In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics m...In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics model of the mechanical structure and flight principle of the quadrotor aircraft,and used the Newton-Euler method to derive the non-linear dynamic equations.Aiming at improving the modeling accuracy and system integrity of the quadrotor,the physical system modeling was combined with the CAD software and the Matlab/Simscape toolbox.The three-dimensional quadrotor solid model built by CAD software was imported into the Simscape simulation platform to construct the body and power system model of the quadrotor.Based on this,the control algorithm designed by Simulink was added to the simulation platform to facilitate the experiment verification and parameter tuning.The simulation results show that the designed aircraft can achieve hover and tracking well and meet the control performance requirements of the system.展开更多
随着电力物联网(power internet of Things,IoT)的快速发展,传统集中控制式电力信息物理系统(cyberpower physical system,CPPS)模型已逐渐无法适应电网庞杂的数据规模及结构。在构建基于云边协同数据处理结构的电力物联网架构的基础上...随着电力物联网(power internet of Things,IoT)的快速发展,传统集中控制式电力信息物理系统(cyberpower physical system,CPPS)模型已逐渐无法适应电网庞杂的数据规模及结构。在构建基于云边协同数据处理结构的电力物联网架构的基础上,建立一种新的集中-分布联合控制式CPPS模型。运用云边协同的集中-分布联合控制计算体系对CPPS进行合理划分并建立以边缘计算组为基本单元的分层自治协同网络架构;借助矩阵工具建立单元级CPPS数学模型;将多个协同运行的单元CPPS数学模型与电力网数学模型建立起CPPS统一计算模型;最后,通过算例说明该模型的合理性和集中-分布联合控制结构的优越性。展开更多
随着电力物联网的推进,海量终端设备的接入对传统集中式控制方式下电力信息物理系统CPPS(cyber power physicalsystem)提出了极大的挑战。在边缘计算与雾计算的发展背景下,基于“云、网、边、端”电力物联网体系架构,提出了端边云雾协...随着电力物联网的推进,海量终端设备的接入对传统集中式控制方式下电力信息物理系统CPPS(cyber power physicalsystem)提出了极大的挑战。在边缘计算与雾计算的发展背景下,基于“云、网、边、端”电力物联网体系架构,提出了端边云雾协同控制下的CPPS模型,并考虑了分布式信息能源系统海量时空异构特征数据处理,结合矩阵分析单雾层级区域计算单元CPPS建模,建立了多层级分布式全网CPPS关联模型。通过算例分析量化计算了区域自治与端边云雾协同控制下的电网运行状态和通信网络时延特性,算例分析结果表明了所提架构的有效性与建立模型的合理性。展开更多
文摘In order to speed up and simplify the design of the quadrotor unmanned aerial vehicle(UAV)and carry out experimental simulation and verification of relevant control algorithms,this paper analyzed the system dynamics model of the mechanical structure and flight principle of the quadrotor aircraft,and used the Newton-Euler method to derive the non-linear dynamic equations.Aiming at improving the modeling accuracy and system integrity of the quadrotor,the physical system modeling was combined with the CAD software and the Matlab/Simscape toolbox.The three-dimensional quadrotor solid model built by CAD software was imported into the Simscape simulation platform to construct the body and power system model of the quadrotor.Based on this,the control algorithm designed by Simulink was added to the simulation platform to facilitate the experiment verification and parameter tuning.The simulation results show that the designed aircraft can achieve hover and tracking well and meet the control performance requirements of the system.
文摘随着电力物联网(power internet of Things,IoT)的快速发展,传统集中控制式电力信息物理系统(cyberpower physical system,CPPS)模型已逐渐无法适应电网庞杂的数据规模及结构。在构建基于云边协同数据处理结构的电力物联网架构的基础上,建立一种新的集中-分布联合控制式CPPS模型。运用云边协同的集中-分布联合控制计算体系对CPPS进行合理划分并建立以边缘计算组为基本单元的分层自治协同网络架构;借助矩阵工具建立单元级CPPS数学模型;将多个协同运行的单元CPPS数学模型与电力网数学模型建立起CPPS统一计算模型;最后,通过算例说明该模型的合理性和集中-分布联合控制结构的优越性。
文摘随着电力物联网的推进,海量终端设备的接入对传统集中式控制方式下电力信息物理系统CPPS(cyber power physicalsystem)提出了极大的挑战。在边缘计算与雾计算的发展背景下,基于“云、网、边、端”电力物联网体系架构,提出了端边云雾协同控制下的CPPS模型,并考虑了分布式信息能源系统海量时空异构特征数据处理,结合矩阵分析单雾层级区域计算单元CPPS建模,建立了多层级分布式全网CPPS关联模型。通过算例分析量化计算了区域自治与端边云雾协同控制下的电网运行状态和通信网络时延特性,算例分析结果表明了所提架构的有效性与建立模型的合理性。
