Abstract:This paper is intended to review the studies of transit network design based on the city layout. In the theory system, the city layout is considered as the most important factor. The transit network design based on the city layout is one of the major development directions for transit network design. Firstly, the conventional design methods over the past 50 years are reviewed. Then, the design methods based on the city layout are analyzed. The core theory and its development are summarized. Three key developed studies are analyzed, including network structure, travel demand and flexible transit. Finally, the future developments are overviewed. The results indicate that the design methods mainly focus on the city layout, the travel demand is regarded as continuous approximation, the decision variables are simplified, and the optimization result can be obtained by the analytical model. The field application results present that the design methods are suitable for high performance bus network, such as BRT and express bus system. Thus, these studies can help the strategical transit network design under the background of the change of the city layout. The future studies can concentrate more on the city layout, transit network’s structures, and travel demand. In addition, more scientific design methods and practical applications should be conducted.

Abstract:In order to adapt to the increasing number of overseas engineering constructions, it needs to compare and evaluate bridge design specifications among different countries in all aspects. Based on the structural reliability theory and limit states’ design method a comprehensive evaluation system of Chinese, American and European specifications which evaluates the economy and security of different design specifications is established. Considering the ultimate limit state and serviceability limit state, this paper puts forward the evaluation of the basic indices ‘section surplus’, ‘deformation surplus’ and ‘stress surplus’, and evaluation of the core index ‘comprehensive surplus’, and calculates the weights of each surplus. According to the calculation on the standard drawings and real case studies, the Eurocodes and AASHTO give more comprehensive surplus than Chinese specifications. In other words, with the same material properties, the structure designed according to Eurocodes and AASHTO has higher structural resistance, while Chinese specification emphasize more on economical way. The comprehensive evaluation system is able to evaluate the security and economy of different bridge design specifications objectively and quantitatively.

Abstract:In order to check the performance of the new type of composite bridge deck proposed in this paper under the wheel load and its performance in the second system of the bridge deck, also to compare it with the performance of the normal bridge deck, 3 different types of bridge deck are designed and fabricated. One is concrete bridge deck, another is orthotropic steel bridge deck, and another is composite bridge deck with concrete slab and orthotropic steel plate with U-shape stiffener. Static load test is conducted on these specimens to reveal the cracking behavior of concrete in the negative moment zone and measure the deformation and the strains in different locations on the decks. The result proves that the local stress level of the composite bridge deck burdened the vehicle load is lower than that of the orthotropic steel bridge deck. The composite bridge deck has a high fatigue strength and wheel-load resisting strength. The bearing capacity of orthotropic composite deck in the second system of the bridge deck is 1.37 times and 0.93 times of that of the concrete deck and orthotropic deck respectively.

Abstract:The attention assigned to the driving task must be matched with its demand of safe driving, in order to explore the distraction intervention strategies of in-vehicle secondary tasks. An experimental vehicle was driven in naturalistic driving conditions to acquire real-time traffic data and videos of the road ahead. A prediction model was established to predict the driving task demand based on those real-time data. Participants assessed the driving task demand directly from short videos, verified the effectiveness of the prediction model, distraction intervention strategies under different driving task demand were proposed. The results showed that the consistency of driving task evaluation and prediction assessment is about 83%, there is no big difference, such as high forecasting demand and low evaluation requirements. Distraction intervention strategies based on real-time prediction of driving task demand can provide methods and technical support for the driver’s distraction management.

Abstract:Against the problem of urban public transport operation irregularities, the research was carried out to study the game relationship between management departments and public transport enterprises. The profit matrix of the game relations was established according to the corresponding strategy sets of public transport enterprises and management departments. Both expected profit and overall average profit under the different strategies are obtained. Nash equilibrium was obtained using replicator dynamics function to describe the changing rate of both strategies. The paper also establishes the game model of public transport supervision problem by using system dynamics theory, and simulation analysis to the model was carried out. The analysis results show that, when using static penalty strategy, there is no evolutionary stable strategy except Nash equilibrium on both sides, and fluctuations are difficult to control; while using dynamic penalty strategy, there exists evolutionary stable strategy on both sides, the evolution time and amplitude are positively correlated with maximum punishment revenue, and game steady-state is independent of the initial state.

Abstract:In order to solve the low accuracy problem of route travel time estimation when using low-frequency floating car data, the characteristics of low-frequency floating car data are analyzed from the perspective of travel time distribution estimation. Potential errors are presented and discussed, each of them has an error correction model. Selecting Changshou Road of Shanghai for empirical analysis using floating car data from 1 500 taxies. Travel time under various correction methods would be directly estimated, which compares with estimation results provided by the vehicle license plate recognition device. The results reveal that travel time with all errors corrected improves the average estimation accuracy by 9.5%, and median, 25th and 75th percentile have higher matching with the license plate recognition method. The low-frequency floating car data error correction model can improve the accuracy of the travel time estimation, and provide an effective travel time information.

Abstract:To quantify the relationship between roadside landscape and δ wave of driver’s EEG signal, real vehicle experiments were conducted in Jilin-Hunchun expressway to collect the required data. Firstly, the relationship model between landscape color and δ wave component of driver’s EEG was developed based on power function. Then considering the cumulative impact of driving time duration on δ wave component, their relationship model was developed based on Gaussian function. Finally, relationship model among driving time duration, landscape color and δ wave was brought forward using joint modeling method. The analysis results of the model show that: the landscape color is negatively correlated with δ wave component, namely the brighter of the landscape color, the lower of driver’s fatigue level. There is a fluctuating relationship between driving time and δ wave component of EEG signal and overall δ wave component would increase with the increase of driving time. Namely the driver will force him in alert state to avoid the driving risks caused by fatigue and there is a game between falling in fatigue and resisting fatigue. The study can provide theoretical foundation for the design of freeway landscape color by considering driving fatigue.

Abstract:In order to explore the mechanical response of asphalt pavement under the vehicle load, researches on the mechanical simulation method and the characteristics of internal mechanical response of asphalt pavement were conducted based on the full-scale accelerated test of asphalt pavement in Liaoning, China. Fiber bragg grating sensors were utilized to measure the mechanical response of the surface course bottom, the base course bottom and the top surface of the subgrade respectively. Viscoelastic parameters of asphalt mixtures were obtained through uniaxial compression dynamic modulus testing. Elasticity moduli of the base and subgrade were back-calculated through the FWD deflection basin. The distribution of the contact surface between the tires and the pavement surface was also measured. The sensors were calibrated through uniaxial compression dynamic modulus and four-point bending dynamic modulus testing. Based on the measured input data, a mechanical simulation model of the pavement structure was developed with the finite element software, ABAQUS, in order to analyze the mechanical response of pavement structure under different loading positions and speeds, then a subsequent comparison was made between the measured and calculated mechanical response data. The results indicate that the developed model can reasonably simulate the three-dimensional responses of the asphalt layer, the longitudinal and lateral response of the bottom of semi-rigid base, as well as the compressive stress on the subgrade surface. The viscoelastic property of the asphalt mixture induces the elastic aftereffect which leads to the asymmetry of the mechanical response curve. Amplitudes of the asphalt layer three-dimensional responses, horizontal responses of the bottom layer of the semi-rigid base and compressive stresses of the subgrade surface are all raised with the increase of temperature and the decrease of loading speed.

Abstract:In order to investigate the mechanical parameters and failure modes of cemented filling body under different loading rates,four loading rates between 2.0 mm/min and 8.0 mm/min were utilized to develop uniaxial compressive test. The research shows that: the loading rate has an obvious strengthening effect on the peak strength and secant modulus value of the cemented filling body samples. As the loading rate increases,the peak strength and secant modulus also rise. In addition,the peak strength corresponds to the loading rates,fitting a polynomial function. And the secant modulus and loading rate meet the exponential function. Along with the increasing loading rates,the cemented filling body samples show a gradual transformation from mixed failure to the single shear failure mode. The test characteristics of the loading rate effect on the mechanical properties of cemented filling body are revealed,which provides a theoretical basis for the study of failure mechanism of filling body.

Abstract:To study the impact of traffic incidents on urban expressway,the forecasting model of traffic incident influence is established on MCTM model. With regard to the metastable phenomenon of urban expressway traffic flow,the traffic flow state of metastable region is simulated in this model. Besides,the impact of traffic incidents on the main traffic flow features of the cells is considered and the setting of the cells is adjusted with the location of traffic incidents. And the length of the incident is selected as an evaluation indicator of traffic incident influence. Finally,based on the traffic incident data of Beijing partial road network,the model parameters are calibrated and the influence of one traffic incident is analyzed. The results show that the trends of the simulation data are basically the same with the measured data and the error is within an acceptable range. This model can clearly reflect the state of the traffic flow at different times of the individual sections,and it can determine the traffic incident influence of urban expressway effectively.

Abstract:In order to figure out the mechanical response of bridge deck pavement with cracks，under internal dynamic water pressure，using the LS-DYNA finite element analysis software，a model of asphalt pavement with crack was established to analyze the stress state of crack. The results showed that under the action of vehicle dynamic load，the maximum pressure and shear stress of the micro cracks are located at the crack tip，while the maximum tensile stress is located around the crack；the maximum pressure and shear stress have a good linear correlation with the vehicle speed and load level，in the case of 120 km/h velocity and 1.5 MPa load level，the maximum X direction,Y direction pressure and shear stress respectively reach to 0.472 MPa,1.101 MPa and 0.361 MPa,under which micro cracks will expand rapidly. The main factor leading to the expansion of the water filled micro cracks in asphalt pavement is the overloading of vehicles,so the traffic management department should strictly limit the overloading of vehicles.

Abstract:For the requirement of vehicle real-time precise self-localization,an optical flow-based optimization method of vehicle motion estimation has been proposed. The modified Lucas-Kanade was used to track FAST feature points for calculating their optical flow. The coordinate systems of offsets between images are transformed to obtain the estimated value of vehicle motion in the initial coordinates. Based on the assumption of the offset and rotation angle errors obeying normal distribution,the result of using optical flow method was optimized to obtain the vehicle running trajectory when it was mapped to the world coordinate system. Through testing many different vehicle trajectories,the experiment results demonstrate that the optimization method highlights the advantage of real-time performance of optical flow and overcomes the shortcoming of its poor positioning accuracy,and effectively solve the situation that cumulative error makes vehicle trajectory drifted. So it can provide the accurate real-time positioning result. Meanwhile,it has shorter computing time compared with vehicle positioning based on feature points matching,and the obtained trajectory of the study was more accurate and smoother than common optical flow method.

Abstract:To study anti-slip characteristics of main cable and saddle of three-tower suspension bridges,a simplified calculation method for calculating anti-slip factor was proposed. Analytical formulas for calculating anti-slip factor were deduced and finite element models were established to verify formulas. The effects of some important design parameters on the anti-slip factor were studied. Analysis shows that the analytical method has a high accuracy,which can be used in preliminary design of three-tower suspension bridges. With the ratio of tower and cable stiffness increasing,the anti-slip factor decreases; when the ratio of tower and cable stiffness is less than 3,changing the ratio of tower and cable stiffness has a great influence on the anti-slip factor. When the ratio of tower and cable stiffness is more than 3,the anti-slip factor is not sensitive to the ratio of tower and cable stiffness. Effect of sag-to-span ratio to the anti-slip factor depends on the tower stiffness. With the increment of span length and the ratio of dead load and live load,the anti-slip factor increases.

Abstract:To explore the mechanical properties of the stud connectors under fatigue loading in steel-concrete composite structures,static,fatigue and non-complete fatigue loading tests for stud connectors were conducted. Based on this,the existing non-complete fatigue push tests for stud connectors were summarized. Two parameters including fatigue life cycle and residual shear capacity were normalized,making all the tests comparable; in addition,based on residual strength theory,an applicable residual bearing capacity model of the stud connectors was developed and the parameters were fitted by the test data. Finally,the established model was verified through the data in literature. The results show that the residual bearing capacity of stud connectors presents a nonlinear trend of ‘slow first and fast later’ after fatigue loads. The proposed exponential degradation model can well describe variation law of residual shear capacity of the stud connectors under a certain number of fatigue loads.

Abstract:Two designs of single-sided linear induction motor (SLIM) were proposed to satisfy the required traction of medium-low speed maglev train. Between these two designs,one has a primary core with 8 poles and 80 slots and a length of 1 927 mm,while the other one is a 8-pole-89-slot design with a length of 2 047 mm. With limited installation space and cost as constraints,magnetic flow path,magnet-motive loop,equal circuit coefficients and initial characteristics were calculated so that fast and accurate determinations of the winding number of poles,pitch,the number of turn,groove and wiring become possible. Theoretical calculation and FEA simulations were performed and the results showed that both designs satisfy the traction requirements of medium-low speed maglev trains. The 8-pole-80-slot SLIM is already in quantity production stage,and the feasibility of the 8-pole-89-slot design has been proved. The proposed design procedure of SLIM and the methods to calculate relative characteristics can not only be applied to optimize SLIM designs for medium-low speed maglev trains,but also provide a method to precisely calculate the static values of those variables for dynamic control of a SLIM.

Abstract:In order to promote research and application of pseudo dynamic test method,a substructure pseudo dynamic test platform NetSLabOSR for building structures is developed to evaluate the seismic performance of structure engineering system. NetSLabOSR test platform includes three modules: ControlCtrOSR,Tester,ControlEqDAQ. The ActiveX control method based on the dynamic data link library is developed to realize the connection between the main module and the test equipment system,and complete transmission and conversion of substructure test data. The substructure pseudo dynamic tests are carried out using the NetSLabOSR test platform,in which the buckling restrained brace with inverted v-shaped and the concrete filled steel tube column are taken as test substructures. Through the research of pseudo dynamic tests,the seismic performance of composite frame structures is studied and the reliability and stability of NetSLabOSR test system platform are verified by substructure pseudo dynamic test results.

Abstract:Based on an orthotropic steel deck of a long-span suspension bridge in Three Gorges reservoir area, a 1∶2 scaled-down fatigue experiment in design life span and limit life span was carried out to explore the fatigue behavior of critical details in the steel orthotropic decks of steel box girder suspension bridge, which is sensitive to fatigue crack under repeated loads. The fatigue experiment results show that the stress fluctuation ranges of critical details of the fatigue model are very small after 2 million times of cyclic loading in design life span, displacements of measure points of the fatigue model have good symmetry and recoverability in the static loading and unloading process, and there are no local fatigue cracks and damage during the experimental process of the design life span. It is considered that the orthotropic steel deck of this experiment in good welding and normal maintenance will not appear cracking in the design life, and fatigue performance of the orthotropic steel deck meets the design requirements and has some safety reserve.

Abstract:For the sake of describing route choice behavior of travelers under degradable network with elastic demand and providing decision references for travelers and managers, the dynamic generalized travel cost is defined as the weighted sum of travel time, travel time reliability and monetary cost. Due to random variations of road networks, travelers are assumed to choose their optimal routes while their generalized travel costs are minimized. Under those assumptions, a stochastic user equilibrium model based on dynamic generalized travel cost is developed. The MSA (method of successive average) algorithm for the model is also proposed. Through a test on an example road network, numerical results show that travelers’ risk attitudes, degradation factor and monetary cost have significant influences on road traffic assignment. It is consistent with practical experiences, so it illustrates that the presented stochastic user equilibrium model based on dynamic generalized travel cost can truly reflect travelers route choice behavior on stochastic road network.

Abstract:On the purpose of optimizing plybamboo formwork supporting system, saving the construction cost of plybamboo formwork, according to characteristics of plybamboo formwork supporting system, plybamboo formwork system optimal model is put forward in combination with optimization theory, which could reasonably calculate the space of stringers, joists and shores, in order to reach the aim of meeting the requirement of saving construction cost under the condition of bearing capacity. Optimization result shows that the traditional design method is more conservative, it ignores the influence of floor size on support system. The optimization model that built in this paper could select the type of support and design the space of support reasonably, so that the construction cost could be saved. The optimization design software is developed to make the complex design optimal process become easy to operate, greatly improving the efficiency of the designers’ work, and combined with BIM technology,which has the advantages of 3D visualization and simulation of construction, to solve the problem of complex design drawings and design clarifying difficultly, finally realize the integration of formwork design, construction and management.

Abstract:In order to clarify the distribution of bond stress of CFRP anchorage end, this paper established these mechanical models to study several boundary conditions of the shear behaviors of CFRP reinforced steel structures with end anchorage or not, investigating the effects of end anchorage level on interfacial shear stress. The outcomes indicated that the tensile strain was 0 με if the end of CFRP was unanchored. The tensile strain of the end could reach 50% of the maximum if CFRP was anchored; the interfacial shear stress in the case of end anchorage would decrease by 50% than that unanchored. At the same time the end of CFRP could better coordinate with steel plate, and the shear of interfacial bond stress could be decreased effectively, and then the shear concentration could be eased. In addition, decreasing the number of plies and increasing the adhesive thickness would reduce the shear stress between the bonding interfaces.

Abstract:In order to figure out the effect of crossed cables, mechanical model of multi-tower cable-stayed bridge with crossed cables was established. A single main span was selected as research object and part of the crossed cables were treated as vertical springs, mechanical mechanism of crossed cables was studied and an analytic formula for calculating the longitudinal restraint stiffness of the crossed cables was deduced. The study shows that, when the tower deformed in longitudinal direction, dead load of the deck was redistributed in the crossed cables and this led to the cable force change, leading to restraint effect for tower. The restraint stiffness of the crossed cables depends on the length of the cables, projection length in horizontal direction and its axial stiffness. A finite element model of cable-stayed bridge with three towers and four spans was established to verify the formula. The numerical method shows good agreement with the formula, which indicates the formula is effective in estimate the longitudinal restraint stiffness of the crossed cables. Numerical analysis shows that using crossed cables could increase the structural stiffness of multi-tower cable-stayed bridge as well as the tower and girder. The crossed cables play more important roles in increasing the stiffness of the structure if the tower and girder have low bending stiffness.

Abstract:In order to explore the dynamic response of concrete slab on elastic foundation, laboratory experiment and numerical analysis are carried out. After the tested soil is filled in model box and the precast concrete slab placed above, the motion process, the void status and the shape of deflection basin are studied by using the hammer with a rubber head as the loading facility. The results show that the downward displacements of loading point reach the maximum and minimum values respectively when hitting at the corner and the center of the slab. In the case of no void, the downward displacement of hitting point is the largest, while the maximum upward displacement can be observed at the other end of the symmetry axis when hitting at one end of slab symmetry axis. The reciprocal theorem of work is completely satisfied under the conditions of small deformation and perfect contact between slab and foundation. The boundary of deflection basin is near the middle of slab when knocking at the center of slab edge, while it is in the vicinity of the diagonal when hitting at slab corner. The displacement contours near the void region get dense and their curvatures accordingly become large. The void phenomenon of the slab can be identified according to the shape of deflection basin or the displacement of related point, and the elastic modulus of foundation can be determined via fitting the numerical results with the experimental data.

Abstract:One of the major electrical characteristics of weak grid is high grid impedance. The high grid impedance can change the order of control object, and influence control loop gain, bandwidth and control performance of PV inverter, which has negative impact on the grid power quality and stability of inverter system. On line impedance detection is beneficial to optimize the inverter control strategy. This paper focuses on the single-phase grid-connected PV inverter under weak grid, study on line impedance detection method with harmonic current injection on the basis of control system modeling and analysis. Firstly, comparing the operation principle of single harmonic injection method and the two harmonic injection method. Then, simulating these two methods in aspects of detection precision and THD value of the grid current. At last, choosing the two harmonic injection method as the major research method. This method injects two kinds of harmonic current with different frequency periodically, then detects the voltage and current of the common coupling point. Through FFT, the specific harmonic and the grid impedance can be calculated. Experimental results show that two harmonic injection method can achieve precise measurement of grid resistance and inductance. Compared with traditional single harmonics current injection method, the proposed method has higher testing accuracy and the phase angle is needless in calculation.

Abstract:In order to improve the control performance and trajectory tracking effect of hydraulic quadruped robot, the self-tuning fuzzy-PID control algorithm was applied to drive the hydraulic cylinders of leg joints, and the increment values of PID parameters were adjusted in real time. The mathematical model of valve-controlled asymmetrical hydraulic cylinder system was established, and the control problem caused by the nonlinear phenomenon and time-variance of plant parameters when the hydraulic cylinder was moving forward and reverse were analyzed. The control simulation was performed based on the co-simulation environment of AMESim and Simulink, and a physical prototype testing was done on the single leg experiment platform. Simulations and test results indicate that the self-tuning fuzzy-PID control algorithm shows the better control effects than conventional PID control in many respects, such as shortening the adjusting time, and restraining the impulse interference. This control algorithm can improve the dynamic tracking performance of robot legs, is easily applied in the projects and is helpful for hydraulic robot’s control.

Abstract:In order to improve and strengthen the performance of giant magnetostrictive materials (GMM), the basic principles of optimization and design are provided that is small magnetic leakage, high magnetic intensity and superior uniformity on the centerline of the GMM rod before analyzing working principle of giant magnetostrictive actuator (GMA) and characteristics of GMM. The laws existed between structural parameters of the key magnetizer and magnetic circuit have been achieved based on Ansoft Maxwell electromagnetic finite element analysis. The cause of these laws has also been revealed by Gaussian flux theory. Then the key structural parameters are all designed and optimized and applied into the GMA. The experiment result indicates that magnetic intensity on the centerline of the GMM rod is raised from 55.4 kA/m to 70.35 kA/m and growth is 26.98%, the uniformity near the GMM rod is increased from 44.22% to 99.5%. The study shows that the permeability cover is mainly to reduce magnetic leakage, improve the intensity of magnetic field and too big or small diameter and thickness will lead to more leakage, U magnetizer is mainly to perfect the magnetic field and improve the uniformity.

Abstract:Aiming at the case of the known knowledge of the direction of arrival of the desired signal,by using the constant modulus feature,a new blind adaptive beamforming algorithm is proposed under the frame of the Kalman filter. According to the Lagrange multiplier method,the optimal estimation expression of the system states can be derived by minimizing the constrained cost function. Then,the optimal weight vector of the adaptive beamformer can be obtained by using the iteration and update equations of the unscented Kalman filter. In the simulation,the proposed algorithm is compared with the constrained constant modulus recursive least square (CCM-RLS) and constrained minimum variance recursive least square (CMV-RLS) to demonstrate its effectiveness in the terms of the convergence speed,signal to interference plus noise ratio,robustness to changeable environments and tracking capability in the non-stationary condition.

Abstract:An indirect stator-quantities control scheme of traction motor is proposed for the traction drive system based on three-phase four-switch fault-tolerant inverter. The indirect stator-quantities control algorithm is aodpted to generate the space voltage vectors for fixing switching frequency of the inverter and reducing electromagnetic torque ripple. An improved observer of stator flux containing saturation limiter is employed to restrain integral drift. The SVPWM algorithm of fault-tolerant inverter is given especially for three-phase four-switch space voltage vector. The neutral voltage compensation model of capacitors is established and a compensation scheme based on PID regulator is proposed for unbalanced neutral voltage on DC link of fault-tolerant inverter. MATLAB/Simulink simulation is carried out to verify the validity and effectiveness of the proposed control strategy.

Abstract:In order to improve the prediction speed of HEVC encoder, this paper proposed an algorithm of PU size decision based on information entropy for HEVC (High Efficiency Video Coding) intra prediction. This algorithm mainly utilizes the characteristic of image entropy producing different values with the richness of the image detail to decide whether the PUs need segmentation. Firstly, we calculate the information entropy of every LCU, then we can obtain the optimal partition size from the PU size of 64×64 to 4×4, so that the optimal coding depth is acquired, we can make the intra angular prediction in the optimal coding depth. The experimental results show that we can avoid the unnecessary RD cost calculating process in the traversal search mode, and the coding time was reduced by about 22.6% in the promise of coding performance essentially unchanged. This algorithm simplified the unnecessary rate-distortion cost procedure in traversal search mode, shortened the intra prediction coding time at high image quality level.

Abstract:In order to describe the hybrid characteristics of the discrete cyber system and the continuous physical system, a novel CPS architecture is proposed based on hybrid automata model, Multi-Agent System (MAS) and spatial-temporal event driven mechanism. The main body of our CPS architecture is constructed based on improved hybrid automata theory. Meanwhile, by defining spatial-temporal event-based CPS event, designing the MAS-based CPS client architecture, and using the defined CPS clients with different functions and CPS event driven mechanism, the inherent cyber physical interaction and feedback process of the CPS architecture is analyzed. Finally, taking the vehicular velocity regulation and control system for instance, the inherent cyber-physical fusion process of vehicular velocity regulation and control in cooperative driving system is analyzed and formalized with our proposed CPS architecture, and the formalization process demonstrates the effectiveness of our proposed CPS architecture. The proposed CPS architecture provides novel thoughts and methods for describing the inherent characteristics of CPS.

Abstract:Aiming to the attitude control system of quad-rotor unmanned aerial vehicles, advanced control scheme should be studied to obtain the satisfied performance. A novel active disturbance rejection generalized predictive control (ADRC-GPC) is presented by combining the technique of active disturbance rejection control (ADRC) and generalized predictive control (GPC). The extended state observer (ESO) of active disturbance rejection control is employed to estimate and compensate the existing uncertainties and disturbance of the nonlinear dynamics systems, such that an integrator form can be obtained to serve as the model for GPC design. By using this scheme, the step response coefficient matrix can be derived analytically and the computational complexity can be substantially reduced. The experiment results show that the designed ADRC-GPC scheme can be applied in the real-time control for the attitude system of the quad-rotor unmanned aerial vehicle (UAV), it can not only meet the need of control accuracy and rapidity, but also have strong disturbance rejection ability and stability. Therefore, the proposed active disturbance rejection generalized predictive control scheme can be used to control under-actuated nonlinear multivariable plants effectively.

Abstract:In order to solve day-ahead optimization scheduling problem in active distribution network and achieve coordination scheduling of grid structure and active power outputs of distributed generations (DGs), load-DG equivalent load curve is divided by improved fuzzy clustering analysis, and the partition results are adjusted on the basis of DGs outputs dynamically; a bi-level programming model dispatching grid structure and DGs outputs coordinately are presented based on chance constrained programming. The experiment results show that network reconfiguration and the scheduling of DG active power output influence each other. The scheduling of DG output can reduce the switch action and prolong the life cycle of switches, and network reconfiguration can increase DGs penetration and enhance the ability of DGs absorption. The method of this paper can deal with the load variation effectively, and distribution network assets and DGs can be utilized comprehensively.