and Management 认领 引用 被引量：7
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作者 Gang Xiong Xisong Dong +1 位作者 Hao Lu Dayong Shen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第2期355-367,共13页
Based on ACP(artificial systems,computational experiments,and parallel execution)methodology,parallel control and management has become a popularly systematic and complete solution for the control and management of co... Based on ACP(artificial systems,computational experiments,and parallel execution)methodology,parallel control and management has become a popularly systematic and complete solution for the control and management of complex systems.This paper focuses on summarizing comprehensive review of the research literature of parallel control and management achieved in the recent years including the theoretical framework,core technologies,and the application demonstration.The future research,application directions,and suggestions are also discussed. 展开更多
关键词 ACP methodology artificial systems computational experiments parallel control parallel management parallel systems
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Parallel Control for Continuous-Time Linear Systems:A Case Study 认领 引用 被引量：27
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作者 Qinglai Wei Hongyang Li Fei-Yue Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第4期919-928,共10页
In this paper,a new parallel controller is developed for continuous-time linear systems.The main contribution of the method is to establish a new parallel control law,where both state and control are considered as the... In this paper,a new parallel controller is developed for continuous-time linear systems.The main contribution of the method is to establish a new parallel control law,where both state and control are considered as the input.The structure of the parallel control is provided,and the relationship between the parallel control and traditional feedback controls is presented.Considering the situations that the systems are controllable and incompletely controllable,the properties of the parallel control law are analyzed.The parallel controller design algorithms are given under the conditions that the systems are controllable and incompletely controllable.Finally,numerical simulations are carried out to demonstrate the effectiveness and applicability of the present method.Index Terms-Continuous-time linear systems,digital twin,parallel controller,parallel intelligence,parallel systems. 展开更多
关键词 Index Terms—Continuous-time linear systems digital twin parallel controller parallel intelligence parallel systems
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Effect of Jianpi Shengxue Tablet on Iron Metabolism and Nutritional Status in Patients with Renal Anemia:A Prospective,Randomized,Open,Parallel Controlled and Multicenter Clinical Study 认领 引用 被引量：4
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作者 Juan YANG Meng-yuan LIANG +15 位作者 Yu LI Hao ZHANG Wei LI Jing LV Li-ping DONG Jing-song JIN Cheng YANG Qing-hong ZHANG Li LONG Rong ZOU Yi GAO Dan SONG Chun-qin PAN Ying YAO Xiao-lin ZHAN Xiao-hui WANG 《Current Medical Science》 SCIE CAS 2024年第3期603-610,共8页
Objective This study aimed to analyze the clinical efficacy of the Jianpi Shengxue tablet for treating renal anemia.Methods A total of 200 patients with renal anemia from December 2020 to December 2022 were enrolled a... Objective This study aimed to analyze the clinical efficacy of the Jianpi Shengxue tablet for treating renal anemia.Methods A total of 200 patients with renal anemia from December 2020 to December 2022 were enrolled and randomly divided into two groups.Patients in the control group were treated with polysaccharide-iron complex,and those in the experimental group were administered Jianpi Shengxue tablet.After 8 weeks of continuous treatment,the therapeutic outcomes regarding anemia were compared between the two groups.Results After treatment,the red blood cell(RBC)count,hematocrit(HCT),reticulocyte percentage(RET),ferritin(SF),serum iron(SI),transferrin saturation(TSAT),and serum albumin(ALB)all increased(P<0.01),and the clinical symptom score and total iron binding capacity decreased(P<0.01)in the experimental group.Moreover,the improvements in RBC,HCT,RET,SF,SI,TAST,ALB,and clinical symptoms(fatigue,anorexia,dull skin complexion,numbness of hands and feet)in the experimental group were significantly greater than those in the control group(P<0.05).The total effective rate for treating renal anemia was significantly higher in the experimental group than in the control group(P<0.01).Conclusion The Jianpi Shengxue tablet demonstrates efficacy in treating renal anemia,leading to significant improvements in the laboratory examination results and clinical symptoms of patients with renal anemia. 展开更多
关键词 Jianpi Shengxue tablet renal anemia randomized open parallel control multicenter clinical study
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The DAO to MetaControl for MetaSystems in Metaverses:The System of Parallel Control Systems for Knowledge Automation and Control Intelligence in CPSS 认领 引用 被引量：39
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作者 Fei-Yue Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2022年第11期1899-1908,共10页
An investigation and outline of MetaControl and DeControl in Metaverses for control intelligence and knowledge automation are presented.Prescriptive control with prescriptive knowledge and parallel philosophy is propo... An investigation and outline of MetaControl and DeControl in Metaverses for control intelligence and knowledge automation are presented.Prescriptive control with prescriptive knowledge and parallel philosophy is proposed as the starting point for the new control philosophy and technology,especially for computational control of metasystems in cyberphysical-social systems.We argue that circular causality,the generalized feedback mechanism for complex and purposive systems,should be adapted as the fundamental principle for control and management of metasystems with metacomplexity in metaverses.Particularly,an interdisciplinary approach is suggested for MetaControl and DeControl as a new form of intelligent control based on five control metaverses:MetaVerses,MultiVerses,InterVerses,TransVerse,and DeepVerses. 展开更多
关键词 MetaControl MetaSystems Metaverses CPSS DAO DeControl Prescriptive Control Parallel Control Computational Control Knowledge Automation Control Intelligence Parallel Intelligence
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Parallel Control for Continuous-Time Inverse System 认领 引用
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作者 Xiang Cheng Qinglai Wei 《The International Journal of Intelligent Control and Systems》 2025年第2期164-168,共5页
Disturbance compensation methods are widely used to design the robust controller.In order to achieve the robust parallel control,how to implement the disturbance compensation in parallel control laws is studied in thi... Disturbance compensation methods are widely used to design the robust controller.In order to achieve the robust parallel control,how to implement the disturbance compensation in parallel control laws is studied in this paper.First,the key points are the estimations of the total inputs via inverse systems and the application of system state derivatives.Then,the inverse system based parallel control(ISPC)method is proposed for the optimal control of nonlinear systems.The basic structure of the inverse system based parallel control method is explained and compared with the traditional parallel control methods.The adaptive dynamic programming(ADP)method based on an approximate value function is used to solve the parallel control law.Finally,numerical simulations demonstrate the feasibility of the inverse system based parallel control method. 展开更多
关键词 Parallel control inverse system adaptive dynamic programming robust control
Safety-Certified Parallel Model Predictive Control of Autonomous Surface Vehicles via Neurodynamic Optimization 认领 引用
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作者 Guanghao Lyu Zhouhua Peng Jun Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第10期2056-2066,共11页
This paper addresses the parallel control of autonomous surface vehicles subject to external disturbances,state constraints,and input constraints in complex ocean environments with multiple obstacles.A safety-certifie... This paper addresses the parallel control of autonomous surface vehicles subject to external disturbances,state constraints,and input constraints in complex ocean environments with multiple obstacles.A safety-certified parallel model predictive control scheme with collision-avoiding capability is proposed for autonomous surface vehicles in the framework of parallel control.Specifically,an extended state observer is designed by leveraging historical and real-time data for concurrent learning to map the motion of autonomous surface vehicles from its physical system to its artificial counterpart.A parallel model predictive control law is developed on the basis of the artificial system for both physical and artificial autonomous surface vehicles to realize virtual-physical tracking control of vehicles subject to state and input constraints.To ensure safety,highorder discrete control barrier functions are encoded in the parallel model predictive control law as safety constraints such that collision avoidance with obstacles can be achieved.A recedinghorizon constrained optimization problem is constructed with the safety constraints encoded by control barrier functions for parallel model predictive control of autonomous surface vehicles and solved via neurodynamic optimization with projection neural networks.The effectiveness and characteristics of the proposed method are demonstrated via simulations for the safe trajectory tracking and automatic berthing of autonomous surface vehicles. 展开更多
关键词 Autonomous surface vehicles(ASVs) high-order control barrier functions neurodynamic optimization parallel model predictive control safety-certified control
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A Parallel Control Method for Zero-Sum Game with Unknown Time-Varying System 认领 引用 被引量：3
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作者 Qinglai Wei Zhenhua Zhu +1 位作者 Jie Zhang Fei-Yue Wang 《The International Journal of Intelligent Control and Systems》 2024年第1期37-41,共5页
In this paper,based on ACP(ACP:artificial societies,computational experiments,and parallel execution)approach,a parallel control method is proposed for zero-sum games of unknown time-varying systems.The process of con... In this paper,based on ACP(ACP:artificial societies,computational experiments,and parallel execution)approach,a parallel control method is proposed for zero-sum games of unknown time-varying systems.The process of constructing a sequence of artificial systems,implementing the computational experiments,and conducting the parallel execution is presented.The artificial systems are constructed to model the real system.Computational experiments adopting adaptive dynamic programming(ADP)are shown to derive control laws for a sequence of artificial systems.The purpose of the parallel execution step is to derive the control laws for the real system.Finally,simulation experiments are provided to show the effectiveness of the proposed method. 展开更多
关键词 Zero-sum games parallel control ACP(ACP:artificial societies computational experiments and parallel execution) adaptive dynamic programming(ADP)
Backstepping Control of Permanent Magnet Synchronous Motor: A Parallel Control Approach 认领 引用
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作者 Jingwei Lu Qinglai Wei Xiang Cheng 《The International Journal of Intelligent Control and Systems》 2024年第3期141-146,共6页
This paper uses parallel control to investigate the problem of tracking control of permanent magnet synchronous motors(PMSMs).First,an augmented PMSM system is designed to introduce the control input into the feedback... This paper uses parallel control to investigate the problem of tracking control of permanent magnet synchronous motors(PMSMs).First,an augmented PMSM system is designed to introduce the control input into the feedback system,and then achieve parallel control.Second,based on the backstepping control technique,the detailed steps of the derivation of the parallel controller are provided.The stability analysis shows that the tracking error of the PMSM system asymptotically converges to zero.Finally,the proposed parallel controller is validated in simulations,where the time-invariant reference signal and time-varying reference signal are considered,showing that the proposed parallel controller effectively enables the PMSM to track different reference signals. 展开更多
关键词 Backstepping control parallel controller permanent magnet synchronous motors tracking control
Parallel Neural Network-Based Motion Controller for Autonomous Underwater Vehicles 认领 引用 被引量：6
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作者 甘永 王丽荣 +1 位作者 万磊 徐玉如 《China Ocean Engineering》 SCIE EI 2005年第3期485-496,共12页
A parallel neural network-based controller （PNNC） is presented for the motion control of underwater vehicles in this paper. It consists of a real-time part, a self-learning part and a desired-state programmer, and i... A parallel neural network-based controller （PNNC） is presented for the motion control of underwater vehicles in this paper. It consists of a real-time part, a self-learning part and a desired-state programmer, and it is different from normal adaptive neural network controller in structure. Owing to the introduction of the self-learning part, on-line learning can be performed without sample data in several sample periods, resulting in high learning speed of the controller and good control performance. The desired-state programmer is utilized to obtain better learning samples of the neural network to keep the stability of the controller. The developed controller is applied to the 4-degree of freedom control of the AUV “IUV- IV” and is successful on the simulation platform. The control performance is also compared with that of neural network controller with different structures such as normal adaptive neural network and different learning methods. Current effects and surge velocity control are also included to demonstrate the controller＇ s performance. It is shown that the PNNC has a great possibility to solve the problems in the control system design of underwater vehicles. 展开更多
关键词 neural network autonomous underwater vehicles （AUV） parallel neural network-based controller （PNNC ） real-time part self-learning part
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Dynamic Feedforward Control of a Novel 3-PSP 3-DOF Parallel Manipulator 认领 引用 被引量：13
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作者 HAO Qi GUAN Liwen +1 位作者 WANG Jinsong WANG Liping 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第4期676-684,共9页
Parallel manipulators with less than six degrees of freedom （DOF） have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a characteristic that i... Parallel manipulators with less than six degrees of freedom （DOF） have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a characteristic that is particularly significant when these manipulators are used in high-speed machine tools. However, normal kinematic control method cannot satisfy the requirements of the control system. Many researchers use model-based dynamic control methods, such as the dynamic feedforward control method. However, these methods are rarely used in hybrid machine tools because of the complex dynamic model of the parallel manipulator. In order to study the dynamic control method of parallel manipulators, the dynamic feedforward control method is used in the dynamic control system of a 3-PSP （prismatic-spherical-prismatic） 3-DOF spatial parallel manipulator used as a spindle head in a high-speed hybrid machine tool. Using kinematic analysis as basis and the Newton-Euler method, we derive the dynamic model of the parallel manipulator. Furthermore, a model-based dynamic feedforward control system consisting of both kinematic control and dynamic control subsystems is established. The dynamic control subsystem consists of two modules. One is used to eliminate the influence of the dynamic characteristics of high-speed movement, and the other is used to eliminate the dynamic disturbances in the milling process. Finally, the simulation model of the dynamic feedforward control system of the 3-PSP parallel manipulator is constructed in Matlab/Simulink. The simulations of the control system eliminating the influence of the dynamic characteristics and dynamic disturbances are conducted. A comparative study between the simulations and the normal kinematic control method is also presented.The simulations prove that the dynamic feedforward control method effectively eliminates the influence of the dynamic disturbances and dynamic characteristics of the parallel manipulator on high-speed machine tools, and significantly improves the trajectory accuracy. This is the first attempt to introduce the dynamic feedfordward control method into the 3-PSP spatial parallel manipulator whose dynamic model is complex and provides a study basis for the real-time dynamic control of the high-speed hybrid machine tools. 展开更多
关键词 parallel manipulator dynamic feedforward control high-speed hybrid machine tool
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Adaptive control of parallel manipulators via fuzzy-neural network algorithm 认领 引用 被引量：3
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作者 Dachang ZHU Yuefa FANG 《控制理论与应用（英文版）》 2007年第3期295-300,共6页
This paper considers adaptive control of parallel manipulators combined with fuzzy-neural network algorithms （FNNA）. With this algorithm, the robustness is guaranteed by the adaptive control law and the parametric u... This paper considers adaptive control of parallel manipulators combined with fuzzy-neural network algorithms （FNNA）. With this algorithm, the robustness is guaranteed by the adaptive control law and the parametric uncertainties are eliminated. FNNA is used to handle model uncertainties and external disturbances. In the proposed control scheme, we consider modifying the weight of fuzzy rules and present these rules to a MIMO system of parallel manipulators with more than three degrees-of-freedom （DoF）. The algorithm has the advantage of not requiring the inverse of the Jacobian matrix especially for the low DoF parallel manipulators. The validity of the control scheme is shown through numerical simulations of a 6-RPS parallel manipulator with three DoF. 展开更多
关键词 Parallel manipulator Adaptive control Fuzzy neural network algorithm Simulation
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Path tracking for vehicle parallel parking based on ADRC controller 认领 引用
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作者 王健 赵又群 +2 位作者 季学武 刘亚辉 臧利国 《Journal of Beijing Institute of Technology》 EI CAS 2015年第2期213-221,共9页
A novel path tracking controller for parallel parking based on active disturbance rejection control （ADRC） was presented in this paper. A second order ADRC controller was used to solve the path tracking robustness, ... A novel path tracking controller for parallel parking based on active disturbance rejection control （ADRC） was presented in this paper. A second order ADRC controller was used to solve the path tracking robustness, which can estimate and compensate model uncertainty caused by steering kinematics and disturbances caused by parking speed and steering system delay. Collision-free path planning technology was adopted to generate the reference path. The simulation results validate that the performance of the proposed path tracking controller is better than the conventional PID controller. The actual vehicle tests show that the proposed path tracking controller is effective and robust to model uncertainty and disturbances. 展开更多
关键词 parallel parking path tracking active disturbance rejection control active disturbance rejection control （ADRC） path planning
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Bio-inspired Backstepping Adaptive Sliding Mode Control for Parallel Mechanism with Actuation Redundancy 认领 引用 被引量：2
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作者 Xue-Mei Niu Guo-Qin Gao +1 位作者 Xin-Jun Liu Zhi-Ming Fang 《International Journal of Automation and computing》 CSCD 2014年第5期555-564,共10页
This paper presents a bio-inspired backstepping adaptive sliding mode control strategy for a novel 3 degree of freedom(3-DOF) parallel mechanism with actuation redundancy. Based on the kinematic model and the dynamic ... This paper presents a bio-inspired backstepping adaptive sliding mode control strategy for a novel 3 degree of freedom(3-DOF) parallel mechanism with actuation redundancy. Based on the kinematic model and the dynamic model, a sliding mode controller is designed to assure the tracking performance, and an adaptive law is introduced to approximate the system uncertainty including parameters variation, external disturbances and un-modeled part. Furthermore, a bio-inspired model is introduced to solve the inherent chattering problem of sliding mode control and provide a chattering free control. The simulation and experimental results testify that the proposed bio-inspired backstepping adaptive sliding mode control can achieve better performance(the tracking accuracy,robustness, response speed, etc.) than the conventional slide mode control. 展开更多
关键词 Parallel mechanism redundant actuation kinematics analysis dynamics analysis adaptive sliding mode control bioinspired model
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The nonlinear control of simulator of hexapod parallel mechanism 认领 引用
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作者 潘春萍 管欣 +1 位作者 卢颖 梁建民 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2010年第3期393-397,共5页
In order to enhance the innervation fidelity of simulators,a nonlinear controller is developed,which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture track... In order to enhance the innervation fidelity of simulators,a nonlinear controller is developed,which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problems of rapid tracking under the condition of the wide range,nonlinear and variable load are solved. After the nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator,the dynamic-static capabilities of motion system are tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increases and the phase lag reduces with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative (i.e. PD) controlling method in joint space. Therefore the nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space. 展开更多
关键词 simulators hexapod parallel mechanisms dynamics model nonlinear control irmervation＇ s fidelity
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Spacecraft attitude maneuver control using two parallel mounted 3-DOF spherical actuators 认领 引用
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作者 Li Guidan Li Haike Li Bin 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2017年第1期419-425,共7页
A parallel configuration using two 3-degree-of-freedom（3-DOF） spherical electromagnetic momentum exchange actuators is investigated for large angle spacecraft attitude maneuvers.First, the full dynamic equations of ... A parallel configuration using two 3-degree-of-freedom（3-DOF） spherical electromagnetic momentum exchange actuators is investigated for large angle spacecraft attitude maneuvers.First, the full dynamic equations of motion for the spacecraft system are derived by the NewtonEuler method. To facilitate computation, virtual gimbal coordinate frames are established. Second,a nonlinear control law in terms of quaternions is developed via backstepping method. The proposed control law compensates the coupling torques arising from the spacecraft rotation, and is robust against the external disturbances. Then, the singularity problem is analyzed. To avoid singularities, a modified weighed Moore-Pseudo inverse velocity steering law based on null motion is proposed. The weighted matrices are carefully designed to switch the actuators and redistribute the control torques. The null motion is used to reorient the rotor away from the tilt angle saturation state. Finally, numerical simulations of rest-to-rest maneuvers are performed to validate the effectiveness of the proposed method. 展开更多
关键词 Attitude maneuver Backstepping control Null motion Parallel configuration Singularity Spherical actuator
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Development of a global ocean-atmosphere coupled model based on the Mass Conservation Ocean Model 认领 引用
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作者 Yu Cao Jiagen Li +5 位作者 Yan Chen Hao Ding Senliang Bao Bainian Liu Difu Sun Huizan Wang 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2026年第5期218-227,共10页
Developing an autonomous multi-layer coupling model is of great significance for enhancing China's independent support capability for the natural environment.Focusing on the newly developed Mass Conservation Ocean... Developing an autonomous multi-layer coupling model is of great significance for enhancing China's independent support capability for the natural environment.Focusing on the newly developed Mass Conservation Ocean Model(MaCOM),this study constructs a fully autonomous global ocean-atmosphere coupled model based on the Yin-He Global Spectral Model(YHGSM)and the Community Coupler(C-Coupler).The coupled model effectively addresses the parallel control issue of independent I/O processes in the MaCOM model,thereby providing a methodological reference for the coupling control of other analogous numerical models.Experimental results show that the newly developed ocean-atmosphere coupled model achieves high parallel efficiency and reasonable forecast performance.In the simulation of Super Typhoon Hinnamnor(2022),it performs significantly better than the standalone atmospheric model in terms of intensity prediction. 展开更多
关键词 ocean-atmosphere coupled model MaCOM YHGSM C-Coupler parallel control
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露天矿机器人化采运理论技术框架 认领 引用 被引量：1
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作者 葛世荣 杨健健 +7 位作者 黄乾坤 宋瑞琦 陈龙 陈鹏 杨胜利 何适 丁震 王飞跃 《自动化学报》 EI CAS CSCD 北大核心 2026年第1期148-171,共24页
露天矿机器人化开采面临复杂环境数据不足、极端工况测试难、现场试验风险高、动态感知建模复杂及实验周期长等挑战.为此,提出基于“端边感知、平行控制”的露天矿机器人化采运智慧生产模式,从车辆感控、车铲协同、集群调度与工程示范... 露天矿机器人化开采面临复杂环境数据不足、极端工况测试难、现场试验风险高、动态感知建模复杂及实验周期长等挑战.为此,提出基于“端边感知、平行控制”的露天矿机器人化采运智慧生产模式,从车辆感控、车铲协同、集群调度与工程示范等多层面入手,系统地突破提效开采机理、高精度全域感知、稳定协同控制与可靠群体管控等核心科学问题.通过技术集成与工艺优化,实现百吨级以上无人驾驶运输车的规模化运行,形成我国露天煤矿高水平智能化的“双十”(10项创新技术、10项标准)、“双百”(100台车示范,运输效率达有人系统110%)、“双千”(千台车监控平台、千小时无故障运行)中国方案,有力支撑了我国矿山智能化绿色开采发展战略. 展开更多
关键词 机器人化采运 端边感知 平行控制 自主运输 高效协同 群智调度 工程应用
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基于DR和VSC海上风电HVDC系统的并联运行控制 认领 引用 被引量：1
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作者 宁金叶 覃事刚 +1 位作者 徐谦 黄成菊 《电源学报》 CSCD 北大核心 2026年第1期262-270,共9页
为了实现海上风力发电高比例友好消纳的目标,提出了1种基于二极管整流器DR(diode rectifier)高压直流HVDC(high-voltage direct current)输电系统和电压源换流器VSC(voltage source converter)HVDC输电系统并联运行的新型控制方法。这2... 为了实现海上风力发电高比例友好消纳的目标,提出了1种基于二极管整流器DR(diode rectifier)高压直流HVDC(high-voltage direct current)输电系统和电压源换流器VSC(voltage source converter)HVDC输电系统并联运行的新型控制方法。这2条线路均与海上风电场OWFs(offshore wind farms)连接,VSC-HVDC输电系统控制海上交流电网的电压和频率,即基于控制VSC-HVDC输电系统交流母线的有功功率平衡来控制OWFs的电压。当OWFs注入功率超过VSC-HVDC输电系统有功功率参考值时,OWFs电压升高,DR-HVDC输电系统激活,此时海上交流电网通过DR-HVDC线路传输OWFs所需的功率值,而系统频率由VSC-HVDC输电系统通过满足无功功率平衡来实现控制;当VSC-HVDC输电系统传输的功率与设定值相同时,DR-HVDC输电系统将自动关闭。所提方法的最大优点在于VSC-HVDC输电系统的容量仅用于支持系统正常运行,一旦OWFs投入运行,DR-HVDC输电系统将自动激活。最后,仿真结果验证了所提方法的有效性和优越性。 展开更多
关键词 海上风电场 高压直流 二极管整流单元 电压源变流器 频率控制 并联运行控制
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