To solve the attitude trajectory tracking problem for hypersonic vehicles in the presence of system constraints and unknown disturbances,this paper designed a nonlinear robust model predictive control(RMPC)scheme,whic...To solve the attitude trajectory tracking problem for hypersonic vehicles in the presence of system constraints and unknown disturbances,this paper designed a nonlinear robust model predictive control(RMPC)scheme,which can produce near-optimal tracking commands.Unlike the existing designs,the proposed scheme is less conservative and successfully prioritizes the solution optimality.The established RMPC follows a dualloop structure.Specifically,in the outer feedback loop,the reference attitude angle profiles are optimally tracked,while in the inner feedback loop,the control moment commands are produced by optimally tracking the desired angular rate trajectories.Besides,an adaptive disturbance observer(ADO)is designed and embedded in the inner and outer RMPC controllers to alleviate the negative effects caused by unknown external disturbances.The recursive feasibility of the optimization process,together with the input-to-state stability of the proposed RMPC,is theoretically guaranteed by introducing a tightened control constraint and terminal region.The derived property reveals that our proposal can steer the tracking error within a small region of convergence.Finally,the effectiveness of the proposed scheme is demonstrated by performing simulation studies.展开更多
To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)...To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.展开更多
This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic ...This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.展开更多
BACKGROUND Left atrial flutter without prior cardiac interventions is uncommon,especially dual-loop macro-reentry atrial flutter.The critical step to ablate dual-loop macroreentry atrial flutter is to identify the dom...BACKGROUND Left atrial flutter without prior cardiac interventions is uncommon,especially dual-loop macro-reentry atrial flutter.The critical step to ablate dual-loop macroreentry atrial flutter is to identify the dominant loop and key isthmus.Although entrainment mapping could help identify the dominant loop and key isthmus,it may alter or terminate tachycardia.High-density mapping allows the generation of electroanatomic maps without altering or terminating tachycardia.CASE SUMMARY Here,we report a case of symptomatic left atrial flutter without prior intervention.In this case,high-density mapping revealed a dual-loop macro-reentry around the mitral annulus and central scar of the anterior wall.The propagation result showed that the dominant loop was around the mitral annulus,and the key isthmus was between the central scar and mitral annulus.The atrial flutter terminated successfully after ablation was performed.CONCLUSION In this case,we demonstrate that high-density mapping technology may help identify the dominant loop of dual-loop atrial flutter without entrainment,which makes ablation easier.展开更多
针对Boost变换器存在多种干扰和电子元件具有非整数阶特性的问题,提出了一种分数阶PID(fractional order PID,FOPID)电压外环-分数阶滑模控制器(fractional order sliding mode control,FOSMC)电流内环双闭环控制系统。首先,利用Oustal...针对Boost变换器存在多种干扰和电子元件具有非整数阶特性的问题,提出了一种分数阶PID(fractional order PID,FOPID)电压外环-分数阶滑模控制器(fractional order sliding mode control,FOSMC)电流内环双闭环控制系统。首先,利用Oustaloup算法对电感和电容进行7阶拟合,得到分数阶电路模型;其次,设计了微积分阶次可调的FOPID,并将其作为电压外环的控制器;然后,设计扩张状态观测器(extended state observer,ESO)对系统状态、负载扰动和输入扰动进行估计;最后,基于ESO的估计值,用FOPID作为滑模面构建了FOSMC。结果表明,与其他控制算法相比,FOPID-FOSMC双闭环控制策略结合了电压外环的稳态调节能力和电流内环的快速响应能力,实现了对Boost变换器输出电压和电流的双重优化控制,具有更快的响应速度、更小的超调量、更短的恢复时间和更好的稳定性与鲁棒性。展开更多
A dual-loop phase-locked loop（PLL）for wideband operation is proposed.The dual-loop architecture combines a coarse-tuning loop with a fine-tuning one,enabling a wide tuning range and low voltage-controlled oscillator...A dual-loop phase-locked loop（PLL）for wideband operation is proposed.The dual-loop architecture combines a coarse-tuning loop with a fine-tuning one,enabling a wide tuning range and low voltage-controlled oscillator（VCO）gain without poisoning phase noise and reference spur suppression performance.An analysis of the phase noise and reference spur of the dual-loop PLL is emphasized.A novel multiple-pass ring VCO is designed for the dual-loop application.It utilizes both voltage-control and current-control simultaneously in the delay cell. The PLL is fabricated in Jazz 0.18-μm RF CMOS technology.The measured tuning range is from 4.2 to 5.9 GHz.It achieves a low phase noise of–99 dBc/Hz@1 MHz offset from a 5.5 GHz carrier.展开更多
This paper presents a low-dropout regulator （LDO） for portable applications with dual-loop feedback and a dynamic bias circuit. The dual-loop feedback structure is adopted to reduce the output voltage spike and the ...This paper presents a low-dropout regulator （LDO） for portable applications with dual-loop feedback and a dynamic bias circuit. The dual-loop feedback structure is adopted to reduce the output voltage spike and the response time of the LDO. The dynamic bias circuit enhances the slew rate at the gate of the power transistor. In addition, an adaptive miller compensation technique is employed, from which a single pole system is realized and over a 59~ phase margin is achieved under the full range of the load current. The proposed LDO has been implemented in a 0.6μm CMOS process. From the experimental results, the regulator can operate with a minimum dropout voltage of 200 mV at a maximum 300 mA load and IQ of 113μA. The line regulation and load regulation are improved to 0. l mV/V and 3.4 μV/mA due to the sufficient loop gain provided by the dual feedback loops. Under a full range load current step, the voltage spikes and the recovery time of the proposed LDO is reduced to 97 mV and 0.142 μs respectively.展开更多
At present,the dual-loop organic Rankine cycle(DORC)is regarded as an important solution to engine waste heat recovery(WHR).Compared with the conventional exergy analysis,the advanced exergy analysis can better descri...At present,the dual-loop organic Rankine cycle(DORC)is regarded as an important solution to engine waste heat recovery(WHR).Compared with the conventional exergy analysis,the advanced exergy analysis can better describe the interactions between system components and the irreversibility caused by economic or technical limitations.In order to systematically study the thermodynamic performance of DORC,the conventional and advanced exergy analyses are compared using an inline 6-cylinder 4-stroke turbocharged diesel engine.Meanwhile,the sensitivity analysis is implemented to further investigate the influence of operating parameters on avoidable-endogenous exergy destruction.The analysis result of conventional exergy analysis demonstrates that the priorities for the components that should be improved are in order of the high-temperature evaporator,the low-temperature turbine,the first low-temperature evaporator and the high-temperature condenser.The advanced exergy analysis result suggests that the avoidable exergy destruction values are the highest in the low-temperature turbine,the high-temperature evaporator and the high-temperature turbine because they have considerable endogenous-avoidable exergy destruction.The sensitivity analysis indicates that reducing the evaporation pinch point and raising the turbine efficiency can decrease the avoidable exergy destruction.展开更多
A 5.0-V 2.0-A flyback power supply controller providing constant-voltage （CV） and constant-current （CC） output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed her...A 5.0-V 2.0-A flyback power supply controller providing constant-voltage （CV） and constant-current （CC） output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed here due to its better regulation performance of tolerance over process and temperature compared with open loop control used in common. At the same time, the two modes, CC and CV, could switch to each other automatically and smoothly according to the output voltage level not sacrificing the regulation accuracy at the switching phase, which overcomes the drawback of the digital control scheme depending on a hysteresis comparator to change the mode. On-chip compensation using active capacitor multiplier technique is applied to stabilize the voltage loop, eliminate an additional package pin, and save on the die area. The system consumes as little as 100 mW at no-load condition without degrading the transient response performance by utilizing the adaptive switching frequency control mode. The proposed controller has been implemented in a commercial 0.35μm 40-V BCD process, and the active chip area is 1.5×1.0 mm^2. The total error of the output voltage due to line and load variations is less than 4-1.7%.展开更多
文摘To solve the attitude trajectory tracking problem for hypersonic vehicles in the presence of system constraints and unknown disturbances,this paper designed a nonlinear robust model predictive control(RMPC)scheme,which can produce near-optimal tracking commands.Unlike the existing designs,the proposed scheme is less conservative and successfully prioritizes the solution optimality.The established RMPC follows a dualloop structure.Specifically,in the outer feedback loop,the reference attitude angle profiles are optimally tracked,while in the inner feedback loop,the control moment commands are produced by optimally tracking the desired angular rate trajectories.Besides,an adaptive disturbance observer(ADO)is designed and embedded in the inner and outer RMPC controllers to alleviate the negative effects caused by unknown external disturbances.The recursive feasibility of the optimization process,together with the input-to-state stability of the proposed RMPC,is theoretically guaranteed by introducing a tightened control constraint and terminal region.The derived property reveals that our proposal can steer the tracking error within a small region of convergence.Finally,the effectiveness of the proposed scheme is demonstrated by performing simulation studies.
基金supported by the National Natural Science Foundation of China(Nos.62063009,52262050)the National Key Research and Development Program during the 14th 5-Year Plan(No.2023YFB4302100)the Major Science and Technology Research and Development Special Project in Jiangxi Province(No.20232ACE01011).
文摘To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.
基金sponsored by the National Basic Research Program of China (No.2014CB046406)the Key Projects of the National Natural Science Foundation (No.51235002)
文摘This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.
基金the National Science Foundation of China,No.81800292.
文摘BACKGROUND Left atrial flutter without prior cardiac interventions is uncommon,especially dual-loop macro-reentry atrial flutter.The critical step to ablate dual-loop macroreentry atrial flutter is to identify the dominant loop and key isthmus.Although entrainment mapping could help identify the dominant loop and key isthmus,it may alter or terminate tachycardia.High-density mapping allows the generation of electroanatomic maps without altering or terminating tachycardia.CASE SUMMARY Here,we report a case of symptomatic left atrial flutter without prior intervention.In this case,high-density mapping revealed a dual-loop macro-reentry around the mitral annulus and central scar of the anterior wall.The propagation result showed that the dominant loop was around the mitral annulus,and the key isthmus was between the central scar and mitral annulus.The atrial flutter terminated successfully after ablation was performed.CONCLUSION In this case,we demonstrate that high-density mapping technology may help identify the dominant loop of dual-loop atrial flutter without entrainment,which makes ablation easier.
文摘针对Boost变换器存在多种干扰和电子元件具有非整数阶特性的问题,提出了一种分数阶PID(fractional order PID,FOPID)电压外环-分数阶滑模控制器(fractional order sliding mode control,FOSMC)电流内环双闭环控制系统。首先,利用Oustaloup算法对电感和电容进行7阶拟合,得到分数阶电路模型;其次,设计了微积分阶次可调的FOPID,并将其作为电压外环的控制器;然后,设计扩张状态观测器(extended state observer,ESO)对系统状态、负载扰动和输入扰动进行估计;最后,基于ESO的估计值,用FOPID作为滑模面构建了FOSMC。结果表明,与其他控制算法相比,FOPID-FOSMC双闭环控制策略结合了电压外环的稳态调节能力和电流内环的快速响应能力,实现了对Boost变换器输出电压和电流的双重优化控制,具有更快的响应速度、更小的超调量、更短的恢复时间和更好的稳定性与鲁棒性。
基金supported by the National 11th Five-Year Plan of China(No.51308020403)the Science and Technology Commission of Shanghai Municipality(No.08706200700)the National Hi-Tech Research and Development Program of China(No.2009AA01Z261).
文摘A dual-loop phase-locked loop（PLL）for wideband operation is proposed.The dual-loop architecture combines a coarse-tuning loop with a fine-tuning one,enabling a wide tuning range and low voltage-controlled oscillator（VCO）gain without poisoning phase noise and reference spur suppression performance.An analysis of the phase noise and reference spur of the dual-loop PLL is emphasized.A novel multiple-pass ring VCO is designed for the dual-loop application.It utilizes both voltage-control and current-control simultaneously in the delay cell. The PLL is fabricated in Jazz 0.18-μm RF CMOS technology.The measured tuning range is from 4.2 to 5.9 GHz.It achieves a low phase noise of–99 dBc/Hz@1 MHz offset from a 5.5 GHz carrier.
文摘This paper presents a low-dropout regulator （LDO） for portable applications with dual-loop feedback and a dynamic bias circuit. The dual-loop feedback structure is adopted to reduce the output voltage spike and the response time of the LDO. The dynamic bias circuit enhances the slew rate at the gate of the power transistor. In addition, an adaptive miller compensation technique is employed, from which a single pole system is realized and over a 59~ phase margin is achieved under the full range of the load current. The proposed LDO has been implemented in a 0.6μm CMOS process. From the experimental results, the regulator can operate with a minimum dropout voltage of 200 mV at a maximum 300 mA load and IQ of 113μA. The line regulation and load regulation are improved to 0. l mV/V and 3.4 μV/mA due to the sufficient loop gain provided by the dual feedback loops. Under a full range load current step, the voltage spikes and the recovery time of the proposed LDO is reduced to 97 mV and 0.142 μs respectively.
基金supported by the Science and Technology Major Project of Tibet of China(Grant No.XZ201801-GA-03)the Natural Science Foundation of Hunan Province,China(Grant No.2018JJ2399)。
文摘At present,the dual-loop organic Rankine cycle(DORC)is regarded as an important solution to engine waste heat recovery(WHR).Compared with the conventional exergy analysis,the advanced exergy analysis can better describe the interactions between system components and the irreversibility caused by economic or technical limitations.In order to systematically study the thermodynamic performance of DORC,the conventional and advanced exergy analyses are compared using an inline 6-cylinder 4-stroke turbocharged diesel engine.Meanwhile,the sensitivity analysis is implemented to further investigate the influence of operating parameters on avoidable-endogenous exergy destruction.The analysis result of conventional exergy analysis demonstrates that the priorities for the components that should be improved are in order of the high-temperature evaporator,the low-temperature turbine,the first low-temperature evaporator and the high-temperature condenser.The advanced exergy analysis result suggests that the avoidable exergy destruction values are the highest in the low-temperature turbine,the high-temperature evaporator and the high-temperature turbine because they have considerable endogenous-avoidable exergy destruction.The sensitivity analysis indicates that reducing the evaporation pinch point and raising the turbine efficiency can decrease the avoidable exergy destruction.
文摘A 5.0-V 2.0-A flyback power supply controller providing constant-voltage （CV） and constant-current （CC） output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed here due to its better regulation performance of tolerance over process and temperature compared with open loop control used in common. At the same time, the two modes, CC and CV, could switch to each other automatically and smoothly according to the output voltage level not sacrificing the regulation accuracy at the switching phase, which overcomes the drawback of the digital control scheme depending on a hysteresis comparator to change the mode. On-chip compensation using active capacitor multiplier technique is applied to stabilize the voltage loop, eliminate an additional package pin, and save on the die area. The system consumes as little as 100 mW at no-load condition without degrading the transient response performance by utilizing the adaptive switching frequency control mode. The proposed controller has been implemented in a commercial 0.35μm 40-V BCD process, and the active chip area is 1.5×1.0 mm^2. The total error of the output voltage due to line and load variations is less than 4-1.7%.
