Mechatronic Systems and Control最新文献_第9页

Understanding the Role of Microgrid Topology for Decentralized Model-Based Control 理解微电网拓扑在分散模型控制中的作用

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9103

Matthew K. Chu Cheong, Dongmei Chen, P. Du

{"title":"Understanding the Role of Microgrid Topology for Decentralized Model-Based Control","authors":"Matthew K. Chu Cheong, Dongmei Chen, P. Du","doi":"10.1115/dscc2019-9103","DOIUrl":"https://doi.org/10.1115/dscc2019-9103","url":null,"abstract":"\u0000 This paper identifies how the topology of a microgrid, particularly with respect to localized power injections, can affect the overall stability of the system. Microgrids are smaller-scale power networks that can disconnect from, and operate independently to, the main grid if necessary; accordingly, distributed and local generation is much more common in these systems. Of these local power sources, a significant proportion interface with the microgrid via inverters, and therefore lack physical inertia. This absence of physical inertia exacerbates the control challenge in a microgrid. These issues motivate the question of how to best control distributed generators to realize grid-wide improvements to power quality. We outline how the placement of controlled distributed generators can result in varying degrees of improved transient behavior, following disturbances to a microgrid. In this resulting simulations and analysis, we find that when the power sources in a microgrid are of varying capacity or rating, then the network topology can have a significant effect on transient performance deterioration. Notably, we find that if even a single a lower rated power source is ‘near’ or adjacent to a grid disturbance, then the microgrid may experience severe harmonic disturbances. In addition, we show that if such sources are controlled with a decentralized optimal controller, rather than a typical droop mechanism, then the overall microgrid performance is significantly improved.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"48 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77027832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimal Strategy for Multiple Evaders Against an Agile Pursuer 多躲避者对抗敏捷追踪者的最优策略

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8924

Chunsheng Liu, M. Trevorrow

引用次数: 0

On the Modeling and Optimization of Anti-Vibration Gloves for Hand-Arm Vibration Control 手臂振动控制用防振手套的建模与优化研究

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9094

S. K. Gupta, Oreoluwa Alabi, Paul Kakou, O. Barry

{"title":"On the Modeling and Optimization of Anti-Vibration Gloves for Hand-Arm Vibration Control","authors":"S. K. Gupta, Oreoluwa Alabi, Paul Kakou, O. Barry","doi":"10.1115/dscc2019-9094","DOIUrl":"https://doi.org/10.1115/dscc2019-9094","url":null,"abstract":"\u0000 Various studies in hand-arm vibrations have shown that isolators in the form of anti-vibration (AV) gloves are effective to reduce unwanted vibrations, transmitted to the human hand, from machines and hand tools. However, most of these studies are based on experimental or numerical analysis and hence, the level of effectiveness and optimum values of the glove’s properties remain unclear. In this work, we analytically study the dynamics of hand-arm vibrations with and without a glove using the harmonic balance method. The considered analytical models for the hand-arm vibration comprise of lumped multi-degree of freedom system. The hand-tool interactions are modeled as linear spring and damper system for simplicity and accordingly, we obtain the equations governing the dynamics of the human-hand system. We perform parametric analysis using this bio-mechanical model of the hand-arm vibrations with and without a glove. The parametric analysis on the relative transmissibility (i.e., the ratio of transmissibilities with glove to without glove) shows the dependence of the transmissibility on the glove parameters. We observe that the effect of glove parameters on the relative transmissibility is not monotonous for the studied frequency range. This observation further motivates us to perform optimization of the glove parameters to minimize the overall transmissibility.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"17 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90669957","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Cooperative Transport of a Payload With Offset CG Using Multiple UAVs 利用多架无人机协同运输带有偏移CG的有效载荷

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9131

Shraddha Barawkar, Manish Kumar

{"title":"Cooperative Transport of a Payload With Offset CG Using Multiple UAVs","authors":"Shraddha Barawkar, Manish Kumar","doi":"10.1115/dscc2019-9131","DOIUrl":"https://doi.org/10.1115/dscc2019-9131","url":null,"abstract":"\u0000 Cooperative transportation by multiple Unmanned Aerial Vehicles (UAVs) has been a topic of interest amongst robotics researchers since a decade. Researchers have developed different control schemes to address some of the issues related to cooperative transport. However, most of the existing control strategies assume a stationary center of gravity (CG) coinciding with the geometric center of the payload. In real world applications such as package delivery or human transport, position of CG, in general, would not be at geometric center, or would not be even known a – priori. This paper proposes a Proportional, Integral and Derivative (PID) controller to address the issue of control when the CG is offset during transportation of a common payload using multiple UAVs. The proposed PID scheme is centralized in nature in that it provides the same control action to all UAVs. Using extensive numerical simulations, the paper shows that such a scheme is shown to work effectively irrespective of the location of CG on the payload. The control scheme is also independent of the payload geometry and number of UAVs employed for cooperative transport. The work presented in this paper provides the groundwork to develop better control strategies to solve the problem of multi-UAV cooperative transport with a – priori unknown CG.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"12 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87750280","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Structured Robust Linear Parameter-Varying Vehicle Sideslip Angle Estimation 结构鲁棒线性变参数车辆侧滑角估计

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9021

Jingqiang Zha, Junmin Wang, Min Li, Xin Zhang, Xiao Yu

{"title":"Structured Robust Linear Parameter-Varying Vehicle Sideslip Angle Estimation","authors":"Jingqiang Zha, Junmin Wang, Min Li, Xin Zhang, Xiao Yu","doi":"10.1115/dscc2019-9021","DOIUrl":"https://doi.org/10.1115/dscc2019-9021","url":null,"abstract":"\u0000 Non-smooth structured robust controller design has drawn a lot of attention recently due to its ability to deal with uncertainty and its convenience for implementation. In this paper, the method is extended to design the structured robust linear parameter-varying (LPV) estimator by pulling out scheduling variables from estimator using linear fractional transformation (LFT). The structured robust LPV estimator is then applied to vehicle sideslip angle estimation. Both the measured vehicle speed and estimated tire cornering stiffness are treated as scheduling variables to further reduce sideslip angle estimation error. The effects of estimator order and number of repetitiveness of scheduling variables are studied using a MATLAB/Simulink bicycle model. The developed approach is later verified in Hardware-in-the-Loop (HIL) simulation environment using dSPACE SCALEXIO and MicroAutoBox. A comprehensive high-fidelity dSPACE automotive simulation models (ASM) vehicle model is used for the real-time HIL simulation. Double-lane change and sine steer maneuvers have been implemented to verify the effectiveness of the structured robust LPV sideslip angle estimation method.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"37 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90269888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling Peripheral Artery Behavior Beneath a Non-Invasive Wearable Sensor Subject to Varying Outside Pressure 在非侵入式可穿戴传感器下模拟外周动脉受外界压力变化的行为

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9221

Lu Wang, Sardar Ansari, Yingjie Cai, Kevin Ward, K. Najarian, K. Oldham

引用次数: 0

Autonomous Real-Time Monitoring of Crops in Controlled Environment Agriculture 受控环境农业中作物的自主实时监测

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9176

S. Faryadi, Mohammadreza Davoodi, J. M. Velni

{"title":"Autonomous Real-Time Monitoring of Crops in Controlled Environment Agriculture","authors":"S. Faryadi, Mohammadreza Davoodi, J. M. Velni","doi":"10.1115/dscc2019-9176","DOIUrl":"https://doi.org/10.1115/dscc2019-9176","url":null,"abstract":"\u0000 In this work, we develop a system that can be used for real-time monitoring of multiple important areas in controlled environment agriculture (and in particular greenhouses) using an autonomous ground vehicle (AGV). To model the greenhouse layout, as well as the tasks that should be accomplished by the AGV, we generate two weighted directed graphs. Based on those graphs, an algorithm is then proposed for finding the optimal (in the sense of traveled distance) trajectory of the vehicle with the goal of precisely monitoring important areas in the greenhouse. Furthermore, a data collection system and image processing algorithm is proposed and implemented so that the vehicle: (i) can capture images and detect changes that have occurred on the crops in real time, and (ii) construct (if needed) a map of the plant rows, when arriving at each one of the important areas. Based on this work, the images can either be stitched onboard the vehicle and then sent to a server or be sent directly to the server and then processed (stitched) there. Both simulation and experimental results are provided to demonstrate the effectiveness and performance of the proposed system.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"25 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72819483","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Trajectory Tracking of 3D Autonomous Vehicles Using Backstepping Control 基于反步控制的3D自动驾驶汽车轨迹跟踪

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8954

K. L. Fetzer, S. Nersesov, H. Ashrafiuon

引用次数: 1

A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles 一种新的旋翼无人机准稳态入地效应模型

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9025

Xiang He, K. Leang

引用次数: 1

Surface Recognition for Cars: A Comprehensive Approach for Neural Networks 汽车表面识别:神经网络的综合方法