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Optimal Matching Control of a Low Energy Charged Particle Beam in Particle Accelerators

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IEEE/CAA Journal of Automatica Sinica 2019年第2期6卷 460-470页

作者： Zhigang Ren tehuan chen Zongze Wu IEEE the School of Automation Guangdong University of Technology and Guangdong Key Laboratory of IoT Information Technology the Faculty of Mechanical Engineering and Mechanics Ningbo University

Particle accelerators are devices used for research in scientific problems such as high energy and nuclear *** a particle accelerator, the shape of particle beam envelope is changed dynamically along the forward direction. Thus, this reference direction can be considered as an auxiliary "time" beam axis. In this paper, the optimal beam matching control problem for a low energy transport system in a charged particle accelerator is considered. The beam matching procedure is formulated as a finite "time" dynamic optimization problem, in which the Kapchinsky-Vladimirsky(K-V) coupled envelope equations model beam dynamics. The aim is to drive any arbitrary initial beam state to a prescribed target state, as well as to track reference trajectory as closely as possible, through the control of the lens focusing strengths in the beam matching channel. We first apply the control parameterization method to optimize lens focusing strengths, and then combine this with the time-scaling transformation technique to further optimize the drift and lens length in the beam matching channel. The exact gradients of the cost function with respect to the decision parameters are computed explicitly through the state sensitivity-based analysis method. Finally, numerical simulations are illustrated to verify the effectiveness of the proposed approach.

关键词： Beam matching computational optimal control control parameterization sensitivity-based analysis time-scaling transformation

Rhythm motion control in bio-inspired fishtail based on central pattern generator

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IET Cyber-Systems and Robotics 2021年第1期3卷 53-67页

作者： Song chen Yubiao Liu tehuan chen Junqiang Lou School of Mathematical Sciences Zhejiang UniversityHangzhouZhejiangChina Department of Mathematics School of SciencesHangzhou Dianzi UniversityHangzhouZhejiangChina School of Mechanical Engineering and Mechanics Ningbo UniversityNingboZhejiangChina

The elastic oscillation structure based on central pattern generators(CPGs),which can produce rhythmic motions,is ***,Hopf CPG,the typical CPG model,being a signal generator for the elastic oscillation structure,is analysed via the theory of differential ***,the well-posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi-group ***,the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG ***,the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics.

关键词： equations theory generator

Technical report:PID design of second-order non-linear uncertain systems with fractional order operations

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IET Cyber-Systems and Robotics 2021年第4期3卷 343-346页

作者： Song chen tehuan chen Chao Xu Jian Chu School of Mathematical Sciences Zhejiang UniversityHangzhouZhejiangChina School of Mechanical Engineering and Mechanics Ningbo UniversityNingboZhejiangChina Department of Automation Shanghai Jiao Tong UniversityShanghaiChina Ningbo Artificial Intelligence Institute Shanghai Jiao Tong UniversityNingboZhejiangChina The State Key Laboratory of Industrial Control Technology Institute of Cyber‐Systems and ControlZhejiang UniversityHangzhouZhejiangChina

This study considers a control problem related to the regulation of fractional-order systems controlled by fractional order proportional-integral-derivative controllers(PI^(λ)D^(μ)).The stability result of PIλDμ-based control systems is provided,such that the closed-loop systems can accomplish global stabilisation under some suitable conditions related to the system ***,a simulation is demonstrated to verify the results.

关键词： fractional operations verify

A Survey of Model Predictive Control Methods for Traffic Signal Control

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IEEE/CAA Journal of Automatica Sinica 2019年第3期6卷 623-640页

作者： Bao-Lin Ye Weimin Wu Keyu Ruan Lingxi Li tehuan chen Huimin Gao Yaobin chen IEEE the School of Mechanical and Electrical Engineering Jiaxing University the State Key Laboratory of Industrial Control Instituteof Cyber-Systems and Control Technology Zhejiang University the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis Mechanical Engineering and Mechanics Ningbo University

Enhancing traffic efficiency and alleviating(even circumventing) traffic congestion with advanced traffic signal control(TSC) strategies are always the main issues to be addressed in urban transportation systems. Since model predictive control(MPC) has a lot of advantages in modeling complex dynamic systems, it has been widely studied in traffic signal control over the past 20 years. There is a need for an in-depth understanding of MPC-based TSC methods for traffic networks. Therefore, this paper presents the motivation of using MPC for TSC and how MPC-based TSC approaches are implemented to manage and control the dynamics of traffic flows both in urban road networks and freeway networks. Meanwhile, typical performance evaluation metrics, solution methods, examples of simulations,and applications related to MPC-based TSC approaches are reported. More importantly, this paper summarizes the recent developments and the research trends in coordination and control of traffic networks with MPC-based TSC approaches. Remaining challenges and open issues are discussed towards the end of this paper to discover potential future research directions.

关键词： Autonomous vehicles coordination control mixed integer programming model predictive control system decomposition traffic flow models traffic signal control

Unsupervised learning on particle image velocimetry with embedded cross‐correlation and divergence‐free constraint

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IET Cyber-Systems and Robotics 2022年第3期4卷 200-211页

作者： Yiwei Chong Jiaming Liang tehuan chen Chao Xu Changchun Pan College of Control Science and Engineering Zhejiang UniversityHangzhouZhejiangChina School of Mechanical Engineering and Mechanics Ningbo UniversityNingboZhejiangChina Ningbo Artificial Intelligence Institute Shanghai Jiao Tong UniversityNingboZhejiangChina The State Key Laboratory of Industrial Control Technology Institute of Cyber‐Systems and ControlZhejiang UniversityHangzhouZhejiangChina School of Electronic Information and Electrical Engineering Key Laboratory of Shanghai Navigation and Location Based ServicesShanghai Jiao Tong UniversityShanghaiZhejiangChina

Particle image velocimetry(PIV)is an essential method in experimental fluid *** recent years,the development of deep learning‐based methods has inspired new ap-proaches to tackle the PIV problem,which considerably improves the accuracy of ***,the supervised learning of PIV is driven by large volumes of data with ground truth ***,the authors consider unsupervised PIV *** has been some work on unsupervised PIV,but they are not nearly as effective as supervised learning *** authors try to improve the effectiveness and accuracy of unsupervised PIV by adding classical PIV methods and physical *** this paper,the authors propose an unsupervised PIV method combined with the cross‐correlation method and divergence‐free constraint,which obtains better performance than other unsupervised PIV *** authors compare some classical PIV methods and some deep learning methods,such as LiteFlowNet,LiteFlowNet‐en,and UnLiteFlowNet with the authors’model on the synthetic ***,the authors contrast the results of LiteFlowNet,UnLiteFlowNet and the authors’model on experimental particle *** a result,the authors’model shows comparable performance with classical PIV methods as well as supervised PIV methods and outperforms the previous unsupervised PIV method in most flow cases.

关键词： neural network particle image velocimetry unsupervised learning

Optimal boundary control of 1D colloid transport in a dead-end channel 36

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Optimal boundary control of 1D colloid transport in a dead-e...

Optimal Control for Realizing Target Flow Velocity in 1D MHD Flow 36

第36届中国控制会议

作者： tehuan chen Chao Xu Zhigang Ren Qinfang Qian Faculty of Mechanical Engineering and Mechanics Ningbo University State Key Laboratory of Industrial Control Technology Zhejiang University School of Automation Guangdong University of Technology Operating Theatre Zhejiang Hospital

ISBN: (纸本)9781538629185

Diffusiophoresis occurs when colloids are placed in the non-uniform solute concentration. The colloids will be propelled in the direction of higher or lower concentration of the solute. In this paper, we consider the optimal boundary control of 1D colloid transport in a dead-end channel, which has a wide range of applications such as drug delivery, biology transport,oil recovery system and so on. Thus, we introduce a coupled system describing the colloid transport process and formulate an optimal control problem, in which the goal is to minimize colloid density distribution deviation between the computational one and the target at a pre-specified terminal time. To solve this optimal problem, we derive the gradient of the objective function based on the control parameterization method with respect to the decision parameters, which depends on the solution of the coupled system and the costate system. Finally, we propose an effective computational method and a gradient-based optimization algorithm to solve the optimal control problem numerically.

关键词： Diffusiophoresis Dead-end channel Colloid transport Control parameterization PDE-constrained optimization Computational optimal control

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Optimal Control for Realizing Target Flow Velocity in 1D MHD...

第36届中国控制会议

作者： Zhigang Ren Xiangguo Liu Chao Xu tehuan chen Zongze Wu School of Automation Guangdong University of Technology State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems & Control Zhejiang University Faculty of Mechanical Engineering and Mechanics Ningbo University

ISBN: (纸本)9781538629185

In this paper, we consider an optimal control problem arising in a one-dimensional（1D） Magnetohydrodynam（MHD） flow, which can be modelled by a coupled partial differential equations（PDEs） where the external control input（externinduction of magnetic field） takes the multiplicative effect exerted on both state variables(momentum and magnetic componentsThe aim is to derive the flow velocity to within close proximity of a desired target flow velocity at the pre-indicated termintime. We first use the Galerkin method to obtain a low dimensional dynamical ordinary differential equation（ODE） model baseon the original coupled PDEs. Then, we combine the control parameterization method with the time-scaling transformatiotechnique to obtain an approximate optimal parameter selection problem, which can be solved using gradient-based optimizatiotechniques such as sequential quadratic programming（SQP）. The exact gradients of the cost functional with respect to thdecision parameters are computed based on the analytical equations. Finally, we conclude the paper with simulation results fan example of the 1D MHD flow.

关键词： Magnetohydrodynamic Flow Control Galerkin Method Control Parameterization Time-scaling Transformation

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MFC致动器的动态迟滞模型辨识及补偿控制

振动与冲击 2022年第10期41卷 301-308页

作者：卢荣华陈特欢娄军强崔玉国宁波大学机械工程与力学学院浙江宁波315211 浙江大学工业控制技术国家重点实验室杭州310027

压电宏纤维(marco fiber composite,MFC)具有柔性好、变形能力强的优点,但MFC致动器驱动的柔性臂的迟滞非线性严重影响系统定位精度。提出一种具有非对称性的改进Prandtl-Ishlinskii(PI)迟滞模型,解决经典PI迟滞模型的缺陷(对称性);该... 详细信息

压电宏纤维(marco fiber composite,MFC)具有柔性好、变形能力强的优点,但MFC致动器驱动的柔性臂的迟滞非线性严重影响系统定位精度。提出一种具有非对称性的改进Prandtl-Ishlinskii(PI)迟滞模型,解决经典PI迟滞模型的缺陷(对称性);该模型基于经典PI迟滞模型,叠加一系列不同权重、不同阈值的双边死区算子获得,基于最小二乘法的迟滞模型辨识结果表明,改进PI迟滞模型对MFC致动器的迟滞建模误差从PI迟滞模型误差的16.06%降到5.58%。另外,建立系统的离散传递函数模型来描述系统的线性动态特性,并与改进PI迟滞模型串联得到组合模型,解决纯迟滞模型仅能描述低频、准静态情况下的迟滞特性问题。在前馈补偿下,对MFC致动的柔性臂进行正弦波轨迹跟踪试验,测得补偿后实测位移与期望跟踪位移基本吻合,跟踪精度达到93.62%以上。试验结果证明,所提出的改进PI迟滞模型、离散传递函数模型及补偿方法的有效性。

关键词：压电宏纤维(MFC) 迟滞非线性双极性非对称改进Prandtl-Ishlinskii(PI)迟滞模型离散传递函数模型前馈补偿

旋转柔性机械臂系统的实验模型辨识及伺服速度抑振控制

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振动与冲击 2020年第24期39卷 76-82,133页

作者：贾振娄军强杨依领陈特欢魏燕定宁波大学机械工程与力学学院浙江宁波315211 浙江大学机械工程学院浙江省先进制造技术重点实验室杭州310027

研究了伺服驱动的旋转柔性机械臂系统的实验模型辨识和伺服速度抑振控制问题。建立了从伺服电机的速度驱动信号到旋转柔性机械臂根部应变振动信号的传递函数模型,并对模型关键参数进行了实验辨识。实验结果显示辨识模型预测输出在伪随... 详细信息

研究了伺服驱动的旋转柔性机械臂系统的实验模型辨识和伺服速度抑振控制问题。建立了从伺服电机的速度驱动信号到旋转柔性机械臂根部应变振动信号的传递函数模型,并对模型关键参数进行了实验辨识。实验结果显示辨识模型预测输出在伪随机信号和扫频激励信号下与实际结构动态响应的吻合度分别为78.8%和89.8%,证实了所建立模型和参数辨识结果的正确性,掌握了柔性臂在旋转过程中的振动特性。提出了一种基于极点配置的伺服速度抑振控制方法。通过二阶系统最佳阻尼比确定了闭环极点位置,得到了闭环反馈增益。实验中旋转柔性机械臂系统在梯形速度曲线下的残余振动衰减时间缩短为3 s,其一阶固有频率振动幅值由77.5 dB衰减到32.9 dB。通过伺服电机速度控制实现了旋转柔性机械臂系统振动的快速有效抑制。

关键词：旋转柔性机械臂系统辨识伺服速度抑振极点配置法