Anti-Swing Control for Quadrotor-Slung Load Transportation System with Underactuated State Constraints.

Quadrotors play a crucial role in the national economy. The control technology for quadrotor-slung load transportation systems has become a research hotspot. However, the underactuated load's swing poses significant challenges to the stability of the system. In this paper, we propose a Lyapunov-based control strategy, to ensure the stability of the quadrotor-slung load transportation system while satisfying the constraints of the load's swing angles. Firstly, a position controller without swing angle constraints is proposed, to ensure the stability of the system. Then, a barrier Lyapunov function based on the load's swing angle constraints is constructed, and an anti-swing controller is designed to guarantee the states' asymptotic stability. Finally, a PD controller is designed, to drive the actual angles to the virtual ones, which are extracted from the position controller. The effectiveness of the control method is verified by comparing it to the results of the LQR algorithm. The proposed control method not only guarantees the payload's swing angle constraints but also reduces energy consumption.

Open Circuit Fault Detection of T-Type Grid Connected Inverters Using Fast S Transform and Random Forest.

To detect open circuit faults of grid-connected T-type inverters, this paper proposed a real-time method based on fast S transform and random forest. The three-phase fault currents of the inverter were used as the inputs of the new method and no additional sensors were needed. Some fault current harmonics and direct current components were selected as the fault features. Then, fast S transform was used to extract the features of fault currents, and random forest was used to recognize the features and the fault type, as well as locate the faulted switches. The simulation and experiments showed that the new method could detect open-circuit faults with low computation complexity and the detection accuracy was 100%. The real-time and accurate open circuit fault detection method was proven effective for grid-connected T-type inverter monitoring.

Uncertainty Principle and Power Quality Sensing and Analysis in Smart Substation.

Different kinds of power quality can be sensed in a smart substation. Power quality sensing and analysis are basic functions of a smart substation for situation awareness. The uncertainty principle, which states that the time uncertainty and frequency uncertainty cannot be minimized simultaneously, is a bottleneck problem that undermines the faithfulness of sensing and confines the accuracy of analysis. This paper studies the influence of the uncertainty principle on the power quality monitoring issue in detail and solves the problem by ideal atomic decomposition (IAD). The new method employs a pair of time and frequency bases where the power quality waveform is sensed. Then, both time uncertainty and frequency uncertainty can be minimized simultaneously. The sensing process is realized by orthogonal matching pursuit (OMP). By simulated and field power quality tests with comparisons of developed methods, the new method can give faithful sensing and accurate analysis for various power qualities, and is validated as an effective power quality monitoring method in smart substations.