非线性不确定系统的无撞击切换双重控制

对于具有非线性、时变特性和纯滞后等特点的不确定系统,传统的PID控制和单纯的模糊控制都难以达到所期望的效果.无撞击切换模糊PID双重控制吸取了两者的优点,减少了模型切换时所产生的跳跃,既不依赖于对象精确的数学模型,又具有鲁棒性较强等优点.仿真结果表明,采用无撞击切换模糊PID双重控制保证了系统的快速和稳态性能好.     

吊舱推进电机的无模型自适应滑模矢量控制

为解决半潜船吊舱推进电机控制系统中负载扰动造成的转速跟踪性能差的问题, 提出一种基于数据驱动的吊舱推进电机转速矢量控制方法; 对包含未知负载扰动的推进电机转速方程进行离散化处理, 给出关于输出转速与输入电流离散后的非线性转速系统; 由于非线性转速系统方程中变量较多且负载扰动模型未知, 设计了基于数据驱动的无模型自适应控制器, 并给出了伪偏导数估计算法; 采用滑模观测器观测螺旋桨负载扰动, 同时给出了滑模控制器; 结合无模型自适应控制和滑模控制给出了负载扰动下的无模型自适应滑模(MFASM)控制方案; 构建了吊舱推进电机无模型自适应滑模矢量控制调速系统, 并在MATLAB/Simulink环境下给出了仿真结果。研究结果表明: 在船舶正常作业恒定转速下, 在0.3~0.5 s时间区域内, 采用MFASM矢量控制方案和PI矢量控制方案的吊舱推进电机的转速误差分别为2、6 r·min-1; 在0.8~1.0 s时间区域内, 采用无模型自适应滑模矢量控制方案和PI矢量控制方案的吊舱推进电机的转速误差分别1、3 r·min-1; 对于船舶操车作业的可变转速情形, 采用MFASM矢量控制方案的推进电机转速和转矩达到稳态的时间比PI矢量控制方案少0.01~0.03 s。可以看出, 采用MFASM矢量控制方案可改善吊舱推进电机转速跟踪性能, 是一种有效的抑制负载扰动的数据驱动控制方法。      

考虑开行比例的大小交路列车开行方案优化

分析了城市轨道交通的大小交路列车开行比例关系,划分了2种典型的大小交路列车开行比例;基于跨交路乘客对直达列车的选择偏好与换乘行为,提出了2种开行比例模式下乘客的广义出行费用计算方法;考虑共线区段列车运行间隔的匹配关系,计算了运营车底数量;以乘客出行费用和企业运营费用最小化为目标,构建了适用于多编组的大小交路列车开行方案...     

Train Control to Reduce Delays upon Service Disturbances at Railway Junctions

Train delay is one of the most important indexes to evaluate the service quality of the railway. Because of interactions among different trains, a delayed train may hinder subsequent trains scheduled on other lines at junction area. Trains may be forced to stop or decelerate, which consequently leads to the loss of run-time. This paper proposes a time-saving control method to recover the train delay as much as possible. In the proposed method, golden section search is adopted to identify the optimal train speed at the time of signal upgrade in the conflicting area, which enables the train to depart from the conflicting area as soon as possible. A heuristic method is then developed to attain the train control scheme to realize the optimal train speed at the time of signal upgrade in the conflicting area. Simulation study indicates that the proposed method enables the train to across the conflicting area with smaller run-time and therefore leads to larger delay reduction, in comparison with the traditional maximum speed control method and the green wave control method.     

基于分组合并的多信道停等ARQ性能

从信道数、合并方式、分组丢失率、传输延迟等方面,分析了在Rayleigh衰落信道下具有分组合并的多信道停等ARQ性能.分析结果表明:对于多信道停等ARQ,需根据分组传输时间和往返延迟时间合理安排停等ARQ的信道数,以使ARQ系统性能达到最佳;根据信道质量,采用合适的分组合并方式可减少接收处理延迟;为获得恒定分组传输延迟和系统吞吐率,可根据分组丢失率要求和信道质量调整最大传输次数.     

Robust ergodic rate transmission for time division duplex beamforming systems

In time division duplex(TDD)beamforming systems,the base station estimates the channel state information(CSI)at transmitter based on uplink pilots and then uses it to generate the beamforming vector in the downlink transmission.Because of the constraints of the TDD frame structure and the uplink pilot overhead,there inevitably exists CSI delay and channel estimation error between CSI estimation and downlink transmission channel,which would degrade system ergodic rate.In this paper,we propose a robust ergodic rate transmission scheme,in which the uplink pilot time interval(UPTI)of an active user is adaptively adjusted according to the changing channel conditions such as Doppler frequency shift,uplink pilot signal to noise ratio(SNR),to minimize the impact of CSI delay and channel estimation error on the ergodic rate of TDD beamforming systems.In order to get the optimal UPTI,we first derive the average post-processing SNR for TDD beamforming systems with channel estimation error and CSI delay.We then obtain the optimal UPTI,which maximizes the average post-processing SNR,given the normalized pilot overhead(the number of pilot symbols per data symbol).The numerical simulation results validate that the the proposed robust ergodic rate transmission scheme not only maximizes the average post-processing SNR but also maximizes the system ergodic rate.Moreover,the scheme can adapt well to the changing channel environments compared with the current fixed UPTI scheme.Especially our research is valuable for the uplink sounding reference signal design in long term evolution advanced(LTEAdvanced)system.     

基于乘客等待时间的城市轨道交通列车运行调整模型

研究突发事件导致列车晚点情况下城市轨道交通列车运行调整问题．从乘客角度出发,提出了“首站控制”和“多站协调控制”两类列车运行调整策略．考虑列车能力约束和列车区间运行时间、追踪间隔时间等运行条件约束,以受突发事件影响的全部乘客等待时间最小为优化目标,建立了基于两类调整策略的列车运行调整模型,采用Lingo软件进行求解．以某简化线路为算例,与不采取控制策略相比,两类策略下乘客等待时间均节省约9％,结果表明了模型的有效性,能够为轨道交通列车运行调整提供辅助支持．     

Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis

Radiofrequency ablation (RFA) guided by X-ray images aims to relieve herniated disc pain with mini-mal invasiveness and fast recovery.It requires an accurate and fast positioning of the puncture needle.We propose a teleoperated robotic system for percutaneous puncture to support RFA.We report the kinematics modelling and workspace analysis of the proposed system,which comprises preliminary and accurate positioning mechanisms.Preliminary positioning mechanism automatically drives the needle to the puncture area,and accurate positioning is then achieved by teleoperation under the guidance of X-ray images.We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace.The workspace of the proposed robot system complies with clinical require-ments to support RFA.     

自供电路侧单元能量-时延均衡分组调度策略

考虑了自供电路侧单元在分组传输过程中能量收集、车辆到达与车速的随机性, 基于受限马尔科夫决策模型建立分组调度系统模型, 研究了分组平均传输时延与能量消耗; 分析了在能量队列约束下最小分组平均传输时延的优化问题, 提出了自供电路侧单元能量-时延均衡分组调度策略, 通过仿真试验分析了最优分组调度策略性能, 并与贪婪中继方案和Q-learning算法进行对比。仿真结果表明: 该分组调度策略具有双门限结构, 系统通过自供电路侧单元的能量队列状态以及到达车辆的车速状态确定决策变量, 使系统可以在考虑能量利用效率的前提下降低监测数据分组的平均传输时延, 保证自供电路侧单元在能量存储不溢出不耗尽的同时, 最小化系统分组平均传输时延; 在单分组发送模型中, 提出的分组调度策略的平均传输时延相比贪婪中继方案降低了15.7%, 相比Q-learning算法降低了13.5%;在批量分组发送模型中, 其分组平均传输时延相比贪婪中继方案降低了20.4%, 相比Q-learning算法降低了11.5%。      

Online Delay—Evaluation Control for Networked Control Systems

This paper presented an evaluation approach of time delays for networked control systems (NCS). An improved scheme based on optimal LQG control was designed to achieve desired performance despite the uncertain delays in the system. The experimental results illustrate the effectiveness of the proposed control design and satisfactory performance of the closed-loop system.     

基于多速度调控的城轨列车区间运行策略优化

针对城市轨道交通区间运行时分要求,将列车在区间的最高运行速度、最低惰行速度作为速度参数,提出多速度参数调控的城轨列车区间运行策略优化问题.考虑线路平纵断面、列车性能等的影响,以及区间限速、运行时分限制等约束,以区间运行能耗最小化为目标,建立均布质量模型下的给定运行时分下基于多速度参数调控的列车运行节能优化策略模型,优化...     

基于CANopen的能馈式供电系统网络控制研究

对能馈式供电变流器多模块并联拓扑进行分析,提出一种基于CANopen的多模块并联方案．通过对系统原理和CANopen协议分析,发现CANopen网络能很好满足系统安全运行及控制性能要求：根据变流器控制原理选取了系统网络控制量,并设计了基于CANopen的系统运行机制;通过建立系统的网络控制模型,分析了网络时延对系统控制性能影响,然后确定了系统采样周期的理想选取范围;最后,通过仿真和试验证明基于CANopen的多模块并联能馈式供电系统网络控制方案的可行性、稳定性和可靠性．     

基于弹复力调整的高速列车群动态运行轨迹优化方法

为提高列车控制过程的自主性和智能性,研究了列车群动态运行过程,采用多智能体和图论方法构建了列车群分布式信息交互模型;以节能和准点为优化目标,以安全和乘客舒适度为约束条件,建立了列车群运行轨迹多目标优化模型,利用基于模拟退火思想改进的差分进化算法获取了列车群静态最优运行轨迹;在此基础上,为避免或消解列车运行过程中随机干扰...     

连续流交叉口信号协调配时及延误模型

为解决连续流交叉口车辆二次停车和人-车冲突问题,防止车辆排队溢出,破坏连续流交叉口稳定的运行状态,提出人-车信号协调优化控制策略.根据车流运行特征,协调主、预信号配时,优化信号相位方案,以车均延误最小为目标构建优化模型.通过仿真对比可知,本文模型计算的延误估算误差在5％以内.通过案例分析可知,现状方案南北左转车均延误和...     

考虑客流时变需求的大小交路列车时刻表优化模型

以城市轨道交通放射线为研究对象,考虑客流时变需求和高峰期乘客滞留现象,以乘客等待时间、列车运行时间和车辆走行公里最小为目标,以发车间隔、列车满载率及其均衡性、发车比例为约束,构建了城市轨道交通大小交路列车时刻表优化模型.运用离散事件系统建模方法,建立基于乘客活动和列车运行过程的动态仿真模型,并将其与遗传算法相结合,提出了计算机仿真的遗传算法进行求解.算例结果表明,优化后的时刻表可以使运力与客流需求更加匹配,有效降低了高峰期乘客拥挤程度,并提高了各次列车满载率的均衡性.在企业运营成本相等的情况下,优化后的乘客等待时间减少了1 266.2 h,降幅达16.5%.     

基于Internet的遥操作机器人系统的鲁棒控制

在基于Internet的遥操作系统中存在时变的通信时延,时变时延会严重影响系统的稳定性和操作性能。本文针对时变的通信时延对系统的影响,将时延变化率建模为系统不确定参数,提出用时间前向观测器预测从机械手的状态,用力、预测的位置和速度反馈消除或减小时延对系统的影响。通过对反馈参数的分析与设计,使整个系统具有鲁棒渐近稳定性。仿真结果表明了该方法的有效性。     

BIFURCATIONS AND CHAOS CONTROL IN TCP-RED SYSTEM

Internet is heterogeneous in nature,and ex-tremely wide variations in parametric perturbationlead to a very rich world of dynamical behaviorsranging from s mooth,stable operation to rathercomplicated irregular patterns.In[1],the occur-rence of chaotic behavior in TCP has been reportedfor the first ti me.Since the seminal work of Mathisand Floyd[2-3],there have been increasing interestsin the dynamical characteristics of Internet.In theprevious work,TCP congestion control algorithmplus RED…     

高速公路瓶颈区域可变限速阶梯控制方法

针对高流量条件下高速公路主线瓶颈路段交通流运行态势恶劣导致通行效率降低的问题,从高速公路瓶颈路段交通流时空特性出发,对元胞传输模型进行扩展,使其能够对瓶颈路段和可变限速条件下交通流运行情况进行描述;在此基础上,构建可变限速控制模型,并采用阶梯限速控制方法对主线交通流进行控制,防止限速路段车辆排队上溯影响上游匝道车辆的正常通行.算例仿真结果表明:本文提出的瓶颈区域可变限速阶梯控制方法能够有效缩短车辆行程时间,在可变限速条件下,与无控制和仅单路段主线控制相比,车均延误分别减少了13.78%和1.60%.      

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燃油成本是船东在经营航次租船业务中控制运营成本的关键要素,由于燃油价格随时间频繁波动,而海上运输周期长,因此船舶在挂靠港的燃油补给计划成为船东面对的重要决策问题.本文以不定期航次租船为背景,从船东的视角,研究船舶在连续航次租船运营中的燃油补给问题.首先,基于ARMA模型建立燃油价格预测模型;其次,以连续多航次收益最大为目标,以补给地点和补给量为决策变量,基于燃油价格预测建立优化燃油补给方案的非线性规划模型.最后,针对一个干散货船舶的环太平洋的连续租船航次实例进行计算.结果表明,求解模型获取的最优燃油补给方案比传统的加油方式能够节省成本26.34万USD,占营运总收益的14.3%.     

Learning User Intention in Networked Mobile Robot Control

Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay from data transmission over Internet. The robot cannot accomplish the desired actions of the remote operator in time, which severely impairs reliability and efficiency of the robot system. This paper investigated a novel approach, learning user intention, to compensate the uncertain time delay with the autonomy of a mobile robot. The user intention to control and operate the robot was modeled and incrementally inferred based on Bayesian techniques so that the desired actions could be recognized and completed by the robot autonomously. Thus the networked robot is able to fulfill the task assigned without frequent interaction with the user, which decreases data transmission and improves the efficiency of the whole system. Experimental results show the validity and feasibility of the proposed method.