Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an ...Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an improved ELS control scheme. This controller can eliminate the negative effects on synchronization precision resulting from the friction at low speed present in the pre-registration step of a shaftless driven printing machine. Moreover, it can eliminate the synchronization error of the printing process resulting from nonlinearities and load disturbances. Based on observer techniques, the unknown components of load torque and system parameter variations are estimated. On this basis, a novel ELS control method using equivalent load-torque observers is proposed. Experimental results demonstrate the effectiveness of the proposed control system for four-axis position control.展开更多
The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential syn...The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement展开更多
The position synchronization control(PSC) problem is studied for networked multi-axis servo systems(NMASSs) with time-varying delay that is smaller than one sampling period. To improve the control performance of the s...The position synchronization control(PSC) problem is studied for networked multi-axis servo systems(NMASSs) with time-varying delay that is smaller than one sampling period. To improve the control performance of the system, time-varying delays, modeling uncertainties, and external disturbances are first modeled as a lumped disturbance. Then, a linear extended state observer(LESO) is devised to estimate the system state and the lumped disturbance, and a linear feedback controller with disturbance compensation is designed to perform individual-axis tracking control. After that, a cross-coupled control approach is used to further improve synchronization performance. The bounded-input-bounded-output(BIBO) stability of the closedloop control system is analyzed. Finally, both simulation and experiment are carried out to demonstrate the effectiveness of the proposed method.展开更多
This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motio...This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motion control system is designed.This system controls stepper motors using trapezoidal acceleration/deceleration pulse types and fuzzy control algorithms,which effectively avoids mechanical jitter and loss of step in the process of multi-angle motion of the stepper motor,and achieves accurate control of the stepper motor.The TCP/IP(transmission control protocol/internet protocol)communication protocol is used,so that data are output stably and not lost in the process of transmission and communication,achieving the purpose of interconnection of different systems and remote control of equipment.This control system has been tested to maintain a high level of stability and repeatability during actual operation.展开更多
The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion co...The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion control system and the mechanism of producing contour error and the relationship between tracking error and contour error were presented. The theoretical and practical significance of modeling error and controlling error in motion control systems was carried out.展开更多
Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybr...Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.展开更多
This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relativ...This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.展开更多
The precision of multi-axis machining is deeply influenced by the tracking error of multi-axis control system. Since the multi-axis machine tools have nonlinear and time-varying behaviors, it is difficult to establish...The precision of multi-axis machining is deeply influenced by the tracking error of multi-axis control system. Since the multi-axis machine tools have nonlinear and time-varying behaviors, it is difficult to establish an accurate dynamic model for multi-axis control system design. In this paper, a novel adaptive fuzzy sliding model controller with dynamic compensation is proposed to reduce tracking error and to improve precision of multi-axis machining. The major ad-vantage of this approach is to achieve a high following speed without overshooting while maintaining a continuous CNC machine tool process. The adaptive fuzzy tuning rules are derived from a Lyapunov function to guarantee stability of the control system. The experimental results on GJ-110 show that the proposed control scheme effectively minimizes tracking errors of the CNC system with control performance surpassing that of a traditional PID controller.展开更多
This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper cons...This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.展开更多
Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to ...In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.展开更多
As an important resource in data link,time slots should be strategically allocated to enhance transmission efficiency and resist eavesdropping,especially considering the tremendous increase in the number of nodes and ...As an important resource in data link,time slots should be strategically allocated to enhance transmission efficiency and resist eavesdropping,especially considering the tremendous increase in the number of nodes and diverse communication needs.It is crucial to design control sequences with robust randomness and conflict-freeness to properly address differentiated access control in data link.In this paper,we propose a hierarchical access control scheme based on control sequences to achieve high utilization of time slots and differentiated access control.A theoretical bound of the hierarchical control sequence set is derived to characterize the constraints on the parameters of the sequence set.Moreover,two classes of optimal hierarchical control sequence sets satisfying the theoretical bound are constructed,both of which enable the scheme to achieve maximum utilization of time slots.Compared with the fixed time slot allocation scheme,our scheme reduces the symbol error rate by up to 9%,which indicates a significant improvement in anti-interference and eavesdropping capabilities.展开更多
Fluidic Thrust Vectoring(FTV)is used for the yaw attitude control of tailless flying wing,which can significantly improve stealth performance,maneuverability and lateral/heading maneuverability.The FTV control scheme ...Fluidic Thrust Vectoring(FTV)is used for the yaw attitude control of tailless flying wing,which can significantly improve stealth performance,maneuverability and lateral/heading maneuverability.The FTV control scheme of co-directional secondary flow was designed based on a 30 kgf thrust turbojet engine,an equivalent rudder deflection control variable of Mass Flow Combination(MFC)was proposed,and a control model was established to form a FTV control system scheme,which was integrated with the flight control system of a 100 kg tailless flying wing with medium aspect ratio to achieve closed-loop control of the yaw attitude based on FTV.The heading stability augmentation and maneuvering control characteristics and time response characteristics of tailless flying wing by FTV were quantitatively studied through virtual flight test in a wind tunnel at a wind speed of 35 m/s.The results show that the control strategy based on MFC achieves bidirectional continuous and stable control of thrust vector angle in a range of±11°,and the thrust vector angle varies monotonically with MFC;the co-directional FTV realizes bidirectional continuous and stable control of the yaw attitude of tailless flying wing,without longitudinal/lateral coupling moment.The increment of the maximum yawing moment coefficient is 0.0029,the maximum yaw rate is 7.55(°)/s,and the response time of the yaw rate of the vectoring nozzle actuated by the secondary flow is about 0.06 s,which satisfies the heading stability augmentation and maneuvering control response requirements of the aircraft with statically unstable heading,and provides new control means for the heading rudderless attitude control of tailless flying wing.展开更多
In this paper,we define for the trace operator,the solution of certain models of vibrating plates standards with initial data in a strategic region spaces of weak regularities.Indeed,we know that the notion of regiona...In this paper,we define for the trace operator,the solution of certain models of vibrating plates standards with initial data in a strategic region spaces of weak regularities.Indeed,we know that the notion of regional controllability is more adapted to systems described by dynamic systems.Regional controllability results in a strategic area were established for vibrating plates by the Hilbertian Uniqueness Method.展开更多
Molten salt reactors,being the only reactor type among Generation Ⅳ advanced nuclear reactors that utilize liquid fuels,offer inherent safety,high-temperature,and low-pressure operation,as well as the capability for ...Molten salt reactors,being the only reactor type among Generation Ⅳ advanced nuclear reactors that utilize liquid fuels,offer inherent safety,high-temperature,and low-pressure operation,as well as the capability for online fuel reprocessing.However,the fuel-salt flow results in the decay of delayed neutron precursors(DNPs)outside the core,causing fluctuations in the effective delayed neutron fraction and consequently impacting the reactor reactivity.Particularly in accident scenarios—such as a combined pump shutdown and the inability to rapidly scram the reactor—the sole reliance on negative temperature feedback may cause a significant increase in core temperature,posing a threat to reactor safety.To address these problems,this paper introduces an innovative design for a passive fluid-driven suspended control rod(SCR)to dynamically compensate for reactivity fluctuations caused by DNPs flowing with the fuel.The control rod operates passively by leveraging the combined effects of gravity,buoyancy,and fluid dynamic forces,thereby eliminating the need for an external drive mechanism and enabling direct integration within the active region of the core.Using a 150 MWt thorium-based molten salt reactor as the reference design,we develop a mathematical model to systematically analyze the effects of key parameters—including the geometric dimensions and density of the SCR—on its performance.We examine its motion characteristics under different core flow conditions and assess its feasibility for the dynamic compensation of reactivity changes caused by fuel flow.The results of this study demonstrate that the SCR can effectively counteract reactivity fluctuations induced by fuel flow within molten salt reactors.A sensitivity analysis reveals that the SCR’s average density exerts a profound impact on its start-up flow threshold,channel flow rate,resistance to fuel density fluctuations,and response characteristics.This underscores the critical need to optimize this parameter.Moreover,by judiciously selecting the SCR’s length,number of deployed units,and the placement we can achieve the necessary reactivity control while maintaining a favorable balance between neutron economy and heat transfer performance.Ultimately,this paper provides an innovative solution for the passive reactivity control in molten salt reactors,offering significant potential for practical engineering applications.展开更多
Electrically controlled solid propellant(ECSP)offers multiple ignition and adjustable burning rate,serving as fuel for next-generation intelligent propulsion systems.To further enhance the combustion performance of EC...Electrically controlled solid propellant(ECSP)offers multiple ignition and adjustable burning rate,serving as fuel for next-generation intelligent propulsion systems.To further enhance the combustion performance of ECSP,a method utilizing electrochemical and thermal decomposition catalysts has been proposed.In this work,we investigated the combustion characteristics of hydroxylamine nitrate(HAN)-based ECSP incorporating cerium oxide(CeO_(2))and graphene oxide(GO)by using an electrically controlled combustion test system.Electrochemical impedance spectroscopy(EIS)and linear sweep voltammetry(LSV)were used to measure the electrical conductibility and overpotential of ECSP with various additives,and Tafel curves were calculated.Thermogravimetric analysis coupled with differential scanning calorimetry(TG-DSC)was employed to investigate the thermal decomposition behavior of ECSP.While the addition of CeO_(2) and GO reduced the conductivity of ECSP,both catalysts exhibited strong electrocatalytic properties and facilitated the thermal decomposition of ECSP.Between two catalysts,GO demonstrated superior electrochemical catalytic performance but weaker thermal decomposition catalytic ability than CeO_(2).The addition of catalysts significantly enhanced the combustion performance of HAN-based ECSP.Specifically,the ignition delay time was shortened by 10%~20%.CeO_(2) raised the burning rate by approximately 20%but GO exhibited a remarkable boost of 40%in burning rate at high voltage.The combination of GO and PVA produced a flame-retardant substance that negatively impacted the ignition delay of ECSP and resulted in a smaller increase in the burning rate of ECSP at low ignition voltages.展开更多
The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has dri...The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has driven a growing need for robust ICS security measures.Among the key defences,intrusion detection technology is critical in identifying threats to ICS networks.This paper provides an overview of the distinctive characteristics of ICS network security,highlighting standard attack methods.It then examines various intrusion detection methods,including those based on misuse detection,anomaly detection,machine learning,and specialised requirements.This paper concludes by exploring future directions for developing intrusion detection systems to advance research and ensure the continued security and reliability of ICS operations.展开更多
This paper investigates the edge-based dynamic event-triggered inverse optimal formation control problem for multiple quadrotor unmanned aerial vehicles(QUAVs) with attitude constraints. To improve communication effic...This paper investigates the edge-based dynamic event-triggered inverse optimal formation control problem for multiple quadrotor unmanned aerial vehicles(QUAVs) with attitude constraints. To improve communication efficiency, an edge-based dynamic event-triggered mechanism is developed for the communication channels between neighboring QUAVs. However, this edge-based dynamic event-triggered communication(DETC) may cause discontinuities in the reference signals. To solve this problem, a distributed estimator is designed for each QUAV to obtain the leader's output signals. Considering the safety of QUAV formation flying, this paper designs a function transformation method that constrains the attitudes of the QUAVs to a strictly safe region. Furthermore, an inverse optimal control strategy is proposed based on the backstepping methodology. This scheme not only minimizes the cost function but also avoids the necessity of solving the Hamilton-Jacobi-Bellman equation. Finally, the stability of the QUAV systems is proven using Lyapunov theory, and the effectiveness of the proposed control method is verified through simulation.展开更多
Modern power systems increasingly depend on interconnected microgrids to enhance reliability and renewable energy utilization.However,the high penetration of intermittent renewable sources often causes frequency devia...Modern power systems increasingly depend on interconnected microgrids to enhance reliability and renewable energy utilization.However,the high penetration of intermittent renewable sources often causes frequency deviations,voltage fluctuations,and poor reactive power coordination,posing serious challenges to grid stability.Conventional Interconnection FlowControllers(IFCs)primarily regulate active power flowand fail to effectively handle dynamic frequency variations or reactive power sharing in multi-microgrid networks.To overcome these limitations,this study proposes an enhanced Interconnection Flow Controller(e-IFC)that integrates frequency response balancing and an Interconnection Reactive Power Flow Controller(IRFC)within a unified adaptive control structure.The proposed e-IFC is implemented and analyzed in DIgSILENT PowerFactory to evaluate its performance under various grid disturbances,including frequency drops,load changes,and reactive power fluctuations.Simulation results reveal that the e-IFC achieves 27.4% higher active power sharing accuracy,19.6% lower reactive power deviation,and 18.2% improved frequency stability compared to the conventional IFC.The adaptive controller ensures seamless transitions between grid-connected and islanded modes and maintains stable operation even under communication delays and data noise.Overall,the proposed e-IFCsignificantly enhances active-reactive power coordination and dynamic stability in renewable-integrated multi-microgrid systems.Future research will focus on coupling the e-IFC with tertiary-level optimization frameworks and conducting hardware-in-the-loop validation to enable its application in large-scale smart microgrid environments.展开更多
Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framew...Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framework that jointly designs distributed observers and local controllers to ensure robust formation control in the presence of external disturbances and sensor malfunctions.Treating the spacecraft formation as a single interconnected system,each spacecraft constructs a distributed observer that estimates the overall system state by incorporating both its own measurements and the predicted control information shared among the spacecraft.Based on the observer estimates,a local control law is synthesized to maintain the desired formation.Rigorous theoretical analysis and numerical simulations demonstrate that the proposed integrated approach effectively guarantees formation stability and resilience against sensor failures and disturbances.展开更多
基金supported by Natural Science Foundation of China(Nos.61773159 and 61473117)Hunan Provincial Natural Science Foundation of China(No.13JJ8020and 14JJ5024)Hunan Province Education Department(No.12A040)
文摘Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an improved ELS control scheme. This controller can eliminate the negative effects on synchronization precision resulting from the friction at low speed present in the pre-registration step of a shaftless driven printing machine. Moreover, it can eliminate the synchronization error of the printing process resulting from nonlinearities and load disturbances. Based on observer techniques, the unknown components of load torque and system parameter variations are estimated. On this basis, a novel ELS control method using equivalent load-torque observers is proposed. Experimental results demonstrate the effectiveness of the proposed control system for four-axis position control.
基金Supported by National Key Technology R&D Program(No.2011BAG03B03)
文摘The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement
基金supported by the National Natural Science Foundation of China(NSFC)(61822311)the NSFC-Zhejiang Joint Fund for the Intergration of Industrialization and Informatization(U1709213)。
文摘The position synchronization control(PSC) problem is studied for networked multi-axis servo systems(NMASSs) with time-varying delay that is smaller than one sampling period. To improve the control performance of the system, time-varying delays, modeling uncertainties, and external disturbances are first modeled as a lumped disturbance. Then, a linear extended state observer(LESO) is devised to estimate the system state and the lumped disturbance, and a linear feedback controller with disturbance compensation is designed to perform individual-axis tracking control. After that, a cross-coupled control approach is used to further improve synchronization performance. The bounded-input-bounded-output(BIBO) stability of the closedloop control system is analyzed. Finally, both simulation and experiment are carried out to demonstrate the effectiveness of the proposed method.
文摘This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motion control system is designed.This system controls stepper motors using trapezoidal acceleration/deceleration pulse types and fuzzy control algorithms,which effectively avoids mechanical jitter and loss of step in the process of multi-angle motion of the stepper motor,and achieves accurate control of the stepper motor.The TCP/IP(transmission control protocol/internet protocol)communication protocol is used,so that data are output stably and not lost in the process of transmission and communication,achieving the purpose of interconnection of different systems and remote control of equipment.This control system has been tested to maintain a high level of stability and repeatability during actual operation.
基金supported by the Science Foundation of the Education Office of Gansu Province of Chinaunder Grant No.0914-01
文摘The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion control system and the mechanism of producing contour error and the relationship between tracking error and contour error were presented. The theoretical and practical significance of modeling error and controlling error in motion control systems was carried out.
文摘Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.
文摘This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.
文摘The precision of multi-axis machining is deeply influenced by the tracking error of multi-axis control system. Since the multi-axis machine tools have nonlinear and time-varying behaviors, it is difficult to establish an accurate dynamic model for multi-axis control system design. In this paper, a novel adaptive fuzzy sliding model controller with dynamic compensation is proposed to reduce tracking error and to improve precision of multi-axis machining. The major ad-vantage of this approach is to achieve a high following speed without overshooting while maintaining a continuous CNC machine tool process. The adaptive fuzzy tuning rules are derived from a Lyapunov function to guarantee stability of the control system. The experimental results on GJ-110 show that the proposed control scheme effectively minimizes tracking errors of the CNC system with control performance surpassing that of a traditional PID controller.
基金Supported by the Fundamental Research Funds for the Central Universities(2024ZYGXZR047)the National Natural Science Foundation of China(62373156)the Guangdong Basic and Applied Basic Research Foundation(2024A1515011736)。
文摘This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
基金Supported in part by Natural Science Foundation of Guangxi(2023GXNSFAA026246)in part by the Central Government's Guide to Local Science and Technology Development Fund(GuikeZY23055044)in part by the National Natural Science Foundation of China(62363003)。
文摘In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.
基金supported by the National Science Foundation of China(No.62171387)the Science and Technology Program of Sichuan Province(No.2024NSFSC0468)the China Postdoctoral Science Foundation(No.2019M663475).
文摘As an important resource in data link,time slots should be strategically allocated to enhance transmission efficiency and resist eavesdropping,especially considering the tremendous increase in the number of nodes and diverse communication needs.It is crucial to design control sequences with robust randomness and conflict-freeness to properly address differentiated access control in data link.In this paper,we propose a hierarchical access control scheme based on control sequences to achieve high utilization of time slots and differentiated access control.A theoretical bound of the hierarchical control sequence set is derived to characterize the constraints on the parameters of the sequence set.Moreover,two classes of optimal hierarchical control sequence sets satisfying the theoretical bound are constructed,both of which enable the scheme to achieve maximum utilization of time slots.Compared with the fixed time slot allocation scheme,our scheme reduces the symbol error rate by up to 9%,which indicates a significant improvement in anti-interference and eavesdropping capabilities.
文摘Fluidic Thrust Vectoring(FTV)is used for the yaw attitude control of tailless flying wing,which can significantly improve stealth performance,maneuverability and lateral/heading maneuverability.The FTV control scheme of co-directional secondary flow was designed based on a 30 kgf thrust turbojet engine,an equivalent rudder deflection control variable of Mass Flow Combination(MFC)was proposed,and a control model was established to form a FTV control system scheme,which was integrated with the flight control system of a 100 kg tailless flying wing with medium aspect ratio to achieve closed-loop control of the yaw attitude based on FTV.The heading stability augmentation and maneuvering control characteristics and time response characteristics of tailless flying wing by FTV were quantitatively studied through virtual flight test in a wind tunnel at a wind speed of 35 m/s.The results show that the control strategy based on MFC achieves bidirectional continuous and stable control of thrust vector angle in a range of±11°,and the thrust vector angle varies monotonically with MFC;the co-directional FTV realizes bidirectional continuous and stable control of the yaw attitude of tailless flying wing,without longitudinal/lateral coupling moment.The increment of the maximum yawing moment coefficient is 0.0029,the maximum yaw rate is 7.55(°)/s,and the response time of the yaw rate of the vectoring nozzle actuated by the secondary flow is about 0.06 s,which satisfies the heading stability augmentation and maneuvering control response requirements of the aircraft with statically unstable heading,and provides new control means for the heading rudderless attitude control of tailless flying wing.
文摘In this paper,we define for the trace operator,the solution of certain models of vibrating plates standards with initial data in a strategic region spaces of weak regularities.Indeed,we know that the notion of regional controllability is more adapted to systems described by dynamic systems.Regional controllability results in a strategic area were established for vibrating plates by the Hilbertian Uniqueness Method.
基金supported by Youth Innovation Promotion Association of Chinese Academy of Sciences(No.2020261)Strategic Priority Research Program of Chinese Academy of Sciences(No.XDA02010000)the Young Potential Program of Shanghai Institute of Applied Physics,Chinese Academy of Sciences(No.SINAP-YXJH-202412).
文摘Molten salt reactors,being the only reactor type among Generation Ⅳ advanced nuclear reactors that utilize liquid fuels,offer inherent safety,high-temperature,and low-pressure operation,as well as the capability for online fuel reprocessing.However,the fuel-salt flow results in the decay of delayed neutron precursors(DNPs)outside the core,causing fluctuations in the effective delayed neutron fraction and consequently impacting the reactor reactivity.Particularly in accident scenarios—such as a combined pump shutdown and the inability to rapidly scram the reactor—the sole reliance on negative temperature feedback may cause a significant increase in core temperature,posing a threat to reactor safety.To address these problems,this paper introduces an innovative design for a passive fluid-driven suspended control rod(SCR)to dynamically compensate for reactivity fluctuations caused by DNPs flowing with the fuel.The control rod operates passively by leveraging the combined effects of gravity,buoyancy,and fluid dynamic forces,thereby eliminating the need for an external drive mechanism and enabling direct integration within the active region of the core.Using a 150 MWt thorium-based molten salt reactor as the reference design,we develop a mathematical model to systematically analyze the effects of key parameters—including the geometric dimensions and density of the SCR—on its performance.We examine its motion characteristics under different core flow conditions and assess its feasibility for the dynamic compensation of reactivity changes caused by fuel flow.The results of this study demonstrate that the SCR can effectively counteract reactivity fluctuations induced by fuel flow within molten salt reactors.A sensitivity analysis reveals that the SCR’s average density exerts a profound impact on its start-up flow threshold,channel flow rate,resistance to fuel density fluctuations,and response characteristics.This underscores the critical need to optimize this parameter.Moreover,by judiciously selecting the SCR’s length,number of deployed units,and the placement we can achieve the necessary reactivity control while maintaining a favorable balance between neutron economy and heat transfer performance.Ultimately,this paper provides an innovative solution for the passive reactivity control in molten salt reactors,offering significant potential for practical engineering applications.
基金supported by the National Natural Science Foundation of China(Grant No.12074187).
文摘Electrically controlled solid propellant(ECSP)offers multiple ignition and adjustable burning rate,serving as fuel for next-generation intelligent propulsion systems.To further enhance the combustion performance of ECSP,a method utilizing electrochemical and thermal decomposition catalysts has been proposed.In this work,we investigated the combustion characteristics of hydroxylamine nitrate(HAN)-based ECSP incorporating cerium oxide(CeO_(2))and graphene oxide(GO)by using an electrically controlled combustion test system.Electrochemical impedance spectroscopy(EIS)and linear sweep voltammetry(LSV)were used to measure the electrical conductibility and overpotential of ECSP with various additives,and Tafel curves were calculated.Thermogravimetric analysis coupled with differential scanning calorimetry(TG-DSC)was employed to investigate the thermal decomposition behavior of ECSP.While the addition of CeO_(2) and GO reduced the conductivity of ECSP,both catalysts exhibited strong electrocatalytic properties and facilitated the thermal decomposition of ECSP.Between two catalysts,GO demonstrated superior electrochemical catalytic performance but weaker thermal decomposition catalytic ability than CeO_(2).The addition of catalysts significantly enhanced the combustion performance of HAN-based ECSP.Specifically,the ignition delay time was shortened by 10%~20%.CeO_(2) raised the burning rate by approximately 20%but GO exhibited a remarkable boost of 40%in burning rate at high voltage.The combination of GO and PVA produced a flame-retardant substance that negatively impacted the ignition delay of ECSP and resulted in a smaller increase in the burning rate of ECSP at low ignition voltages.
文摘The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has driven a growing need for robust ICS security measures.Among the key defences,intrusion detection technology is critical in identifying threats to ICS networks.This paper provides an overview of the distinctive characteristics of ICS network security,highlighting standard attack methods.It then examines various intrusion detection methods,including those based on misuse detection,anomaly detection,machine learning,and specialised requirements.This paper concludes by exploring future directions for developing intrusion detection systems to advance research and ensure the continued security and reliability of ICS operations.
基金supported by the National Natural Science Foundation of China (Grant Nos.62573134,62473100,62433018)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2025A1515060017,2025A1515011436,2025B1515020065,2025A1515011789)the Guangzhou Basic and Applied Basic Research Project (Grant No.2025A04J3534)。
文摘This paper investigates the edge-based dynamic event-triggered inverse optimal formation control problem for multiple quadrotor unmanned aerial vehicles(QUAVs) with attitude constraints. To improve communication efficiency, an edge-based dynamic event-triggered mechanism is developed for the communication channels between neighboring QUAVs. However, this edge-based dynamic event-triggered communication(DETC) may cause discontinuities in the reference signals. To solve this problem, a distributed estimator is designed for each QUAV to obtain the leader's output signals. Considering the safety of QUAV formation flying, this paper designs a function transformation method that constrains the attitudes of the QUAVs to a strictly safe region. Furthermore, an inverse optimal control strategy is proposed based on the backstepping methodology. This scheme not only minimizes the cost function but also avoids the necessity of solving the Hamilton-Jacobi-Bellman equation. Finally, the stability of the QUAV systems is proven using Lyapunov theory, and the effectiveness of the proposed control method is verified through simulation.
基金the Deanship of Scientific Research at Northern Border University,Arar,Saudi Arabia,for funding this research work through the project number“NBU-FFR-2025-3623-11”.
文摘Modern power systems increasingly depend on interconnected microgrids to enhance reliability and renewable energy utilization.However,the high penetration of intermittent renewable sources often causes frequency deviations,voltage fluctuations,and poor reactive power coordination,posing serious challenges to grid stability.Conventional Interconnection FlowControllers(IFCs)primarily regulate active power flowand fail to effectively handle dynamic frequency variations or reactive power sharing in multi-microgrid networks.To overcome these limitations,this study proposes an enhanced Interconnection Flow Controller(e-IFC)that integrates frequency response balancing and an Interconnection Reactive Power Flow Controller(IRFC)within a unified adaptive control structure.The proposed e-IFC is implemented and analyzed in DIgSILENT PowerFactory to evaluate its performance under various grid disturbances,including frequency drops,load changes,and reactive power fluctuations.Simulation results reveal that the e-IFC achieves 27.4% higher active power sharing accuracy,19.6% lower reactive power deviation,and 18.2% improved frequency stability compared to the conventional IFC.The adaptive controller ensures seamless transitions between grid-connected and islanded modes and maintains stable operation even under communication delays and data noise.Overall,the proposed e-IFCsignificantly enhances active-reactive power coordination and dynamic stability in renewable-integrated multi-microgrid systems.Future research will focus on coupling the e-IFC with tertiary-level optimization frameworks and conducting hardware-in-the-loop validation to enable its application in large-scale smart microgrid environments.
基金supported by the National Natural Science Foundation of China(62088101,62522307,62273045,U2341213)Beijing Nova Program(20230484481)。
文摘Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framework that jointly designs distributed observers and local controllers to ensure robust formation control in the presence of external disturbances and sensor malfunctions.Treating the spacecraft formation as a single interconnected system,each spacecraft constructs a distributed observer that estimates the overall system state by incorporating both its own measurements and the predicted control information shared among the spacecraft.Based on the observer estimates,a local control law is synthesized to maintain the desired formation.Rigorous theoretical analysis and numerical simulations demonstrate that the proposed integrated approach effectively guarantees formation stability and resilience against sensor failures and disturbances.
