Vehicle-following control systems represent the key autonomous driving technology,which can enhance the road utilization and relieve traffic congestion effectively.However,their stability is severely challenged by ran...Vehicle-following control systems represent the key autonomous driving technology,which can enhance the road utilization and relieve traffic congestion effectively.However,their stability is severely challenged by random disturbances in the external environment,parameter perturbations to their dynamic models,and the combinations of these effects.In the most adverse scenario,these effects can cause fatal traffic accidents.Therefore,focusing on the vehicle-following system design,theμ-synthesis robust control framework is proposed in this paper for autonomous vehicles to realize its speed-and spacing-tracking control that can adapt to uncertainty.The contributions of this paper are threefold:First of all,the external disturbance affecting the longitudinal motion of the vehicle is regarded as an uncertain parameter and incorporated as a variable in the dynamic control model.This effectively reduces the complexity of the control system and improves the realtime performance of the controller.Then,the state-space model of the vehicle-following system is reformulated using the descriptor form to achieve decoupled robust control of autonomous vehicles with multiple uncertain parameters.This can reduce the conservativeness of the controller.Last,with consideration of the nominal performance and robust stability,aμ-synthesis robust controller for the speed-and spacing-tracking by a vehicle-following system is developed.Experiments using the hardware-in-the-loop system are conducted to verify the effectiveness of the proposed contol framework.The results show that it has good tracking performance and is robust to parameter perturbations.展开更多
In this study,we explore some of the best proximity point results for generalized proximal contractions in the setting of double-controlled metric-type spaces.A non-trivial example is given to elucidate our analysis,a...In this study,we explore some of the best proximity point results for generalized proximal contractions in the setting of double-controlled metric-type spaces.A non-trivial example is given to elucidate our analysis,and some novel results are derived.The discovered results generalize previously known results in the context of a double controlled metric type space environment.This article’s proximity point results are the first of their kind in the realm of controlled metric spaces.To build on the results achieved in this article,we present an application demonstrating the usability of the given results.展开更多
Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of g...Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.展开更多
The magnetic field is one of the most important parameters in solar physics,and a polarimeter is the key device to measure the solar magnetic field.Liquid crystals based Stokes polarimeter is a novel technology,and wi...The magnetic field is one of the most important parameters in solar physics,and a polarimeter is the key device to measure the solar magnetic field.Liquid crystals based Stokes polarimeter is a novel technology,and will be applied for magnetic field measurement in the first space-based solar observatory satellite developed by China,Advanced Space-based Solar Observatory.However,the liquid crystals based Stokes polarimeter in space is not a mature technology.Therefore,it is of great scientific significance to study the control method and characteristics of the device.The retardation produced by a liquid crystal variable retarder is sensitive to the temperature,and the retardation changes 0.09°per 0.10℃.The error in polarization measurement caused by this change is 0.016,which affects the accuracy of magnetic field measurement.In order to ensure the stability of its performance,this paper proposes a high-precision temperature control system for liquid crystals based Stokes polarimeter in space.In order to optimize the structure design and temperature control system,the temperature field of liquid crystals based Stokes polarimeter is analyzed by the finite element method,and the influence of light on the temperature field of the liquid crystal variable retarder is analyzed theoretically.By analyzing the principle of highprecision temperature measurement in space,a high-precision temperature measurement circuit based on integrated operational amplifier,programmable amplifier and 12 bit A/D is designed,and a high-precision space temperature control system is developed by applying the integral separation PI temperature control algorithm and PWM driving heating films.The experimental results show that the effect of temperature control is accurate and stable,whenever the liquid crystals based Stokes polarimeter is either in the air or vacuum.The temperature stability is within±0.0150℃,which demonstrates greatly improved stability for the liquid crystals based Stokes polarimeter.展开更多
The current highly competitive environment has driven industries to operate with increasingly restricted profit margins. Thus, it is imperative to optimize production processes. Faced with this scenario, multivariable...The current highly competitive environment has driven industries to operate with increasingly restricted profit margins. Thus, it is imperative to optimize production processes. Faced with this scenario, multivariable predictive control of processes has been presented as a powerful alternative to achieve these goals. Moreover, the rationale for implementation of advanced control and subsequent analysis of its post-match performance also focus on the benefits that this tool brings to the plant. It is therefore essential to establish a methodology for analysis, based on clear and measurable criteria. Currently, there are different methodologies available in the market to assist with such analysis. These tools can have a quantitative or qualitative focus. The aim of this study is to evaluate three of the best current main performance assessment technologies： Minimum Variance Control-Harris Index; Statistical Process Control （Cp and Cpk）; and the Qin and Yu Index. These indexes were studied for an alumina plant controlled by three MPC （model predictive control） algorithms （GPC （generalized predictive control）, RMPCT （robust multivariable predictive control technology） and ESSMPC （extended state space model predictive controller）） with different results.展开更多
Effective thermal control systems are essential for reliable operation of spacecraft.A dual-driven intelligent combination control strategy is proposed to improve the temperate control and heat flux tracking effects.B...Effective thermal control systems are essential for reliable operation of spacecraft.A dual-driven intelligent combination control strategy is proposed to improve the temperate control and heat flux tracking effects.Both temperature regulation and heat flux tracking errors are employed to generate the final control action;their contributions are adaptively adjusted by a fuzzy fusing policy of control actions.To evaluate the control effects,describe a four-nodal mathematical model for analyzing the dynamic characteristics of the controlled heat pipe space cooling system（HP-SCS） consisting of an aluminum-ammonia heat pipe and a variable-emittance micro-electromechanical-system（MEMS） radiator.This dynamical model calculates the mass flow-rate and condensing pressure of the heat pipe working fluid directly from the systemic nodal temperatures,therefore,it is more suitable for control engineering applications.The closed-loop transient performances of four different control schemes have been numerically investigated.The results conclude that the proposed intelligent combination control scheme not only improves the thermal control effects but also benefits the safe operation of HP-SCS.展开更多
In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts ...In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.展开更多
In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion....In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.展开更多
A set of microphysics equations is scaled based on the convective length and velocity scales. Comparisons are made among the dynamical transport and various microphysical processes. From the scaling analysis, it becom...A set of microphysics equations is scaled based on the convective length and velocity scales. Comparisons are made among the dynamical transport and various microphysical processes. From the scaling analysis, it becomes apparent which parameterized microphysical processes present off-scaled influences in the integration of the set of microphysics equations. The variabilities of the parameterized microphysical processes are also studied using the approach of a controlled parameter space. Given macroscopic dynamic and thermodynamic conditions in different regions of convective storms, it is possible to analyze and compare vertical profiles of these processes. Bulk diabatic heating profiles for a cumulus convective updraft and downdraft are also derived from this analysis. From the two different angles, the scale analysis and the controlled-parameter space approach can both provide an insight into and an understanding of microphysics parameterizations.展开更多
Through a third⁃order mathematical model of grid⁃oriented LCL⁃type converters,this paper analyzes the complicated dynamic characteristics and resonance problems which may influence the system stability.To realize acti...Through a third⁃order mathematical model of grid⁃oriented LCL⁃type converters,this paper analyzes the complicated dynamic characteristics and resonance problems which may influence the system stability.To realize active damping for LCL filters and improve dynamic performance of current regulators,a state space current PI controller is proposed whose parameters can be tuned based on the polynomial equations approach.An extended state observer is integrated with the regulation scheme,where additional sensors are not necessary in contrast with conventional active damping strategies.Synchronous reference frame PLL(SRF⁃PLL)equipped with filter technology is proposed for grid voltage disturbance suppression.This method is then applied to establish a double⁃closed⁃loop power regulator that demonstrates improved performance compared with other controllers.The simulation results are displayed to illustrate the efficiency of the regulation methods.展开更多
Generally,the field of fixed point theory has attracted the attention of researchers in different fields of science and engineering due to its use in proving the existence and uniqueness of solutions of real-world dyn...Generally,the field of fixed point theory has attracted the attention of researchers in different fields of science and engineering due to its use in proving the existence and uniqueness of solutions of real-world dynamic models.C^(∗)-algebra is being continually used to explain a physical system in quantum field theory and statistical mechanics and has subsequently become an important area of research.The concept of a C^(∗)-algebra-valued metric space was introduced in 2014 to generalize the concept of metric space.In fact,It is a generalization by replacing the set of real numbers with a C^(∗)-algebra.After that,this line of research continued,where several fixed point results have been obtained in the framework of C^(∗)-algebra valued metric,aswell as(more general)C^(∗)-algebra-valued b-metric spaces andC^(∗)-algebra-valued extended b-metric spaces.Very recently,based on the concept and properties of C^(∗)-algebras,we have studied the quasi-case of such spaces to give a more general notion of relaxing the triangular inequality in the asymmetric case.In this paper,we first introduce the concept of C^(∗)-algebra-valued quasi-controlledK-metric spaces and prove some fixed point theorems that remain valid in this setting.To support our main results,we also furnish some exampleswhichdemonstrate theutility of ourmainresult.Finally,as an application,we useour results to prove the existence and uniqueness of the solution to a nonlinear stochastic integral equation.展开更多
Under the traditional mode of"incremental"development,urban development has bred urban problems such as lack of land resources,unbalanced distribution of public space,over development of land use,etc.The con...Under the traditional mode of"incremental"development,urban development has bred urban problems such as lack of land resources,unbalanced distribution of public space,over development of land use,etc.The concept of"stock renewal"is that the construction and development of a city changes from"extensive"construction to"refined"urban construction and management mode.Taking Yongchuan District’s regulatory detailed planning as an example,based on the concept of stock renewal as the guiding ideology of urban control planning,this study made corresponding strategies for the control planning of Yongchuan District’s mountain,water system,green space system,etc.On the basis of the problems of mountain encroachment,water bank erosion,lack of green space and safeguard mechanism,the protection and utilization planning of mountain,water and green were put forward,and safeguard mechanism in the process of planning and implementation was established,so as to provide specific guidance for the construction of Yongchuan central urban area,with a view to providing reference for the preparation and implementation of relevant regulatory detailed planning.展开更多
We present in this paper a survey of recent results on the relation between time and norm optimality for linear systems and the infinite dimensional version of Pontryagin＇s maximum principle. In particular, we discus...We present in this paper a survey of recent results on the relation between time and norm optimality for linear systems and the infinite dimensional version of Pontryagin＇s maximum principle. In particular, we discuss optimality （or nonoptimality） of singular controls satisfying the maximum principle and smoothness of the costate in function of smoothness of the target.展开更多
This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free...This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free-floating space robot because the base disturbance minimization will result in less energy consumption and prolonged control application. The analytical formulation of the reaction torque is derived in this article, and the reaction torque control can achieve reactionless control and satellite base disturbance minimization. Furthermore, we derive the reaction torque based control of the space robot for base disturbance minimization from both the non-strict task priority and strict task priority control strategy. The dynamics singularity in the proposed algorithm is avoided in this paper. Besides, a real time simulation system of the space robot under Linux/real time application interface（RTAI） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online reaction torque control of the redundant free-floating space robot.展开更多
In this work,we investigate several fixed point theorems in double controlled metric spaces by providing some new definitions,which serve as a natural extension of the existing notions.Moreover,we establish its variou...In this work,we investigate several fixed point theorems in double controlled metric spaces by providing some new definitions,which serve as a natural extension of the existing notions.Moreover,we establish its various characterizations by some typical examples.Specifically,these examples hold in double-controlled metric-like spaces instead of usual b-metric spaces.The fixed point theorems are obtained under these new concepts,without appealing to the completeness of the spaces or the continuity of the mappings.Furthermore,we prove that the completeness in double-controlled metric-like spaces is necessary if the extended Kannan-type contractions have a fixed point in the spaces.The results contribute to a deeper understanding of Kannan-type contractions and their applicability in the context of fixed point theory in double-controlled metric spaces.展开更多
The space charge effect (SCE) of static induction transistor (SIT) that occurs in high current region is systematically studied.The I V equations are deduced and well agree with experimental results.Two kinds of ...The space charge effect (SCE) of static induction transistor (SIT) that occurs in high current region is systematically studied.The I V equations are deduced and well agree with experimental results.Two kinds of barriers are presented in SIT,corresponding to channel voltage barrier control (CVBC) mechanism and space charge limited control (SCLC) mechanism respectively.With the increase of drain voltage,the gradual transferring of operational mechanism from CVBC to SCLC is demonstrated.It points out that CVBC mechanism and its contest relationship with space charge barrier makes the SIT distinctly differentiated from JFET and triode devices,etc.The contest relationship of the two potential barriers also results in three different working regions,which are distinctly marked and analyzed.Furthermore,the extreme importance of grid voltage on SCE is illustrated.展开更多
The purpose of this paper is to establish sev eral identities containing Gaussian binomial coefficient. These results generali ze several Mercier's results. Key words:Gaussian binomial coefficient; identity; the ...The purpose of this paper is to establish sev eral identities containing Gaussian binomial coefficient. These results generali ze several Mercier's results. Key words:Gaussian binomial coefficient; identity; the functio n A(T,T 2,...,T n)culating eige nvalues of auto-correlation matrix of the physical control force of actuators. T he optimization algorithm calculating the optimal actuator placement is then put forward via the minimization of an energy criterion, which is chosen as the con trol index. Numerical examples show the effectiveness of the proposed method.展开更多
Temporal cavity solitons（CSs） have excellent properties that can sustain their shape in a temporal profile and with a broadband, smooth-frequency spectrum. We propose a method for controllable frequency line spacing...Temporal cavity solitons（CSs） have excellent properties that can sustain their shape in a temporal profile and with a broadband, smooth-frequency spectrum. We propose a method for controllable frequency line spacing soliton formation in a microresonator using two continuous-wave（CW） pumps with multi-free-spectral-range（FSR） spacing. The method we propose has better control over the amount and location of the solitons traveling in the cavity compared to the tuning pump method. We also find that by introducing a second pump with frequency N FSR from the first pump, solitons with N FSR comb spacing can be generated.展开更多
Mastering the influence laws of parameters on the solution structure of nonlinear systems is the basis of carrying out vibration isolation and control.Many researches on solution structure and bifurcation phenomenon i...Mastering the influence laws of parameters on the solution structure of nonlinear systems is the basis of carrying out vibration isolation and control.Many researches on solution structure and bifurcation phenomenon in parameter spaces are carried out broadly in many fields,and the research on nonlinear gear systems has attracted the attention of many scholars.But there is little study on the solution domain boundary of nonlinear gear systems.For a periodic non-autonomous nonlinear dynamic system with several control parameters,a solution domain boundary analysis method of nonlinear systems in parameter spaces is proposed,which combines the cell mapping method based on Poincarépoint mapping in phase spaces with the domain decomposition technique of parameter spaces.The cell mapping is known as a global analysis method to analyze the global behavior of a nonlinear dynamic system with finite dimensions,and the basic idea of domain decomposition techniques is to divide and rule.The method is applied to analyze the solution domain boundaries in parameter spaces of a nonlinear gear system.The distribution of different period domains,chaos domain and the domain boundaries between different period domains and chaotic domain are obtained in control parameter spaces constituted by meshing damping ratio with excitation frequency,fluctuation coefficient of meshing stiffness and average exciting force respectively by calculation.The calculation results show that as the meshing damping increases,the responses of the system change towards a single motion,while the variations of the excitation frequency,meshing stiffness and exciting force make the solution domain presenting diversity.The proposed research contribution provides evidence for vibration control and parameter design of the gear system,and confirms the validity of the solution domain boundary analysis method.展开更多
Data warehouse (DW), a new technology invented in 1990s, is more useful for integrating and analyzing massive data than traditional database. Its application in geology field can be divided into 3 phrases: 1992-1996,...Data warehouse (DW), a new technology invented in 1990s, is more useful for integrating and analyzing massive data than traditional database. Its application in geology field can be divided into 3 phrases: 1992-1996, commercial data warehouse (CDW) appeared; 1996-1999, geological data warehouse (GDW) appeared and the geologists or geographers realized the importance of DW and began the studies on it, but the practical DW still followed the framework of DB; 2000 to present, geological data warehouse grows, and the theory of geo-spatial data warehouse (GSDW) has been developed but the research in geological area is still deficient except that in geography. Although some developments of GDW have been made, its core still follows the CDW-organizing data by time and brings about 3 problems: difficult to integrate the geological data, for the data feature more space than time; hard to store the massive data in different levels due to the same reason; hardly support the spatial analysis if the data are organized by time as CDW does. So the GDW should be redesigned by organizing data by scale in order to store mass data in different levels and synthesize the data in different granularities, and choosing space control points to replace the former time control points so as to integrate different types of data by the method of storing one type data as one layer and then to superpose the layers. In addition, data cube, a wide used technology in CDW, will be no use in GDW, for the causality among the geological data is not so obvious as commercial data, as the data are the mixed result of many complex rules, and their analysis always needs the special geological methods and software; on the other hand, data cube for mass and complex geo-data will devour too much store space to be practical. On this point, the main purpose of GDW may be fit for data integration unlike CDW for data analysis.展开更多
基金supported by National Natural Science Foundation of China(52104163)the Foundation of the State Key Laboratory of Automotive Simulation and Control(20210232).
文摘Vehicle-following control systems represent the key autonomous driving technology,which can enhance the road utilization and relieve traffic congestion effectively.However,their stability is severely challenged by random disturbances in the external environment,parameter perturbations to their dynamic models,and the combinations of these effects.In the most adverse scenario,these effects can cause fatal traffic accidents.Therefore,focusing on the vehicle-following system design,theμ-synthesis robust control framework is proposed in this paper for autonomous vehicles to realize its speed-and spacing-tracking control that can adapt to uncertainty.The contributions of this paper are threefold:First of all,the external disturbance affecting the longitudinal motion of the vehicle is regarded as an uncertain parameter and incorporated as a variable in the dynamic control model.This effectively reduces the complexity of the control system and improves the realtime performance of the controller.Then,the state-space model of the vehicle-following system is reformulated using the descriptor form to achieve decoupled robust control of autonomous vehicles with multiple uncertain parameters.This can reduce the conservativeness of the controller.Last,with consideration of the nominal performance and robust stability,aμ-synthesis robust controller for the speed-and spacing-tracking by a vehicle-following system is developed.Experiments using the hardware-in-the-loop system are conducted to verify the effectiveness of the proposed contol framework.The results show that it has good tracking performance and is robust to parameter perturbations.
文摘In this study,we explore some of the best proximity point results for generalized proximal contractions in the setting of double-controlled metric-type spaces.A non-trivial example is given to elucidate our analysis,and some novel results are derived.The discovered results generalize previously known results in the context of a double controlled metric type space environment.This article’s proximity point results are the first of their kind in the realm of controlled metric spaces.To build on the results achieved in this article,we present an application demonstrating the usability of the given results.
基金supported by the National High-tech Research and Development Program of China
文摘Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.
基金the National Natural Science Foundation of China(Grant Nos.11427803,11427901 and 11773040)the Strategic Pioneer Program on Space Science,Chinese Academy of Sciences(CAS)(XDA04061002 and XDA15010800)the Public Technology Service Center,National Astronomical Observatories of CAS(829011V01)。
文摘The magnetic field is one of the most important parameters in solar physics,and a polarimeter is the key device to measure the solar magnetic field.Liquid crystals based Stokes polarimeter is a novel technology,and will be applied for magnetic field measurement in the first space-based solar observatory satellite developed by China,Advanced Space-based Solar Observatory.However,the liquid crystals based Stokes polarimeter in space is not a mature technology.Therefore,it is of great scientific significance to study the control method and characteristics of the device.The retardation produced by a liquid crystal variable retarder is sensitive to the temperature,and the retardation changes 0.09°per 0.10℃.The error in polarization measurement caused by this change is 0.016,which affects the accuracy of magnetic field measurement.In order to ensure the stability of its performance,this paper proposes a high-precision temperature control system for liquid crystals based Stokes polarimeter in space.In order to optimize the structure design and temperature control system,the temperature field of liquid crystals based Stokes polarimeter is analyzed by the finite element method,and the influence of light on the temperature field of the liquid crystal variable retarder is analyzed theoretically.By analyzing the principle of highprecision temperature measurement in space,a high-precision temperature measurement circuit based on integrated operational amplifier,programmable amplifier and 12 bit A/D is designed,and a high-precision space temperature control system is developed by applying the integral separation PI temperature control algorithm and PWM driving heating films.The experimental results show that the effect of temperature control is accurate and stable,whenever the liquid crystals based Stokes polarimeter is either in the air or vacuum.The temperature stability is within±0.0150℃,which demonstrates greatly improved stability for the liquid crystals based Stokes polarimeter.
文摘The current highly competitive environment has driven industries to operate with increasingly restricted profit margins. Thus, it is imperative to optimize production processes. Faced with this scenario, multivariable predictive control of processes has been presented as a powerful alternative to achieve these goals. Moreover, the rationale for implementation of advanced control and subsequent analysis of its post-match performance also focus on the benefits that this tool brings to the plant. It is therefore essential to establish a methodology for analysis, based on clear and measurable criteria. Currently, there are different methodologies available in the market to assist with such analysis. These tools can have a quantitative or qualitative focus. The aim of this study is to evaluate three of the best current main performance assessment technologies： Minimum Variance Control-Harris Index; Statistical Process Control （Cp and Cpk）; and the Qin and Yu Index. These indexes were studied for an alumina plant controlled by three MPC （model predictive control） algorithms （GPC （generalized predictive control）, RMPCT （robust multivariable predictive control technology） and ESSMPC （extended state space model predictive controller）） with different results.
基金National Natural Science Foundation of China(50506003)
文摘Effective thermal control systems are essential for reliable operation of spacecraft.A dual-driven intelligent combination control strategy is proposed to improve the temperate control and heat flux tracking effects.Both temperature regulation and heat flux tracking errors are employed to generate the final control action;their contributions are adaptively adjusted by a fuzzy fusing policy of control actions.To evaluate the control effects,describe a four-nodal mathematical model for analyzing the dynamic characteristics of the controlled heat pipe space cooling system（HP-SCS） consisting of an aluminum-ammonia heat pipe and a variable-emittance micro-electromechanical-system（MEMS） radiator.This dynamical model calculates the mass flow-rate and condensing pressure of the heat pipe working fluid directly from the systemic nodal temperatures,therefore,it is more suitable for control engineering applications.The closed-loop transient performances of four different control schemes have been numerically investigated.The results conclude that the proposed intelligent combination control scheme not only improves the thermal control effects but also benefits the safe operation of HP-SCS.
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of ChinaProject(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province,China
文摘In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.
基金Supported by the National High Technology Research and Development Program of China(863 Program)(2011AA041002)
文摘In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.
基金Acknowledgments. Thanks to Dr. Alexander MacDonald of NOAA/FSL for his support throughout this study, and to Professors William Cotton. Roger Pielke. Wayne Schubert of Colorado State University, and to Dr. Fanyou Kong of University of Oklahoma and Mr. Hu
文摘A set of microphysics equations is scaled based on the convective length and velocity scales. Comparisons are made among the dynamical transport and various microphysical processes. From the scaling analysis, it becomes apparent which parameterized microphysical processes present off-scaled influences in the integration of the set of microphysics equations. The variabilities of the parameterized microphysical processes are also studied using the approach of a controlled parameter space. Given macroscopic dynamic and thermodynamic conditions in different regions of convective storms, it is possible to analyze and compare vertical profiles of these processes. Bulk diabatic heating profiles for a cumulus convective updraft and downdraft are also derived from this analysis. From the two different angles, the scale analysis and the controlled-parameter space approach can both provide an insight into and an understanding of microphysics parameterizations.
文摘Through a third⁃order mathematical model of grid⁃oriented LCL⁃type converters,this paper analyzes the complicated dynamic characteristics and resonance problems which may influence the system stability.To realize active damping for LCL filters and improve dynamic performance of current regulators,a state space current PI controller is proposed whose parameters can be tuned based on the polynomial equations approach.An extended state observer is integrated with the regulation scheme,where additional sensors are not necessary in contrast with conventional active damping strategies.Synchronous reference frame PLL(SRF⁃PLL)equipped with filter technology is proposed for grid voltage disturbance suppression.This method is then applied to establish a double⁃closed⁃loop power regulator that demonstrates improved performance compared with other controllers.The simulation results are displayed to illustrate the efficiency of the regulation methods.
文摘Generally,the field of fixed point theory has attracted the attention of researchers in different fields of science and engineering due to its use in proving the existence and uniqueness of solutions of real-world dynamic models.C^(∗)-algebra is being continually used to explain a physical system in quantum field theory and statistical mechanics and has subsequently become an important area of research.The concept of a C^(∗)-algebra-valued metric space was introduced in 2014 to generalize the concept of metric space.In fact,It is a generalization by replacing the set of real numbers with a C^(∗)-algebra.After that,this line of research continued,where several fixed point results have been obtained in the framework of C^(∗)-algebra valued metric,aswell as(more general)C^(∗)-algebra-valued b-metric spaces andC^(∗)-algebra-valued extended b-metric spaces.Very recently,based on the concept and properties of C^(∗)-algebras,we have studied the quasi-case of such spaces to give a more general notion of relaxing the triangular inequality in the asymmetric case.In this paper,we first introduce the concept of C^(∗)-algebra-valued quasi-controlledK-metric spaces and prove some fixed point theorems that remain valid in this setting.To support our main results,we also furnish some exampleswhichdemonstrate theutility of ourmainresult.Finally,as an application,we useour results to prove the existence and uniqueness of the solution to a nonlinear stochastic integral equation.
基金Social Science Planning Project of Chongqing(2019YBSH085)Graduate Education Innovation Fund Project of Chongqing Jiaotong University(2019S01012018S0143).
文摘Under the traditional mode of"incremental"development,urban development has bred urban problems such as lack of land resources,unbalanced distribution of public space,over development of land use,etc.The concept of"stock renewal"is that the construction and development of a city changes from"extensive"construction to"refined"urban construction and management mode.Taking Yongchuan District’s regulatory detailed planning as an example,based on the concept of stock renewal as the guiding ideology of urban control planning,this study made corresponding strategies for the control planning of Yongchuan District’s mountain,water system,green space system,etc.On the basis of the problems of mountain encroachment,water bank erosion,lack of green space and safeguard mechanism,the protection and utilization planning of mountain,water and green were put forward,and safeguard mechanism in the process of planning and implementation was established,so as to provide specific guidance for the construction of Yongchuan central urban area,with a view to providing reference for the preparation and implementation of relevant regulatory detailed planning.
文摘We present in this paper a survey of recent results on the relation between time and norm optimality for linear systems and the infinite dimensional version of Pontryagin＇s maximum principle. In particular, we discuss optimality （or nonoptimality） of singular controls satisfying the maximum principle and smoothness of the costate in function of smoothness of the target.
基金supported by National Basic Research Program of China(973 Program)(No.2013CB733103)Program for New Century Excellent Talents in University(No.NCET-10-0058)
文摘This paper presents the reaction torque based satellite base reactionless control or base disturbance minimization of a redundant free-floating space robot. This subject is of vital importance in the study of the free-floating space robot because the base disturbance minimization will result in less energy consumption and prolonged control application. The analytical formulation of the reaction torque is derived in this article, and the reaction torque control can achieve reactionless control and satellite base disturbance minimization. Furthermore, we derive the reaction torque based control of the space robot for base disturbance minimization from both the non-strict task priority and strict task priority control strategy. The dynamics singularity in the proposed algorithm is avoided in this paper. Besides, a real time simulation system of the space robot under Linux/real time application interface（RTAI） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online reaction torque control of the redundant free-floating space robot.
基金Supported by the Yunnan Provincial Reserve Talent Program for Young and Middle-aged Academic and Technical Leaders(202405AC350086)the Special Basic Cooperative Research Programs of Yunnan Provincial Undergraduate Universities'Association(202301BA070001-095,202301BA070001-092)。
文摘In this work,we investigate several fixed point theorems in double controlled metric spaces by providing some new definitions,which serve as a natural extension of the existing notions.Moreover,we establish its various characterizations by some typical examples.Specifically,these examples hold in double-controlled metric-like spaces instead of usual b-metric spaces.The fixed point theorems are obtained under these new concepts,without appealing to the completeness of the spaces or the continuity of the mappings.Furthermore,we prove that the completeness in double-controlled metric-like spaces is necessary if the extended Kannan-type contractions have a fixed point in the spaces.The results contribute to a deeper understanding of Kannan-type contractions and their applicability in the context of fixed point theory in double-controlled metric spaces.
文摘The space charge effect (SCE) of static induction transistor (SIT) that occurs in high current region is systematically studied.The I V equations are deduced and well agree with experimental results.Two kinds of barriers are presented in SIT,corresponding to channel voltage barrier control (CVBC) mechanism and space charge limited control (SCLC) mechanism respectively.With the increase of drain voltage,the gradual transferring of operational mechanism from CVBC to SCLC is demonstrated.It points out that CVBC mechanism and its contest relationship with space charge barrier makes the SIT distinctly differentiated from JFET and triode devices,etc.The contest relationship of the two potential barriers also results in three different working regions,which are distinctly marked and analyzed.Furthermore,the extreme importance of grid voltage on SCE is illustrated.
文摘The purpose of this paper is to establish sev eral identities containing Gaussian binomial coefficient. These results generali ze several Mercier's results. Key words:Gaussian binomial coefficient; identity; the functio n A(T,T 2,...,T n)culating eige nvalues of auto-correlation matrix of the physical control force of actuators. T he optimization algorithm calculating the optimal actuator placement is then put forward via the minimization of an energy criterion, which is chosen as the con trol index. Numerical examples show the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China (Grant Nos. 61475099, 61102053, 61378012, and 11574092)the Program of State Key Laboratory of Quantum Optics and Quantum Optics Devices (No. KF201405)the Open Fund of IPOC (BUPT) (No: IPOC2015B004)
文摘Temporal cavity solitons（CSs） have excellent properties that can sustain their shape in a temporal profile and with a broadband, smooth-frequency spectrum. We propose a method for controllable frequency line spacing soliton formation in a microresonator using two continuous-wave（CW） pumps with multi-free-spectral-range（FSR） spacing. The method we propose has better control over the amount and location of the solitons traveling in the cavity compared to the tuning pump method. We also find that by introducing a second pump with frequency N FSR from the first pump, solitons with N FSR comb spacing can be generated.
基金supported by National Hi-tech Research and Development Program of China(863 Program,Grant No.2009AA04Z404)
文摘Mastering the influence laws of parameters on the solution structure of nonlinear systems is the basis of carrying out vibration isolation and control.Many researches on solution structure and bifurcation phenomenon in parameter spaces are carried out broadly in many fields,and the research on nonlinear gear systems has attracted the attention of many scholars.But there is little study on the solution domain boundary of nonlinear gear systems.For a periodic non-autonomous nonlinear dynamic system with several control parameters,a solution domain boundary analysis method of nonlinear systems in parameter spaces is proposed,which combines the cell mapping method based on Poincarépoint mapping in phase spaces with the domain decomposition technique of parameter spaces.The cell mapping is known as a global analysis method to analyze the global behavior of a nonlinear dynamic system with finite dimensions,and the basic idea of domain decomposition techniques is to divide and rule.The method is applied to analyze the solution domain boundaries in parameter spaces of a nonlinear gear system.The distribution of different period domains,chaos domain and the domain boundaries between different period domains and chaotic domain are obtained in control parameter spaces constituted by meshing damping ratio with excitation frequency,fluctuation coefficient of meshing stiffness and average exciting force respectively by calculation.The calculation results show that as the meshing damping increases,the responses of the system change towards a single motion,while the variations of the excitation frequency,meshing stiffness and exciting force make the solution domain presenting diversity.The proposed research contribution provides evidence for vibration control and parameter design of the gear system,and confirms the validity of the solution domain boundary analysis method.
文摘Data warehouse (DW), a new technology invented in 1990s, is more useful for integrating and analyzing massive data than traditional database. Its application in geology field can be divided into 3 phrases: 1992-1996, commercial data warehouse (CDW) appeared; 1996-1999, geological data warehouse (GDW) appeared and the geologists or geographers realized the importance of DW and began the studies on it, but the practical DW still followed the framework of DB; 2000 to present, geological data warehouse grows, and the theory of geo-spatial data warehouse (GSDW) has been developed but the research in geological area is still deficient except that in geography. Although some developments of GDW have been made, its core still follows the CDW-organizing data by time and brings about 3 problems: difficult to integrate the geological data, for the data feature more space than time; hard to store the massive data in different levels due to the same reason; hardly support the spatial analysis if the data are organized by time as CDW does. So the GDW should be redesigned by organizing data by scale in order to store mass data in different levels and synthesize the data in different granularities, and choosing space control points to replace the former time control points so as to integrate different types of data by the method of storing one type data as one layer and then to superpose the layers. In addition, data cube, a wide used technology in CDW, will be no use in GDW, for the causality among the geological data is not so obvious as commercial data, as the data are the mixed result of many complex rules, and their analysis always needs the special geological methods and software; on the other hand, data cube for mass and complex geo-data will devour too much store space to be practical. On this point, the main purpose of GDW may be fit for data integration unlike CDW for data analysis.
