An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims t...An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed.展开更多
As a good measure to tackle the challenges from energy shortages and environmental pollution,Electric Vehicles(EVs)have entered a period of rapid growth.Battery swapping station is a very important way of energy suppl...As a good measure to tackle the challenges from energy shortages and environmental pollution,Electric Vehicles(EVs)have entered a period of rapid growth.Battery swapping station is a very important way of energy supply to EVs,and it is urgently needed to explore a coordinated control strategy to effectively smooth the load fluctuation in order to adopt the large-scale EVs.Considering bidirectional power flow between the station and power grid,this paper proposed a SFLA-based control strategy to smooth the load profile.Finally,compared simulations were performed according to the related data.Compared to particle swarm optimization(PSO)method,the presented SFLA-based strategy can effectively lower the peak-valley difference with the faster convergence rate and higher convergence precision.It is important for the swapping station that energy exchanging mode can supply energy for large-scale EVs with a smoother load profile than one-way charging mode.展开更多
The spatial spillover of air pollution in Beijing-Tianjin-Hebei region makes the territorial governance model inefficient.At the same time,it is facing the contradiction between environmental governance and economic d...The spatial spillover of air pollution in Beijing-Tianjin-Hebei region makes the territorial governance model inefficient.At the same time,it is facing the contradiction between environmental governance and economic development.So far,there is still no regional long-term mechanism for coordinated governance of air pollution.Ecological compensation theory is becoming an effective guiding theory to coordinate economic and environmental benefits.There is relatively little research on ecological compensation mechanism in the coordinated control of regional air pollution.Ecological compensation mechanism is an effective tool to promote air pollution control.At the same time,regional cooperation can realize the efficient control of air pollution.Scientifically constructing the cross regional cooperative control model of Beijing,Tianjin and Hebei is a favorable way to implement comprehensive control of air pollution.This paper discusses the necessity of ecological compensation mechanism for regional coordinated control of air pollution.Referring to practical experience of provinces and cities that have implemented the ecological compensation mechanism for air pollution control,and the effective way to distribute the compensation amount,compensation subject and compensation standard determination method that can be implemented in Beijing-Tianjin-Hebei region are analyzed,further proposing an effective way to establish an ecological compensation mechanism for regional air pollution collaborative control according to its reality.展开更多
The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better und...The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better understanding of the coordinated control of PM_(2.5)and ozone is urgently needed.Here,we collected and sorted air pollutant data for 337 cities from 2015 to 2020 to explore the characteristics of PM_(2.5)and ozone pollution based on China’s five major air pollution regions.The results show that it is necessary to continue to strengthen the emission reduction in PM_(2.5)and ozone precursors,and control NO_(x) and VOCs while promoting a dramatic emission reduction in PM_(2.5).The primary method of curbing ozone pollution is to strengthen the emission control of VOCs,with a long-term strategy of achieving substantial emission reductions in NO_(x),because VOCs and NO_(x) are also precursors to PM_(2.5);hence,their reductions also contribute to the reduction in PM_(2.5).Therefore,the implementation of a multipollutant emission reduction control strategy aimed at the prevention and control of PM_(2.5)and ozone pollution is the only means to realize the coordinated control of PM_(2.5)and ozone.展开更多
The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and ...The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments.展开更多
Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-d...Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.展开更多
Microgrid is a good option to integrate renewableenergy sources (RES) into power systems. Inorder to deal with the intermittent characteristics of therenewable energy based distributed generation (DG) units,a fuzzy-lo...Microgrid is a good option to integrate renewableenergy sources (RES) into power systems. Inorder to deal with the intermittent characteristics of therenewable energy based distributed generation (DG) units,a fuzzy-logic based coordinated control strategy of a batteryenergy storage system (BESS) and dispatchable DGunits is proposed for the microgrid management system(MMS). In the proposed coordinated control strategy, theBESS is used to minimize active power exchange at thepoint of common coupling of the microgrid for grid-connectedoperation, and is used for frequency control for islandoperation. The efficiency of the proposed controlstrategy was tested by case studies using DIgSILENT/PowerFactroy.展开更多
Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utili...Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utilizing the reactive power capability of PV inverters to mitigate voltage deviations is being promoted.In recent years,droop control of inverter-based distributed energy resources has emerged as an essential tool for use in this study.The participation of PV systems in voltage regulation and its coordination with existing controllers,such as on-load tap changers,is paramount for controlling the voltage within specified limits.In this work,control strategies are presented that can be coordinated with the existing controls in a distributed manner.The effectiveness of the proposed method was demonstrated through simulation results on a distribution system.展开更多
The evolved capacitor commutated converter(ECCC),embedded with anti-parallel thyristors based dual-directional full-bridge modules(APT-DFBMs),can effectively reduce commutation failure(CF)risks of line-commutated conv...The evolved capacitor commutated converter(ECCC),embedded with anti-parallel thyristors based dual-directional full-bridge modules(APT-DFBMs),can effectively reduce commutation failure(CF)risks of line-commutated converter-based high voltage direct current(HVDC)and improve the dynamic responses of capacitor-commutated converterbased HVDC.This paper proposes an improved coordinated control strategy for ECCC with the following improvements:(1)under normal operation state,series-connected capacitors can accelerate the commutation process,thereby reducing the overlap angle and increasing the successful commutation margin;(2)under AC fault conditions,the ability of ECCC to mitigate the CF issue no longer relies on the fast fault detection,since the capacitors inside the APT-DFBMs can consistently contribute to the commutation process and further reduce the CF probability;(3)the inserted capacitors can output certain amount of reactive power,increase the power factor,and reduce the required reactive power compensation capacity.Firstly,the proposed coordinated control approach is presented in detail,and the extra commutation voltage to mitigate the CFs provided by the proposed control approach and an existing approach is compared.Secondly,the mechanism of the improved control approach to accelerate commutation process and improve the power factor is analyzed theoretically.Finally,the detailed electromagnetic transient(EMT)simulation in PSCAD/EMTDC is conducted to validate the effectiveness of the proposed coordinated control.The results show that the proposed approach can present a further substantial improvement for ECCC,especially enhancing the CF mitigation effect.展开更多
In unit steam-boiler generation, a coordinated control strategy is required to ensure a higher rate of load change without violating thermal constraints. The process is characterized by nonlinearity and uncertainty. W...In unit steam-boiler generation, a coordinated control strategy is required to ensure a higher rate of load change without violating thermal constraints. The process is characterized by nonlinearity and uncertainty. While neural networks can model highly complex nonlinear dynamical systems, they produce black box models. This has led to significant interest in neuro-fuzzy networks (NFNs) to represent a nonlinear dynamical process by a set of locally valid and simpler submodels. Two alternative methods of exploiting the NFNs within a generalised predictive control (GPC) framework for nonlinear model predictive control are described. Coordinated control of steam-boiler generation using the two nonlinear GPC methods show excellent tracking and disturbance rejection results and improved performance compared with conventional linear GPC.展开更多
In this paper,a dual droop-frequency diving coordinated control strategy is proposed for electric vehicle(EV)applications,where the hybrid energy storage system(HESS)with supercapacitors and batteries is integrated to...In this paper,a dual droop-frequency diving coordinated control strategy is proposed for electric vehicle(EV)applications,where the hybrid energy storage system(HESS)with supercapacitors and batteries is integrated to prolong the life time of storage elements.The dynamic power allocation between the supercapacitor and batteries are obtained through the voltage cascaded control,upon which the high and low frequency power fluctuation are absorbed by the supercapacitors and batteries respectively to fully exploit the advantages of the supercapacitors and batteries.Moreover,the power capacity is scaled up by connecting storage blocks in parallel.A dual droop control scheme for parallel-connected energy storage system and its operation principle is introduced on the aspect of current sharing characteristic and state-of-charging(SOC)management.After detailed analysis and formula derivation,the corresponding loop parameters are designed.Through this control method,the current sharing performance is ensured and each block makes the self-adaptive adjustment according to their SOC.Consequently,the load power can be shared effectively,which helps to avoid the over-charge/over-discharge operation and contributes to the life cycle of the energy storage system.Each module is autonomous controlled without the necessity of communication,which is easy,economic and effective to realize.Finally,the simulation and experimental results are exhibited to verify the effectiveness of the proposed control scheme.展开更多
The multi-port energy router(ER)is an effective topology for integrating train traction load,AC load,the energy storage system and photovoltaic(PV)energy.The start and stop process of urban rail transit trains and the...The multi-port energy router(ER)is an effective topology for integrating train traction load,AC load,the energy storage system and photovoltaic(PV)energy.The start and stop process of urban rail transit trains and the access of distributed energy sources to rail transit ER lead to serious fluctuations of DC bus power,so it is necessary to route energy between different ports,involving multi-operating modes,while seamless switching is a major challenge.In this paper,a hierarchical coordinated control strategy is proposed to enable the multi-port ER to operate in a coor-dinated fashion under the conditions of train parking,acceleration,constant power driving and deceleration,and to switch seamlessly under various working conditions.The energy central dispatching layer sends working condi-tion instructions by sampling the state information of each port,while the microgrid control layer adopts central-ized control,receiving upper working condition instructions and sending drive signals to the local control layers to maintain the balanced energy flow of each port.In the local control layers,the PV adopts the improved perturbation and observation method of power control(PC-P&O),while the ES system adopts voltage loop control with an SOC influence factor,voltage loop control with switching factor and power loop control according to the different working conditions,so as to transmit the required train load power accurately and maintain the stability of the DC bus voltage.Finally,the effectiveness of the proposed hierarchical coordination control is verified by MATLAB/Simulink simulations.展开更多
Urban fine management needs scientific traffic management methods and efficient signal control programs.Green wave control is usually used to facilitate the unban traffic.However,maximum bandwidth optimization on arte...Urban fine management needs scientific traffic management methods and efficient signal control programs.Green wave control is usually used to facilitate the unban traffic.However,maximum bandwidth optimization on arterial traffic signal timing is usually yielded from the sacrifice of the branch road.The green wave on branch roads and pedestrian crossing time at intersections are often neglected.In this paper,an extended integrated green wave control method is presented to solve the coordinated control issue,which considers green time constraints to ensure necessary time for vehicles on branch roads and pedestrian crossing time at intersections.Non-coordinated phase saturation is first introduced to describe the green time on branch roads.Next,the arterial roads are partitioned to enlarge the green wave bandwidth and an extended green wave optimization model with green time constraints is proposed.Combined with the green wave searching method,an improved genetic algorithm is applied.Finally,a real-world case study in Shenzhen,China,is employed to assess the model.Results show the proposed model can(1)reach the same public green time as in the traditional method and(2)increase the average sub-green wave bandwidth to improve the signal control.展开更多
This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the tw...This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the two-dimensional image space, an integrated 6-degree-of-freedom dynamic model is formulated for spacecraft relative motion. Without sophisticated threedimensional reconstruction, image features are directly utilized for the controller design. The proposed image-based controller can drive the follower spacecraft in the desired configuration with respect to the leader when the real-time captured images match their reference counterparts. To improve the precision of the formation configuration, the proposed controller employs a coordinated term to reduce the relative distance errors between followers. The uncertainties in the system dynamics are handled by integrating the adaptive technique into the controller, which increases the robustness of the SFF system. The closed-loop system stability is analyzed using the Lyapunov method and algebraic graph theory. A numerical simulation for a given SFF scenario is performed to evaluate the performance of the controller.展开更多
The increasing applications of net-zero energy buildings (NZEBs) will lead to more frequent and larger energy interactions with the connected power grid, thereby being able to result in severe grid overvoltage risks. ...The increasing applications of net-zero energy buildings (NZEBs) will lead to more frequent and larger energy interactions with the connected power grid, thereby being able to result in severe grid overvoltage risks. Control optimization has been proven effective to reduce such risks. Existing controls have oversimplified the overvoltage quantification by simply using the aggregated power exchanges to represent the connected grid overvoltages. Ignoring the complex voltage influences among the grid nodes, such oversimplification can easily result in low-accuracy impact evaluations of the NZEB-grid energy interactions, thereby causing non-optimal/unsatisfying overvoltage mitigations. Therefore, this study proposes a novel coordinated control method in which a power-distribution-network model has been adopted for more accurate overvoltage quantification. Meanwhile, the battery operations of individual NZEBs are iteratively coordinated using a sequential optimization approach for achieving the global optimum with substantially reduced computation complexity. For verifications, the proposed coordinated control has been systematically compared with an uncoordinated control and a conventional coordinated control in grid overvoltage minimization. The study results show that the overvoltage improvements can reach 23.5% and 12.3% compared with the uncoordinated control and the conventional coordinated control, respectively. The reasons behind the improvements have also been analyzed in detail. The proposed coordinated control can be used in practice to improve NZEB-clusters’ grid friendliness.展开更多
This paper proposes a robust Immersion and Invariance(I&I)adaptive coordinated controller for a class of uncertain linear-motor-driven biaxial gantry system subject to external disturbances for high-accuracy conto...This paper proposes a robust Immersion and Invariance(I&I)adaptive coordinated controller for a class of uncertain linear-motor-driven biaxial gantry system subject to external disturbances for high-accuracy contour tracking.Firstly,the dynamic model of the gantry system is transformed into task coordinate frame,through which the contour tracking can be regarded as a regulation problem.Based on the transformed system dynamics,an I&I-based adaptation law with smooth projection is proposed to estimate the unknown parameters.Different from traditional adaptive control,the proposed robust I&I adaptive control introduces a new term called tuning function in adaptation law to shape the dynamic behaviour of the estimation vector.Then the stability of the closed-loop system is proved by Lyapunov theory.Finally,comparative experiments are executed on an industrial biaxial gantry system with two different cases to verify the effectiveness of the proposed control law.展开更多
The dual-mode electro-mechanical transmission(EMT)system is a crucial part of power-split hybrid electric vehicles(HEVs),especially for the heavy HEVs.To improve the precision of the system power distribution and the ...The dual-mode electro-mechanical transmission(EMT)system is a crucial part of power-split hybrid electric vehicles(HEVs),especially for the heavy HEVs.To improve the precision of the system power distribution and the response speed of the electric power supply,a model-based double closed-loop coordinated control strategy is proposed.As the basis of the proposed control strategy,an EMT system model,particularly of an electrical system,is established first.The proposed control strategy includes the power distribution strategy,battery power closed-loop feedback control strategy,and motor coordinated control strategy.To verify the feasibility of the proposed control strategy,simulation and experiment are performed.The results indicate that the proposed control strategy can realize the expected power distribution by coordinating generators and motors and achieve rapid and stable electric power supply.展开更多
In renewable penetrated power systems, frequency instability arises due to the volatile nature of renewable energy sources (RES) and load disturbances. The traditional load frequency control (LFC) strategy from conven...In renewable penetrated power systems, frequency instability arises due to the volatile nature of renewable energy sources (RES) and load disturbances. The traditional load frequency control (LFC) strategy from conventional power sources (CPS) alone unable to control the frequency deviations caused by the aforementioned disturbances. Therefore, it is essential to modify the structure of LFC, to handle the disturbances caused by the RES and load. With regards to the above problem, this work proposes a novel coordinated LFC strategy with modified control signal to have Plug-in Hybrid Electric Vehicles (PHEVs) for frequency stability enhancement of the Japanese power system. Where, the coordinated control strategy is based on the PID controller, which is optimally tuned by the recently developed JAYA Algorithm (JA). Numerous simulations are performed with the proposed methodology and, the results have confirmed the effectiveness of a proposed approach over some recent and well-known techniques in literature. Furthermore, simulation results reveal that the proposed coordinated approach significantly minimizing the frequency deviations compared to the JAYA optimized LFC without PHEVs & with PHEVs but no coordination.展开更多
With more and more distributed photovoltaic(PV)plants access to the distribution system,whose structure is changing and becoming an active network.The traditional methods of voltage regulation may hardly adapt to this...With more and more distributed photovoltaic(PV)plants access to the distribution system,whose structure is changing and becoming an active network.The traditional methods of voltage regulation may hardly adapt to this new situation.To address this problem,this paper presents a coordinated control method of distributed energy storage systems(DESSs)for voltage regulation in a distribution network.The influence of the voltage caused by the PV plant is analyzed in a simple distribution feeder at first.The voltage regulation areas corresponding to DESSs are divided by calculating and comparing the voltage sensitivity matrix.Then,a coordinated voltage control strategy is proposed for the DESSs.Finally,the simulation results of the IEEE 33-bus radial distribution network verify the effectiveness of the proposed coordinated control method.展开更多
With the rapid development of network technology and control technology,a networked multi-agent control system is a key direction of modern industrial control systems,such as industrial Internet systems.This paper stu...With the rapid development of network technology and control technology,a networked multi-agent control system is a key direction of modern industrial control systems,such as industrial Internet systems.This paper studies the tracking control problem of networked multi-agent systems with communication constraints,where each agent has no information on the dynamics of other agents except their outputs.A networked predictive proportional integral derivative(PPID)tracking scheme is proposed to achieve the desired tracking performance,compensate actively for communication delays,and simplify implementation in a distributed manner.This scheme combines the past,present and predictive information of neighbour agents to form a tracking error signal for each agent,and applies the proportional,integral,and derivative of the agent tracking error signal to control each individual agent.The criteria of the stability and output tracking consensus of multi-agent systems with the networked PPID tracking scheme are derived through detailed analysis on the closed-loop systems.The effectiveness of the networked PPID tracking scheme is illustrated via an example.展开更多
基金Supported in part by Ministry of Science and Technology of the People’s Republic of China(Grant No.2017YFB0103600)Beijing Municipal Science and Technology Commission via the Beijing Nova Program(Grant No.Z201100006820007).
文摘An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control.This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles,with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.Driving condition identification including driver’s operation intention,critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme.Under steering and braking maneuvers,different driving condition identification methods are described in this paper.These are the trigger conditions and the basis for the implementation of chassis coordinated control.For the vehicles equipped with steering-by-wire,braking-by-wire and/or wire-controlled-suspension systems,state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems.Finally,the development trends are discussed.
文摘As a good measure to tackle the challenges from energy shortages and environmental pollution,Electric Vehicles(EVs)have entered a period of rapid growth.Battery swapping station is a very important way of energy supply to EVs,and it is urgently needed to explore a coordinated control strategy to effectively smooth the load fluctuation in order to adopt the large-scale EVs.Considering bidirectional power flow between the station and power grid,this paper proposed a SFLA-based control strategy to smooth the load profile.Finally,compared simulations were performed according to the related data.Compared to particle swarm optimization(PSO)method,the presented SFLA-based strategy can effectively lower the peak-valley difference with the faster convergence rate and higher convergence precision.It is important for the swapping station that energy exchanging mode can supply energy for large-scale EVs with a smoother load profile than one-way charging mode.
基金Supported by Beijing Natural Science Foundation Project(9192002)Key Projects of Beijing Social Science Foundation(19YJA002)。
文摘The spatial spillover of air pollution in Beijing-Tianjin-Hebei region makes the territorial governance model inefficient.At the same time,it is facing the contradiction between environmental governance and economic development.So far,there is still no regional long-term mechanism for coordinated governance of air pollution.Ecological compensation theory is becoming an effective guiding theory to coordinate economic and environmental benefits.There is relatively little research on ecological compensation mechanism in the coordinated control of regional air pollution.Ecological compensation mechanism is an effective tool to promote air pollution control.At the same time,regional cooperation can realize the efficient control of air pollution.Scientifically constructing the cross regional cooperative control model of Beijing,Tianjin and Hebei is a favorable way to implement comprehensive control of air pollution.This paper discusses the necessity of ecological compensation mechanism for regional coordinated control of air pollution.Referring to practical experience of provinces and cities that have implemented the ecological compensation mechanism for air pollution control,and the effective way to distribute the compensation amount,compensation subject and compensation standard determination method that can be implemented in Beijing-Tianjin-Hebei region are analyzed,further proposing an effective way to establish an ecological compensation mechanism for regional air pollution collaborative control according to its reality.
基金supported by the National Natural Science Foundation of China(No.91844301)by the Beijing Municipal Natural Science Fund(No.JQ21030)。
文摘The coordinated control of PM_(2.5)and ozone has become the strategic goal of national air pollution control.Considering the gradual decline in PM_(2.5)concentration and the aggravation of ozone pollution,a better understanding of the coordinated control of PM_(2.5)and ozone is urgently needed.Here,we collected and sorted air pollutant data for 337 cities from 2015 to 2020 to explore the characteristics of PM_(2.5)and ozone pollution based on China’s five major air pollution regions.The results show that it is necessary to continue to strengthen the emission reduction in PM_(2.5)and ozone precursors,and control NO_(x) and VOCs while promoting a dramatic emission reduction in PM_(2.5).The primary method of curbing ozone pollution is to strengthen the emission control of VOCs,with a long-term strategy of achieving substantial emission reductions in NO_(x),because VOCs and NO_(x) are also precursors to PM_(2.5);hence,their reductions also contribute to the reduction in PM_(2.5).Therefore,the implementation of a multipollutant emission reduction control strategy aimed at the prevention and control of PM_(2.5)and ozone pollution is the only means to realize the coordinated control of PM_(2.5)and ozone.
基金supported by the National Natural Science Foundation of China(No.62273189)the Natural Science Foundation of Shandong Province(No.ZR2021MF005).
文摘The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments.
文摘Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.
基金The authors from Technical University of Denmark are grateful to Sino-Danish Education and Research Centre(SDC)for the financial support to the PhD project of‘Coordinated Control of Wind Power Plants and Energy Storage Systems’.
文摘Microgrid is a good option to integrate renewableenergy sources (RES) into power systems. Inorder to deal with the intermittent characteristics of therenewable energy based distributed generation (DG) units,a fuzzy-logic based coordinated control strategy of a batteryenergy storage system (BESS) and dispatchable DGunits is proposed for the microgrid management system(MMS). In the proposed coordinated control strategy, theBESS is used to minimize active power exchange at thepoint of common coupling of the microgrid for grid-connectedoperation, and is used for frequency control for islandoperation. The efficiency of the proposed controlstrategy was tested by case studies using DIgSILENT/PowerFactroy.
基金by a project under the scheme entitled“Developing Policies&Adaptation Strategies to Climate Change in the Baltic Sea Region”(ASTRA),Project No.ASTRA6-4(2014-2020.4.01.16-0032).
文摘Decreasing costs and favorable policies have resulted in increased penetration of solar photovoltaic(PV)power generation in distribution networks.As the PV systems penetration is likely to increase in the future,utilizing the reactive power capability of PV inverters to mitigate voltage deviations is being promoted.In recent years,droop control of inverter-based distributed energy resources has emerged as an essential tool for use in this study.The participation of PV systems in voltage regulation and its coordination with existing controllers,such as on-load tap changers,is paramount for controlling the voltage within specified limits.In this work,control strategies are presented that can be coordinated with the existing controls in a distributed manner.The effectiveness of the proposed method was demonstrated through simulation results on a distribution system.
文摘The evolved capacitor commutated converter(ECCC),embedded with anti-parallel thyristors based dual-directional full-bridge modules(APT-DFBMs),can effectively reduce commutation failure(CF)risks of line-commutated converter-based high voltage direct current(HVDC)and improve the dynamic responses of capacitor-commutated converterbased HVDC.This paper proposes an improved coordinated control strategy for ECCC with the following improvements:(1)under normal operation state,series-connected capacitors can accelerate the commutation process,thereby reducing the overlap angle and increasing the successful commutation margin;(2)under AC fault conditions,the ability of ECCC to mitigate the CF issue no longer relies on the fast fault detection,since the capacitors inside the APT-DFBMs can consistently contribute to the commutation process and further reduce the CF probability;(3)the inserted capacitors can output certain amount of reactive power,increase the power factor,and reduce the required reactive power compensation capacity.Firstly,the proposed coordinated control approach is presented in detail,and the extra commutation voltage to mitigate the CFs provided by the proposed control approach and an existing approach is compared.Secondly,the mechanism of the improved control approach to accelerate commutation process and improve the power factor is analyzed theoretically.Finally,the detailed electromagnetic transient(EMT)simulation in PSCAD/EMTDC is conducted to validate the effectiveness of the proposed coordinated control.The results show that the proposed approach can present a further substantial improvement for ECCC,especially enhancing the CF mitigation effect.
基金Supported by National Natural Science Foundation of P. R. China (69804003, 50576022)the Natural Science Foundation of Beijing (4062030)
文摘In unit steam-boiler generation, a coordinated control strategy is required to ensure a higher rate of load change without violating thermal constraints. The process is characterized by nonlinearity and uncertainty. While neural networks can model highly complex nonlinear dynamical systems, they produce black box models. This has led to significant interest in neuro-fuzzy networks (NFNs) to represent a nonlinear dynamical process by a set of locally valid and simpler submodels. Two alternative methods of exploiting the NFNs within a generalised predictive control (GPC) framework for nonlinear model predictive control are described. Coordinated control of steam-boiler generation using the two nonlinear GPC methods show excellent tracking and disturbance rejection results and improved performance compared with conventional linear GPC.
文摘In this paper,a dual droop-frequency diving coordinated control strategy is proposed for electric vehicle(EV)applications,where the hybrid energy storage system(HESS)with supercapacitors and batteries is integrated to prolong the life time of storage elements.The dynamic power allocation between the supercapacitor and batteries are obtained through the voltage cascaded control,upon which the high and low frequency power fluctuation are absorbed by the supercapacitors and batteries respectively to fully exploit the advantages of the supercapacitors and batteries.Moreover,the power capacity is scaled up by connecting storage blocks in parallel.A dual droop control scheme for parallel-connected energy storage system and its operation principle is introduced on the aspect of current sharing characteristic and state-of-charging(SOC)management.After detailed analysis and formula derivation,the corresponding loop parameters are designed.Through this control method,the current sharing performance is ensured and each block makes the self-adaptive adjustment according to their SOC.Consequently,the load power can be shared effectively,which helps to avoid the over-charge/over-discharge operation and contributes to the life cycle of the energy storage system.Each module is autonomous controlled without the necessity of communication,which is easy,economic and effective to realize.Finally,the simulation and experimental results are exhibited to verify the effectiveness of the proposed control scheme.
基金supported by the Chinese National Natural Science Foundation (grant number 51977039 and 51950410593).
文摘The multi-port energy router(ER)is an effective topology for integrating train traction load,AC load,the energy storage system and photovoltaic(PV)energy.The start and stop process of urban rail transit trains and the access of distributed energy sources to rail transit ER lead to serious fluctuations of DC bus power,so it is necessary to route energy between different ports,involving multi-operating modes,while seamless switching is a major challenge.In this paper,a hierarchical coordinated control strategy is proposed to enable the multi-port ER to operate in a coor-dinated fashion under the conditions of train parking,acceleration,constant power driving and deceleration,and to switch seamlessly under various working conditions.The energy central dispatching layer sends working condi-tion instructions by sampling the state information of each port,while the microgrid control layer adopts central-ized control,receiving upper working condition instructions and sending drive signals to the local control layers to maintain the balanced energy flow of each port.In the local control layers,the PV adopts the improved perturbation and observation method of power control(PC-P&O),while the ES system adopts voltage loop control with an SOC influence factor,voltage loop control with switching factor and power loop control according to the different working conditions,so as to transmit the required train load power accurately and maintain the stability of the DC bus voltage.Finally,the effectiveness of the proposed hierarchical coordination control is verified by MATLAB/Simulink simulations.
基金jointly supported by the grants from the National Natural Science Foundation of China(71971144)the Beijing Natural Science Foundation(8192006)the Beijing Municipal Education Commission Foundation(SZ201910038021)
文摘Urban fine management needs scientific traffic management methods and efficient signal control programs.Green wave control is usually used to facilitate the unban traffic.However,maximum bandwidth optimization on arterial traffic signal timing is usually yielded from the sacrifice of the branch road.The green wave on branch roads and pedestrian crossing time at intersections are often neglected.In this paper,an extended integrated green wave control method is presented to solve the coordinated control issue,which considers green time constraints to ensure necessary time for vehicles on branch roads and pedestrian crossing time at intersections.Non-coordinated phase saturation is first introduced to describe the green time on branch roads.Next,the arterial roads are partitioned to enlarge the green wave bandwidth and an extended green wave optimization model with green time constraints is proposed.Combined with the green wave searching method,an improved genetic algorithm is applied.Finally,a real-world case study in Shenzhen,China,is employed to assess the model.Results show the proposed model can(1)reach the same public green time as in the traditional method and(2)increase the average sub-green wave bandwidth to improve the signal control.
文摘This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the two-dimensional image space, an integrated 6-degree-of-freedom dynamic model is formulated for spacecraft relative motion. Without sophisticated threedimensional reconstruction, image features are directly utilized for the controller design. The proposed image-based controller can drive the follower spacecraft in the desired configuration with respect to the leader when the real-time captured images match their reference counterparts. To improve the precision of the formation configuration, the proposed controller employs a coordinated term to reduce the relative distance errors between followers. The uncertainties in the system dynamics are handled by integrating the adaptive technique into the controller, which increases the robustness of the SFF system. The closed-loop system stability is analyzed using the Lyapunov method and algebraic graph theory. A numerical simulation for a given SFF scenario is performed to evaluate the performance of the controller.
文摘The increasing applications of net-zero energy buildings (NZEBs) will lead to more frequent and larger energy interactions with the connected power grid, thereby being able to result in severe grid overvoltage risks. Control optimization has been proven effective to reduce such risks. Existing controls have oversimplified the overvoltage quantification by simply using the aggregated power exchanges to represent the connected grid overvoltages. Ignoring the complex voltage influences among the grid nodes, such oversimplification can easily result in low-accuracy impact evaluations of the NZEB-grid energy interactions, thereby causing non-optimal/unsatisfying overvoltage mitigations. Therefore, this study proposes a novel coordinated control method in which a power-distribution-network model has been adopted for more accurate overvoltage quantification. Meanwhile, the battery operations of individual NZEBs are iteratively coordinated using a sequential optimization approach for achieving the global optimum with substantially reduced computation complexity. For verifications, the proposed coordinated control has been systematically compared with an uncoordinated control and a conventional coordinated control in grid overvoltage minimization. The study results show that the overvoltage improvements can reach 23.5% and 12.3% compared with the uncoordinated control and the conventional coordinated control, respectively. The reasons behind the improvements have also been analyzed in detail. The proposed coordinated control can be used in practice to improve NZEB-clusters’ grid friendliness.
基金the National Natural Science Foundation of China[Grant Number 61673050].
文摘This paper proposes a robust Immersion and Invariance(I&I)adaptive coordinated controller for a class of uncertain linear-motor-driven biaxial gantry system subject to external disturbances for high-accuracy contour tracking.Firstly,the dynamic model of the gantry system is transformed into task coordinate frame,through which the contour tracking can be regarded as a regulation problem.Based on the transformed system dynamics,an I&I-based adaptation law with smooth projection is proposed to estimate the unknown parameters.Different from traditional adaptive control,the proposed robust I&I adaptive control introduces a new term called tuning function in adaptation law to shape the dynamic behaviour of the estimation vector.Then the stability of the closed-loop system is proved by Lyapunov theory.Finally,comparative experiments are executed on an industrial biaxial gantry system with two different cases to verify the effectiveness of the proposed control law.
基金The authors are grateful for the financial support from the National Natural Science Foundation of China(Grant Nos.51705480,No.51575043,Nos.51975048,U1564210,and U1764257).
文摘The dual-mode electro-mechanical transmission(EMT)system is a crucial part of power-split hybrid electric vehicles(HEVs),especially for the heavy HEVs.To improve the precision of the system power distribution and the response speed of the electric power supply,a model-based double closed-loop coordinated control strategy is proposed.As the basis of the proposed control strategy,an EMT system model,particularly of an electrical system,is established first.The proposed control strategy includes the power distribution strategy,battery power closed-loop feedback control strategy,and motor coordinated control strategy.To verify the feasibility of the proposed control strategy,simulation and experiment are performed.The results indicate that the proposed control strategy can realize the expected power distribution by coordinating generators and motors and achieve rapid and stable electric power supply.
文摘In renewable penetrated power systems, frequency instability arises due to the volatile nature of renewable energy sources (RES) and load disturbances. The traditional load frequency control (LFC) strategy from conventional power sources (CPS) alone unable to control the frequency deviations caused by the aforementioned disturbances. Therefore, it is essential to modify the structure of LFC, to handle the disturbances caused by the RES and load. With regards to the above problem, this work proposes a novel coordinated LFC strategy with modified control signal to have Plug-in Hybrid Electric Vehicles (PHEVs) for frequency stability enhancement of the Japanese power system. Where, the coordinated control strategy is based on the PID controller, which is optimally tuned by the recently developed JAYA Algorithm (JA). Numerous simulations are performed with the proposed methodology and, the results have confirmed the effectiveness of a proposed approach over some recent and well-known techniques in literature. Furthermore, simulation results reveal that the proposed coordinated approach significantly minimizing the frequency deviations compared to the JAYA optimized LFC without PHEVs & with PHEVs but no coordination.
基金This paper is supported by The National Key Research and Development Plan,Energy Storage Technology of 10MW Level Redox Battery,2017YFB0903504。
文摘With more and more distributed photovoltaic(PV)plants access to the distribution system,whose structure is changing and becoming an active network.The traditional methods of voltage regulation may hardly adapt to this new situation.To address this problem,this paper presents a coordinated control method of distributed energy storage systems(DESSs)for voltage regulation in a distribution network.The influence of the voltage caused by the PV plant is analyzed in a simple distribution feeder at first.The voltage regulation areas corresponding to DESSs are divided by calculating and comparing the voltage sensitivity matrix.Then,a coordinated voltage control strategy is proposed for the DESSs.Finally,the simulation results of the IEEE 33-bus radial distribution network verify the effectiveness of the proposed coordinated control method.
文摘With the rapid development of network technology and control technology,a networked multi-agent control system is a key direction of modern industrial control systems,such as industrial Internet systems.This paper studies the tracking control problem of networked multi-agent systems with communication constraints,where each agent has no information on the dynamics of other agents except their outputs.A networked predictive proportional integral derivative(PPID)tracking scheme is proposed to achieve the desired tracking performance,compensate actively for communication delays,and simplify implementation in a distributed manner.This scheme combines the past,present and predictive information of neighbour agents to form a tracking error signal for each agent,and applies the proportional,integral,and derivative of the agent tracking error signal to control each individual agent.The criteria of the stability and output tracking consensus of multi-agent systems with the networked PPID tracking scheme are derived through detailed analysis on the closed-loop systems.The effectiveness of the networked PPID tracking scheme is illustrated via an example.
