基于节点扩张的遗传算法在机器人路径规划中的应用

构建了一种基于模糊决策的复合低通滤波器(LPF)，提出了一种基于FBD法的有源电力滤波器(APF)参考电流检测新方法.该方法利用锁相环(PLL)产生参考电压，将负载电流投影到参考电压上，通过LPF可以准确检测出基波有功电流和基波无功电流.设计了基于模糊决策的复合LPF，该LPF由截止频率为10 Hz和30 Hz的双二阶Butterworth LPF组成，根据负载电流的波动幅度和谐波电流的最低次数，利用模糊推理确定LPF的选用.与传统的FBD法相比，该方法在电网电压不对称条件下，能够确保参考电流检测结果的准确性，且动态响应速度快、原理简单.理论分析和仿真结果证明了新型参考电流检测方法的正确性和有效性.

Application of Genetic Algorithm with Node Expanding Method to Path Planning of Robots

Multiple low pass filter (LPF) with fuzzy reasoning was established, and a detecting algorithm based on S. Fryze, F. Buchholz, M. Dpenbrock (FBD) method was proposed for active power filter (APF). Reference voltage was generated by phase locked loop(PLL), and load current was projected to reference voltage, and then active power fundamental current and reactive power fundamental current could be detected accurately. The multiple LPF composed of two two order Butterworth LPFs was developed on the basis of fuzzy control, and the fuzzy controller was designed by taking into account the changing amplitude of load current and the lowest harmonic current. Compared with traditional current detecting algorithms, this new reference current detecting algorithm based on FBD method is much simpler and of higher accuracy and better dynamic performance even under unbalanced voltage circumstance. Theoretical analysis and MATLAB simulation results have proved the validity and effectiveness of the proposed reference current detecting algorithm.