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Systems Science Commons

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2020

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Articles 841 - 870 of 1494

Full-Text Articles in Systems Science

Stochastic Resonance In Time-Delayed Asymmetric Monostable System With Stable Noise, Shangbin Jiao, Li Jia, Zhang Qing, Xie Guo Jul 2020

Stochastic Resonance In Time-Delayed Asymmetric Monostable System With Stable Noise, Shangbin Jiao, Li Jia, Zhang Qing, Xie Guo

Journal of System Simulation

Abstract: α stable noise with monostable system was combined to investigate the stochastic resonance of the asymmetric monostable with time delay or not driven by different stable noise. The numerical simulation study shows that the stochastic resonance exists not only in the asymmetric monostable system but also in the time-delayed asymmetric monostable system. The effects of the stability index α (0<α≤2) and symmetric parameter β(-1≤β≤1) of α stable noise, the monostable system parameter α, the amplification factor D of multiplicative stable noise, the asymmetry parameter r and the time delay on the signal-to-noise ratio gain of the system were explored.


Identification Of Wiener Model Based On Improved Differential Evolution (Sade) Algorithm, Xiaoping Xu, Bai Bo, Fucai Qian Jul 2020

Identification Of Wiener Model Based On Improved Differential Evolution (Sade) Algorithm, Xiaoping Xu, Bai Bo, Fucai Qian

Journal of System Simulation

Abstract: To identify the parameters of nonlinear Wiener model, a new identification method was put forward based on a SADE algorithm. Its basic idea is as follows: the Sigmoid function and adaptive mutation operator were adopted to improve the mutation operation part of the basic differential evolution algorithm, accordingly, the disadvantages of the basic differential evolution algorithm, such as premature convergence, instability, etc, were effectively overcome. The proposed algorithm was used to parameter identification problem of Wiener model; moreover, the accuracy of identification was well improved. In the numerical simulation, compared with other relevant existing algorithms, simulation results show that …


Image Denoising Algorithm Based On Method Noise Sparse Representation Dictionary Learning, Lishao Huang, Haiying Wen, Sisi Gu Jul 2020

Image Denoising Algorithm Based On Method Noise Sparse Representation Dictionary Learning, Lishao Huang, Haiying Wen, Sisi Gu

Journal of System Simulation

Abstract: For the shortcoming of losting partial texture information with image denoising process, the image denoising algorithm based on method noise sparse representation was proposed. The method noise, which was defined as the difference between the noisy and the denoised image, was obtained by guided filter. Then redundant dictionary was learned by improved dictionary learning method and the method noise. The image texture information in method noise was extracted by the learning dictionary, and image was restored by the extracted image texture information and denoised image by guided filter. The experimental results demonstrate that the peak signal to noise ratio …


Color Face Image Recognition Based On Lbpt Method, Jihua Ye, Yahui Chen, Shimin Wang Jul 2020

Color Face Image Recognition Based On Lbpt Method, Jihua Ye, Yahui Chen, Shimin Wang

Journal of System Simulation

Abstract: Aiming to the shortcomings of exiting algorithm to obtain better color face image information for color facial image recognition, the LBPT algorithm was proposed to realize the high efficiency recognition of color face image. LBPT algorithm reflected the texture features of gray image through adaptively obtaining neighborhood radius, ascertaining the relationship between neighborhood radius and neighborhood pixel number, setting threshold. The RGB color model was used to separate the color face image into the R,G,B three component diagrams. The LBPT algorithm was used to obtain the feature of the component diagrams. In order to realize further recognition, the method …


Image Classification Based On Mixed Deep Learning Model Transfer Learning, Xiangbin Shi, Xuejian Fang, Deyuan Zhang, Zhongqiang Guo Jul 2020

Image Classification Based On Mixed Deep Learning Model Transfer Learning, Xiangbin Shi, Xuejian Fang, Deyuan Zhang, Zhongqiang Guo

Journal of System Simulation

Abstract: In order to obtain high discrimination image representations in limited amount of datasets, the method based on mixed deep transfer learning model was proposed. When trained CNNs transferred to the target datasets, fully-connected layers were replaced by RBM layers. The method retrained the RBM layers and Softmax classifier, then fine-tuned the mixed model with backpropagation algorithm. The RBM layers not only fully connected whole feature maps, but also learned the target datasets' statistical features in the view of the biggest logarithmic likelihood, to eliminate the effects caused by the content differences between datasets. The experimental results show that the …


Image Segmentation Based On Active Contour Derived By Signed Pressure Force Function, Hongli Lü, Renfang Wang Jul 2020

Image Segmentation Based On Active Contour Derived By Signed Pressure Force Function, Hongli Lü, Renfang Wang

Journal of System Simulation

Abstract: Distance regularized level set evolution model for image segmentation has some shortcomings. Initial curve is not flexible and the direction of curve evolution is not self-adaptive. A new active contour model was proposed. A signed pressure force function (SPF) was constructed, integrating local information and global information, and shown to modulate the signs of pressure forces inside and outside the region of object; Then SPF was embed to DRLSE model to solve the problem of requiring the initial contour to surround (let in or keep out) the objects. Experimental results show that the new model's initial contour can be …


Opnet Simulation Method For Underwater Acoustic Networks Based On Chirp Spread Spectrum, Wencong Li, Yuan Fei, Zhangting Zhong, En Cheng Jul 2020

Opnet Simulation Method For Underwater Acoustic Networks Based On Chirp Spread Spectrum, Wencong Li, Yuan Fei, Zhangting Zhong, En Cheng

Journal of System Simulation

Abstract: Underwater acoustic(UWA) network protocol simulation on OPNET software could not follow the changing of channel structure and did not support custom modulation. In view of the limitations mentioned, a more realistic method of UWA protocol simulation on OPNET was introduced. UWA network ALHOA protocol simulation was token as an example. The physical layer modulation customized was called π/4-DM-DQPSK which was based on Chirp Spread Spectrum. In Matlab, the system would generate a modulation curve which would then be imported into OPNET to adjust the configuration of other pipelines. The simulation results of ALHOA protocol was verified in two Bellhop …


Boundary Conditions For Model Of Random Kelvin Cell Open-Cell Foam And Its Application On Open-Cell Aluminum Foam, Minju Qi, Guangfa Gao Jul 2020

Boundary Conditions For Model Of Random Kelvin Cell Open-Cell Foam And Its Application On Open-Cell Aluminum Foam, Minju Qi, Guangfa Gao

Journal of System Simulation

Abstract: The random Kelvin cell open-cell foam model, the further investigations on the boundary conditions of the model were carried out using the Python scripting language and the commercial code ABAQUS. The ‘floating' edges in boundary, owing to being cut with slanted planes, were eliminated. The compressive behaviors of the material under free boundary condition and fixed boundary condition were investigated and comparatively analyzed. On the basis of the above results, the periodic boundary condition was developed, and the method of setting the periodic boundary condition under several different conditions was discussed. The methodology for the design and implement for …


Simulation Study On Mslb Plus Sgtr And Si Failure Process In Reactor Vessel Based On Maap5, Xianrong Wu, Huiming Wei, Xuefeng Su, Wu Fan Jul 2020

Simulation Study On Mslb Plus Sgtr And Si Failure Process In Reactor Vessel Based On Maap5, Xianrong Wu, Huiming Wei, Xuefeng Su, Wu Fan

Journal of System Simulation

Abstract: NPP Main Steam Line Break (MSLB) plus Steam Generator Tube Rupture (SGTR) and Safety Injection (SI) failure is severe accident (SA) process with complex phenomena in reactor vessel. The severe accident process serial was analyzed using the latest version of Modular Accident Analysis Program 5 (MAAP5). The whole trends of the simulation result agreed well with the anticipated process serial, which could provide training material to the full scope simulator and the related evidence to make detailed severe accident management guidelines (SAMG).


Path Planning And Control Simulation Of Unpowered Unmanned Aerial Vehicle (Uav) Returning To The Airport, Yijun Zhang, Yiqun Dong, Zhan Guang, Jianliang Ai Jul 2020

Path Planning And Control Simulation Of Unpowered Unmanned Aerial Vehicle (Uav) Returning To The Airport, Yijun Zhang, Yiqun Dong, Zhan Guang, Jianliang Ai

Journal of System Simulation

Abstract: The unpowered Unmanned Aerial Vehicle (UAV) return to the airport unpoweredly is a link of large risk and complex technology during the flight, and it is the key stage which affects the flight safety of the UAV. The basic control strategy and path planning of the unpowered UAV's back to the airport were studied, and the method which calculated the average drag of the return was proposed. Under the condition of multiple constraints, the flight control model of the UAV's return was established. It is proved that the result of the simulation is effective and has built a foundation …


Simulation Of Staring Imaging Attitude Tracking Finite Time Control Of Tv Satellite, Yushu Feng, Kun Liu, Wendun Zhang Jul 2020

Simulation Of Staring Imaging Attitude Tracking Finite Time Control Of Tv Satellite, Yushu Feng, Kun Liu, Wendun Zhang

Journal of System Simulation

Abstract: For the attitude tracking control problem of TV satellite staring imaging, a attitude tracking finite time control method driven by Double-Gimbaled Control Moment Gyroscopes (DGCMG) and reaction flywheels was proposed. The expected attitude angles and attitude angular velocity of satellite was computed when it stared imaging. A TV satellite attitude tracking model was described with quaternion. A finite time controller based on homogeneous method of nonlinear system was proposed. The numerical simulation and hardware-in-loop simulation results show that the method can achieve the attitude tracking control of staring imaging of TV satellite, guarantee the closed-loop system converge to the …


Simulation Of Three Level Inverter Neutral Point Potential Control Based On Three Level Dc/Dc Converter, Kun Xia, Xiaodi Li, Xiaobo Ding, Yanneng Zeng, Yiming Wang, Xu Po Jul 2020

Simulation Of Three Level Inverter Neutral Point Potential Control Based On Three Level Dc/Dc Converter, Kun Xia, Xiaodi Li, Xiaobo Ding, Yanneng Zeng, Yiming Wang, Xu Po

Journal of System Simulation

Abstract: The DC capacitor voltage unbalancing of NPC three-level inverter not only makes the AC output performance worse, but also reduces the DC capacitors' service life and even damages the power devices. A method based on three-level DC/DC converter was put forward to control the neutral point potential of three-level inverter. This method realized power conversion with three-level DC/DC converter topology, boosting voltage and stabilizing the neutral point potential of DC link at the same time. It would regulate switches working states according to the constraint rules on the sum of switches off time deciding bus voltage and the ratio …


Application Of Recursive Least Square Method In Identication Of Dehydrogenation Reator, Guoyou Li, Ningning Gao, Wenhua Xia Jul 2020

Application Of Recursive Least Square Method In Identication Of Dehydrogenation Reator, Guoyou Li, Ningning Gao, Wenhua Xia

Journal of System Simulation

Abstract: The current production methods of styrene at home and abroad are mainly dhydrogenation of ethylbenzene which accounts for more than 90% of styrene production capacity in the world. To save energy, it was needed to optimize the system and its premise was to know the mathematical model of ethylbenzene dehydrogenation reactor. Due to the complexity of the reactor internal structure, mechanism modeling was more difficult to establish objective and accurate mathematics models. To solve this problem, it was used recursive least squares to conduct parameter identification. On the basis of actual plant data, ethylbenzene dehydrogenation reactor mathematical model was …


Simulation Research Of Maglev Train During Uphill And Downhill Process, Songqi Li, Kunlun Zhang, Guoqing Liu, Chen Yin Jul 2020

Simulation Research Of Maglev Train During Uphill And Downhill Process, Songqi Li, Kunlun Zhang, Guoqing Liu, Chen Yin

Journal of System Simulation

Abstract: In the low speed EMS maglev test line experiments in Zhuzhou, it was found that vehicles are prone to hit the tracks, when the maglev train travels uphill or downhill through the tracks with slopes. This seriously affected the safety and comfort of the vehicle. In order to study the problem, a single low speed EMS maglev train carriages-track model with four degrees of freedom was built. It simulated and analyzed dynamic behaviors of the vehicle going uphill on different track curves, under different vehicle -track parameters. The simulation results show that the vehicle parameters, vehicle speed, and the …


Modeling Method Based On Reachable Set For Safety Path In Autonomous Vehicle Obstacle Avoidance, Cao Kai, Xiaoxiao Huang, Yu Yun, Liu Chun Jul 2020

Modeling Method Based On Reachable Set For Safety Path In Autonomous Vehicle Obstacle Avoidance, Cao Kai, Xiaoxiao Huang, Yu Yun, Liu Chun

Journal of System Simulation

Abstract: In view of problem in all possible uncertain behavior of vehicle unable existed by the traditional path planning algorithm, a modeling method was proposed which deemed a moving vehicle as a hybrid system switching dynamically between continuous and discrete mode, modeled an optimal trajectory for vehicle obstacle avoidance by using a single security target location, and built a safe state reachable set based on the trajectory beam of multiple security target locations. On this basis, the condition of the inevitable collision of vehicle was analyzed, and the optimal control problem with loose constraints for the vehicle obstacle avoidance was …


Multiple Disasters Evacuation Perceptual Model Based On Agent Technology, Xuefeng Zhang, Chengjun Zhang, Chenxi Bai, Taiping Jiang, Yuezhong Chu Jul 2020

Multiple Disasters Evacuation Perceptual Model Based On Agent Technology, Xuefeng Zhang, Chengjun Zhang, Chenxi Bai, Taiping Jiang, Yuezhong Chu

Journal of System Simulation

Abstract: Various disasters or accidents often reoccur in the process of evacuation. In order to solve the problem of evacuation in multiple disasters, a perceptual model for evacuation was proposed based on multi-agent technology. By guiding the decision and action of people with mathematical model of disaster and individual perception model, the crowd evacuation stimulation was combined with environment disaster model. It stimulated the perceptive functions such as visual sense, sense of smell, and auditory sense with ray method, gas molecular diffusion formula, and the theory of sound transmission. It analyzed the information of people through stress reaction model and …


Multivariate Time Series Local Support Vector Regression Forecast Methods For Daily Temperature, Dingcheng Wang, Zhili Cao, Beijing Chen, Yujia Ni Jul 2020

Multivariate Time Series Local Support Vector Regression Forecast Methods For Daily Temperature, Dingcheng Wang, Zhili Cao, Beijing Chen, Yujia Ni

Journal of System Simulation

Abstract: Daily temperature forecast is an important part in weather forecasting. New methods are explored to improve the prediction accuracy since the atmosphere system is a complex nonlinear system. A model based on multivariate time series and local support vector regression was proposed. After constructing multivariate time-series with C-C method and minimum prediction error method, a way to extract the nearest neighbor from each predictor's sequences was used to build the 1-day ahead local forecasting model for daily maximum and minimum temperature. To demonstrate the effectiveness, the model was applied and tested in data from 753 stations data package of …


Orthogonal Experimental Optimization Design For Improving Aerodynamic Characteristics Of Hovering Air Vehicle, Yanan Yu Jul 2020

Orthogonal Experimental Optimization Design For Improving Aerodynamic Characteristics Of Hovering Air Vehicle, Yanan Yu

Journal of System Simulation

Abstract: Vertical hovering MAV model with flexible aerodynamic shape was proposed. The passive adaptive deformation that produced on the aerodynamic shape was designed to absorb disturbance from outside airflow pressure, and furthermore to improve aircraft's disturbance resistance ability. Multiple factors' effects for aircraft's aerodynamic characteristics were analyzed, such as structural geometrical parameters, candidate material properties, and environmental parameters. The orthogonal experimental analysis of aircraft aerodynamic forces was accomplished, which include the forces produced in the horizontal and vertical direction. The significant factors effecting on the flight performance were discussed and the best response value in the selected parameter range was …


Dynamic Stochastic Relay Selection Algorithm In Peer-To-Peer Networks, Chengwei Zhang, Wenqing Cheng, Hei Xiaojun Jul 2020

Dynamic Stochastic Relay Selection Algorithm In Peer-To-Peer Networks, Chengwei Zhang, Wenqing Cheng, Hei Xiaojun

Journal of System Simulation

Abstract: A stochastic routing algorithm for selecting appropriate relay nodes in peer-to-peer networks was proposed. This algorithm was constructed using a stochastic programming framework by leveraging the actual delay of local links and the statistical delay distributions of non-local overlay links. In order to approximate the statistical delay distribution of non-local overlay links, the historical delay values of each link were utilized to approximate the link delay distribution. This algorithm was fully distributed and the stochastic link measurement data could be updated between neighboring nodes at a longer time granularity to reduce routing overhead. This algorithm and …


Numerical Simulation For Influence Of Baffle Length On Hydraulic Characteristics In Radial Sedimentation Tanks, Wenli Wei, Zewei Zhang, Yunfei Hong, Yuling Liu Jul 2020

Numerical Simulation For Influence Of Baffle Length On Hydraulic Characteristics In Radial Sedimentation Tanks, Wenli Wei, Zewei Zhang, Yunfei Hong, Yuling Liu

Journal of System Simulation

Abstract: The VOF (volume of fluid) method was applied to track the free water surface, and the RNG turbulent model was used to close the two-phase flow time-averaged equations. The influence of inlet vertical baffle with different lengths on hydraulic characteristics in radial sedimentation tank was simulated and analyzed. The control equations were discretized using the finite volume method. Velocity and pressure were solved using the PISO (Pressure-Implicit with Splitting of Operators) algorithm. The research results show that: the long length feed flow baffle model has a smaller recirculation zone, better velocity field distribution than short length baffle, and the …


Research On Development And Integration Method Of Bmds Integrated Test And Training Environment, Guoqiang Zhang, Xiaohe Liu, Fangting Jiang, Zhiping Li Jul 2020

Research On Development And Integration Method Of Bmds Integrated Test And Training Environment, Guoqiang Zhang, Xiaohe Liu, Fangting Jiang, Zhiping Li

Journal of System Simulation

Abstract: Building the BMDS integrated test and training environment is an effective means to quickly generate the combat effectiveness of BMDS. Aiming at the current situation that there was no unified development and integration method of the BMDS integrated test and training environment, based on systematic analysis to the capability requirements of the method, the development and integration method of pure digital simulation based on Integrated Non-Real-time Simulation Environment (INRS) and LVC simulation based on Integrated Real-time Simulation Environment (IRSE ) was put forward, and the technologies of adaptor was focused on. The integrated development and integration not only of …


Research Of Visualization Of Road Guide Sign Panel Based On Combination Of Guiding Information, Zhongming Niu, Huang Min, Yuan Yuan, Li Min Jul 2020

Research Of Visualization Of Road Guide Sign Panel Based On Combination Of Guiding Information, Zhongming Niu, Huang Min, Yuan Yuan, Li Min

Journal of System Simulation

Abstract: In order to realize the intelligent management of road guide signs, a method of visualization of road guide sign panel based on the flexible combination of guiding information was proposed. As a consequence of analysis for structures of guide sign panel, the message on the guide sign panel was decomposed into guiding information, and then visualization function was proposed. The panel style was determined by the physical and logical topology of guiding intersection dynamically with the help of guide sign system database. Then the composition of geography information and guiding information was utilized in the process of visualization …


Computed Terahertz Wave Propagation In Marine Protective Coating, Wanli Tu, Shuncong Zhong, Zhou Qing, Ligang Yao Jul 2020

Computed Terahertz Wave Propagation In Marine Protective Coating, Wanli Tu, Shuncong Zhong, Zhou Qing, Ligang Yao

Journal of System Simulation

Abstract: The propagation of terahertz radiation in marine protective coatings was investigated based on Finite-difference time-domain method. The theoretical framework using terahertz waves for the detection of marine protective coatings was established; also, both intact and defected coating system were modelled and analyzed. The reflected radiation properties were recorded for quantitative characterisation of marine protective coating thickness. Furthermore, diagnostic analysis was done for the defects of the coating system, such as bubbling and oxidation of rust. The Finite-difference time-domain model provides some theoretical basis for nondestructive testing and evaluation of marine protective coating system by terahertz pulsed imaging technology …


Research Of 3d Cloud Illumination Model Based On Importance Sampling, Yonghua Xie, Fuxing Yuan, Wang Chang Jul 2020

Research Of 3d Cloud Illumination Model Based On Importance Sampling, Yonghua Xie, Fuxing Yuan, Wang Chang

Journal of System Simulation

Abstract: Currently existing 3D cloud simulation illumination models were confronted with the shortcomings such as complexity of implementation and low rendering efficiency. Herein a calculation method for illumination model based on importance sampling was proposed; Aiming at the problems of the old phase function, a new phase function was proposed to improve the rendering efficiency and quality. By the design of the importance function, the method did importance sampling in integrated interval and combined two phase functions to render the cloud. The results of the simulation show that the presented method has enhanced the rendering speed with the guarantee of …


Research Of Merging Three-Dimensional Static Scene And Moving Objects Based On Video, Kunjin He, Wang Lin, Jianxin Liu, Zhengming Chen, Xiaozhong Chen Jul 2020

Research Of Merging Three-Dimensional Static Scene And Moving Objects Based On Video, Kunjin He, Wang Lin, Jianxin Liu, Zhengming Chen, Xiaozhong Chen

Journal of System Simulation

Abstract: Against the difficulty in three-dimensional real-time rendering of scene that contains moving objects, a video-based method in building and merging three-dimensional static scene and moving objects was proposed. According to the classification of moving objects, a three-dimensional static scene was established and a parameterized model base was produced. Based on the video, moving objects were detected and features (including basic features and dynamic features) were extracted. Based on basic features, corresponding type model in the parameterized model base was instantiated. Based on the dynamic features, the three-dimensional static scene and moving object models were merged and the …


Effectiveness Equivalent And Multi-Effectiveness Equivalent Of Weapon System, Zhongren Ni, Zhiqiang Zhao, Yueping Wang Jul 2020

Effectiveness Equivalent And Multi-Effectiveness Equivalent Of Weapon System, Zhongren Ni, Zhiqiang Zhao, Yueping Wang

Journal of System Simulation

Abstract: Equivalent analysis based on weapon effectiveness, which was conducted during 1960s-1970s by American scholars, provided scientific method for equivalent analysis of weapon system. But this principle can only be used under the given conditions, which was pointed out by American scholars. That how to judge solution existence of effectiveness equivalent model under given conditions and remove limit is always a difficult question of perplexing weapon system analysis. By the use of special matrix theory and set decomposition principle, weapon coordination model of weapon system of systems combat was established, down-triangle matrix standard model of efficacy matrix was obtained, the …


Research On Sparse Grid Non-Uniformity Correction Technologies For Infrared Imaging Resistor Array, Huijie Du, Hongming Zhao, Yu Hong, Gao Yang, Zhang Yi Jul 2020

Research On Sparse Grid Non-Uniformity Correction Technologies For Infrared Imaging Resistor Array, Huijie Du, Hongming Zhao, Yu Hong, Gao Yang, Zhang Yi

Journal of System Simulation

Abstract: The non-uniformity characteristic is the crucial factors affecting the image quality projected by infrared imaging resistor array, and which affects the fidelity of the infrared scene simulation. The non-uniformity characters of the infrared imaging simulation resistor array were analyzed based on measured data; the sparse grid and the flood non-uniformity correction technologies were investigated and analyzed and based on the existing measuring technology the improved sparse grid method for engineering was proposed. Through measuring the non-uniformity data, establishing the linear look-up table and correcting the non-uniformity image, the non-uniformity correction algorithm was developed and validated. The result shows …


Soa-Based Network-Centric Software Architecture For Warfare Simulation Applications, Wendi Cheng, Chu Wei Jul 2020

Soa-Based Network-Centric Software Architecture For Warfare Simulation Applications, Wendi Cheng, Chu Wei

Journal of System Simulation

Abstract: For the difficulty of integrating heterogeneous resource and low reuse rate by task-oriented development model in the traditional electronic information system, this article proposes a service-oriented simulation software constructing method. By information registration, publication, subscription, distribution and other network-centric core services to build a global service bus for dynamic scheduling, we can improve information sharing capabilities. By the standard descriptions and specifications, we can make flexible reorganization of business services. In a loosely coupled way to integrate the system between the service provider and service requester, we can format a service-oriented system development platform, which can provide support …


Overall-Wind-Speed Dynamic Sliding Mode Power Control For Direct-Driven Pmsg-Based Wind Energy Generation System, Aihua Wu, Buhui Zhao, Jingfeng Mao Jul 2020

Overall-Wind-Speed Dynamic Sliding Mode Power Control For Direct-Driven Pmsg-Based Wind Energy Generation System, Aihua Wu, Buhui Zhao, Jingfeng Mao

Journal of System Simulation

Abstract: A novel dynamic sliding mode control (DSMC) strategy for direct-driven PMSG system was proposed to improve wind energy generation efficiency in overall-wind-speed operating condition. Based on the multi-stage working characteristics, optimum torque control method was adopted to implement the MPPT task when wind speed was under the rating value, and power control method was adopted to implement the constant power generation task when wind speed was above the rating value. The controller was designed by the sliding mode reaching law method of power exponent function. Due to the switch function amplitude feedback, the switch gain was granted the …


Compensation For Auv’S Navigation Algorithm Based On Virtual Noise Model, Menglong Cao, Feifei Li, Xintao Liu Jul 2020

Compensation For Auv’S Navigation Algorithm Based On Virtual Noise Model, Menglong Cao, Feifei Li, Xintao Liu

Journal of System Simulation

Abstract: The simultaneous localization and mapping (SLAM) of Autonomous underwater robot (AUV) is the key technology to realize the auto navigation for robot in the unknown environment of underwater, and it is one of the hot topics in the field of robotics research. In the framework of autonomous underwater robot SLAM, extended kalman filter (EKF) was applied to achieve the SLAM. For the model linearization errors and unknown noise statistics, EKF algorithm was used based on virtual noise compensation technology. This method could make the unknown model error into the virtual noise, and use the noise statistical to estimate the …