In this paper, we proposed an output voltage stabilization of a DC-DC Zeta converter using hybrid control. We modeled the Zeta converter under continuous conduction mode operation. We derived a switching control law t...In this paper, we proposed an output voltage stabilization of a DC-DC Zeta converter using hybrid control. We modeled the Zeta converter under continuous conduction mode operation. We derived a switching control law that brings the output voltage to the desired level. Due to infinite switching occurring at the desired level, we enhanced the switching control law by allowing a sizeable output voltage ripple. We derived mathematical models that allow one to choose the desired switching frequency. In practice, the existence of the non-ideal properties of the Zeta converter results in steady-state output voltage error. By analyzing the power loss in the zeta converter, we proposed an improved switching control law that eliminates the steady-state output voltage error. The effectiveness of the proposed method is illustrated with simulation results.展开更多
In this paper, we propose the nonconforming virtual element method (NCVEM) discretization for the pointwise control constraint optimal control problem governed by elliptic equations. Based on the NCVEM approximation o...In this paper, we propose the nonconforming virtual element method (NCVEM) discretization for the pointwise control constraint optimal control problem governed by elliptic equations. Based on the NCVEM approximation of state equation and the variational discretization of control variables, we construct a virtual element discrete scheme. For the state, adjoint state and control variable, we obtain the corresponding prior estimate in H<sup>1</sup> and L<sup>2</sup> norms. Finally, some numerical experiments are carried out to support the theoretical results.展开更多
For aircraft manufacturing industries, the analyses and prediction of part machining error during machining process are very important to control and improve part machining quality. In order to effectively control mac...For aircraft manufacturing industries, the analyses and prediction of part machining error during machining process are very important to control and improve part machining quality. In order to effectively control machining error, the method of integrating multivariate statistical process control （MSPC） and stream of variations （SoV） is proposed. Firstly, machining error is modeled by multi-operation approaches for part machining process. SoV is adopted to establish the mathematic model of the relationship between the error of upstream operations and the error of downstream operations. Here error sources not only include the influence of upstream operations but also include many of other error sources. The standard model and the predicted model about SoV are built respectively by whether the operation is done or not to satisfy different requests during part machining process. Secondly, the method of one-step ahead forecast error （OSFE） is used to eliminate autocorrelativity of the sample data from the SoV model, and the T2 control chart in MSPC is built to realize machining error detection according to the data characteristics of the above error model, which can judge whether the operation is out of control or not. If it is, then feedback is sent to the operations. The error model is modified by adjusting the operation out of control, and continually it is used to monitor operations. Finally, a machining instance containing two operations demonstrates the effectiveness of the machining error control method presented in this paper.展开更多
We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utiliz...We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utilize quadratures for singular integrals using graded points. One has a polynomial order of accuracy if the integrand has a polynomial order of smoothness except at the singular point and the other has exponential order of accuracy if the integrand has an infinite order of smoothness except at the singular point. We estimate the order of convergence and computational complexity of the corresponding approximate solutions of the equation. We prove that the second technique preserves the order of convergence and computational complexity of the original collocation method. Numerical experiments are presented to illustrate the theoretical estimates.展开更多
Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this ...Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.展开更多
By mcans of stable attractors of discret Hopfield neural network (DHNN) , anew class of nonlinear error control codes is sugsested and some relativetheorems are presented. A kind of single error control codes is also ...By mcans of stable attractors of discret Hopfield neural network (DHNN) , anew class of nonlinear error control codes is sugsested and some relativetheorems are presented. A kind of single error control codes is also given forillustrating this new approach.展开更多
In wireless networks current standard MAC layer protocols don’t provide any error correction scheme for broadcast/multicast. In this paper, we enhance a Leader Based Protocol (LBP) and propose a Beacon-driven Leader ...In wireless networks current standard MAC layer protocols don’t provide any error correction scheme for broadcast/multicast. In this paper, we enhance a Leader Based Protocol (LBP) and propose a Beacon-driven Leader Based Protocol (BLBP) for the MAC layer multicast error control. To guarantee a very low Packet Loss Ratio (PLR) under strict delay constraints for video multicast over a Gilbert-Elliott (GE) channel, we analyze BLBP and compare it with LBP and different application layer multicast error control schemes via simulation experiments. Both the theoretical analysis and simulation results show that BLBP can correct nearly all the errors for all receivers in the MAC layer and is more efficient than LBP. BLBP is also more efficient than the application layer Automatic Repeat request (ARQ) scheme and the total multicast delay is much shorter. BLBP is very good for real-time multicast applications with strict delay constraints.展开更多
This study investigates the use of dynamic a priori error information according to atmospheric moistness and the use of quality controls in temperature and water vapor profile retrievals from hyperspectral infrared ...This study investigates the use of dynamic a priori error information according to atmospheric moistness and the use of quality controls in temperature and water vapor profile retrievals from hyperspectral infrared （IR） sounders. Temperature and water vapor profiles are retrieved from Atmospheric InfraRed Sounder （AIRS） radiance measurements by applying a physical iterative method using regression retrieval as the first guess. Based on the dependency of first-guess errors on the degree of atmospheric moistness, the a priori first-guess errors classified by total precipitable water （TPW） are applied in the AIRS physical retrieval procedure. Compared to the retrieval results from a fixed a priori error, boundary layer moisture retrievals appear to be improved via TPW classification of a priori first-guess errors. Six quality control （QC） tests, which check non-converged or bad retrievals, large residuals, high terrain and desert areas, and large temperature and moisture deviations from the first guess regression retrieval, are also applied in the AIRS physical retrievals. Significantly large errors are found for the retrievals rejected by these six QCs, and the retrieval errors are substantially reduced via QC over land, which suggest the usefulness and high impact of the QCs, especially over land. In conclusion, the use of dynamic a priori error information according to atmospheric moistness, and the use of appropriate QCs dealing with the geographical information and the deviation from the first-guess as well as the conventional inverse performance are suggested to improve temperature and moisture retrievals and their applications.展开更多
In real machining, the tool paths are composed of a series of short line segments, which constitute groups of sharp corners correspondingly leading to geometry discontinuity in tangent. As a result, high acceleration ...In real machining, the tool paths are composed of a series of short line segments, which constitute groups of sharp corners correspondingly leading to geometry discontinuity in tangent. As a result, high acceleration with high fluctuation usually occurs. If these kinds of tool paths are directly used for machining, the feedrate and quality will be greatly reduced. Thus, generating continuous tool paths is strongly desired. This paper presents a new error-controllable method for generating continuous tool path. Different from the traditional method focusing on fitting the cutter locations, the proposed method realizes globally smoothing the tool path in an error-controllable way. Concretely, it does the smoothing by approaching the newly produced curve to the linear tool path by taking the tolerance requirement as a constraint. That is, the error between the desired tool path and the G01 commands are taken as a boundary condition to ensure the finally smoothed curve being within the given tolerance. Besides, to improve the smoothing ability in case of small corner angle, an improved local smoothing method is also proposed by symmetrically assigning the control points to the two adjacent linear segments with the constrains of tolerance and G3 continuity. Experiments on an open five-axis machine are developed to verify the advantages of the proposed methods.展开更多
Recently,ultrasonic waves had been introduced as the transmission medium in Body Area Networks(BANs) to reduce the incalculable damage caused by radio waves. However,the communications based on ultrasonic waves suffer...Recently,ultrasonic waves had been introduced as the transmission medium in Body Area Networks(BANs) to reduce the incalculable damage caused by radio waves. However,the communications based on ultrasonic waves suffer from poor propagation of signals in air and consume too much energy. To address these limitations,firstly,we make the theoretical analysis to ensure ultrasonic waves could be used in BANs(UBANs). Then,we propose an error control strategy in UBANs to dynamically adjust the error control scheme and the Max-Retries based on the current channel state,which is called UECS. The UECS is based on IEEE 802.15.6 standards and considering the characteristics of ultrasonic waves in BANs. Simulation results show that UECS achieves better performance in terms of packet delivery ratio and energy consumption compared with the traditional strategies.展开更多
Two new fuzzy controllers are designed, one's control rules are adjusted byerror integral, another are with feedforward of error integral. If only the control rules andparameters are selected felicitously, the sta...Two new fuzzy controllers are designed, one's control rules are adjusted byerror integral, another are with feedforward of error integral. If only the control rules andparameters are selected felicitously, the static errors of the system will be eliminated. The testresults show that the controllers can assuredly improve static performances of the controlledsystem.展开更多
The multi axis coupling attitude control of a spacecraft with thrusters for attitude tracking is investigated. The attitude kinematics and dynamics are both described by error quaternions. The four error quaternion dy...The multi axis coupling attitude control of a spacecraft with thrusters for attitude tracking is investigated. The attitude kinematics and dynamics are both described by error quaternions. The four error quaternion dynamic equations are then transformed into four perturbed double integrators via linear transformations. An on off controller is designed based on the perturbed double integrators. The controller is determined by parabolic switching functions of the scalar error quaternion and the transfor...展开更多
In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial rob...In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability.展开更多
We present an adaptive control scheme of accumulative error to stabilize the unstable fixed point for chaotic systems which only satisfies local Lipschitz condition, and discuss how the convergence factor affects the ...We present an adaptive control scheme of accumulative error to stabilize the unstable fixed point for chaotic systems which only satisfies local Lipschitz condition, and discuss how the convergence factor affects the convergence and the characteristics of the final control strength. We define a minimal local Lipschitz coefficient, which can enlarge the condition of chaos control. Compared with other adaptive methods, this control scheme is simple and easy to implement by integral circuits in practice. It is also robust against the effect of noise. These are illustrated with numerical examples.展开更多
Permanent Magnet Synchronous Motor (PMSM) displays chaotic phenomenon when PMSM in power on or power off. At present, there are many methods to control chaos in PMSM. However, there appears oscillation in course of co...Permanent Magnet Synchronous Motor (PMSM) displays chaotic phenomenon when PMSM in power on or power off. At present, there are many methods to control chaos in PMSM. However, there appears oscillation in course of control chaos in PMSM, which has an effect on practical application. This paper proposes error control based on adaptive backstepping to control chaos in PMSM;an error control item is added in each step virtual control design which has control effect of unknown dynamical error on system. This scheme can eliminate oscillation in course of control chaos. Finally, the simulation results show the effectiveness of theoretical analysis.展开更多
The design of iterative learning controller(ILC) requires to store the system input, output or control parameters of previous trials for generating the input of the current trial. In order to apply the iterative learn...The design of iterative learning controller(ILC) requires to store the system input, output or control parameters of previous trials for generating the input of the current trial. In order to apply the iterative learning controller for a real application and reduce the memory size for implementation, a current error based sampled-data proportional-derivative(PD) type iterative learning controller is proposed for control systems with initial resetting error, input disturbance and output measurement noise in this paper.The proposed iterative learning controller is simple and effective. The first contribution in this paper is to prove the learning error convergence via a rigorous technical analysis. It is shown that the learning error will converge to a residual set if a forgetting factor is introduced in the controller. All the theoretical results are also shown by computer simulations. The second main contribution is to realize the iterative learning controller by a digital circuit using a field programmable gate array(FPGA) chip applied to repetitive position tracking control of direct current(DC) motors. The feasibility and effectiveness of the proposed current error based sampleddata iterative learning controller are demonstrated by the experiment results. Finally, the relationship between learning performance and design parameters are also discussed extensively.展开更多
A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered de...A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the tension tracking performance.Existing tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was established.An adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov stability theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was performed.The results indicated that the control of the winding tension was significantly enhanced.展开更多
Several well-publicized cases of improper cleaning,disinfection or sterilization of contaminated reusable medical equipment that posed an increased risk of patientto-patient disease transmission were reported within t...Several well-publicized cases of improper cleaning,disinfection or sterilization of contaminated reusable medical equipment that posed an increased risk of patientto-patient disease transmission were reported within the past few years,resulting in the notification of approximately 20 000 patients.These medical errors,the specific infection-control standards they breached,and assessments of the risk of infection associated with each are discussed.Other topics discussed include the Food and Drug Administration’s(FDA)regulation of medical devices and infection-control products;the use of adulterated,misbranded,and investigational devices;consent decrees and associated Certificates of Medical Necessity;and informed patient consent.Focus is placed on liquid chemical sterilization,its history,and the FDA’s recent censure and discontinuation of a medical device labeled with this claim,namely,the STERIS System 1 processor.Recommendations are provided for healthcare facilities,regulatory agencies,manufacturers of reusable medical devices,and professional healthcare organizations and administrations to improve public health and prevent healthcareassociated infections.展开更多
A valid preview control technique is presented for processing servo systemswith input delay based on extended error systems with input delay. The technique usesthe concept of error systems, establishes extended error ...A valid preview control technique is presented for processing servo systemswith input delay based on extended error systems with input delay. The technique usesthe concept of error systems, establishes extended error systems with input delay and de-rives preview control laws based on minimization of evaluation function. Finally, simula-tion is done on linear direct current motor without brush. The results reveal that the tech-nique proposed herein is valid for improving performance of servo systems.展开更多
Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, ...Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, have been used to control this kind of system, but there are some deficiencie s in those methods: some need accurate and some need complicated operation and e tc. In recent years, in need of controlling the industrial robots, aiming at com pletely tracking the ideal input for the controlled subject with repetitive character, a new research area, ILC (iterative learning control), has been devel oped in the control technology and theory. The iterative learning control method can make the controlled subject operate as desired in a definite time span, merely making use of the prior control experie nce of the system and searching for the desired control signal according to the practical and desired output signal. The process of searching is equal to that o f learning, during which we only need to measure the output signal to amend the control signal, not like the adaptive control strategy, which on line assesses t he complex parameters of the system. Besides, since the iterative learning contr ol relies little on the prior message of the subject, it has been well used in a lot of areas, especially the dynamic systems with strong non-linear coupling a nd high repetitive position precision and the control system with batch producti on. Since robot manipulator has the above-mentioned character, ILC can be very well used in robot manipulator. In the ILC, since the operation always begins with a certain initial state, init ial condition has been required in almost all convergence verification. Therefor e, in designing the controller, the initial state has to be restricted with some condition to guarantee the convergence of the algorithm. The settle of initial condition problem has long been pursued in the ILC. There are commonly two kinds of initial condition problems: one is zero initial error problem, another is non-zero initial error problem. In practice, the repe titive operation will invariably produce excursion of the iterative initial stat e from the desired initial state. As a result, the research on the second in itial problem has more practical meaning. In this paper, for the non-zero initial error problem, one novel robust ILC alg orithms, respectively combining PD type iterative learning control algorithm wit h the robust feedback control algorithm, has been presented. This novel robust ILC algorithm contain two parts: feedforward ILC algorithm and robust feedback algorithm, which can be used to restrain disturbance from param eter variation, mechanical nonlinearities and unmodeled dynamics and to achieve good performance as well. The feedforward ILC algorithm can be used to improve the tracking error and perf ormance of the system through iteratively learning from the previous operation, thus performing the tracking task very fast. The robust feedback algorithm could mainly be applied to make the real output of the system not deviate too much fr om the desired tracking trajectory, and guarantee the system’s robustness w hen there are exterior noises and variations of the system parameter. In this paper, in order to analyze the convergence of the algorithm, Lyapunov st ability theory has been used through properly selecting the Lyapunov function. T he result of the verification shows the feasibility of the novel robust iterativ e learning control in theory. Finally, aiming at the two-freedom rate robot, simulation has been made with th e MATLAB software. Furthermore, two groups of parameters are selected to validat e the robustness of the algorithm.展开更多
文摘In this paper, we proposed an output voltage stabilization of a DC-DC Zeta converter using hybrid control. We modeled the Zeta converter under continuous conduction mode operation. We derived a switching control law that brings the output voltage to the desired level. Due to infinite switching occurring at the desired level, we enhanced the switching control law by allowing a sizeable output voltage ripple. We derived mathematical models that allow one to choose the desired switching frequency. In practice, the existence of the non-ideal properties of the Zeta converter results in steady-state output voltage error. By analyzing the power loss in the zeta converter, we proposed an improved switching control law that eliminates the steady-state output voltage error. The effectiveness of the proposed method is illustrated with simulation results.
文摘In this paper, we propose the nonconforming virtual element method (NCVEM) discretization for the pointwise control constraint optimal control problem governed by elliptic equations. Based on the NCVEM approximation of state equation and the variational discretization of control variables, we construct a virtual element discrete scheme. For the state, adjoint state and control variable, we obtain the corresponding prior estimate in H<sup>1</sup> and L<sup>2</sup> norms. Finally, some numerical experiments are carried out to support the theoretical results.
基金National Natural Science Foundation of China (70931004)
文摘For aircraft manufacturing industries, the analyses and prediction of part machining error during machining process are very important to control and improve part machining quality. In order to effectively control machining error, the method of integrating multivariate statistical process control （MSPC） and stream of variations （SoV） is proposed. Firstly, machining error is modeled by multi-operation approaches for part machining process. SoV is adopted to establish the mathematic model of the relationship between the error of upstream operations and the error of downstream operations. Here error sources not only include the influence of upstream operations but also include many of other error sources. The standard model and the predicted model about SoV are built respectively by whether the operation is done or not to satisfy different requests during part machining process. Secondly, the method of one-step ahead forecast error （OSFE） is used to eliminate autocorrelativity of the sample data from the SoV model, and the T2 control chart in MSPC is built to realize machining error detection according to the data characteristics of the above error model, which can judge whether the operation is out of control or not. If it is, then feedback is sent to the operations. The error model is modified by adjusting the operation out of control, and continually it is used to monitor operations. Finally, a machining instance containing two operations demonstrates the effectiveness of the machining error control method presented in this paper.
基金The NNSF (10371137 and 10201034) of Chinathe Foundation (20030558008) of Doctoral Program of National Higher Education, Guangdong Provincial Natural Science Foundation (1011170) of China and the Advanced Research Foundation of Zhongshan UniversityThe US National Science Foundation (9973427 and 0312113)NSF (10371122) of China and the Chinese Academy of Sciences under the program of "Hundred Distinguished Young Chinese Scientists."
文摘We propose two error control techniques for numerical integrations in fast multiscale collocation methods for solving Fredholm integral equations of the second kind with weakly singular kernels. Both techniques utilize quadratures for singular integrals using graded points. One has a polynomial order of accuracy if the integrand has a polynomial order of smoothness except at the singular point and the other has exponential order of accuracy if the integrand has an infinite order of smoothness except at the singular point. We estimate the order of convergence and computational complexity of the corresponding approximate solutions of the equation. We prove that the second technique preserves the order of convergence and computational complexity of the original collocation method. Numerical experiments are presented to illustrate the theoretical estimates.
文摘Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.
文摘By mcans of stable attractors of discret Hopfield neural network (DHNN) , anew class of nonlinear error control codes is sugsested and some relativetheorems are presented. A kind of single error control codes is also given forillustrating this new approach.
文摘In wireless networks current standard MAC layer protocols don’t provide any error correction scheme for broadcast/multicast. In this paper, we enhance a Leader Based Protocol (LBP) and propose a Beacon-driven Leader Based Protocol (BLBP) for the MAC layer multicast error control. To guarantee a very low Packet Loss Ratio (PLR) under strict delay constraints for video multicast over a Gilbert-Elliott (GE) channel, we analyze BLBP and compare it with LBP and different application layer multicast error control schemes via simulation experiments. Both the theoretical analysis and simulation results show that BLBP can correct nearly all the errors for all receivers in the MAC layer and is more efficient than LBP. BLBP is also more efficient than the application layer Automatic Repeat request (ARQ) scheme and the total multicast delay is much shorter. BLBP is very good for real-time multicast applications with strict delay constraints.
基金supported by GOES-R Algorithm Working Group Program and GOES-R High Impact Weather Project (Grant No NA10NES4400013)supported by the Korea Meteorological Administration Research and Development Program under Grant CATER 2006-2103the BK21 Project of the Korean Government
文摘This study investigates the use of dynamic a priori error information according to atmospheric moistness and the use of quality controls in temperature and water vapor profile retrievals from hyperspectral infrared （IR） sounders. Temperature and water vapor profiles are retrieved from Atmospheric InfraRed Sounder （AIRS） radiance measurements by applying a physical iterative method using regression retrieval as the first guess. Based on the dependency of first-guess errors on the degree of atmospheric moistness, the a priori first-guess errors classified by total precipitable water （TPW） are applied in the AIRS physical retrieval procedure. Compared to the retrieval results from a fixed a priori error, boundary layer moisture retrievals appear to be improved via TPW classification of a priori first-guess errors. Six quality control （QC） tests, which check non-converged or bad retrievals, large residuals, high terrain and desert areas, and large temperature and moisture deviations from the first guess regression retrieval, are also applied in the AIRS physical retrievals. Significantly large errors are found for the retrievals rejected by these six QCs, and the retrieval errors are substantially reduced via QC over land, which suggest the usefulness and high impact of the QCs, especially over land. In conclusion, the use of dynamic a priori error information according to atmospheric moistness, and the use of appropriate QCs dealing with the geographical information and the deviation from the first-guess as well as the conventional inverse performance are suggested to improve temperature and moisture retrievals and their applications.
基金supported by the National Natural Science Foundation of China under Grant Nos.51675440 and 11620101002National Key Research and Development Program of China under Grant No.2017YFB1102800the Fundamental Research Funds for the Central Universities under Grant No.3102018gxc025
文摘In real machining, the tool paths are composed of a series of short line segments, which constitute groups of sharp corners correspondingly leading to geometry discontinuity in tangent. As a result, high acceleration with high fluctuation usually occurs. If these kinds of tool paths are directly used for machining, the feedrate and quality will be greatly reduced. Thus, generating continuous tool paths is strongly desired. This paper presents a new error-controllable method for generating continuous tool path. Different from the traditional method focusing on fitting the cutter locations, the proposed method realizes globally smoothing the tool path in an error-controllable way. Concretely, it does the smoothing by approaching the newly produced curve to the linear tool path by taking the tolerance requirement as a constraint. That is, the error between the desired tool path and the G01 commands are taken as a boundary condition to ensure the finally smoothed curve being within the given tolerance. Besides, to improve the smoothing ability in case of small corner angle, an improved local smoothing method is also proposed by symmetrically assigning the control points to the two adjacent linear segments with the constrains of tolerance and G3 continuity. Experiments on an open five-axis machine are developed to verify the advantages of the proposed methods.
基金partly supported by the National Natural Science Foundation of China(Grant No.61272412)Project 2016194 Supported by Graduate Innovation Fund of Jilin UniversitySpecialized Research Fund for the Doctoral Program of Higher Education under Grant Nos.20120061110044
文摘Recently,ultrasonic waves had been introduced as the transmission medium in Body Area Networks(BANs) to reduce the incalculable damage caused by radio waves. However,the communications based on ultrasonic waves suffer from poor propagation of signals in air and consume too much energy. To address these limitations,firstly,we make the theoretical analysis to ensure ultrasonic waves could be used in BANs(UBANs). Then,we propose an error control strategy in UBANs to dynamically adjust the error control scheme and the Max-Retries based on the current channel state,which is called UECS. The UECS is based on IEEE 802.15.6 standards and considering the characteristics of ultrasonic waves in BANs. Simulation results show that UECS achieves better performance in terms of packet delivery ratio and energy consumption compared with the traditional strategies.
文摘Two new fuzzy controllers are designed, one's control rules are adjusted byerror integral, another are with feedforward of error integral. If only the control rules andparameters are selected felicitously, the static errors of the system will be eliminated. The testresults show that the controllers can assuredly improve static performances of the controlledsystem.
基金National Natural Science F oundation of China(No.10 172 0 12 )
文摘The multi axis coupling attitude control of a spacecraft with thrusters for attitude tracking is investigated. The attitude kinematics and dynamics are both described by error quaternions. The four error quaternion dynamic equations are then transformed into four perturbed double integrators via linear transformations. An on off controller is designed based on the perturbed double integrators. The controller is determined by parabolic switching functions of the scalar error quaternion and the transfor...
文摘In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability.
基金supported by National Nature Science Foundation of China(Nos.61273088,10971120 and 61001099)Nature Science Foundation of Shandong Province(No.ZR2010FM010)
文摘We present an adaptive control scheme of accumulative error to stabilize the unstable fixed point for chaotic systems which only satisfies local Lipschitz condition, and discuss how the convergence factor affects the convergence and the characteristics of the final control strength. We define a minimal local Lipschitz coefficient, which can enlarge the condition of chaos control. Compared with other adaptive methods, this control scheme is simple and easy to implement by integral circuits in practice. It is also robust against the effect of noise. These are illustrated with numerical examples.
文摘Permanent Magnet Synchronous Motor (PMSM) displays chaotic phenomenon when PMSM in power on or power off. At present, there are many methods to control chaos in PMSM. However, there appears oscillation in course of control chaos in PMSM, which has an effect on practical application. This paper proposes error control based on adaptive backstepping to control chaos in PMSM;an error control item is added in each step virtual control design which has control effect of unknown dynamical error on system. This scheme can eliminate oscillation in course of control chaos. Finally, the simulation results show the effectiveness of theoretical analysis.
基金supported by National Science Council,Taiwan,China(No.NSC102-2221-E-211-011)National Nature Science Foundation of China(No.61374102)
文摘The design of iterative learning controller(ILC) requires to store the system input, output or control parameters of previous trials for generating the input of the current trial. In order to apply the iterative learning controller for a real application and reduce the memory size for implementation, a current error based sampled-data proportional-derivative(PD) type iterative learning controller is proposed for control systems with initial resetting error, input disturbance and output measurement noise in this paper.The proposed iterative learning controller is simple and effective. The first contribution in this paper is to prove the learning error convergence via a rigorous technical analysis. It is shown that the learning error will converge to a residual set if a forgetting factor is introduced in the controller. All the theoretical results are also shown by computer simulations. The second main contribution is to realize the iterative learning controller by a digital circuit using a field programmable gate array(FPGA) chip applied to repetitive position tracking control of direct current(DC) motors. The feasibility and effectiveness of the proposed current error based sampleddata iterative learning controller are demonstrated by the experiment results. Finally, the relationship between learning performance and design parameters are also discussed extensively.
基金Supported by National Key R&D Program of China (Grant No.2018YFB2000702)National Natural Science Foundation of China (Grant No.52075262)Fok Ying-Tong Education Foundation of China (Grant No.171044)。
文摘A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the tension tracking performance.Existing tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was established.An adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov stability theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was performed.The results indicated that the control of the winding tension was significantly enhanced.
文摘Several well-publicized cases of improper cleaning,disinfection or sterilization of contaminated reusable medical equipment that posed an increased risk of patientto-patient disease transmission were reported within the past few years,resulting in the notification of approximately 20 000 patients.These medical errors,the specific infection-control standards they breached,and assessments of the risk of infection associated with each are discussed.Other topics discussed include the Food and Drug Administration’s(FDA)regulation of medical devices and infection-control products;the use of adulterated,misbranded,and investigational devices;consent decrees and associated Certificates of Medical Necessity;and informed patient consent.Focus is placed on liquid chemical sterilization,its history,and the FDA’s recent censure and discontinuation of a medical device labeled with this claim,namely,the STERIS System 1 processor.Recommendations are provided for healthcare facilities,regulatory agencies,manufacturers of reusable medical devices,and professional healthcare organizations and administrations to improve public health and prevent healthcareassociated infections.
文摘A valid preview control technique is presented for processing servo systemswith input delay based on extended error systems with input delay. The technique usesthe concept of error systems, establishes extended error systems with input delay and de-rives preview control laws based on minimization of evaluation function. Finally, simula-tion is done on linear direct current motor without brush. The results reveal that the tech-nique proposed herein is valid for improving performance of servo systems.
文摘Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, have been used to control this kind of system, but there are some deficiencie s in those methods: some need accurate and some need complicated operation and e tc. In recent years, in need of controlling the industrial robots, aiming at com pletely tracking the ideal input for the controlled subject with repetitive character, a new research area, ILC (iterative learning control), has been devel oped in the control technology and theory. The iterative learning control method can make the controlled subject operate as desired in a definite time span, merely making use of the prior control experie nce of the system and searching for the desired control signal according to the practical and desired output signal. The process of searching is equal to that o f learning, during which we only need to measure the output signal to amend the control signal, not like the adaptive control strategy, which on line assesses t he complex parameters of the system. Besides, since the iterative learning contr ol relies little on the prior message of the subject, it has been well used in a lot of areas, especially the dynamic systems with strong non-linear coupling a nd high repetitive position precision and the control system with batch producti on. Since robot manipulator has the above-mentioned character, ILC can be very well used in robot manipulator. In the ILC, since the operation always begins with a certain initial state, init ial condition has been required in almost all convergence verification. Therefor e, in designing the controller, the initial state has to be restricted with some condition to guarantee the convergence of the algorithm. The settle of initial condition problem has long been pursued in the ILC. There are commonly two kinds of initial condition problems: one is zero initial error problem, another is non-zero initial error problem. In practice, the repe titive operation will invariably produce excursion of the iterative initial stat e from the desired initial state. As a result, the research on the second in itial problem has more practical meaning. In this paper, for the non-zero initial error problem, one novel robust ILC alg orithms, respectively combining PD type iterative learning control algorithm wit h the robust feedback control algorithm, has been presented. This novel robust ILC algorithm contain two parts: feedforward ILC algorithm and robust feedback algorithm, which can be used to restrain disturbance from param eter variation, mechanical nonlinearities and unmodeled dynamics and to achieve good performance as well. The feedforward ILC algorithm can be used to improve the tracking error and perf ormance of the system through iteratively learning from the previous operation, thus performing the tracking task very fast. The robust feedback algorithm could mainly be applied to make the real output of the system not deviate too much fr om the desired tracking trajectory, and guarantee the system’s robustness w hen there are exterior noises and variations of the system parameter. In this paper, in order to analyze the convergence of the algorithm, Lyapunov st ability theory has been used through properly selecting the Lyapunov function. T he result of the verification shows the feasibility of the novel robust iterativ e learning control in theory. Finally, aiming at the two-freedom rate robot, simulation has been made with th e MATLAB software. Furthermore, two groups of parameters are selected to validat e the robustness of the algorithm.
