This paper investigates the problem of cluster synchronization of master-slave complex net-works with time-varying delay via linear and adaptive feedback pinning controls.We need not non-delayed and delayed coupling m...This paper investigates the problem of cluster synchronization of master-slave complex net-works with time-varying delay via linear and adaptive feedback pinning controls.We need not non-delayed and delayed coupling matrices to be symmetric or irreducible.We have the advantages of using adaptive control method to reduce control gain and pinning control technology to reduce cost.By con-structing Lyapunov function,some sufficient synchronization criteria are established.Finally,numerical examples are employed to illustrate the effectiveness of the proposed approach.展开更多
As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the...As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.展开更多
This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ...This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.展开更多
Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON an...Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.展开更多
According to the differences of structural deformation characteristics, the southern margin of the Junggar basin can be divided into two segments from east to west. Arcnate thrust-and-fold belts that protrude to the n...According to the differences of structural deformation characteristics, the southern margin of the Junggar basin can be divided into two segments from east to west. Arcnate thrust-and-fold belts that protrude to the north are developed in the eastern segment. There are three rows of en echelon thrust-and-fold belts in the western segment. Thrust and fold structures of basement-involved styles are developed in the first row, and decollement fold structures are formed from the second row to the third row. In order to study the factors controlling the deformation of structures, sand-box experiments have been devised to simulate the evolution of plane and profile deformation. The planar simulation results indicate that the orthogonal compression coming from Bogeda Mountain and the oblique compression with an angle of 75° between the stress and the boundary originating from North Tianshan were responsible for the deformation differences between the eastern part and the western part. The Miquan-Uriimqi fault in the basement is the pre-existing condition for generating fragments from east to west. The profile simulation results show that the main factors controlling the deformation in the eastern part are related to the decollement of Jurassic coal beds alone, while those controlling the deformation in the western segment are related to both the Jurassic coal beds and the Eogene clay beds. The total amount of shortening from the Yaomoshan anticline to the Gumudi anticline in the eastern part is -19.57 km as estimated from the simulation results, and the shortening rate is about 36.46%; that from the Qingshuihe anticline to the Anjihai anticline in the western part is -22.01 km as estimated by the simulation results, with a shortening rate of about 32.48%. These estimated values obtained from the model results are very close to the values calculated by means of the balanced cross section.展开更多
Operation optimization is an effective method to explore potential economic benefits for existing plants. The m.aximum potential benefit from operationoptimization is determined by the distances between current operat...Operation optimization is an effective method to explore potential economic benefits for existing plants. The m.aximum potential benefit from operationoptimization is determined by the distances between current operating point and process constraints, which is related to the margins of design variables. Because of various ciisturbances in chemical processes, some distances must be reserved for fluctuations of process variables and the optimum operating point is not on some process constraints. Thus the benefit of steady-state optimization can not be fully achied（ed while that of dynamic optimization can be really achieved. In this study, the steady-state optimizationand dynamic optimization are used, and the potential benefit-is divided into achievable benefit for profit and unachievable benefit for control. The fluid catalytic cracking unit （FCCU） is used for case study. With the analysis on how the margins of design variables influence the economic benefit and control performance, the bottlenecks of process design are found and appropriate control structure can be selected.展开更多
A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelit...A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.展开更多
The composition and sedimentary controlling effect of the coal measure gas-bearing(CMG)system of the Jurassic Xishanyao Formation in the southern margin of the Junggar Basin(SJB)are analysed based on core observations...The composition and sedimentary controlling effect of the coal measure gas-bearing(CMG)system of the Jurassic Xishanyao Formation in the southern margin of the Junggar Basin(SJB)are analysed based on core observations,sample tests,and logging data.The results show that the lithological associations of the SJB can be classified into 6 types based on sediment supply strengths and sealing abilities,while the gas shows of CMG reservoirs vary greatly among different lithological associations.Due to the diversified coal-forming environment and multistage coal accumulation,superimposed CMG systems are generally developed in the SJB,and their types include:superimposed unattached CMG systems,multilayer unified CMG systems,and superimposed mixed CMG systems.Furthermore,sedimentary controls on the vertical and regional distributions of different types of CMG systems are discussed according to the sedimentary facies of single wells and well cross-sections and the corresponding data of well log,gas logging,and gas contents.Shore shallow lake environments in the Fukang,Miquan,and northern Liuhuanggou areas were favourable for forming superimposed unattached CMG systems.Braided river environments in the Houxia and the southern Liuhuanggou areas usually formed multilayer unified CMG systems.Braided river delta environments in the Manasi,Hutubi,and eastern Sikeshu areas generally developed multilayer unified CMG systems and superimposed mixed CMG systems.For different types of superimposed CMG systems,the number of gas-bearing units,coal seam gas content,vertical hydraulic connectivity and lateral continuity vary considerably,which makes it necessary to tailor the CMG co-production plan to the type of CMG system.展开更多
With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving...With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.展开更多
A novel stability computation approach for tactical missile autopilots is detailed. The limi- tations of traditional stability margins are exhibited. Then the vector margin is introduced and com- pared with sensitivit...A novel stability computation approach for tactical missile autopilots is detailed. The limi- tations of traditional stability margins are exhibited. Then the vector margin is introduced and com- pared with sensitivity function to show their essential relationship. The longitudinal three-loop auto- pilot for tactical missiles is presented and used as the baseline for all the available linear autopilots. Ten linear autopilot topologies using all the measurable feedback components are given with the iden- tical closed-loop characteristic equation and time-domain step response. However, the stability of the ten autopilots differs when considering the actuator dynamics, which limits their application. Then vector margin method is adopted to compute and evaluate the stability of all available autopi- lots. The analysis and computation results show that the vector margin method could better evaluate autopilot stability.展开更多
Multi-beam,sub-bottom and multichannel seismic data acquired from the western Nigerian continental margin are analysed and interpreted to examine the architectural characteristics of the lower parts of the submarine c...Multi-beam,sub-bottom and multichannel seismic data acquired from the western Nigerian continental margin are analysed and interpreted to examine the architectural characteristics of the lower parts of the submarine canyons on the margin.The presence of four canyons： Avon,Mahin,Benin,and Escravos,are confirmed from the multi-beam data map and identified as cutting across the shelf and slope areas,with morphological features ranging from axial channels,moderate to high sinuosity indices,scarps,terraces and nickpoints which are interpreted as resulting from erosional and depositional activities within and around the canyons.The Avon Canyon,in particular,is characterised by various branches and sub-branches with complex morphologies.The canyons are mostly U-shaped in these lower parts with occasional V-shapes down their courses.Their typical orientation is NE–SW.Sedimentary processes are proposed as being a major controlling factor in these canyons.Sediments appear to have been discharged directly into the canyons by rivers during the late Quaternary low sea level which allows river mouths to extend as far as the shelf edge.The current sediment supply is still primarily sourced from these rivers in the case of the Benin and Escravos Canyons,but indirectly in the case of the Avon and Mahin Canyons where the rivers discharge sediments into the lagoons and the lagoons bring the sediments on to the continental shelf before they are dispersed into the canyon heads.Ancient canyons that have long been buried underneath the Avon Canyon are identified in the multichannel seismic profile across the head of the Avon Canyon,while a number of normal faults around the walls of the Avon and Mahin Canyons are observed in the selected sub-bottom profiles.The occurrence of these faults,especially in the irregular portions of the canyon walls,suggests that they also have some effect on the canyon architecture.The formation of the canyons is attributed to the exposure of the upper marginal area to incisions from erosion during the sea level lowstand of the glacial period.The incisions are widened and lengthened by contouric currents,turbidity currents and slope failures resulting in the canyons.展开更多
This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with re...This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with respect to the inertial frame,while the path following error is not expected to violate the predefined boundaries.Differently from existing moving path following guidance laws,the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem.A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers.To guarantee that the path following error will not exceed the prescribed bounds,a robust control barrier function is developed and incorporated into controller design with quadratic program based framework.The proposed method does not require the initial position of the UAV to be within predefined boundaries.And the safety margin concept makes error-constraint be respected even if in a noisy environment.The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-theloop(HIL)experiments.展开更多
The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order sys...The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order systems.The quantitative results indicate that,besides good dynamic response,ADRC can guarantee enough phase margin.It is also proved that by decreasing the order of ESO,the phase margin can be increased.Furthermore,it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters.Finally,the theoretical results are verified by both simulations and experiments on a motion control platform.展开更多
Most ore-forming characteristics of the Langshan-Zha'ertaishan hydrothermal exhalation belt, which consists of the Dongshengmiao, Huogeqi, Tanyaokou and Jiashengpan large-superlarge Zn-Pb-Cu-Fe sulfide deposits, a...Most ore-forming characteristics of the Langshan-Zha'ertaishan hydrothermal exhalation belt, which consists of the Dongshengmiao, Huogeqi, Tanyaokou and Jiashengpan large-superlarge Zn-Pb-Cu-Fe sulfide deposits, are most similar to those of Mesoproterozoic SEDEX-type provinces of the world. The characteristics include: (1) All deposits of this type in the belt occur in third-order fault-basins in the Langshan-Zha'ertaishan aulacogen along the northern margin of the North China Platform; (2) these deposits with all their orebodies hosted in the Mesoproterozoic impure dolomite-marble and carbonaceous phyllite (or schists) have an apparent stratabound nature; ores display laminated and banded structures, showing clear depositional features; (3) there is some evidence of syn-sedimentary faulting, which to a certain extent accounts for the temporal and spatial distribution and the size of the orebodies in all deposits and the formation of intrabed conglomerates and breccias; (4) they show lateral and vertical zonation of sulfides; (5) The Cu/(Pb+Zn+Cu) ratio of the large and thick Pb+Zn+Cu orebodies gradually decreases from bottom to top; and (6) barite is interbedded with pyrites and sometimes with sphalerite. However, some characteristics such as the Co/Ni radio of the pyrites, the volcanism, for example, of the Langshan-Zha'ertaishan metallogenic belt, are different from those of the typical SEDEX deposits of the world. The meta-basic volcanic rock in Huogeqi, the sodic bimodal volcanic rocks in the Dongshengmiao and potassic bimodal-volcanic rocks with blastoporphyritic and blasto-glomeroporphyritic texture as well as blasto-amygdaloidal structure in the Tanyaokou deposits have been discovered in the only ore-bearing second formation of the Langshan Group in the past 10 years. The metallogeny of some deposits hosted in the Langshan Group is closely related to syn-sedimentary volcanism based on the following facts: most of the lead isotopes in sphalerite, galena, pyrite, pyrrhotite and chalcopyrite plot on both sides of the line for the mantle or between the lines for the mantle and lower crust in the lead isotope composition diagram; cobalt content of some pyrites samples is much higher than the nickel content (Co/Ni=11.91-12.19). Some volcanic blocks and debris have been picked out from some pyritic and pyrrhotitic ores. All Zn-Pb-Cu-Fe sulfide orebodies in these deposits occur in the strata overlying metamorphic volcanic rocks in the only ore-bearing second formation. In the Jiashengpan deposit that lacks syn-sedimentary volcanic rocks in the host succession only Pb and Zn ores occur without Cu ore, but in the Dongshengmiao, Tanyaokou and Huogeqi deposits with syn-sedimentary volcanic rocks in the host succession Cu ores occur. This indicates a relatively higher ore-forming temperature. The process of syn-sedimentary volcanic eruption directly supplied some ore-forming elements, and resulted in secular geothermal anomaly favorable for the circulation of a submarine convective hydrothermal system, which accounts for the precipitation of deep mineralizing fluids exhaling into anoxidic basins along the syn-sedimentary fault system in the Langshan-Zha'ertai rift. The Dongshengmiao, Tanyaokou, and Huogeqi deposits hosted in the Langshan Group appear to be a transitional type of mineral deposit between SEDEX and VMS-types but with a bias towards SEDEX, while the Jiashengpan deposit hosted in the Zha'ertai Group is of a characteristic SEDEX type. This evidence, together with other new discoveries of Mesoproterozoic volcanic rocks and the features of lithogeny and metallogeny of the Bayun Obo deposit in the neighborhood emphasize the diversity, complexity and uniqueness of the Mesoproterozoic Langshan-Zha'ertai-Bayun Obo ore belt.展开更多
The Douala-Buea Region(DBR;4°-5°N,9°-10°30’E),a portion of the southern Cameroon passive margin,developed on the Proterozoic granito-gneissic basement and the Cretaceous to Recent volcanosedimenta...The Douala-Buea Region(DBR;4°-5°N,9°-10°30’E),a portion of the southern Cameroon passive margin,developed on the Proterozoic granito-gneissic basement and the Cretaceous to Recent volcanosedimentary cover,was explored in order to evaluate the lithology and tectonics controls on its landscape usingthequalitativeandquantitative geomorphological analyses based on 30 m resolution Digital Elevation Models(DEM)and field evidences.This area displays an uneven and complex landscape differentiated into four morphological units:Douala,Nkondjock,Kumba and Buea Units.The Douala Unit corresponds to the Coastal Plain and is extended on the Douala-Kribi/Camposedimentarybasin.The Nkondjock Unit represents a middle plateau developed on a Proterozoic granito-gneissic basement.The Kumba Unit matches with the southernmost volcanic Western Cameroon High Plateau.The Buea Unit corresponds to the Mount Cameroon stratovolcano.The relief analysis through mountain-front sinuosity(Smf,1.19–1.43)and relative relief ratio(Rr,0.10–2.31)vary from one unit to another.The drainage network analysis including drainage patterns,stepped longitudinalriverprofiles,theassociated morphometric indexes,notably the concavity index(IC,0.56–0.88),deviation(D,267–2912 m),basin asymmetry factor(A_(F),6.37–42.12),hypsometric integral(HI,0.10–0.29),valley floor width to valley height ratio(V_(f),0.36–2.75),elongation ratio(R_(e),0.30–0.50),watershed slope(S,6.88–88.88)and stream length gradient index(SL,0–3332)vary from one basin to another too.These results also show the heterogeneous and uneven DBR landscape controlled by its lithology and active tectonics.The drainage system reveals concave to concavo-convex longitudinal river profile shapes with knick points,asymmetric basins,and fault reactivations,and highlights the tectonics activity that used to occur through the time and their control on the morphology.Together,they document the lithostructural controls on the DBR landscape evolution,extendable in the whole SW Cameroon margin.展开更多
In this paper, a new analysis and design method for proportional-integrative-derivative （PID） tuning is proposed based on controller scaling analysis. Integral of time absolute error （ITAE） index is minimized for ...In this paper, a new analysis and design method for proportional-integrative-derivative （PID） tuning is proposed based on controller scaling analysis. Integral of time absolute error （ITAE） index is minimized for specified gain and phase margins （GPM） constraints, so that the transient performance and robustness are both satisfied. The requirements on gain and phase margins are ingeniously formulated by real part constraints （RPC） and imaginary part constraints （IPC）. This set of new constraints is simply related with three parameters and decoupling of the remaining four unknowns, including three controller parameters and the gain margin, in the nonlinear and coupled characteristic equation simultaneously. The formulas of the optimal GPM-PID are derived based on controller scaling analysis. Finally, this method is applied to liquid level control of coke fractionation tower, which demonstrate that the proposed method provides better disturbance rejection and robust tracking performance than some commonly used PID tuning methods.展开更多
The on-line coordinated control strategy among multi-voltage controls is important to keep voltage security in post-fault systems. Based on the wide area measuring information, the energy function, which can qualify t...The on-line coordinated control strategy among multi-voltage controls is important to keep voltage security in post-fault systems. Based on the wide area measuring information, the energy function, which can qualify the impacts of the different control actions on voltage of different nodes, is proposed. And then, considering the impacts of different control actions on the node voltage being treated as a weight matrix, the energy margin is used as the objective function and the reactive power margin is innovatively used as the constraint to regulate the control actions globally according to the weight values. At last, the objective functions are solved to get the optimal global coordinated control strategies. The proposed method is identified in an IEEE-30 Bus system and the simulation results show that it effectively improves the voltage stability.展开更多
The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and th...The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and the measuring device are located by employing the traveling lorry, and this unit enables the robot to adjust the tracks according to the errors received from the measuring device, and then the nipples are welded properly. This paper emphases on the development of the master-slave control system, in which the prograrmmable Logic Controller (PLC) is used as the master computer.展开更多
The multi-agent theory is introduced and applied in the way to strike the control amount of emergency control according to stability margin, based on which an emergency control strategy of the power system is presente...The multi-agent theory is introduced and applied in the way to strike the control amount of emergency control according to stability margin, based on which an emergency control strategy of the power system is presented. The multi-agent control structure which is put forward in this article has three layers: system agent, areal agent and local agents. System agent sends controlling execution signal to the load-local agent according to the position and the amount of load shedding upload from areal agent;The areal agent judges whether the power system is stable by monitoring and analyzing the maximum relative power angle. In the condition of instability, determines the position of load-shedding, and the optimal amount of load-shedding according to the stability margin based on the corrected transient energy function, upload control amount to system agent;local-generator agent is mainly used for real-time monitoring the power angle of generator sets and uploading it to the areal agency, local-loads agent control load by receiving the control signal from system agent. Simulations on IEEE39 system show that the proposed control strategy improves the system stability.展开更多
This paper presents an enhanced Root Locus diagram that consists of the representation of the phase and the magnitude of the transfer function G（s） of a system. The magnitude is represented in decibels and the phase...This paper presents an enhanced Root Locus diagram that consists of the representation of the phase and the magnitude of the transfer function G（s） of a system. The magnitude is represented in decibels and the phase is represented by colors. It also presents how to use it to calculate different kinds of controllers. An important characteristic of this diagram is that permits to read the phase and the gain margins directly and the imaginary axis cut represents the Bode diagram. It is also possible to put the grid with damping ratio ξ and frequency ωn.展开更多
文摘This paper investigates the problem of cluster synchronization of master-slave complex net-works with time-varying delay via linear and adaptive feedback pinning controls.We need not non-delayed and delayed coupling matrices to be symmetric or irreducible.We have the advantages of using adaptive control method to reduce control gain and pinning control technology to reduce cost.By con-structing Lyapunov function,some sufficient synchronization criteria are established.Finally,numerical examples are employed to illustrate the effectiveness of the proposed approach.
基金supported in part by National Natural Science Foundation of China(62203127)Basic and Applied Basic Research Project of Guangzhou City(2023A04J1712)+1 种基金The Foshan-HKUST Projects Program(FSUST19-FYTRI01)GDAS’Project of Science and Technology Development(2020GDASYL-20200202001).
文摘As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.
基金supported by the Key Project of Chinese Ministry of Education(108037)the National Natural Science Foundation of China(10402008 and 50535010)
文摘This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.
文摘Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.
基金financially supported by the National Natural Science Foundation of China(No.40972091)
文摘According to the differences of structural deformation characteristics, the southern margin of the Junggar basin can be divided into two segments from east to west. Arcnate thrust-and-fold belts that protrude to the north are developed in the eastern segment. There are three rows of en echelon thrust-and-fold belts in the western segment. Thrust and fold structures of basement-involved styles are developed in the first row, and decollement fold structures are formed from the second row to the third row. In order to study the factors controlling the deformation of structures, sand-box experiments have been devised to simulate the evolution of plane and profile deformation. The planar simulation results indicate that the orthogonal compression coming from Bogeda Mountain and the oblique compression with an angle of 75° between the stress and the boundary originating from North Tianshan were responsible for the deformation differences between the eastern part and the western part. The Miquan-Uriimqi fault in the basement is the pre-existing condition for generating fragments from east to west. The profile simulation results show that the main factors controlling the deformation in the eastern part are related to the decollement of Jurassic coal beds alone, while those controlling the deformation in the western segment are related to both the Jurassic coal beds and the Eogene clay beds. The total amount of shortening from the Yaomoshan anticline to the Gumudi anticline in the eastern part is -19.57 km as estimated from the simulation results, and the shortening rate is about 36.46%; that from the Qingshuihe anticline to the Anjihai anticline in the western part is -22.01 km as estimated by the simulation results, with a shortening rate of about 32.48%. These estimated values obtained from the model results are very close to the values calculated by means of the balanced cross section.
基金Supported by the National Natural Science Foundation of China(21006127)the National Basic Research Program of China(2012CB720500)the Science Foundation of China University of Petroleum(KYJJ2012-05-28)
文摘Operation optimization is an effective method to explore potential economic benefits for existing plants. The m.aximum potential benefit from operationoptimization is determined by the distances between current operating point and process constraints, which is related to the margins of design variables. Because of various ciisturbances in chemical processes, some distances must be reserved for fluctuations of process variables and the optimum operating point is not on some process constraints. Thus the benefit of steady-state optimization can not be fully achied（ed while that of dynamic optimization can be really achieved. In this study, the steady-state optimizationand dynamic optimization are used, and the potential benefit-is divided into achievable benefit for profit and unachievable benefit for control. The fluid catalytic cracking unit （FCCU） is used for case study. With the analysis on how the margins of design variables influence the economic benefit and control performance, the bottlenecks of process design are found and appropriate control structure can be selected.
文摘A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.
基金financially supported by the National Natural Science Foundation of China(Nos.41772132,41502157,41530314)the key project of the National Science&Technology(No.2016ZX05043-001)+1 种基金the Fundamental Research Funds for the Central Universities(No.2652019095)the China Postdoctoral Science Foundation(No.2021M692998)。
文摘The composition and sedimentary controlling effect of the coal measure gas-bearing(CMG)system of the Jurassic Xishanyao Formation in the southern margin of the Junggar Basin(SJB)are analysed based on core observations,sample tests,and logging data.The results show that the lithological associations of the SJB can be classified into 6 types based on sediment supply strengths and sealing abilities,while the gas shows of CMG reservoirs vary greatly among different lithological associations.Due to the diversified coal-forming environment and multistage coal accumulation,superimposed CMG systems are generally developed in the SJB,and their types include:superimposed unattached CMG systems,multilayer unified CMG systems,and superimposed mixed CMG systems.Furthermore,sedimentary controls on the vertical and regional distributions of different types of CMG systems are discussed according to the sedimentary facies of single wells and well cross-sections and the corresponding data of well log,gas logging,and gas contents.Shore shallow lake environments in the Fukang,Miquan,and northern Liuhuanggou areas were favourable for forming superimposed unattached CMG systems.Braided river environments in the Houxia and the southern Liuhuanggou areas usually formed multilayer unified CMG systems.Braided river delta environments in the Manasi,Hutubi,and eastern Sikeshu areas generally developed multilayer unified CMG systems and superimposed mixed CMG systems.For different types of superimposed CMG systems,the number of gas-bearing units,coal seam gas content,vertical hydraulic connectivity and lateral continuity vary considerably,which makes it necessary to tailor the CMG co-production plan to the type of CMG system.
基金supported by the Natural Science Foundation of Jiangsu Province(No. BK20151472)the Research Project of Key Laboratory of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology) , Ministry of Education (No. 2015KLMT04)
文摘With the worsening of energy crisis and environmental pollution,electric vehicles with four in?wheel motors have been paid more and more attention. The main research subject is how to reasonably distribute the driving torque of each wheel. Considering the longitudinal motion,lateral motion,yaw movement and rotation of the four wheels,the tire model and the seven DOF dynamic model of the vehicle are established in this paper. Then,the torque distribution method is proposed based on road adhesion margin,which can be divided into anti ? slip control layer and torque distribution layer. The anti?slip control layer is built based on sliding mode variable structure control,whose main function is to avoid the excessive slip of wheels caused by road conditions. The torque distribution layer is responsible for selecting the torque distribution method based on road adhesion margin. The simulation results show that the proposed torque distribution method can ensure the vehicle quickly adapt to current road adhesion conditions,and improve the handling stability and dynamic performance of the vehicle in the driving process.
基金Supported by the National Natural Science Foundation of China(61172182)
文摘A novel stability computation approach for tactical missile autopilots is detailed. The limi- tations of traditional stability margins are exhibited. Then the vector margin is introduced and com- pared with sensitivity function to show their essential relationship. The longitudinal three-loop auto- pilot for tactical missiles is presented and used as the baseline for all the available linear autopilots. Ten linear autopilot topologies using all the measurable feedback components are given with the iden- tical closed-loop characteristic equation and time-domain step response. However, the stability of the ten autopilots differs when considering the actuator dynamics, which limits their application. Then vector margin method is adopted to compute and evaluate the stability of all available autopi- lots. The analysis and computation results show that the vector margin method could better evaluate autopilot stability.
基金The National Key R&D Program of China under contract NO.2017YFC1405504the National Natural Science Foundation of China under contract No.41470648+1 种基金the Public Science and Technology Research Funds Projects of Ocean under contract No.201205003the National Program on Global Change and Air-Sea Interaction,SOA under contract No.631 GASI-GEOGE-01
文摘Multi-beam,sub-bottom and multichannel seismic data acquired from the western Nigerian continental margin are analysed and interpreted to examine the architectural characteristics of the lower parts of the submarine canyons on the margin.The presence of four canyons： Avon,Mahin,Benin,and Escravos,are confirmed from the multi-beam data map and identified as cutting across the shelf and slope areas,with morphological features ranging from axial channels,moderate to high sinuosity indices,scarps,terraces and nickpoints which are interpreted as resulting from erosional and depositional activities within and around the canyons.The Avon Canyon,in particular,is characterised by various branches and sub-branches with complex morphologies.The canyons are mostly U-shaped in these lower parts with occasional V-shapes down their courses.Their typical orientation is NE–SW.Sedimentary processes are proposed as being a major controlling factor in these canyons.Sediments appear to have been discharged directly into the canyons by rivers during the late Quaternary low sea level which allows river mouths to extend as far as the shelf edge.The current sediment supply is still primarily sourced from these rivers in the case of the Benin and Escravos Canyons,but indirectly in the case of the Avon and Mahin Canyons where the rivers discharge sediments into the lagoons and the lagoons bring the sediments on to the continental shelf before they are dispersed into the canyon heads.Ancient canyons that have long been buried underneath the Avon Canyon are identified in the multichannel seismic profile across the head of the Avon Canyon,while a number of normal faults around the walls of the Avon and Mahin Canyons are observed in the selected sub-bottom profiles.The occurrence of these faults,especially in the irregular portions of the canyon walls,suggests that they also have some effect on the canyon architecture.The formation of the canyons is attributed to the exposure of the upper marginal area to incisions from erosion during the sea level lowstand of the glacial period.The incisions are widened and lengthened by contouric currents,turbidity currents and slope failures resulting in the canyons.
基金supported in part by the National Natural Science Foundations of China(62173016,62073019)the Fundamental Research Funds for the Central Universities(YWF-23-JC-04,YWF-23-JC-02)。
文摘This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with respect to the inertial frame,while the path following error is not expected to violate the predefined boundaries.Differently from existing moving path following guidance laws,the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem.A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers.To guarantee that the path following error will not exceed the prescribed bounds,a robust control barrier function is developed and incorporated into controller design with quadratic program based framework.The proposed method does not require the initial position of the UAV to be within predefined boundaries.And the safety margin concept makes error-constraint be respected even if in a noisy environment.The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-theloop(HIL)experiments.
基金This work was supported by the National Key R&D Program of China(No.2018YFA0703800)the National Natural Science Foundation of China(No.U20B2054).
文摘The paper analyzes and compares the phase margins of four active disturbance rejection control(ADRC)designs,which are based on different common-used extended state observers(ESOs)of various orders,for second-order systems.The quantitative results indicate that,besides good dynamic response,ADRC can guarantee enough phase margin.It is also proved that by decreasing the order of ESO,the phase margin can be increased.Furthermore,it is demonstrated that the phase margins of the ADRC-based systems can be almost uninfluenced by the uncertainties of the system parameters.Finally,the theoretical results are verified by both simulations and experiments on a motion control platform.
基金the National Natural Science Foundation of China(Grant No.40172040) the Key Project of the National Natural Science Foundation of China(Grant No.40234051) the support of the Major State Basic Research Program of China(Grant No.G1999043215).
文摘Most ore-forming characteristics of the Langshan-Zha'ertaishan hydrothermal exhalation belt, which consists of the Dongshengmiao, Huogeqi, Tanyaokou and Jiashengpan large-superlarge Zn-Pb-Cu-Fe sulfide deposits, are most similar to those of Mesoproterozoic SEDEX-type provinces of the world. The characteristics include: (1) All deposits of this type in the belt occur in third-order fault-basins in the Langshan-Zha'ertaishan aulacogen along the northern margin of the North China Platform; (2) these deposits with all their orebodies hosted in the Mesoproterozoic impure dolomite-marble and carbonaceous phyllite (or schists) have an apparent stratabound nature; ores display laminated and banded structures, showing clear depositional features; (3) there is some evidence of syn-sedimentary faulting, which to a certain extent accounts for the temporal and spatial distribution and the size of the orebodies in all deposits and the formation of intrabed conglomerates and breccias; (4) they show lateral and vertical zonation of sulfides; (5) The Cu/(Pb+Zn+Cu) ratio of the large and thick Pb+Zn+Cu orebodies gradually decreases from bottom to top; and (6) barite is interbedded with pyrites and sometimes with sphalerite. However, some characteristics such as the Co/Ni radio of the pyrites, the volcanism, for example, of the Langshan-Zha'ertaishan metallogenic belt, are different from those of the typical SEDEX deposits of the world. The meta-basic volcanic rock in Huogeqi, the sodic bimodal volcanic rocks in the Dongshengmiao and potassic bimodal-volcanic rocks with blastoporphyritic and blasto-glomeroporphyritic texture as well as blasto-amygdaloidal structure in the Tanyaokou deposits have been discovered in the only ore-bearing second formation of the Langshan Group in the past 10 years. The metallogeny of some deposits hosted in the Langshan Group is closely related to syn-sedimentary volcanism based on the following facts: most of the lead isotopes in sphalerite, galena, pyrite, pyrrhotite and chalcopyrite plot on both sides of the line for the mantle or between the lines for the mantle and lower crust in the lead isotope composition diagram; cobalt content of some pyrites samples is much higher than the nickel content (Co/Ni=11.91-12.19). Some volcanic blocks and debris have been picked out from some pyritic and pyrrhotitic ores. All Zn-Pb-Cu-Fe sulfide orebodies in these deposits occur in the strata overlying metamorphic volcanic rocks in the only ore-bearing second formation. In the Jiashengpan deposit that lacks syn-sedimentary volcanic rocks in the host succession only Pb and Zn ores occur without Cu ore, but in the Dongshengmiao, Tanyaokou and Huogeqi deposits with syn-sedimentary volcanic rocks in the host succession Cu ores occur. This indicates a relatively higher ore-forming temperature. The process of syn-sedimentary volcanic eruption directly supplied some ore-forming elements, and resulted in secular geothermal anomaly favorable for the circulation of a submarine convective hydrothermal system, which accounts for the precipitation of deep mineralizing fluids exhaling into anoxidic basins along the syn-sedimentary fault system in the Langshan-Zha'ertai rift. The Dongshengmiao, Tanyaokou, and Huogeqi deposits hosted in the Langshan Group appear to be a transitional type of mineral deposit between SEDEX and VMS-types but with a bias towards SEDEX, while the Jiashengpan deposit hosted in the Zha'ertai Group is of a characteristic SEDEX type. This evidence, together with other new discoveries of Mesoproterozoic volcanic rocks and the features of lithogeny and metallogeny of the Bayun Obo deposit in the neighborhood emphasize the diversity, complexity and uniqueness of the Mesoproterozoic Langshan-Zha'ertai-Bayun Obo ore belt.
文摘The Douala-Buea Region(DBR;4°-5°N,9°-10°30’E),a portion of the southern Cameroon passive margin,developed on the Proterozoic granito-gneissic basement and the Cretaceous to Recent volcanosedimentary cover,was explored in order to evaluate the lithology and tectonics controls on its landscape usingthequalitativeandquantitative geomorphological analyses based on 30 m resolution Digital Elevation Models(DEM)and field evidences.This area displays an uneven and complex landscape differentiated into four morphological units:Douala,Nkondjock,Kumba and Buea Units.The Douala Unit corresponds to the Coastal Plain and is extended on the Douala-Kribi/Camposedimentarybasin.The Nkondjock Unit represents a middle plateau developed on a Proterozoic granito-gneissic basement.The Kumba Unit matches with the southernmost volcanic Western Cameroon High Plateau.The Buea Unit corresponds to the Mount Cameroon stratovolcano.The relief analysis through mountain-front sinuosity(Smf,1.19–1.43)and relative relief ratio(Rr,0.10–2.31)vary from one unit to another.The drainage network analysis including drainage patterns,stepped longitudinalriverprofiles,theassociated morphometric indexes,notably the concavity index(IC,0.56–0.88),deviation(D,267–2912 m),basin asymmetry factor(A_(F),6.37–42.12),hypsometric integral(HI,0.10–0.29),valley floor width to valley height ratio(V_(f),0.36–2.75),elongation ratio(R_(e),0.30–0.50),watershed slope(S,6.88–88.88)and stream length gradient index(SL,0–3332)vary from one basin to another too.These results also show the heterogeneous and uneven DBR landscape controlled by its lithology and active tectonics.The drainage system reveals concave to concavo-convex longitudinal river profile shapes with knick points,asymmetric basins,and fault reactivations,and highlights the tectonics activity that used to occur through the time and their control on the morphology.Together,they document the lithostructural controls on the DBR landscape evolution,extendable in the whole SW Cameroon margin.
基金supported by National Natural Science Foundation of China(Nos.61403149 and 61273069)Natural Science Foundation of Fujian Province(No.2015J01261)the Scientific Research Foundation of National Huaqiao University
文摘In this paper, a new analysis and design method for proportional-integrative-derivative （PID） tuning is proposed based on controller scaling analysis. Integral of time absolute error （ITAE） index is minimized for specified gain and phase margins （GPM） constraints, so that the transient performance and robustness are both satisfied. The requirements on gain and phase margins are ingeniously formulated by real part constraints （RPC） and imaginary part constraints （IPC）. This set of new constraints is simply related with three parameters and decoupling of the remaining four unknowns, including three controller parameters and the gain margin, in the nonlinear and coupled characteristic equation simultaneously. The formulas of the optimal GPM-PID are derived based on controller scaling analysis. Finally, this method is applied to liquid level control of coke fractionation tower, which demonstrate that the proposed method provides better disturbance rejection and robust tracking performance than some commonly used PID tuning methods.
基金supported by the National Natural Science Foundation of China under Grant No.51007006the Fundamental Research Funds for the Central Universities under Grant No.ZYGX2012J159
文摘The on-line coordinated control strategy among multi-voltage controls is important to keep voltage security in post-fault systems. Based on the wide area measuring information, the energy function, which can qualify the impacts of the different control actions on voltage of different nodes, is proposed. And then, considering the impacts of different control actions on the node voltage being treated as a weight matrix, the energy margin is used as the objective function and the reactive power margin is innovatively used as the constraint to regulate the control actions globally according to the weight values. At last, the objective functions are solved to get the optimal global coordinated control strategies. The proposed method is identified in an IEEE-30 Bus system and the simulation results show that it effectively improves the voltage stability.
文摘The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and the measuring device are located by employing the traveling lorry, and this unit enables the robot to adjust the tracks according to the errors received from the measuring device, and then the nipples are welded properly. This paper emphases on the development of the master-slave control system, in which the prograrmmable Logic Controller (PLC) is used as the master computer.
文摘The multi-agent theory is introduced and applied in the way to strike the control amount of emergency control according to stability margin, based on which an emergency control strategy of the power system is presented. The multi-agent control structure which is put forward in this article has three layers: system agent, areal agent and local agents. System agent sends controlling execution signal to the load-local agent according to the position and the amount of load shedding upload from areal agent;The areal agent judges whether the power system is stable by monitoring and analyzing the maximum relative power angle. In the condition of instability, determines the position of load-shedding, and the optimal amount of load-shedding according to the stability margin based on the corrected transient energy function, upload control amount to system agent;local-generator agent is mainly used for real-time monitoring the power angle of generator sets and uploading it to the areal agency, local-loads agent control load by receiving the control signal from system agent. Simulations on IEEE39 system show that the proposed control strategy improves the system stability.
文摘This paper presents an enhanced Root Locus diagram that consists of the representation of the phase and the magnitude of the transfer function G（s） of a system. The magnitude is represented in decibels and the phase is represented by colors. It also presents how to use it to calculate different kinds of controllers. An important characteristic of this diagram is that permits to read the phase and the gain margins directly and the imaginary axis cut represents the Bode diagram. It is also possible to put the grid with damping ratio ξ and frequency ωn.
