The optimal instantaneous high order single step algorithm for active control is first discussed and then, the n+1 time step controlling force vector of the instantaneous optimal algorithm is derived from way of n tim...The optimal instantaneous high order single step algorithm for active control is first discussed and then, the n+1 time step controlling force vector of the instantaneous optimal algorithm is derived from way of n time state vector. An estimating algorithm, is developed from this to solve the problem of active control with time delay compensation. The estimating algorithm based on this high order single step β method (HSM) foundation, is proven by simulation and experiment analysis, to be a valid solution to problem of active control with time delay compensation.展开更多
针对传统的补偿控制策略存在相位失真、有功功率消耗大的问题,提出一种优化补偿控制策略.该策略通过注入动态电压恢复器(dynamic voltage restorer,DVR)有功功率的大小来优化直流侧电压的调节量,并对优化补偿策略的补偿特性进行系统分析...针对传统的补偿控制策略存在相位失真、有功功率消耗大的问题,提出一种优化补偿控制策略.该策略通过注入动态电压恢复器(dynamic voltage restorer,DVR)有功功率的大小来优化直流侧电压的调节量,并对优化补偿策略的补偿特性进行系统分析;针对逆变单元输出受到非线性和冲击性负载扰动的问题,建立了一种混合级联H桥多电平逆变拓扑,分析其结构及工作原理,完成了多电平DVR数字系统的设计,包括软硬件的设计.在Chroma6590可编程交流电源上模拟电网电压,并在该系统上进行并网补偿试验.仿真与试验结果表明,所设计的DVR系统补偿效果很好,能够实现装置输出有功功率最小并延长补偿时间,有效减少输出谐波.展开更多
An optimal preview method is applied to the design of terrain following controller for cruise missile. In this method, tracking errors and control increments are both considered in the quadratic cost function. Integra...An optimal preview method is applied to the design of terrain following controller for cruise missile. In this method, tracking errors and control increments are both considered in the quadratic cost function. Integrating the general optimal servo system with a preview feedforward compensation that feeds forward future command and future disturbance produces an optimal preview servo system. In the terrain following system, the flight altitude of the cruise missile is a command signal, and its future information can be known apriori. Hence, we have designed a terrain following controller with a basic state feedback and a feedforward compensation for future altitude information. Simulation results show that the performance of the terrain following system with such an optimal preview controller has been improved dramatically.展开更多
Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, anothe...Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, another free form cost function was introduced to express the physical need plainly and optimize weights of LQ cost function using the search algorithms. As an instance, DLQR was applied in determining the control input in the front steering angle compensation control (FSAC) model for heavy duty vehicles. The brief simulations show that DLQR is powerful enough to specify the engineering requirements correctly and balance many factors effectively. The concept and applicable field of LQR are expanded by DLQR to optimize the system with a free form cost function.展开更多
A linear quadric (LQ) optimal speed control algorithm is proposed for the speed control of a pump controlled motor hydraulic system. The control theme consists of optimal state feedback and disturbing compensation bas...A linear quadric (LQ) optimal speed control algorithm is proposed for the speed control of a pump controlled motor hydraulic system. The control theme consists of optimal state feedback and disturbing compensation based on observation. The optimal state feedback bases on LQ cost function. The disturbing compensation is realized through reconstructing the state of load torque. A series of simulation are performed, and the results show that the control performance is satisfactory and can be maintained under changes of load torque.展开更多
This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to ...This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.展开更多
文摘The optimal instantaneous high order single step algorithm for active control is first discussed and then, the n+1 time step controlling force vector of the instantaneous optimal algorithm is derived from way of n time state vector. An estimating algorithm, is developed from this to solve the problem of active control with time delay compensation. The estimating algorithm based on this high order single step β method (HSM) foundation, is proven by simulation and experiment analysis, to be a valid solution to problem of active control with time delay compensation.
文摘针对传统的补偿控制策略存在相位失真、有功功率消耗大的问题,提出一种优化补偿控制策略.该策略通过注入动态电压恢复器(dynamic voltage restorer,DVR)有功功率的大小来优化直流侧电压的调节量,并对优化补偿策略的补偿特性进行系统分析;针对逆变单元输出受到非线性和冲击性负载扰动的问题,建立了一种混合级联H桥多电平逆变拓扑,分析其结构及工作原理,完成了多电平DVR数字系统的设计,包括软硬件的设计.在Chroma6590可编程交流电源上模拟电网电压,并在该系统上进行并网补偿试验.仿真与试验结果表明,所设计的DVR系统补偿效果很好,能够实现装置输出有功功率最小并延长补偿时间,有效减少输出谐波.
文摘An optimal preview method is applied to the design of terrain following controller for cruise missile. In this method, tracking errors and control increments are both considered in the quadratic cost function. Integrating the general optimal servo system with a preview feedforward compensation that feeds forward future command and future disturbance produces an optimal preview servo system. In the terrain following system, the flight altitude of the cruise missile is a command signal, and its future information can be known apriori. Hence, we have designed a terrain following controller with a basic state feedback and a feedforward compensation for future altitude information. Simulation results show that the performance of the terrain following system with such an optimal preview controller has been improved dramatically.
文摘Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, another free form cost function was introduced to express the physical need plainly and optimize weights of LQ cost function using the search algorithms. As an instance, DLQR was applied in determining the control input in the front steering angle compensation control (FSAC) model for heavy duty vehicles. The brief simulations show that DLQR is powerful enough to specify the engineering requirements correctly and balance many factors effectively. The concept and applicable field of LQR are expanded by DLQR to optimize the system with a free form cost function.
文摘A linear quadric (LQ) optimal speed control algorithm is proposed for the speed control of a pump controlled motor hydraulic system. The control theme consists of optimal state feedback and disturbing compensation based on observation. The optimal state feedback bases on LQ cost function. The disturbing compensation is realized through reconstructing the state of load torque. A series of simulation are performed, and the results show that the control performance is satisfactory and can be maintained under changes of load torque.
基金Acknowledgment This work is supported by the National Natural Science Foundation （Grant No. 51105101）, and the Self-Planned Task of State Key Laboratory of Robotics and System （Grant Nos. SKLRS200901A01 and SKLRS200901A03.
文摘This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.
文摘目的:比较基部计划剂量补偿(BDPC组)和冷热点控制(HCSC组)两种计划优化方法得到的肺癌调强放疗计划的剂量学差异。方法:选取13例肺癌患者,采用相同优化条件分别设计BDPC和HCSC两组放疗计划。计划处方:PGTV为60 Gy/26 f、PCTV为50 Gy/26 f。比较两组肿瘤靶区和危及器官的各项剂量评价参数、计划时间和机器跳数(MU)。采用配对t检验或非参数检验进行统计学分析。结果:BDPC组相对于HCSC组有较好的靶区CI(PGTV:0.66±0.14 vs 0.58±0.15,P<0.05;PCTV:0.61±0.28 vs 0.57±0.27,P=0.066)和HI(PGTV:0.08±0.02 vs 0.11±0.05,P<0.05;PCTV:0.23±0.03 vs 0.27±0.03,P<0.05);前者较后者重要危及器官的剂量低,食管的Dmax、双肺的V5 Gy和V20 Gy分别为(59.92±2.87)Gy vs(62.09±3.34)Gy、49%±18%vs 51%±11%和22%±9%vs 24%±7%,P值均小于0.05。结论:对于肺癌调强放疗计划,BDPC优化方法得到的计划剂量分布较HCSC优化方法更优,能保证靶区覆盖的同时降低重要危及器官的受照剂量,可在临床上推广应用。
