Pub Date : 2023-10-31DOI: 10.1177/00202940231203775
Hao-Nan Pei, Wen-Jing Zhou, Ming Luo
The formed surface quality of metallic sealing ring of aero-engine affects the aircraft service performance directly. However, existing inspection methods, such as the final destructive inspection and the line laser scanner section profile measurement, only evaluate the formed quality from a 2-D view, that is, single or multiple radial formed section profiles. The lack of geometric information of 3-D surface is not conducive to the comprehensive monitoring of forming quality and process planning. Therefore, based on the line laser scanners, this paper mainly proposes a vibration errors compensation method based on self-feature registration. Aiming at the problem of rigid transformation of the measurement profile caused by random vibration during the rotary motion of metallic sealing ring, the feature of measurement profile in stationary scene (MPSS), that is, the medial axis, is used as the reference for the correct pose of measurement profile. The principle of finding the correct pose of measurement profile in rotary motion scene (MPRMS) is to minimize the distance between the medial axes. Next, based on the rotary motion information of metallic sealing ring and the geometric information of measurement system, a 3-D reconstruction matrix is built, so as to convert each measurement profile to the base coordinate system in turn, and finally a 3-D dynamic measurement method for the metallic sealing ring forming surface is built. The effectiveness of the proposed method is verified through simulation experiment and real measurement.
{"title":"Vibration errors compensation method based on self-feature registration for the 3-D dynamic measurement of metallic sealing ring forming surface","authors":"Hao-Nan Pei, Wen-Jing Zhou, Ming Luo","doi":"10.1177/00202940231203775","DOIUrl":"https://doi.org/10.1177/00202940231203775","url":null,"abstract":"The formed surface quality of metallic sealing ring of aero-engine affects the aircraft service performance directly. However, existing inspection methods, such as the final destructive inspection and the line laser scanner section profile measurement, only evaluate the formed quality from a 2-D view, that is, single or multiple radial formed section profiles. The lack of geometric information of 3-D surface is not conducive to the comprehensive monitoring of forming quality and process planning. Therefore, based on the line laser scanners, this paper mainly proposes a vibration errors compensation method based on self-feature registration. Aiming at the problem of rigid transformation of the measurement profile caused by random vibration during the rotary motion of metallic sealing ring, the feature of measurement profile in stationary scene (MPSS), that is, the medial axis, is used as the reference for the correct pose of measurement profile. The principle of finding the correct pose of measurement profile in rotary motion scene (MPRMS) is to minimize the distance between the medial axes. Next, based on the rotary motion information of metallic sealing ring and the geometric information of measurement system, a 3-D reconstruction matrix is built, so as to convert each measurement profile to the base coordinate system in turn, and finally a 3-D dynamic measurement method for the metallic sealing ring forming surface is built. The effectiveness of the proposed method is verified through simulation experiment and real measurement.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"2011 15","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135813163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-29DOI: 10.1177/00202940231207709
Jintao Chen, Lina Ren, Jianhua Li
To address the situation that the degraded system cannot be repaired as new and the degradation is accelerated after repair in engineering practice, an imperfect condition-based maintenance model is proposed based on the Gamma process by introducing the maintenance improvement factor and the accelerated degradation factor. The maintenance improvement factor describes the recovery degree of the degradation amount after imperfect maintenance, then gives a quantitative representation method of the system maintenance improvement effect and the determination method of the maximum number of imperfect maintenance. The accelerated degradation factor is combined with the geometric process to describe the accelerated degradation process of the system after imperfect maintenance. The Monte Carlo method is used to determine the optimal number of imperfect preventive maintenance decisions. Through the demonstration of calculation examples, the influence of accelerated degradation factor and maintenance improvement factor on the long-term operation maintenance rate and the optimal number of imperfect maintenance is analyzed. The results show that the model can more comprehensively describe the degradation and maintenance process of degraded systems, and it can effectively reduce maintenance cost ratio under long-term operation. It provides a certain theoretical support for formulating an economical and reasonable maintenance strategy that is more in line with the actual degradation and maintenance process in engineering practice.
{"title":"Research on imperfect condition-based maintenance strategy based on accelerated degradation process","authors":"Jintao Chen, Lina Ren, Jianhua Li","doi":"10.1177/00202940231207709","DOIUrl":"https://doi.org/10.1177/00202940231207709","url":null,"abstract":"To address the situation that the degraded system cannot be repaired as new and the degradation is accelerated after repair in engineering practice, an imperfect condition-based maintenance model is proposed based on the Gamma process by introducing the maintenance improvement factor and the accelerated degradation factor. The maintenance improvement factor describes the recovery degree of the degradation amount after imperfect maintenance, then gives a quantitative representation method of the system maintenance improvement effect and the determination method of the maximum number of imperfect maintenance. The accelerated degradation factor is combined with the geometric process to describe the accelerated degradation process of the system after imperfect maintenance. The Monte Carlo method is used to determine the optimal number of imperfect preventive maintenance decisions. Through the demonstration of calculation examples, the influence of accelerated degradation factor and maintenance improvement factor on the long-term operation maintenance rate and the optimal number of imperfect maintenance is analyzed. The results show that the model can more comprehensively describe the degradation and maintenance process of degraded systems, and it can effectively reduce maintenance cost ratio under long-term operation. It provides a certain theoretical support for formulating an economical and reasonable maintenance strategy that is more in line with the actual degradation and maintenance process in engineering practice.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"40 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136135095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-28DOI: 10.1177/00202940231204424
Changyong Li, Qing Si, Jianan Zhao, Pengbo Qin
The traditional Harris Hawks optimization algorithm is prone to the local shortest path, slow search speed and poor path accuracy in indoor mobile robot path planning. For the above problems, a multi-strategy improvement of the Harris Hawks optimization algorithm (MIHHO) is proposed. In this study, a Chebyshev chaotic mapping strategy is used to increase the diversity of the Harris Hawk population, improve the global search performance of the Harris Hawk algorithm, and prevent being trapped in the locally optimal path. A fusion exploration mechanism is proposed to fuse the discovery mechanism of the sparrow algorithm with the exploration mechanism of the HHO. Then the influence factor E is improved to improve the algorithm’s search accuracy and search efficiency, and finally, in the design of a dynamic Lévy flight strategy, which accelerates the convergence speed of the algorithm and improves the robot planning speed. Simulation results show that the proposed MIHHO method exhibits better search performance in path planning, improved planning efficiency, and superior quality of planned paths.
{"title":"A robot path planning method using improved Harris Hawks optimization algorithm","authors":"Changyong Li, Qing Si, Jianan Zhao, Pengbo Qin","doi":"10.1177/00202940231204424","DOIUrl":"https://doi.org/10.1177/00202940231204424","url":null,"abstract":"The traditional Harris Hawks optimization algorithm is prone to the local shortest path, slow search speed and poor path accuracy in indoor mobile robot path planning. For the above problems, a multi-strategy improvement of the Harris Hawks optimization algorithm (MIHHO) is proposed. In this study, a Chebyshev chaotic mapping strategy is used to increase the diversity of the Harris Hawk population, improve the global search performance of the Harris Hawk algorithm, and prevent being trapped in the locally optimal path. A fusion exploration mechanism is proposed to fuse the discovery mechanism of the sparrow algorithm with the exploration mechanism of the HHO. Then the influence factor E is improved to improve the algorithm’s search accuracy and search efficiency, and finally, in the design of a dynamic Lévy flight strategy, which accelerates the convergence speed of the algorithm and improves the robot planning speed. Simulation results show that the proposed MIHHO method exhibits better search performance in path planning, improved planning efficiency, and superior quality of planned paths.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"6 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136158780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-28DOI: 10.1177/00202940231199108
Yuhan Cao
An adaptive super-twisting sliding mode control (AST-SMC) is proposed for the power-line inspection (PLI) robot system with two degrees of freedom and single control input underactuated with multiple balances. Firstly, the nonlinear dynamic equation of PLI robot is established, and the model is linearized at the nominal equilibrium point. Secondly, a special transformation is introduced to transform the original input delay system into a delay-free model, and an equilibrium manifold linearization (EML) model is established by using scheduling variables to expand the operating range of the controlled system, as a result of which the disturbance observer control (DOC) is designed to estimate the external disturbance. Thirdly, in order to achieve fast convergence and continuous control, the super-twisting sliding mode control(ST-SMC) method is proposed to decrease chattering in the control law. Finally, it can be verified by Lyapunov stability theory that the system reaches the sliding mode surface in finite time and the trajectory tracking error converges to zero in finite time. The simulation results verify that the combination of DOC and AST-SMC has a optimal disturbance approximation and control convergence ability, clarifying the effectiveness and robustness of the proposed control scheme.
{"title":"Super-twisting sliding mode finite time control of power-line inspection robot with external disturbances and input delays","authors":"Yuhan Cao","doi":"10.1177/00202940231199108","DOIUrl":"https://doi.org/10.1177/00202940231199108","url":null,"abstract":"An adaptive super-twisting sliding mode control (AST-SMC) is proposed for the power-line inspection (PLI) robot system with two degrees of freedom and single control input underactuated with multiple balances. Firstly, the nonlinear dynamic equation of PLI robot is established, and the model is linearized at the nominal equilibrium point. Secondly, a special transformation is introduced to transform the original input delay system into a delay-free model, and an equilibrium manifold linearization (EML) model is established by using scheduling variables to expand the operating range of the controlled system, as a result of which the disturbance observer control (DOC) is designed to estimate the external disturbance. Thirdly, in order to achieve fast convergence and continuous control, the super-twisting sliding mode control(ST-SMC) method is proposed to decrease chattering in the control law. Finally, it can be verified by Lyapunov stability theory that the system reaches the sliding mode surface in finite time and the trajectory tracking error converges to zero in finite time. The simulation results verify that the combination of DOC and AST-SMC has a optimal disturbance approximation and control convergence ability, clarifying the effectiveness and robustness of the proposed control scheme.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"9 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136158789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Aiming at the problem of fault diagnosis and classification of rolling bearing and gear of gearboxes, a novel method based on matrix distance features of Gramian angular field (GAF) image is proposed based on sliding window compressible GAF transformation. The method converts the one-dimensional fault signal into a two-dimensional feature matrix and constructs the discrimination matrix of each fault category by establishing the mean value of the feature matrix of a priori samples. For the new sampled signal, after converting it into a two-dimensional feature matrix, the feature matrix is obtained. The fault classification is carried out by using the matrix distance between feature matrix and the discrimination matrix of each category. The method is validated by the test data of Case Western Reserve University and the acoustic emission data from a gearbox test bench. The classification accuracy is 99.17% and 95.71%, which presented the feasibility and effectiveness of the novel method proposed in this paper.
{"title":"Research on a novel fault diagnosis method for gearbox based on matrix distance feature","authors":"Jiangcheng Li, Limin Dong, Xiaotao Zhang, Fulong Liu, Wei Chen, Zehao Wu","doi":"10.1177/00202940231202531","DOIUrl":"https://doi.org/10.1177/00202940231202531","url":null,"abstract":"Aiming at the problem of fault diagnosis and classification of rolling bearing and gear of gearboxes, a novel method based on matrix distance features of Gramian angular field (GAF) image is proposed based on sliding window compressible GAF transformation. The method converts the one-dimensional fault signal into a two-dimensional feature matrix and constructs the discrimination matrix of each fault category by establishing the mean value of the feature matrix of a priori samples. For the new sampled signal, after converting it into a two-dimensional feature matrix, the feature matrix is obtained. The fault classification is carried out by using the matrix distance between feature matrix and the discrimination matrix of each category. The method is validated by the test data of Case Western Reserve University and the acoustic emission data from a gearbox test bench. The classification accuracy is 99.17% and 95.71%, which presented the feasibility and effectiveness of the novel method proposed in this paper.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135803206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-14DOI: 10.1177/00202940231199133
huiqin jia, dan-dan Wan, Jia-Cheng Zhou, Yi Wei
Herein, the microwave transmission method is proposed that demonstrates such advantages as non-invasiveness, excellent penetration performance, and fast detection. As a key component of the microwave method water content measurement instrument, the antenna is required to have a smaller radiation size than the inner diameter of the oil pipe. To address this technical challenge, a small-sized microwave projection method based on water content measurement antenna is designed in this study for the water content measurement of oil-water mixtures in downhole pipelines. Also, the half-cut antenna with a size of [Formula: see text] is proposed to operate in the frequency band of 2–6 GHz (The measured gain of the antenna varies from 2.48 dBi to 4.98 dBi). Then, the designed half-cut antenna is applied to the established water-content test environment for analysis as to the relationship between water content and the variation in transmission coefficient of the half-cut antenna. According to the test results, the relative water content error is about 0.31% between the simulation and measured results for the transmission coefficient [Formula: see text] in the range of 0%–30%, while that is about 0.16% for the transmission coefficient [Formula: see text] in the range of 40%–100%. The experimental results can be extended to the measurement of the part with high water content of the oil-water mixture in the pipeline, which provides a practical reference for field tests and basic research.
{"title":"Design and simulation of small-sized antenna in microwave transmission method for water content measurement instrument","authors":"huiqin jia, dan-dan Wan, Jia-Cheng Zhou, Yi Wei","doi":"10.1177/00202940231199133","DOIUrl":"https://doi.org/10.1177/00202940231199133","url":null,"abstract":"Herein, the microwave transmission method is proposed that demonstrates such advantages as non-invasiveness, excellent penetration performance, and fast detection. As a key component of the microwave method water content measurement instrument, the antenna is required to have a smaller radiation size than the inner diameter of the oil pipe. To address this technical challenge, a small-sized microwave projection method based on water content measurement antenna is designed in this study for the water content measurement of oil-water mixtures in downhole pipelines. Also, the half-cut antenna with a size of [Formula: see text] is proposed to operate in the frequency band of 2–6 GHz (The measured gain of the antenna varies from 2.48 dBi to 4.98 dBi). Then, the designed half-cut antenna is applied to the established water-content test environment for analysis as to the relationship between water content and the variation in transmission coefficient of the half-cut antenna. According to the test results, the relative water content error is about 0.31% between the simulation and measured results for the transmission coefficient [Formula: see text] in the range of 0%–30%, while that is about 0.16% for the transmission coefficient [Formula: see text] in the range of 40%–100%. The experimental results can be extended to the measurement of the part with high water content of the oil-water mixture in the pipeline, which provides a practical reference for field tests and basic research.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135804031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-14DOI: 10.1177/00202940231200954
Jing Mu, Feng Tian, Jianlian Cheng
In this study, we put forward the robust fractional gain based interpolatory cubature Kalman filter (FGBICKF) and the adaptive FGBICKF (AFGBICKF) for the development of the state estimators for stochastic nonlinear dynamics system. FGBICKF introduces a fractional gain to interpolatory cubature Kalman filter to increase the robustness of state estimation. AFGBICKF is developed to enhance the state estimation adaptive to stochastic nonlinear dynamics system with unknown process noise covariance through recursive estimation. The simulations on re-entry target tracking system have shown that the performance of FGBICKF is superior to that of cubature Kalman filter and interpolatory cubature Kalman filter, and standard deviation of FGBICKF is closer to posterior Cramér-Rao lower bound. Moreover, our simulations have also demonstrated that AFGBICKF remains stable even when the initial process noise covariance increase, proving its adaptiveness, robustness, and effectiveness on state estimation.
{"title":"Adaptive and robust fractional gain based interpolatory cubature Kalman filter","authors":"Jing Mu, Feng Tian, Jianlian Cheng","doi":"10.1177/00202940231200954","DOIUrl":"https://doi.org/10.1177/00202940231200954","url":null,"abstract":"In this study, we put forward the robust fractional gain based interpolatory cubature Kalman filter (FGBICKF) and the adaptive FGBICKF (AFGBICKF) for the development of the state estimators for stochastic nonlinear dynamics system. FGBICKF introduces a fractional gain to interpolatory cubature Kalman filter to increase the robustness of state estimation. AFGBICKF is developed to enhance the state estimation adaptive to stochastic nonlinear dynamics system with unknown process noise covariance through recursive estimation. The simulations on re-entry target tracking system have shown that the performance of FGBICKF is superior to that of cubature Kalman filter and interpolatory cubature Kalman filter, and standard deviation of FGBICKF is closer to posterior Cramér-Rao lower bound. Moreover, our simulations have also demonstrated that AFGBICKF remains stable even when the initial process noise covariance increase, proving its adaptiveness, robustness, and effectiveness on state estimation.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135804332","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Unmanned surface vehicles (USVs) are intelligent platforms for unmanned surface navigation based on artificial intelligence, motion control, environmental awareness, and other professional technologies. Obstacle avoidance is an important part of its autonomous navigation. Although the USV works in the water environment (e.g. monitoring and tracking, search and rescue scenarios), the dynamic and complex operating environment makes the traditional methods not suitable for solving the obstacle avoidance problem of the USV. In this paper, to address the issue of poor convergence of the Twin Delayed Deep Deterministic policy gradient (TD3) algorithm of Deep Reinforcement Learning (DRL) in an unstructured environment and wave current interference, random walk policy is proposed to deposit the pre-exploration policy of the algorithm into the experience pool to accelerate the convergence of the algorithm and thus achieve USV obstacle avoidance, which can achieve collision-free navigation from any start point to a given end point in a dynamic and complex environment without offline trajectory and track point generation. We design a pre-exploration policy for the environment and a virtual simulation environment for training and testing the algorithm and give the reward function and training method. The simulation results show that our proposed algorithm is more manageable to converge than the original algorithm and can perform better in complex environments in terms of obstacle avoidance behavior, reflecting the algorithm’s feasibility and effectiveness.
无人水面车辆(usv)是基于人工智能、运动控制、环境感知等专业技术的无人水面导航智能平台。避障是其自主导航的重要组成部分。虽然无人潜航器工作在水中环境(如监测跟踪、搜救等场景)，但其运行环境的动态性和复杂性使得传统方法无法解决无人潜航器的避障问题。本文针对深度强化学习(Deep Reinforcement Learning, DRL)的双延迟深度确定性策略梯度(Twin Delayed Deep Deterministic policy gradient, TD3)算法在非结构化环境下收敛性差以及波浪电流干扰的问题，提出随机行走策略，将算法的预探索策略存入经验池中，加速算法收敛，从而实现USV避障。在动态复杂环境下，无需离线轨迹和轨迹点生成，即可实现从任意起点到给定终点的无碰撞导航。设计了环境预探索策略和算法训练测试的虚拟仿真环境，并给出了奖励函数和训练方法。仿真结果表明，本文提出的算法比原算法更易于收敛，在复杂环境下避障行为表现更好，体现了算法的可行性和有效性。
{"title":"Obstacle avoidance USV in multi-static obstacle environments based on a deep reinforcement learning approach","authors":"Dengyao Jiang, Mingzhe Yuan, Junfeng Xiong, Jinchao Xiao, Yong Duan","doi":"10.1177/00202940231195937","DOIUrl":"https://doi.org/10.1177/00202940231195937","url":null,"abstract":"Unmanned surface vehicles (USVs) are intelligent platforms for unmanned surface navigation based on artificial intelligence, motion control, environmental awareness, and other professional technologies. Obstacle avoidance is an important part of its autonomous navigation. Although the USV works in the water environment (e.g. monitoring and tracking, search and rescue scenarios), the dynamic and complex operating environment makes the traditional methods not suitable for solving the obstacle avoidance problem of the USV. In this paper, to address the issue of poor convergence of the Twin Delayed Deep Deterministic policy gradient (TD3) algorithm of Deep Reinforcement Learning (DRL) in an unstructured environment and wave current interference, random walk policy is proposed to deposit the pre-exploration policy of the algorithm into the experience pool to accelerate the convergence of the algorithm and thus achieve USV obstacle avoidance, which can achieve collision-free navigation from any start point to a given end point in a dynamic and complex environment without offline trajectory and track point generation. We design a pre-exploration policy for the environment and a virtual simulation environment for training and testing the algorithm and give the reward function and training method. The simulation results show that our proposed algorithm is more manageable to converge than the original algorithm and can perform better in complex environments in terms of obstacle avoidance behavior, reflecting the algorithm’s feasibility and effectiveness.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135968924","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-11DOI: 10.1177/00202940231191773
Chao Ding, Jinqi Zhang, Yanming Cheng, Mahmoud AM Al Shurafa, Yulian Zhao, Peilin Liu, Ilkyoo Lee
In searching for the optimal control strategy of sub-module capacitance voltage equalization of Modular Multilevel Converter (MMC), the most important issue is how to address the significant increase in computing time of the controller, switching frequency of the sub-module, device switching loss and MMC fault rate led by the increase in the number of sub-modules of the upper/lower bridge arm of the MMC. Therefore, this paper proposes a control strategy based on the retaining factor method + improved quick sort, namely, an improved quick sort algorithm is used to sort the sub-module capacitance voltages to reduce the amount of computation of the MMC controller; at the same time, a retaining factor is introduced to participate in the improved quick sort to significantly reduce the switching frequency of the sub-module. MMC of large ship grid-connected photovoltaic power system is taken as a research object in this paper, a 31-level MMC model is built in Matlab/Simulink. Simulation results verify that the improved quick sort has a good rapidity compared to the algorithms of bubble sort, quick sort, bidirectional bubble sort, and improved merge sort, that the retention factor method has a good frequency reduction effect, and that the proposed retention factor + improved quick sort can provide a good performance compared to improved quick sort and retention factor + improved merge sort under conditions of the normal operation and introducing disturbance.
{"title":"A enhanced control strategy for capacitance voltage equalization in modular multilevel converter","authors":"Chao Ding, Jinqi Zhang, Yanming Cheng, Mahmoud AM Al Shurafa, Yulian Zhao, Peilin Liu, Ilkyoo Lee","doi":"10.1177/00202940231191773","DOIUrl":"https://doi.org/10.1177/00202940231191773","url":null,"abstract":"In searching for the optimal control strategy of sub-module capacitance voltage equalization of Modular Multilevel Converter (MMC), the most important issue is how to address the significant increase in computing time of the controller, switching frequency of the sub-module, device switching loss and MMC fault rate led by the increase in the number of sub-modules of the upper/lower bridge arm of the MMC. Therefore, this paper proposes a control strategy based on the retaining factor method + improved quick sort, namely, an improved quick sort algorithm is used to sort the sub-module capacitance voltages to reduce the amount of computation of the MMC controller; at the same time, a retaining factor is introduced to participate in the improved quick sort to significantly reduce the switching frequency of the sub-module. MMC of large ship grid-connected photovoltaic power system is taken as a research object in this paper, a 31-level MMC model is built in Matlab/Simulink. Simulation results verify that the improved quick sort has a good rapidity compared to the algorithms of bubble sort, quick sort, bidirectional bubble sort, and improved merge sort, that the retention factor method has a good frequency reduction effect, and that the proposed retention factor + improved quick sort can provide a good performance compared to improved quick sort and retention factor + improved merge sort under conditions of the normal operation and introducing disturbance.","PeriodicalId":49849,"journal":{"name":"Measurement & Control","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136097647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-11DOI: 10.1177/00202940231203197
Yan Li, Kewen Li, Yongming Li
In this paper, the event-triggered-based cluster-delay consensus control problem is investigated for leader-following nonlinear multi-agent systems (MASs). In control design, both state triggering in the agents’ network and constant time-delay in the leaders’ communication network are considered. Under the framework of Lyapunov function stability theory, the Lipschitz condition is used to overcome the influence caused by time-delay. In order to further effectively utilize data transmission resources, and reduce the communication load of the topology network between each agent, an event-triggered mechanism is established. Subsequently, a robust cluster consensus control strategy is proposed based on event-triggered mechanism, which can ensure all signals of the controlled system are bounded, and the tracking errors converge to zero. In addition, it can also effectively avoid the Zeno behavior. Finally, the effectiveness of the presented control method and theory is verified by a simulation example.
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