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- 저자 : Zhiqiang Guo (검색결과 23 건)
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Adaptive Tracking Control of Nonholonomic Mobile Manipulators Using Recurrent Neural Networks
Guo Yi,Jianxu Mao,Yaonan Wang,Siyu Guo,Zhiqiang Miao 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3
The trajectory tracking problem is considered for a class of nonholonomic mobile manipulators in the presence of uncertainties and disturbances. First, under the assumption that the kinematic subsystem of mobile manipulator is capable of being transformed into the chained form and the dynamic subsystem of mobile manipulator is exactly known without considering external disturbances, a model-based controller is designed at the torque level using backstepping design technology. However, the model-based control may be inapplicable for practical applications, as the uncertainties and disturbances do exist in the dynamics of mobile manipulators inevitably. Thus, a Recurrent Neural Network (RNN) based control system is developed without requiring explicit knowledge of the system dynamics. The control system comprises a RNN identifier and a compensation controller, in which the RNN is utilized to identify the unknown dynamics on-line, and the compensation controller is presented to compensate the approximation error and external disturbances. The online adaptive laws of the control system are derived in the Lyapunov sense so that the stability of the system can be guaranteed. Finally, simulation results for a wheeled mobile manipulator are provided to show the good tracking performance and robustness of the proposed control method.
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Zhiqiang Guo,Deshang Sha,Xiaozhong Liao 전력전자학회 2012 JOURNAL OF POWER ELECTRONICS Vol.12 No.1
Input-series-output-parallel (ISOP) modular converters consisting of multiple modular DC/DC converters can enable low voltage rating switches for use in high voltage input applications. In this paper, an input voltage sharing control strategy for input-series-output-parallel (ISOP) full-bridge (FB) DC/DC converters is proposed. By sensing the difference in the input current of two modules, the system can achieve input voltage sharing for DC-DC modules. The effectiveness of the proposed control strategy is verified by simulation and experimental results obtained with a 200w-50kHz prototype.
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Zhiqiang Guo,Deshang Sha,Xiaozhong Liao 전력전자학회 2013 JOURNAL OF POWER ELECTRONICS Vol.13 No.3
This paper presents a control strategy for distributed systems, which can be used in islanded microgrids. The control strategy is based on the droop method, which uses locally measured feedback to achieve load current sharing. Instead of the traditional droop method, an improved one is implemented. A virtual inductor in the synchronous frame for three-phase inverters is proposed to deal with the coupling of the frequency and the amplitude related to the active and reactive power. Compared with the traditional virtual inductor, the proposed virtual inductor is not affected by high frequency noises because it avoids differential calculations. A model is given for the distributed generation system, which is beneficial for the design of the droop coefficients and the value of the virtual inductor. The effectiveness of the proposed control strategy is verified by simulation and experiment results.
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Guo, Zhiqiang,Sha, Deshang,Liao, Xiaozhong The Korean Institute of Power Electronics 2013 JOURNAL OF POWER ELECTRONICS Vol.13 No.3
This paper presents a control strategy for distributed systems, which can be used in islanded microgrids. The control strategy is based on the droop method, which uses locally measured feedback to achieve load current sharing. Instead of the traditional droop method, an improved one is implemented. A virtual inductor in the synchronous frame for three-phase inverters is proposed to deal with the coupling of the frequency and the amplitude related to the active and reactive power. Compared with the traditional virtual inductor, the proposed virtual inductor is not affected by high frequency noises because it avoids differential calculations. A model is given for the distributed generation system, which is beneficial for the design of the droop coefficients and the value of the virtual inductor. The effectiveness of the proposed control strategy is verified by simulation and experiment results.
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Guo, Zhiqiang,Sha, Deshang,Liao, Xiaozhong The Korean Institute of Power Electronics 2012 JOURNAL OF POWER ELECTRONICS Vol.12 No.1
Input-series-output-parallel (ISOP) modular converters consisting of multiple modular DC/DC converters can enable low voltage rating switches for use in high voltage input applications. In this paper, an input voltage sharing control strategy for input-series-output-parallel (ISOP) full-bridge (FB) DC/DC converters is proposed. By sensing the difference in the input current of two modules, the system can achieve input voltage sharing for DC-DC modules. The effectiveness of the proposed control strategy is verified by simulation and experimental results obtained with a 200w-50kHz prototype.
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Zhiqiang Lai,YAN-JIE GUO,Peihui Yang 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2016 NANO Vol.11 No.12
As a IV–VI semiconductor, GeS is winning wide attention for its excellent properties. However, few examples of GeS nanostructures, especially those with photoluminescence (PL) properties, have been reported. After the optimization of reaction conditions, including time and temperature, the GeS nanowires with PL properties are synthesized via a green, facile hydrothermal route without using any toxic reagent. These materials are characterized by transmission and scanning electron microscopy (TEM and SEM), X-ray diffraction (XRD), energy dispersive spectroscopy (EDS), etc. With the average diameter of ~200 nm and the length ranging from 1–25 µm, the resulting GeS nanowires have relatively smooth surface and round top, and are oriented along [100] facet. The growth mechanism of GeS nanowires is investigated, and the understanding of their growth mechanism could provide helpful guidance for designing experimental conditions rationally to synthesize nanowires. Due to their special nanostructure, these nanowires possess very good fluorescent properties, which indicates that these nanowires have potential to apply in future optical nanodevices.
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An Improved ViBe Algorithm of Moving Target Extraction for Night Infrared Surveillance Video
( Zhiqiang Feng ),( Xiaogang Wang ),( Zhongfan Yang ),( Shaojie Guo ),( Xingzhong Xiong ) 한국인터넷정보학회 2021 KSII Transactions on Internet and Information Syst Vol.15 No.12
For the research field of night infrared surveillance video, the target imaging in the video is easily affected by the light due to the characteristics of the active infrared camera and the classical ViBe algorithm has some problems for moving target extraction because of background misjudgment, noise interference, ghost shadow and so on. Therefore, an improved ViBe algorithm (I-ViBe) for moving target extraction in night infrared surveillance video is proposed in this paper. Firstly, the video frames are sampled and judged by the degree of light influence, and the video frame is divided into three situations: no light change, small light change, and severe light change. Secondly, the ViBe algorithm is extracted the moving target when there is no light change. The segmentation factor of the ViBe algorithm is adaptively changed to reduce the impact of the light on the ViBe algorithm when the light change is small. The moving target is extracted using the region growing algorithm improved by the image entropy in the differential image of the current frame and the background model when the illumination changes drastically. Based on the results of the simulation, the I-ViBe algorithm proposed has better robustness to the influence of illumination. When extracting moving targets at night the I-ViBe algorithm can make target extraction more accurate and provide more effective data for further night behavior recognition and target tracking.
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Guo Caiyun,Liu Zhiqiang,Zhang Congyan 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.3
The rapid development of E-commerce has prompted increasing demand for express services. Improving service quality from the customers perception has become an important way for the private express enterprises to face the fierce market competition. This paper summarizes the customers perception service quality theory and the express enterprises’ service quality evaluation methods, and establishes an index system of private express enterprises’ service quality evaluation from the perspective of the customers perception. The SPSS software is used to detect the feasibility of the established evaluation index system. The information entropy theory is applied to calculate the index weight value, and the evaluation model of private express enterprises’ service quality is established by combining the entropy weight with the unascertained measure method. Finally, this paper carries out the empirical analysis based on the JY express enterprise’s service quality,and puts forward the relevant countermeasures and suggestions. The purpose of the paper is to provide a new scientific method for the service quality evaluation of the private express enterprises.
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Zhiqiang Song,Yunhe Liu,Pengcheng Guo,Jianjun Feng 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.7
The torsional vibration characteristics of the hydro-generator set considering the electromagnetic and hydraulic vibration resources coupling are studied. The moment of rotation consists of water flow driving and magnetic torques caused by the air gap magnetic field in the generator rotor in the case of ignoring the mechanical friction. A coupling torque vibration model of hydro-generator shaft system was established. The model considered the coupling action of hydraulic and electromagnetic excitations, as well as the elastic effect of rotor spiders. The influences of the rotor moment inertia, rotor stiffness, and mass of turbine water added into the torsional natural vibration of the unit shaft system were studied. The effect of hydraulic excitation frequency on torsional vibration response was also investigated. The frequency response curves of shaft torque, torsional vibration angle, and electromagnetic torque were presented. The electromagnetic and hydraulic coupling resonance was studied when hydraulic excitation frequency was equal to zero and first-order frequencies. The excitation electric current and internal active power angle on torsional vibration was further analyzed. This study provides an analysis model and method considering the coupling of electromagnetic and hydraulic vibration resources for design and stable operation of water turbine generator sets.
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Research on Electrical-Mechanical Energy Transfer Process of Vehicle Horn
Jifeng Guo,Honge Ren,Zhiqiang Ma,Yan Ma 보안공학연구지원센터 2015 International Journal of Multimedia and Ubiquitous Vol.10 No.6
Vehicle horn is a kind of electro acoustic device. The energy transfer process were analyzed through the energetic coil current, magnetic force, and displacement curves which had gotten before, and the process was happened in stage of the action, transaction and reciprocating vibration. The reasonable criterion for checking reciprocating vibration and sounding of horn was proposed, and the criterion was proved by changed the design parameters. The conclusions are of great value for further optimizing of reliability of the electro acoustic device such as electromagnetic horn.
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