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A intelligent control model structure of double-level-three-stage is presented to deal with the moving robot detecting and tracking system. According to basic ideas of imitation of human intelligence control, it includes Decision-making level and Execution level, each level is decomposed into 3 stages. In the process of tracking, the moving objects state forecast and two-step increment tracking algorithm based on Kalman filter are adopted to drive the mobile robot quickly and smoothly. The robot system to detect and track moving objects with the model structure is designed and its application in automobile stake is illustrated.

Multi-port bidirectional DC-DC converters have attracted special interest in applications where multiple energy sources are used. In this paper, a three-port converter with two active full bridges, a active half bridge, and a three-winding high-frequency transformer is proposed. It uses a single power conversion stage with high-frequency link to control power flow between batteries, supercapacitors, and load. The converter has capabilities of bidirectional power flow in the battery, the supercapacitor, and the load port. The converter has the advantages of reduced sized low input current ripple. This paper presents the steady state analysis and dynamic model of this converter. An equivalent circuit based small singnal model is developed. A control strategy with the decoupled network is implemented to obtain fast dynamic response. Steady state and dynamic analysis of the converter is presented along with simulation results. Finally, a prototype is built in the laboratory and tested.

Aimed at the application of directly driven PMSG (Permanent Magnet Synchronous Generator) in MW wind power system, a strategy of compound vector control with the orientation at the direction of stator current is proposed in this paper. This strategy adopts the MTCRC (Maximum Torque / Current Ratio Control) mode to perform normal power generation within the range between the cut-in speed and a turning speed of the generator, but uses the WFC (Weakening Flux Control) to keep the system stability and safety, meanwhile generate as much as possible the power while the speed climbs into the range between the turning speed and the turbine's limit. The two control modes may switch to each other according to the real time status of the system, and the feasibility of the proposed strategy is verified by simulation and experiments.

A novel stand-alone photovoltaic ultracapacitor/battery hybrid energy storage system is proposed. Compared with the traditional one, this system has high power density and high energy density, prolong the lifetime of battery, achieve the system more efficient and reliable etc. A digital control system for multiple-input bi-directional dc-dc converter is designed and implemented. Software and hardware implementation issuses are described . Finally, the simulated and experimental results show a good dynamic response achieved.

In this paper, a vision-guided mobile robot's path following is studied. A dynamic sliding mode controller (DSMC) is designed based on the nonlinear kinematic model of the robot without linearization of the system and the stability of the controller is proved through Lyapunov function. Particle swarm optimization (PSO) algorithm is utilized to optimize the parameters of the controller. Simulation analysis and experimental results demonstrate that the controller proposed can steer the robot to track the guide line accurately, which also show that the controller eliminates chattering problem effectively since the high-frequency chattering is transferred into the derivative of the control signal. The precision of the system can reach below 2 cm for distance error and 2 degree for orientation error.

A solar tracking approach based on fisheye images is proposed. First, processing the (H, S, I) components, the high light areas are enhanced. Then the sun areas are recognized according to the contour, offset and magnitude of transformed areas; the sun's azimuth and altitude angle is derived from the sun area barycentre. Experimental results show that our proposed approach can not only located the sun orientation accurately in ordinary environment, but it is also workable under occlusion and image distortion.

Communication network equipped with optical fiber has been widely applied in the main 110kV/35 kV and above power grid in the electric industry. But the urban distribution network below 35kV has not developed into a sound pattern. Ad-hoc network featured with low power consumption, low operating cost, good fault tolerance and high reliability is now a new trend in the distribution communication. An improved routing protocol based on the AODV, which is named “LQ-AODV” is put forward for Ad-hoc network that is suitable for the urban distribution grid. By evaluating the quality of link, a qualitied routing is picked up by LQ-AODV as the communication path. In this way, the problem of defective realtime performance due to the deficiency of link evaluation is solved. This Ad-hoc network and LQ-AODV routing protocol has been tested in Huangshan Power Supply Company. It proves that it is an effective method in the distribution communication.