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Optimal Initialization and Starting Approach of Synchronous Condenser Integrated Power Grid

CSEE Journal of Power and Energy Systems 2024年第1期10卷 248-260页

作者： Puyu Wang Xing Liu Qingwen Mou Tao Yuan Tianming Gu Hemin Yang Xiao-Ping Zhang zhengrong xiang Chunyi Guo School of Automation Nanjing University of Science and TechnologyNanjing 210094China NARI Group Corporation/State Grid EPRI and also with NARI Technology Co.Ltd. Nanjing 211106China School of Engineering University of BirminghamBirminghamB152TTUnited Kingdom State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China

Synchronous condensers(SCs)are generally used at the receiving-end stations of ultra-high-voltage direct current(UHVDC)transmission systems due to their strong reactive power support and flexible regulation of reactive power according to the interconnected grids operating *** this paper,different starting control schemes of a SC integrated power grid are investigated providing four main contributions:1)The principle of reactive power support of the SC on the interconnected power grid is analytically studied,providing the establishment of mathematical models.2)Four different starting control schemes are developed for the initialization and SC integration,*** Scheme 1,a preset initial falling speed is directly utilized without initialization;in Scheme 2,a black start sequential control approach with a static frequency converter(SFC)is proposed;in Scheme 3,PI/PD/PID controllers are respectively applied for the excitation device at the speed-falling stage;in Scheme 4,a pre-insertion approach of an energy absorption component with R/L/RL is utilized to suppress the surges at the SC integration instant.3)The dynamic behaviors of four different starting schemes at specific operating stages are evaluated.4)The success rate of SC integration is analyzed to evaluate starting control *** of the SC interconnected system with four different starting control schemes is evaluated in the timedomain simulation environment PSCAD/EMTDC^(TM).The results prove the superiority of the proposed starting control approach in Scheme 4.

关键词： Black start dynamic behaviors excitation system pre-insertion of energy absorption components starting control schemes static frequency converter(SFC) success rate of integration synchronous condenser(SC)

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Design of controllers for a class of switched nonlinear systems based on backstepping method

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Frontiers of Electrical and Electronic Engineering in China 2008年第4期3卷 465-469页

作者： zhengrong xiang Weiming xiang School of Automation Nanjing University of Science and TechnologyNanjing 210094China

The backstepping method is applied to a certain class of switched nonlinear systems to design state feedback controllers and a switching law based on multi-Lyapunov *** state feedback controllers and the switching law that can stabilize the system are *** switched nonlinear systems with uncertainties can be stabi-lized robustly by using the proposed ***,simu-lation results show the effectiveness of the method.

关键词： switched nonlinear systems backstepping method multi-Lyapunov functions robust stabilization

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人机融合系统协同与优化方法研究进展

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指挥控制与仿真 2024年第5期46卷 103-113页

作者：王荣浩文晓向峥嵘陆军工程大学国防工程学院江苏南京210007 南京理工大学自动化学院江苏南京210094

人机融合作为决定未来战争形式的关键因素,从提出到兴起备受各国军事领域专家的关注,它是促进人和机器智能协作的一种必要手段。针对人机融合系统,介绍了目前的研究现状、相关重要概念以及实际应用,分析了从无人系统到人机融合的整体发... 详细信息

人机融合作为决定未来战争形式的关键因素,从提出到兴起备受各国军事领域专家的关注,它是促进人和机器智能协作的一种必要手段。针对人机融合系统,介绍了目前的研究现状、相关重要概念以及实际应用,分析了从无人系统到人机融合的整体发展进程,归纳了人机融合的相关理论和协同策略,得到了人机融合系统的实现框架、协同机制和发展研判,并对其性能优化方法和协同优化关键技术进行了深入剖析。

关键词：人机融合协同策略智能协作性能优化人机系统

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基于Pixhawk飞控的硬件在环仿真系统设计

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高技术通讯 2024年第1期34卷 46-53页

作者：吴和龙向政蓉高宇航杨剑锋蔡茗茜吴其琦工业和信息化部电子第五研究所广州511370 广西科技师范学院机械与电气工程学院来宾546199 广西科技大学自动化学院柳州545006

Pixhawk飞控在民用无人机(UAV)领域得到广泛应用。为了在Pixhawk飞控上实现硬件在环仿真功能以达到验证飞控飞行性能的目的,设计了基于Pixhawk飞控的四旋翼无人机硬件在环仿真系统。通过构建四旋翼机体模型,实现模型在电机转速信号的驱... 详细信息

Pixhawk飞控在民用无人机(UAV)领域得到广泛应用。为了在Pixhawk飞控上实现硬件在环仿真功能以达到验证飞控飞行性能的目的,设计了基于Pixhawk飞控的四旋翼无人机硬件在环仿真系统。通过构建四旋翼机体模型,实现模型在电机转速信号的驱动下输出位姿数据;位姿数据传输到飞控并重构为模拟传感器数据,飞控内核对传感器数据处理后输出电机转速信号驱动模型飞行,由此构成飞控硬件在环的仿真环路。在测试中使用相同航线进行了仿真飞行与真实飞行,并计算2种飞行模式数据的相关系数,系数普遍高于0.85,表明获得了较为逼真的仿真效果。

关键词：无人机(UAV)仿真硬件在环 Pixhawk飞控模拟传感器

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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li Yilong Zhang Ping Li Rob Law zhengrong xiang Xin Xu Limin Zhu Edmond Q.Wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake *** method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined *** optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and ***,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control *** compensation is adopted to enhance the compatibility of a robot within ever-changing *** and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

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Finite-time event-triggered consensus of second-order multi-agent systems

Finite-time event-triggered consensus of second-order multi-...

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第30届中国控制与决策会议

作者： Kewei Qian zhengrong xiang School of Automation Nanjing University of Science and Technology

This paper studies the finite-time consensus（FTC） of second-order multi-agent systems（MASs）,where the event-triggered strategy is ***,a new protocol is designed to solve the FTC problem for the MASs under ***,by using Lyapunov theory and graph theory,the sufficient conditions are obtained to guarantee the FTC of the ***,a lower-bounded inter-event time is given to exclude the Zeno ***,a numerical simulation is presented to demonstrated the effectiveness of the theoretical results.

关键词： Finite-time consensus Second-order multi-agent systems Event-triggered strategy Zeno behavior

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Control of switched systems with actuator saturation

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控制理论与应用（英文版） 2006年第1期4卷 38-43页

作者： Yang SONG zhengrong xiang Qingwei CHEN Weili HU Department of Automation Nanjing University of Science ＆ Technology Jiangsu Nanjing 210094 China

This paper is concerned with controller synthesis for linear switched systems with actuator saturation. Based on common Lyapunov function technique and multiple-Lyapunov function technique, two methods for designing state feedback controller are proposed respectively in terms of linear matrix inequalities for the switched systems with saturation. An approach on enlarging the attractive domain is then investigated, The application of the presented approach is illustrated finally by a numerical example.

关键词： Saturating control Switched systems Common Lyapunov function Multiple Lyapunov functions

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Robust Nonlinear Control of Continuous Stirred Tank Reactors

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Advances in Manufacturing 1998年第2期2卷 51-54页

作者： xiang zhengrong Hu Weili (Nanjing University of Science and Technology)

This paper deals with the temperature tracking control problem of continuous stirred tank reactors (CSTRs) widely used in chemical engineering. Design of robust tracking controller for a class of CSTRs plant with uncertainties is presented using input output feedback linearization techniques. The control scheme has been applied to a first order irreversible exothermic reaction process carried out in a CSTR, and simulation results show that it is effective.

关键词： chemical reactors temperature tracking nonlinear control robust control feedback linearization uncertainties

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Exponential stability for positive singular systems without/with time-varying distributed delays

Exponential stability for positive singular systems without/...

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第32届中国控制与决策会议

作者： Zijing Cao Shuo Li zhengrong xiang School of Automation Hangzhou Dianzi University School of Automation Nanjing University of Science and Technology

This paper analyzes the problem of positivity and exponential stability for positive singular systems（PSSs）without/with time-varying distributed ***,by using the singular value decomposition technique,a sufficient and necessary condition of positivity is firstly developed for the system without or with time-varying distributed delays,***,based on the co-positive Lyapunov function approach,a sufficient condition of exponential stability is derived for the PSSs in delay-free ***,considering the time-varying distributed delay case,a sufficient delay-dependent condition of exponential stability is derived for the PSSs via the co-positive Lyapunov-Krasovskii functional *** obtained exponential decay rate can be adjusted according to various actual *** examples are finally presented to show the feasibility and effectiveness of the obtained results.

关键词： Positive singular systems Positivity Exponential stability Time-varying distributed delays

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Leader-following consensus protocol design of second-order nonlinear multi-agent systems with unmodeled dynamics

Leader-following consensus protocol design of second-order n...

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第37届中国控制会议

作者： Wencheng Zou Jian Guo zhengrong xiang School of Automation Nanjing University of Science and Technology

The leader-following consensus problem is investigated for a class of second-order nonlinear multi-agent systems in this paper, where unmodeled dynamics are contained in the multi-agent systems and the control input of leader agent is unknown to follower agents. A distributed protocol, which contains a designed signal to dominate the effects of unmodeled dynamics, is proposed to solve the consensus problem for the nonlinear multi-agent systems. It is proven that the leader-following consensus is achieved by the presented protocol under undirected topologies. Then the result is extended to the case when topologies are directed, where any communication graph only contains a spanning tree with the root vertex being the leader agent. Two numerical examples are given to illustrate the effectiveness of the proposed protocols.

关键词： leader-following consensus nonlinear systems second-order multi-agent systems unmodeled dynamics

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