Search Results (3,853)

This paper presents an original method for modelling the energy intensity of an overhead crane using MATLAB–Simulink and MSC Adams software. The analysis focused on an overhead crane used in warehouses handling bundled goods, which are placed on pallets. The study examined the energy intensity of the crane in two reference, predefined work cycles: goods reception and order picking. During the development phase, data from logistics centres and the FLEXSIM system were used to define the test cycles. The author’s experience in implementing and developing standards was also applied. Reference measurements of the crane, necessary for validating the computer model, were carried out in real operating conditions at a logistics centre. The integration of the author’s proprietary approach—combining computer-based energy intensity modelling with test cycles for the crane—helped overcome barriers in supporting the concept of “green warehouses” (passive or energy-positive), making it possible to estimate and compare the energy intensity of intralogistics facilities. A high level of agreement was achieved between the measured and modelled data using the author’s proprietary EPI. The described methodology was verified using a double-girder overhead crane handling bundled load units in a warehouse. The test results determined the potential for energy recovery within the crane’s drive system. Full article

To address the issue of limited accuracy in vehicle lateral and longitudinal dynamics control—caused by the strong coupling and nonlinearity between the four-wheel steering and distributed drive systems, particularly under crosswind disturbances—a control method integrating differential geometric decoupling with robust control is proposed. This integrated approach mitigates coupling effects among the vehicle motions in various directions, thereby enhancing overall robustness. The control architecture adopts a hierarchical structure: the upper layer takes the deviation between the ideal and actual models as input and generates longitudinal, yaw, and lateral control laws via robust control; the middle layer employs differential geometric methods to decouple the nonlinear system, deriving the total driver-required driving torque, additional yaw moment, and rear-wheel steering angle; and the lower layer utilizes a quadratic programming algorithm to optimize the distribution of driving torque across the four wheels. Finally, simulation verification is conducted based on a co-simulation platform using TruckSim 2022 and MATLAB R2024a/Simulink. The simulation results demonstrate that, compared to the sliding mode control (SMC) and the uncontrolled scenario, the proposed method improves the driving stability and safety of the four-wheel steering distributed drive vehicle under multiple operating conditions. Full article

The modern power grid is considered a Smart Grid (SG) when it relies extensively on technologies that integrate traditional power infrastructure with Information and Communication Technologies (ICTs). The dependence on Internet of Things (IoT)-based communication systems to operate physical power devices transforms the grid into a complex system of systems (SoS), introducing cybersecurity vulnerabilities across various SG layers. Several surveys have addressed SG cybersecurity, but none have correlated recent developments with the NIST seven-domain framework, a comprehensive model covering all major SG domains and crucial for domain-level trend analysis. To bridge this gap, we systematically review and classify studies by impacted NIST domain, threat type, and methodology (including tools/platforms used). We note that the scope of applicability of this study is 60 studies (2011–2024) selected exclusively from IEEE Xplore. Unlike prior reviews, this work maps contributions to the NIST domain architecture, examines temporal trends in research, and synthesizes cybersecurity defenses and their limitations. The analysis reveals that research is unevenly distributed: the Operations domain accounts for ~35% of all studies, followed by Generation ~25% and Distribution ~14%, while domains like Transmission (~9%) and Service Provider (5%) are comparatively under-studied. We find a heavy reliance on simulation-based tools (~46% of studies) such as MATLAB/Simulink, and False Data Injection (FDI) attacks are predominantly studied, comprising approximately 36% of analyzed attacks. The broader objective of this work is to guide researchers and SG stakeholders (e.g., utilities, policy-makers) toward understanding and coordinating strategies for improving system-level cyber-resilience, which is crucial for future SGs, while avoiding any overstatement of findings beyond the reviewed evidence. Full article

Monitoring spindle bearing load is essential for ensuring machining accuracy, reliability, and predictive maintenance in machine tools. This paper presents an approach that combines drive-based cutting force estimation with a finite element method (FEM) spindle model. The drive-based method reconstructs process forces from the motor torque signal of the feed axes by modeling and compensating motion-related torque components, including static friction, acceleration, gravitation, standstill, and periodic disturbances. The inverse mechanical and control transfer behavior is also considered. Input signals include the actual motor torque, axis position, and position setpoint, recorded by the control system’s internal measurement function at the interpolator clock rate. Cutting forces are then calculated in MATLAB/Simulink and used as inputs for the FEM spindle model. Rolling elements are replaced by bushing joints with stiffness derived from datasheets and adjusted through experiments. Force estimation was validated on a DMC 850 V machining center using a standardized test workpiece, with results compared against a dynamometer. The spindle model was validated separately on a MCV 754 Quick machine under static loading. The combined approach produced consistent results and identified the front bearing as the most critically loaded. The method enables practical spindle bearing load estimation without external sensors, lowering system complexity and cost. Full article

Advancements in ship propulsion technologies are essential for improving the efficiency and reliability of maritime transportation. This study introduces a comprehensive approach that integrates motor design with sensorless control strategies, specifically focusing on Dual Three-Phase Permanent Magnet Vernier Motors (DTP-PMVM) for ship propulsion. The initial section of the paper explores the design of a 5-MW DTP-PMVM using finite element method (FEM) analysis in dual three-phase configurations. The subsequent section presents a novel sensorless control technique employing a Prescribed-time Sliding Mode Observer (PTSMO) for accurate speed and position estimation of the DTP-PMSM, eliminating the need for physical sensors. The proposed observer convergence time is entirely independent of the initial estimation guess and observer gains, allowing for pre-adjustment of the estimation error settling time. Initially, the observer is designed for a DTP-PMVM with fully known model parameters. It is then adapted to accommodate variations and unknown parameters over time, achieving prescribed-time observation. This is accomplished by using an adaptive observer to estimate the unknown parameters of the DTP-PMVM model and a Neural Network (NN) to compensate for the nonlinear effects caused by the model’s unknown terms. The adaptation laws are innovatively modified to ensure the prescribed time convergence of the entire adaptive observer. MATLAB (R2023b) Simulink simulations demonstrate the superior speed-tracking accuracy and robustness of the speed and position observer against model parameter variations, strongly supporting the application of these strategies in real-world maritime propulsion systems. By integrating these advancements, this research not only proposes a more efficient, reliable, and robust propulsion motor design but also demonstrates an effective control strategy that significantly enhances overall system performance, particularly for maritime propulsion applications. Full article

The operational modes and fault characteristics of distribution networks incorporating distributed generation are becoming increasingly complex. This complexity increases the difficulty of predicting switch control action times and leads to scattered samples with data scarcity. Consequently, it imposes higher demands on rapid fault isolation and load transfer control following system failures. To address this issue, this paper proposes a switch action time prediction and synchronous load transfer control method based on Bayesian optimization of bidirectional long short-term memory (Bo-BiLSTM) networks. A distribution network simulation model incorporating distributed generation was constructed using MATLAB/Simulink (R2023a). Three-phase voltage and current at the Point of Common Coupling (PCC) were extracted as feature parameters to establish a switch operation timing database. Bayesian optimization was employed to tune the BiLSTM hyperparameters, constructing the Bo-BiLSTM prediction model to achieve high-precision forecasting of switch operation times under fault conditions. Subsequently, a load-synchronized transfer control strategy was proposed based on the prediction results. A dynamic delay mechanism was designed to achieve “open first and then close” sequential coordinated control. Physical experiments verified that the time difference between opening and closing was controlled within 2–12 milliseconds (ms), meeting the engineering requirement of less than 20 ms. The results demonstrate that the proposed control method enhances switch operation time prediction accuracy while effectively supporting rapid fault isolation and seamless load transfer in distribution networks, thereby improving system reliability and control precision. Full article

This study investigates the issue of fault-tolerant motion control in the distributed chassis system (DCS) subject to degradation in independent steering actuators. First, the dynamic behavior of the independent steering system is analyzed to establish a fault-dynamics model for independent steering. The steering powertrain degradation coefficient is then mapped to the contraction of the feasible tire-force region. Subsequently, the model predictive controller (MPC) is designed to solve for the required generalized forces/torques. Moreover, along the direction of the generalized demand force vector, the boundary values for the current cycle are obtained and used to correct the generalized demand force. Finally, an adaptive weighting scheme for the tire force distribution objective function, which accounts for degradation coefficients, is proposed. Sequential quadratic programming (SQP) is employed to achieve optimal utilization of tire forces. Simulation studies for different steering degradation scenarios and road conditions are conducted using a CarSim 2019 and Simulink 2021B co-simulation platform. The simulation results demonstrate that the proposed integrated chassis motion controller maintains excellent motion control performance even under independent steering actuator degradation. Full article

This paper presents a Field-Programmable Gate Array (FPGA)-based Hardware-in-the-Loop (HIL) simulation of an Interleaved Boost Power Factor Correction (PFC) converter using the Sub-Cycle Average (SCA) modeling technique. The main objective is to achieve accurate real-time simulation performance given the hardware constraints of low-cost FPGAs. By combining the SCA modeling approach with a time-averaging correction method, the proposed model effectively reduces sampling delays and duty-cycle estimation errors arising from asynchronous Pulse Width Modulation (PWM) signal acquisition. The SCA-based converter model and time-averaging correction technique were implemented in MATLAB/Simulink R2024b using the HDL Coder environment. To validate real-time simulation accuracy, power factor improvement was evaluated for a two-phase Interleaved Boost PFC operating at a switching frequency of 60 kHz. Experimental results confirm that the proposed approach enables accurate Controller–HIL testing of power converters, even when implemented on low-cost FPGA platforms such as the Zybo Z7-10 evaluation board. Full article

This study presents the development and experimental validation of a novel wind turbine emulator (WTE) based on a doubly fed induction generator (DFIG). The proposed architecture employs an induction motor (IM) driven by a variable frequency drive (VFD) to emulate wind turbine dynamics, offering a cost-effective and low-maintenance alternative to traditional DC motor-based systems. The contribution of this work lies, therefore, not in the hardware topology itself, but in the complete real-time software implementation of the control system using C language and RTLib, which enables higher sampling rates, faster PWM updates, and improved execution reliability compared with standard Simulink/RTI approaches. The proposed control structure integrates tip–speed ratio (TSR)-based maximum power point tracking (MPPT) with flux-oriented vector control of the DFIG, fully coded in C to provide optimized real-time performance. Experimental results confirm the emulator’s ability to accurately replicate real wind turbine behavior under varying wind conditions. The test bench demonstrates fast dynamic response, with rotor currents settling in 11–18 ms, and active/reactive powers stabilizing within 25–30 ms. Overshoots remain below 10%, and steady-state errors are limited to ±1 A for currents and ±100 W/±50 VAR for powers, ensuring precise power regulation. The speed tracking error is approximately 0.61 rad/s, validating the system’s ability to follow dynamic references with high accuracy. Additionally, effective decoupling between active and reactive loops is achieved, with minimal cross-coupling during step changes. Full article

This paper proposes a hybrid photovoltaic (PV) Maximum Power Point Tracking (MPPT) strategy to tackle local optima, slow dynamic response, and steady-state oscillations under partial shading conditions (PSC). The method combines an Improved Whale Migration Algorithm (IWMA) with a variable-step Incremental Conductance (VINC) technique. IWMA employs a Tent–Logistic–Cosine chaotic initialization, dynamic weight coefficients, random feedback, and a distance-sensitive term to enhance population diversity, strengthen global exploration, and reduce the risk of convergence to local maxima. The VINC stage adaptively adjusts the step size based on incremental conductance, providing fine local refinement around the global maximum power point (GMPP) and suppressing steady-state power ripple. Extensive MATLAB/Simulink simulations with multiple random trials show that the proposed IWMA-VINC strategy consistently outperforms the Whale Migration Algorithm (WMA), A Simplified Particle Swarm Optimization Algorithm Combining Natural Selection and Conductivity Incremental Approach (NSNPSO-INC), and the Grey Wolf Optimizer and Whale Optimization Algorithm (GWO-WOA) under both static and dynamic PSC, achieving the highest tracking accuracies (99.74% static, 99.44% dynamic), higher average output power, shorter convergence times, and the smallest variance across trials. These results demonstrate that IWMA-VINC offers a robust and high-performance MPPT solution for PV systems operating in complex illumination environments. Full article

Active-control coils on Keda Torus eXperiment (KTX) are used to suppress error fields and mitigate MHD instabilities, thereby extending discharge duration and improving plasma confinement quality. Achieving effective active MHD control imposes stringent requirements on the coil power supplies: wide-bandwidth and high-precision current regulation, deterministic low-latency response, and tightly synchronized operation across 136 independently driven coils. Specifically, the supplies must deliver up to ±200 A with fast slew rates and bandwidths up to several kilohertz, while ensuring sub-100 μs control latency, programmable waveforms, and inter-channel synchronization for real-time feedback. These demands make the power supply architecture a key enabling technology and motivate this work. This paper presents the design and simulation of the KTX active-control coil power supply. The system adopts a modular AC–DC–AC topology with energy storage: grid-fed rectifiers charge DC-link capacitor banks, each H-bridge IGBT converter (20 kHz) independently drives one coil, and an EMC filter shapes the output current. Matlab/Simulink R2025b simulations under DC, sinusoidal, and arbitrary current references demonstrate rapid tracking up to the target bandwidth with ±0.5 A ripple at 200 A and limited DC-link voltage droop (≤10%) from an 800 V, 50 mF storage bank. The results verify the feasibility of the proposed scheme and provide a solid basis for real-time multi-coil active MHD control on KTX while reducing instantaneous grid loading through energy storage. Full article

To address issues such as chassis attitude deviation, reduced operational efficiency, and diminished precision when agricultural machinery operates in complex terrains—including steep slopes and fragmented plots in hilly and mountainous regions—a servo electric cylinder-based active suspension levelling system has been designed. Real-time dynamic control is achieved through a fuzzy PID algorithm. Firstly, the suspension’s mechanical structure and key parameters were determined, employing a ‘servo electric cylinder-spring-shock absorber series’ configuration to achieve load support and passive vibration damping. Secondly, a kinematic and dynamic model of the quarter-link suspension was established. Finally, Simulink simulations were conducted to model the agricultural machinery traversing mountainous, uneven terrain at segmented stable operating speeds, thereby validating the suspension’s control performance. Simulation results demonstrate that the system maintains chassis height error within ±0.05 m, chassis height change rate within ±0.2 m/s, and response time ≤ 0.8 s. It rapidly and effectively counteracts terrain disturbances, achieving precise chassis height control. This provides theoretical support for designing whole-vehicle levelling systems for small agricultural machinery in hilly and mountainous terrains. Full article

To address the poor stability of four-wheel steering vehicles under extreme conditions, this paper proposes a coordinated control strategy for vehicles with four-wheel independent drive. The strategy combines the Active Four-Wheel Steering system with the Direct Yaw Moment Control system. First, a shared steering control model is constructed by considering both the vehicle’s path-tracking performance and handling stability. Based on this model, a control strategy for the four-wheel steering system is proposed using a non-cooperative Nash game. Next, a direct yaw moment controller is designed to improve vehicle lateral stability under dangerous driving conditions. To achieve synergy between rear-wheel steering and direct yaw moment control, a rule-based coordination strategy is introduced to optimize the working intervals of each sub-controller. Finally, experimental verification is performed under double-lane-change and slalom conditions using the CarSim/Simulink hardware-in-the-loop platform. All computations were done in MATLAB R2024a, using specific m-files and Simulink functions for implementation, and the controller was implemented using the Micro-Autobox tool. The results demonstrate that the proposed control strategy significantly enhances vehicle path-tracking accuracy and handling stability under extreme driving conditions. Full article

To address the challenges of low automatic leveling efficiency and insufficient control precision for small tracked operation chassis navigating uneven terrain in hilly and mountainous areas, this study proposes a leveling control system that integrates a dual-layer threshold strategy with a BP neural network algorithm. The system is developed based on a four-point lifting leveling mechanism. Building upon this foundation, the conventional single-threshold angle error compensation control strategy was optimized to meet the specific leveling demands of chassis operating in such complex environments. A co-simulation platform was established using Matlab/Simulink-AMEsim for subsequent simulation and comparative analysis. Simulation results demonstrate that the proposed method achieves a 15.6% improvement in leveling response speed and a 21.3% enhancement in leveling accuracy compared to the classical single-threshold PID control algorithm. Static test results reveal a smooth leveling process devoid of significant overshoot or hysteresis, with the leveling error consistently maintained within 0.5°. Field tests further indicate that at a travel speed of 3 km/h under a 50 kg load, the platform stabilization time is reduced by an average of 1.3 s, while the leveling angle error remains within 0.5°. The proposed system not only improves leveling response speed and precision but also effectively enhances the overall leveling efficiency of the tracked chassis system. Full article

The Twin Hybrid Autonomous Underwater Vehicle (THAUV) is an underwater monitoring system consisting of a twin buoyant body and a fixed wing mounted between them. It is equipped with two propeller thrusters and a pair of elevators at the aft end. As a new type of underwater vehicle, it combines the long endurance of an underwater glider (UG), the high-speed maneuverability of an autonomous underwater vehicle (AUV), and the ability to carry larger payloads. In this paper, the motion equations of the THAUV are established, and its simulation model is developed using SIMULINK. Computational fluid dynamics (CFD) is further employed to identify hydrodynamic parameters under different elevator size conditions. A case study is conducted to analyze the effects of three different widths of elevators on glide performance, including gliding speed, pitching angle, and gliding trajectory. CFD results show that when the elevator deflection angle is zero, the hydrodynamic forces acting on the THAUV increase as the elevator width increases under identical angle of attack and velocity conditions. Under CFD conditions with fixed angle of attack and flow velocity, the sensitivity of the hydrodynamic characteristics to elevator deflection became significantly more pronounced. Increasing the elevator deflection angle led to substantial growth in the generated hydrodynamic forces. Motion simulations further show that increasing the elevator deflection angle enhances the THAUV’s gliding performance. Comparative results also reveal that glide performance improves with larger elevator width. Full article