In this paper,a study of control for an uncertain2-degree of freedom(DOF)helicopter system is given.The2-DOF helicopter is subject to input deadzone and output constraints.In order to cope with system uncertainties an...In this paper,a study of control for an uncertain2-degree of freedom(DOF)helicopter system is given.The2-DOF helicopter is subject to input deadzone and output constraints.In order to cope with system uncertainties and input deadzone,the neural network technique is introduced because of its capability in approximation.In order to update the weights of the neural network,an adaptive control method is utilized to improve the system adaptability.Furthermore,the integral barrier Lyapunov function(IBLF)is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors.The Lyapunov direct method is applied in the control design to analyze system stability and convergence.Finally,numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.展开更多
This paper presents the design of a robust control system for a high-purity distillation column. It is concerned with the design of a two degree-of-freedom (2DOF) product-composition controller for a high-purity disti...This paper presents the design of a robust control system for a high-purity distillation column. It is concerned with the design of a two degree-of-freedom (2DOF) product-composition controller for a high-purity distillation column. The H<sub>∞</sub> optimization problem is set up to ensure a guaranteed level of robust stability, robust disturbance attenuation and robust reference tracking performance.展开更多
A novel time-domain identification technique is developed for the seismic response analysis of soil-structure interaction.A two-degree-of-freedom (2DOF) model with eight lumped parameters is adopted to model the frequ...A novel time-domain identification technique is developed for the seismic response analysis of soil-structure interaction.A two-degree-of-freedom (2DOF) model with eight lumped parameters is adopted to model the frequency- dependent behavior of soils.For layered soil,the equivalent eight parameters of the 2DOF model are identified by the extended Kalman filter (EKF) method using recorded seismic data.The polynomial approximations for derivation of state estimators are applied in the EKF procedure.A realistic identification example is given for the layered-soil of a building site in Anchorage,Alaska in the United States.Results of the example demonstrate the feasibility and practicality of the proposed identification technique.The 2DOF soil model and the identification technique can be used for nonlinear response analysis of soil-structure interaction in the time-domain for layered or complex soil conditions.The identified parameters can be stored in a database tor use in other similar soil conditions,lfa universal database that covers information related to most soil conditions is developed in the thture,engineers could conveniently perform time history analyses of soil-structural interaction.展开更多
Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other fields.However,compared with the SPM,the structure types and research content...Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other fields.However,compared with the SPM,the structure types and research contents of the SPM are not abundant enough.In this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical structure is proposed and analyzed.First,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and verified.Second,the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions.Next,rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism.Moreover,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion planning.Finally,some variant mechanisms can be synthesized.This work lays the foundation for the motion control and practical application of this 2DOF SPM.展开更多
This paper proposes a decoupling control scheme with two-degrees-of-freedom (2DOF) control structure. In the proposed scheme, two multivariable controllers are designed based on Internal Model Control (IMC) theory for...This paper proposes a decoupling control scheme with two-degrees-of-freedom (2DOF) control structure. In the proposed scheme, two multivariable controllers are designed based on Internal Model Control (IMC) theory for setpoint tracking and disturbance rejection independently. An analytical approximation method is utilized to reduce the order of the controllers. By adjusting the corresponding controller parameter, the setpoint tracking and disturbance rejection of each control loop can be tuned independently. In the presence of multiplicative input uncertainty, a calculation method is also proposed to derive the low bounds of the control parameters in order to guarantee the robust stability of the system. Simulations are illustrated to demonstrate the validity of the proposed control scheme.展开更多
Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a clas...Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a class-D amplifier. In this paper, the authors show that the bandwidth of PWM power amplifier can be controller. This controller is implemented on a DSP （digital can be made wider with this controller. extended by using an approximate 2DOF （2-degree-of-freedom） digital signal processor）. It is demonstrated from experiments that the bandwidth展开更多
This study examines the vortex-induced vibrations(VIV)and hydrodynamic characteristics of a rotating circular cylinder with two degrees of freedom(2DOF).The effects of varying mass ratios(M^(*)),rotation rates(α)and ...This study examines the vortex-induced vibrations(VIV)and hydrodynamic characteristics of a rotating circular cylinder with two degrees of freedom(2DOF).The effects of varying mass ratios(M^(*)),rotation rates(α)and reduced velocities(U^(*))on the cylinder’s vibration responses,hydrodynamic properties and near-wake structures are explored.The results indicate that the cylinder rotation significantly suppresses vibrations in the cross-flow direction,with the inhibitory effect intensifying with the increasing rotation ratioα.Additionally,contrary to the non-rotating cylinder,in which f_(x)^(*)=2f^(*)y,the rotating cylinder shows congruence in vibration frequencies in both the X-and Y-directions.In the motion trajectory,with the non-rotating cylinder exhibiting an“8”pattern,the rotating cylinder traces a single closed-loop shape.The mass ratio notably influences the displacement amplitude,trajectory,and phase portrait.Higher mass ratios(M^(*)=6,8)suppress the growth of time-averaged displacements in both the X-and Y-directions and the incidence of“lock-in”phenomena in the Y direction.Particularly,as M^(*)=2,α=1.0,1.5,the displacement in the Y-direction is notably higher than that under other conditions.The higher mass ratio also modifies the motion trajectory of the cylinder,shifting it from a closed-loop droplet shape to a single closed loop,with the frequency ratio between lift force and cross-flow displacement transitioning from 3:1 to 1:1.Vortex structure analysis reveals patterns such as“2P”,“P+S”,and“2S”,with high mass ratios showing a U-shaped mode and an extended“2S”region in the wake structure.展开更多
基金supported by the National Natural Science Foundation of China(61803085,61806052,U1713209)the Natural Science Foundation of Jiangsu Province of China(BK20180361)
文摘In this paper,a study of control for an uncertain2-degree of freedom(DOF)helicopter system is given.The2-DOF helicopter is subject to input deadzone and output constraints.In order to cope with system uncertainties and input deadzone,the neural network technique is introduced because of its capability in approximation.In order to update the weights of the neural network,an adaptive control method is utilized to improve the system adaptability.Furthermore,the integral barrier Lyapunov function(IBLF)is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors.The Lyapunov direct method is applied in the control design to analyze system stability and convergence.Finally,numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.
文摘This paper presents the design of a robust control system for a high-purity distillation column. It is concerned with the design of a two degree-of-freedom (2DOF) product-composition controller for a high-purity distillation column. The H<sub>∞</sub> optimization problem is set up to ensure a guaranteed level of robust stability, robust disturbance attenuation and robust reference tracking performance.
文摘A novel time-domain identification technique is developed for the seismic response analysis of soil-structure interaction.A two-degree-of-freedom (2DOF) model with eight lumped parameters is adopted to model the frequency- dependent behavior of soils.For layered soil,the equivalent eight parameters of the 2DOF model are identified by the extended Kalman filter (EKF) method using recorded seismic data.The polynomial approximations for derivation of state estimators are applied in the EKF procedure.A realistic identification example is given for the layered-soil of a building site in Anchorage,Alaska in the United States.Results of the example demonstrate the feasibility and practicality of the proposed identification technique.The 2DOF soil model and the identification technique can be used for nonlinear response analysis of soil-structure interaction in the time-domain for layered or complex soil conditions.The identified parameters can be stored in a database tor use in other similar soil conditions,lfa universal database that covers information related to most soil conditions is developed in the thture,engineers could conveniently perform time history analyses of soil-structural interaction.
基金Supported by National Natural Science Foundation of China(Grant No.51775474)。
文摘Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other fields.However,compared with the SPM,the structure types and research contents of the SPM are not abundant enough.In this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical structure is proposed and analyzed.First,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and verified.Second,the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions.Next,rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism.Moreover,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion planning.Finally,some variant mechanisms can be synthesized.This work lays the foundation for the motion control and practical application of this 2DOF SPM.
基金NSFC (No.60704021,60474031) , NCET (No.04-0383)Australia-China Special Fund for Scientific & Technological Cooperation
文摘This paper proposes a decoupling control scheme with two-degrees-of-freedom (2DOF) control structure. In the proposed scheme, two multivariable controllers are designed based on Internal Model Control (IMC) theory for setpoint tracking and disturbance rejection independently. An analytical approximation method is utilized to reduce the order of the controllers. By adjusting the corresponding controller parameter, the setpoint tracking and disturbance rejection of each control loop can be tuned independently. In the presence of multiplicative input uncertainty, a calculation method is also proposed to derive the low bounds of the control parameters in order to guarantee the robust stability of the system. Simulations are illustrated to demonstrate the validity of the proposed control scheme.
文摘Lately, it is required that the bandwidth of PWM （pulse width modulation） power amplifier is extended. For example, it is in application of the testing power supply of a low frequency immunity examination, or a class-D amplifier. In this paper, the authors show that the bandwidth of PWM power amplifier can be controller. This controller is implemented on a DSP （digital can be made wider with this controller. extended by using an approximate 2DOF （2-degree-of-freedom） digital signal processor）. It is demonstrated from experiments that the bandwidth
基金supported by the Natural Science Foundation of Chongqing(Grant No.CSTB2024NSCQMSX0463).
文摘This study examines the vortex-induced vibrations(VIV)and hydrodynamic characteristics of a rotating circular cylinder with two degrees of freedom(2DOF).The effects of varying mass ratios(M^(*)),rotation rates(α)and reduced velocities(U^(*))on the cylinder’s vibration responses,hydrodynamic properties and near-wake structures are explored.The results indicate that the cylinder rotation significantly suppresses vibrations in the cross-flow direction,with the inhibitory effect intensifying with the increasing rotation ratioα.Additionally,contrary to the non-rotating cylinder,in which f_(x)^(*)=2f^(*)y,the rotating cylinder shows congruence in vibration frequencies in both the X-and Y-directions.In the motion trajectory,with the non-rotating cylinder exhibiting an“8”pattern,the rotating cylinder traces a single closed-loop shape.The mass ratio notably influences the displacement amplitude,trajectory,and phase portrait.Higher mass ratios(M^(*)=6,8)suppress the growth of time-averaged displacements in both the X-and Y-directions and the incidence of“lock-in”phenomena in the Y direction.Particularly,as M^(*)=2,α=1.0,1.5,the displacement in the Y-direction is notably higher than that under other conditions.The higher mass ratio also modifies the motion trajectory of the cylinder,shifting it from a closed-loop droplet shape to a single closed loop,with the frequency ratio between lift force and cross-flow displacement transitioning from 3:1 to 1:1.Vortex structure analysis reveals patterns such as“2P”,“P+S”,and“2S”,with high mass ratios showing a U-shaped mode and an extended“2S”region in the wake structure.
