The Dynamic Window Approach (DWA) suffers from unreasonable planning or is prone to obstacle avoidance failure when the mobile agent operates in a complex environment with dense obstacle distribution. An improved DWA path planning algorithm (IDWA) is proposed to address the above problems. Firstly, the heading angle function is modified to improve navigation ability for mobile agent reaching at the target point while ensuring operational safety. Secondly, the obstacle function is optimized to avoid the agent going around the obstacle’s edge. Finally, a complex scenario with multiple obstacles of different passing difficulties is constructed to verify the feasibility of the proposed method. Simulation experiments show that IDWA significantly improves the agent's passage efficiency and local search ability, and the path planning is more reasonable with smaller path deviation and heading deviation.
KEYWORDS: Switching, Signal attenuation, Power supplies, Switches, Digital filtering, Linear filtering, Inductance, Capacitance, Electronic filtering, Field effect transistors
The switching harmonics generated by the on-off and off of the switching tube of the chopper-controlled magnet power supply will affect the control accuracy of the magnet power supply for the particle beam current. The switching harmonics are mainly concentrated near the switching frequency and its sideband. In order to effectively suppress the switching frequency and sideband harmonics, three passive filters are studied. The three passive filters are based on BUCK buck circuit, and the harmonic bypass effect of switching frequency and sideband frequency is achieved by low-pass filtering and series resonance, thereby reducing the amplitude of load current ripple. The simulation results show that the designed three passive filters have good suppression effects on the switching frequency and sideband harmonics.
KEYWORDS: Photovoltaics, Switching, Head, Switches, Solar energy, Control systems, Solar energy systems, Mathematical modeling, Water, Telecommunications
Aiming at the large-scale photovoltaic water pump water supply system, the use of single high-power or multi-unit independent low-power photovoltaic water pumps cannot make full use of solar energy to improve the efficiency of the system. This paper proposes an optimal switching based on power/frequency, so that three photovoltaic water pumps of the same model can be switched under different input power to maximize the utilization rate. Multi-machine scheduling is realized, and the utilization rate of the photovoltaic water pump group is improved.
This paper proposes an active capacitor research method based on difference frequency reactive power theory, which realizes low-frequency power output based on high-frequency input and reduces the volume of passive components at the same time. First, analyze the characteristics of difference frequency reactive power theory, and use the single-phase H-bridge vector modulation strategy to analyze based on the series resonant impedance network. Based on the difference frequency theory, an active capacitance control under a synchronous rotating coordinate system is proposed. Finally, the theory is verified by simulation.
KEYWORDS: Capacitors, Control systems, Photovoltaics, Capacitance, Linear filtering, Thin films, Signal processing, Systems modeling, Inductance, Solar cells
The motor drive of the photovoltaic water-pump will have a constant power load (cpl) characteristic in the closed loop system, which leads to a negative admittance effect. The interaction between LC resonance and negative admittance will affect the stability of the entire drive system. This paper establishes the LC input impedance model and the impedance model of the motor drive system, analyzes the instability of the LC input impedance and the negative impedance of the system, establishes a small signal model, and proposes an active damping feedforward method. The stability control method reshapes the input admittance, eliminates the instability of the input admittance, and suppresses the fluctuation of the DC bus voltage. The method's efficiency is confirmed by the simulation results.
KEYWORDS: Capacitors, Control systems, Power supplies, Error control coding, Bridges, Telecommunications, Information operations, Cesium, Cadmium, Solar energy
This paper presents a control method for a single-phase differential Buck inverter without virtual quadrature based on dq coordinate transformation is proposed. This method converts the output of the two-phase bridge arm of the single-phase differential buck circuit to the dq frame for control, and can omit the one-phase virtual quadrature quantity additionally constructed in the traditional dq frame. For the two-phase capacitance imbalance problem in the control system, the symmetrical component method is used and then the corresponding phase sequence is transformed and controlled. Finally, the simulation proves that the proposed method can effectively realize the zero steady-state error control of the output voltage.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.