Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibra...Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.展开更多
This paper investigates the active traveling wave vibration control of an elastic supported rotating porous aluminium conical shell(CS)under impact loading.Piezoelectric smart materials in the form of micro fiber comp...This paper investigates the active traveling wave vibration control of an elastic supported rotating porous aluminium conical shell(CS)under impact loading.Piezoelectric smart materials in the form of micro fiber composites(MFCs)are used as actuators and sensors.To this end,a metal pore truncated CS with MFCs attached to its surface is considered.Adding artificial virtual springs at two edges of the truncated CS achieves various elastic supported boundaries by changing the spring stiffness.Based on the first-order shear deformation theory(FSDT),minimum energy principle,and artificial virtual spring technology,the theoretical formulations considering the electromechanical coupling are derived.The comparison of the natural frequency of the present results with the natural frequencies reported in previous literature evaluates the accuracy of the present approach.To study the vibration control,the integral quadrature method in conjunction with the differential quadrature approximation in the length direction is used to discretize the partial differential dynamical system to form a set of ordinary differential equations.With the aid of the velocity negative feedback method,both the time history and the input control voltage on the actuator are demonstrated to present the effects of velocity feedback gain,pore distribution type,semi-vertex angle,impact loading,and rotational angular velocity on the traveling wave vibration control.展开更多
A theoretical analysis regarding active vibration control of rotating machines with current-controlled electrodynamic actuators between machine feet and steel frame foundation and with velocity feedback of the machine...A theoretical analysis regarding active vibration control of rotating machines with current-controlled electrodynamic actuators between machine feet and steel frame foundation and with velocity feedback of the machine feet vibrations is presented.First,a generalized mathematical formulation is derived based on a state-space description which can be used for different kinds of models(1D,2D,and 3D models).It is shown that under special boundary conditions,the control parameters can be directly implemented into the stiffness and damping matrices of the system.Based on the generalized mathematical formulation,an example of a rotating machine—described by a 2D model—with journal bearings,flexible rotor,current-controlled electrodynamic actuators,steel frame foundation,and velocity feedback of the machine feet vibrations is presented where the effectiveness of the described active vibration control system is demonstrated.展开更多
The study of Mecanum mobile robots typically assumes motion on planar surfaces,while the challenges posed by inclined terrains remain largely unexplored,leaving a significant gap in control applications for such scena...The study of Mecanum mobile robots typically assumes motion on planar surfaces,while the challenges posed by inclined terrains remain largely unexplored,leaving a significant gap in control applications for such scenarios.In this context,two critical issues emerge:the gravitational pull caused by adding a potential energy term in the robot dynamics,which drives the vehicle downhill,and several positioning errors due to vibrations and slippage of the Mecanum wheel.To address these challenges,this work presents an Active Disturbance Rejection Control(ADRC)-based framework designed to enable accurate tracking on inclined surfaces,despite the compounded effects of gravitational forces and slippage.Unlike conventional controllers,the proposed method requires minimal model knowledge while actively compensates for unknown dynamics and external disturbances in real time.A complete theoretical formulation is provided,supported by numerical simulations and comprehensive experimental validation.Results demonstrate that the ADRC structure significantly outperforms not only the traditional proportional-integral-derivative(PID)control but also a robust variant of PID combined with a Quasi-Sliding Mode control(PID-QSMC)strategy,achieving superior tracking.Notably,this study offers an important experimental validation of ADRC for Mecanum-wheeled robots operating on inclined surfaces.It contributes a practical and scalable solution to extend their operational capabilities beyond flat environments.展开更多
The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, un...The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.展开更多
With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to...With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to ensure closed-loop stability when employing a time-varying bandwidth,as well as the supporting mathematical foundations,remain insufficiently studied.This paper investigates the stability condition for active disturbance rejection control(ADRC)with a time-varying bandwidth extended state observer(ESO).A new stability condition is derived,which means that the upper bound of rate of change for ESO bandwidth should be restricted.Moreover,under the proposed condition,the closed-loop stability of ADRC with a time-varying bandwidth observer is rigorously proved for nonlinear uncertainties.In simulations,the necessity of the proposed condition is illustrated,demonstrating that the rate of change of ESO bandwidth is crucial for closed-loop stability.展开更多
During the startup of the hydraulic turbine generators,the hybrid magnetic bearing support system exhibits displacement fluctuations,and the nonlinearity and strong coupling characteristics of the magnetic bearings li...During the startup of the hydraulic turbine generators,the hybrid magnetic bearing support system exhibits displacement fluctuations,and the nonlinearity and strong coupling characteristics of the magnetic bearings limit the accuracy of rotor modeling,making traditional control methods difficult to adapt to parameter variations.To suppress startup disturbances and achieve a control strategy with low computational complexity and high precision,this paper proposes a five-degree-of-freedom hybrid magnetic bearing control strategy based on an improved cascaded reduced-order linear active disturbance rejection controller(CRLADRC).The front-stage reduced-order linear extended state observer(FRLESO)reduces the system’s computational complexity,enabling the system to maintain stability during motor startup disturbances.The second-stage reduced-order linear extended state observer(SRLESO)further enhances the system’s disturbance estimation accuracy while maintaining low computational complexity.Furthermore,the disturbance rejection and noise suppression capabilities are analyzed in the frequency domain and the stability of the proposed control method is proven using Lyapunov theory.Experimental results indicate that the proposed strategy effectively reduces displacement fluctuations in the hybrid magnetic bearing support system during motor startup,significantly enhancing the system’s robustness.展开更多
This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller fo...This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.展开更多
This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial...This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial and resonant disturbances.In this estimator structure,referred to as Cascade GPIO(CGPIO),the total disturbance sensitivity is the product of the sensitivities at each cascade level.This approach improves system performance against both periodic and non-periodic disturbances and enhances robustness under frequency variations in harmonic components.Additionally,the decoupled nature of the estimator reduces the order of the GPIOs,thereby simplifying tuning and limiting observer gains.The proposed control scheme is supported by a frequency-domain analysis and is experimentally validated in the current control of a grid-connected converter subject to control gain uncertainties,harmonic distortion,frequency deviations,and measurement noise.Experimental results demonstrate that the CGPIO-based ADRC outperforms benchmark solutions,including proportional-integral(PI)and proportional-resonant(PR)controllers.展开更多
Spider mites are significant pests in agricultural production.The increasing resistance of spider mites,along with environmental pollution and ecological imbalance caused by their control,is primarily attributed to th...Spider mites are significant pests in agricultural production.The increasing resistance of spider mites,along with environmental pollution and ecological imbalance caused by their control,is primarily attributed to the long-term use of chemical acaricides in agriculture.In contrast,bioactive substances of biological origin offer advantages such as wide availability,environmental friendliness,and low tendency to induce resistance,making them a research hotspot for spider mite control.This review summarizes recent advances in the use of plant-derived active compounds(exemplified by extracts from Veratrum rhizomes),RNA interference(RNAi)technology,and microorganism-derived active substances for controlling spider mites.These bioactive agents exert acaricidal effects by disrupting the nervous system,interfering with metabolic processes,or silencing key genes in mites,demonstrating favorable efficacy and considerable potential for development.However,challenges remain,including poor environmental stability,slow action,high production costs,and insufficient understanding of their effects on non-target organisms.Therefore,future research should focus on the screening and development of novel bioactive substances of biological origin,elucidation of their mechanisms of action,optimization of formulation technologies,and assessment of their ecological safety.These efforts will provide valuable insights for promoting the advancement of bioactive substances and supporting sustainable agricultural development.展开更多
The high proportion of uncertain distributed power sources and the access to large-scale random electric vehicle(EV)charging resources further aggravate the voltage fluctuation of the distribution network,and the exis...The high proportion of uncertain distributed power sources and the access to large-scale random electric vehicle(EV)charging resources further aggravate the voltage fluctuation of the distribution network,and the existing research has not deeply explored the EV active-reactive synergistic regulating characteristics,and failed to realize themulti-timescale synergistic control with other regulatingmeans,For this reason,this paper proposes amultilevel linkage coordinated optimization strategy to reduce the voltage deviation of the distribution network.Firstly,a capacitor bank reactive power compensation voltage control model and a distributed photovoltaic(PV)activereactive power regulationmodel are established.Additionally,an external characteristicmodel of EVactive-reactive power regulation is developed considering the four-quadrant operational characteristics of the EVcharger.Amultiobjective optimization model of the distribution network is then constructed considering the time-series coupling constraints of multiple types of voltage regulators.A multi-timescale control strategy is proposed by considering the impact of voltage regulators on active-reactive EV energy consumption and PV energy consumption.Then,a four-stage voltage control optimization strategy is proposed for various types of voltage regulators with multiple time scales.Themulti-objective optimization is solved with the improvedDrosophila algorithmto realize the power fluctuation control of the distribution network and themulti-stage voltage control optimization.Simulation results validate that the proposed voltage control optimization strategy achieves the coordinated control of decentralized voltage control resources in the distribution network.It effectively reduces the voltage deviation of the distribution network while ensuring the energy demand of EV users and enhancing the stability and economic efficiency of the distribution network.展开更多
The flying-wing aircraft has excellent aerodynamic efficiency and stealth performance.However,due to the lack of tails,the flying-wing aircraft has a serious attitude control problem.In this paper,the effective flow c...The flying-wing aircraft has excellent aerodynamic efficiency and stealth performance.However,due to the lack of tails,the flying-wing aircraft has a serious attitude control problem.In this paper,the effective flow control strategy of three-axis control is proposed by using continuous jets for a flapless flying-wing aircraft.The wind tunnel test of two kinds of flying-wing models,namely one flow control model and one mechanical control model,is conducted,and the control effect is analyzed and compared.By simultaneous blowing of the circulation control actuators inboard and differential blowing of the circulation control actuators outboard,the pitch and roll controls are achieved,respectively.It also has an effective control effect at very large angles of attack where the conventional control surface fails.A linear relationship is found between the increment of the controlled aerodynamic force/moment coefficient and the momentum coefficient for circulation control actuators.Moreover,to resolve the difficulty in yaw control,a novel wingtip jet is proposed based on the concept of the all-moving tip and compared with apex jet and circulation control jet.It is found that the wingtip jet is the most efficient actuator,followed by the simultaneous-blowing circulation control jet.Therefore,based on the research above,two optimized fluidic control configurations are proposed.One employs circulation control jet and wingtip jet,and the other is completely dependent on circulation control jet.Finally,the flow control mechanism of circulation control is discussed.Circulation control significantly accelerates the flow on the upper surface of the airfoil in attached flow and reduces the flow separation region in separated flow,leading to aerodynamic performance improvement.These results provide an important theoretic basis for the flapless flight control of flying-wing aircraft.展开更多
Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a ...Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.展开更多
This article presents an adaptive optimal control method for a semi-active suspension system.The model of the suspension system is built,in which the components of uncertain parameters and exogenous disturbance are de...This article presents an adaptive optimal control method for a semi-active suspension system.The model of the suspension system is built,in which the components of uncertain parameters and exogenous disturbance are described.The adaptive optimal control law consists of the sum of the optimal control component and the adaptive control component.First,the optimal control law is designed for the model of the suspension system after ignoring the components of uncertain parameters and exogenous disturbance caused by the road surface.The optimal control law expresses the desired dynamic characteristics of the suspension system.Next,the adaptive component is designed with the purpose of compensating for the effects caused by uncertain parameters and exogenous disturbance caused by the road surface;the adaptive component has adaptive parameter rules to estimate uncertain parameters and exogenous disturbance.When exogenous disturbances are eliminated,the system responds with an optimal controller designed.By separating theoretically the dynamic of a semi-active suspension system,this solution allows the design of two separate controllers easily and has reduced the computational burden and the use of too many tools,thus allowing for more convenient hardware implementation.The simulation results also show the effectiveness of damping oscillations of the proposed solution in this article.展开更多
An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rot...An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.展开更多
Piezoelectric active vibration control holds paramount importance in space structures.An embedded piezoelectric actuator with a sandwich configuration is proposed,which enhances control accuracy by integrating various...Piezoelectric active vibration control holds paramount importance in space structures.An embedded piezoelectric actuator with a sandwich configuration is proposed,which enhances control accuracy by integrating various components.Firstly,the electromechanical coupling characteristics of the actuator are revealed,and the model is established.Secondly,the equivalent model of a cylindrical cantilever beam is investigated as the object,and the feasibility of the vibration control of the actuator is verified by simulation.Finally,the prototype comprised of two actuators,which respectively use the proposed embedded actuators for producing the vibration and suppressing the vibration,is developed,and the measurement system is constructed.Experimental results demonstrate the excellent control efficiency in two orthogonal directions,achieving a minimum vibration amplitude control of 0.00102 mm and a maximum vibration control of-42.74 d B.The integrated structure offers fast response,lightness,adaptability,and high control efficiency,which is conducive to enhancing the vibration control.展开更多
Innovating distillation technology to improve the efficiency of distillation equipment,reduce energy consumption,and increase product purity is an important challenge for the rapid development of the distillation indu...Innovating distillation technology to improve the efficiency of distillation equipment,reduce energy consumption,and increase product purity is an important challenge for the rapid development of the distillation industry.In this paper,steady-state simulations are developed for the separated isopropanol and water systems,and the sensitive temperature stage locations are determined using sensitivity and singular value decomposition(SVD).An open-loop steady-state gain analysis of the isopropanol/water system was performed,and a series of dynamic control schemes were designed and optimized to resist±10% feed flow disturbances and ±5% feed composition disturbances,comparing the performance of the control schemes one by one through IAE error analysis.The results show that the side-stream extractive distillation separation of isopropanol and water system using a single temperature fixed reflux ratio control loop suffers from a large product shift problem.One of the key control loops is to control the isopropanol purity by controlling the bottom of the column flow rate,and the scheme performs well under both single-temperature control and dual-temperature control,effectively resisting ±10% feed flow disturbances and ±5% feed composition disturbances.The improvement of product purity can be seen from the compone nt controllers play an important role,while the feed-fo rward effect under certain conditions can also enable the system to quickly restore stability and improve the system response speed.展开更多
Ships experience rolling motion under the action of sea waves and may even face the risk of capsizing.Anti-rolling devices are designed to reduce this motion and enhance vessel safety.This is especially critical for e...Ships experience rolling motion under the action of sea waves and may even face the risk of capsizing.Anti-rolling devices are designed to reduce this motion and enhance vessel safety.This is especially critical for engineering ships operating at sea under zero-speed conditions,where a stable posture is essential for efficient performance.Gyro stabilizers can suppress roll motion at zero speed;however,their high cost typically makes them unsuitable for large civilian vessels.Additionally,most existing anti-rolling devices rely on a certain water speed to function,which results in increased drag.In this study,an anti-rolling system incorporating swing control is proposed.Inspired by the human body's ability to maintain balance by swinging arms during walking or running,the system generates an antirolling moment by oscillating a water tank.This approach operates independently of water speed and does not generate additional drag.The mechanical design of the anti-rolling system is introduced,and a corresponding control system model is derived.The swing-tank mechanism provides phase lead compensation and reduces the system's sensitivity to wave disturbances.To enhance performance,robust control techniques are applied.Simulation results demonstrate that the proposed anti-rolling system delivers effective roll reduction for ships.展开更多
This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their...This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their applications in agricultural pest control.Furthermore,the paper examines the future developmental directions of M.alternifolia essential oil in pest control,along with the current challenges associated with its application.The aim is to offer insights for future research on botanical essential oils,particularly regarding their biological functions and applications in agricultural pest control.展开更多
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
基金The Fundamental Research Funds for the Central Universities(JD2423)。
文摘Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.
基金Supported by the National Natural Science Foundation of China(Nos.12272056 and 11832002)。
文摘This paper investigates the active traveling wave vibration control of an elastic supported rotating porous aluminium conical shell(CS)under impact loading.Piezoelectric smart materials in the form of micro fiber composites(MFCs)are used as actuators and sensors.To this end,a metal pore truncated CS with MFCs attached to its surface is considered.Adding artificial virtual springs at two edges of the truncated CS achieves various elastic supported boundaries by changing the spring stiffness.Based on the first-order shear deformation theory(FSDT),minimum energy principle,and artificial virtual spring technology,the theoretical formulations considering the electromechanical coupling are derived.The comparison of the natural frequency of the present results with the natural frequencies reported in previous literature evaluates the accuracy of the present approach.To study the vibration control,the integral quadrature method in conjunction with the differential quadrature approximation in the length direction is used to discretize the partial differential dynamical system to form a set of ordinary differential equations.With the aid of the velocity negative feedback method,both the time history and the input control voltage on the actuator are demonstrated to present the effects of velocity feedback gain,pore distribution type,semi-vertex angle,impact loading,and rotational angular velocity on the traveling wave vibration control.
文摘A theoretical analysis regarding active vibration control of rotating machines with current-controlled electrodynamic actuators between machine feet and steel frame foundation and with velocity feedback of the machine feet vibrations is presented.First,a generalized mathematical formulation is derived based on a state-space description which can be used for different kinds of models(1D,2D,and 3D models).It is shown that under special boundary conditions,the control parameters can be directly implemented into the stiffness and damping matrices of the system.Based on the generalized mathematical formulation,an example of a rotating machine—described by a 2D model—with journal bearings,flexible rotor,current-controlled electrodynamic actuators,steel frame foundation,and velocity feedback of the machine feet vibrations is presented where the effectiveness of the described active vibration control system is demonstrated.
文摘The study of Mecanum mobile robots typically assumes motion on planar surfaces,while the challenges posed by inclined terrains remain largely unexplored,leaving a significant gap in control applications for such scenarios.In this context,two critical issues emerge:the gravitational pull caused by adding a potential energy term in the robot dynamics,which drives the vehicle downhill,and several positioning errors due to vibrations and slippage of the Mecanum wheel.To address these challenges,this work presents an Active Disturbance Rejection Control(ADRC)-based framework designed to enable accurate tracking on inclined surfaces,despite the compounded effects of gravitational forces and slippage.Unlike conventional controllers,the proposed method requires minimal model knowledge while actively compensates for unknown dynamics and external disturbances in real time.A complete theoretical formulation is provided,supported by numerical simulations and comprehensive experimental validation.Results demonstrate that the ADRC structure significantly outperforms not only the traditional proportional-integral-derivative(PID)control but also a robust variant of PID combined with a Quasi-Sliding Mode control(PID-QSMC)strategy,achieving superior tracking.Notably,this study offers an important experimental validation of ADRC for Mecanum-wheeled robots operating on inclined surfaces.It contributes a practical and scalable solution to extend their operational capabilities beyond flat environments.
基金supported by the Fondo para el Primer Proyecto of the Comitépara el Desarrollo de la Investigación(CODI)at the Universidad de Antioquia(Grant Number PRV2024-78509)。
文摘The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.
基金supported partially by the National Natural Science Foundation(No.62473344)the T-Flight Laboratory in ShanXi Provincial(No.GSFC2024NBKY05)+1 种基金the Natural Science Basic Research Program of Shaanxi(No.2025JC-YBQN-035)the National Natural Science Foundation of China(Grant No.92471204).
文摘With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to ensure closed-loop stability when employing a time-varying bandwidth,as well as the supporting mathematical foundations,remain insufficiently studied.This paper investigates the stability condition for active disturbance rejection control(ADRC)with a time-varying bandwidth extended state observer(ESO).A new stability condition is derived,which means that the upper bound of rate of change for ESO bandwidth should be restricted.Moreover,under the proposed condition,the closed-loop stability of ADRC with a time-varying bandwidth observer is rigorously proved for nonlinear uncertainties.In simulations,the necessity of the proposed condition is illustrated,demonstrating that the rate of change of ESO bandwidth is crucial for closed-loop stability.
基金supported by the National Natural Science Foundation of China under Grant 52302458the CAS Project for Young Scientists in Basic Research,Grant No.YSBR-045.
文摘During the startup of the hydraulic turbine generators,the hybrid magnetic bearing support system exhibits displacement fluctuations,and the nonlinearity and strong coupling characteristics of the magnetic bearings limit the accuracy of rotor modeling,making traditional control methods difficult to adapt to parameter variations.To suppress startup disturbances and achieve a control strategy with low computational complexity and high precision,this paper proposes a five-degree-of-freedom hybrid magnetic bearing control strategy based on an improved cascaded reduced-order linear active disturbance rejection controller(CRLADRC).The front-stage reduced-order linear extended state observer(FRLESO)reduces the system’s computational complexity,enabling the system to maintain stability during motor startup disturbances.The second-stage reduced-order linear extended state observer(SRLESO)further enhances the system’s disturbance estimation accuracy while maintaining low computational complexity.Furthermore,the disturbance rejection and noise suppression capabilities are analyzed in the frequency domain and the stability of the proposed control method is proven using Lyapunov theory.Experimental results indicate that the proposed strategy effectively reduces displacement fluctuations in the hybrid magnetic bearing support system during motor startup,significantly enhancing the system’s robustness.
基金support through his Master scholarshipThe Vicerrectoría de Investigación y Estudios de Posgrado(VIEP-BUAP)partially funded this work under grant number 00593-PV/2025.
文摘This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.
文摘This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial and resonant disturbances.In this estimator structure,referred to as Cascade GPIO(CGPIO),the total disturbance sensitivity is the product of the sensitivities at each cascade level.This approach improves system performance against both periodic and non-periodic disturbances and enhances robustness under frequency variations in harmonic components.Additionally,the decoupled nature of the estimator reduces the order of the GPIOs,thereby simplifying tuning and limiting observer gains.The proposed control scheme is supported by a frequency-domain analysis and is experimentally validated in the current control of a grid-connected converter subject to control gain uncertainties,harmonic distortion,frequency deviations,and measurement noise.Experimental results demonstrate that the CGPIO-based ADRC outperforms benchmark solutions,including proportional-integral(PI)and proportional-resonant(PR)controllers.
文摘Spider mites are significant pests in agricultural production.The increasing resistance of spider mites,along with environmental pollution and ecological imbalance caused by their control,is primarily attributed to the long-term use of chemical acaricides in agriculture.In contrast,bioactive substances of biological origin offer advantages such as wide availability,environmental friendliness,and low tendency to induce resistance,making them a research hotspot for spider mite control.This review summarizes recent advances in the use of plant-derived active compounds(exemplified by extracts from Veratrum rhizomes),RNA interference(RNAi)technology,and microorganism-derived active substances for controlling spider mites.These bioactive agents exert acaricidal effects by disrupting the nervous system,interfering with metabolic processes,or silencing key genes in mites,demonstrating favorable efficacy and considerable potential for development.However,challenges remain,including poor environmental stability,slow action,high production costs,and insufficient understanding of their effects on non-target organisms.Therefore,future research should focus on the screening and development of novel bioactive substances of biological origin,elucidation of their mechanisms of action,optimization of formulation technologies,and assessment of their ecological safety.These efforts will provide valuable insights for promoting the advancement of bioactive substances and supporting sustainable agricultural development.
基金funded by the State Grid Corporation Science and Technology Project(5108-202218280A-2-391-XG).
文摘The high proportion of uncertain distributed power sources and the access to large-scale random electric vehicle(EV)charging resources further aggravate the voltage fluctuation of the distribution network,and the existing research has not deeply explored the EV active-reactive synergistic regulating characteristics,and failed to realize themulti-timescale synergistic control with other regulatingmeans,For this reason,this paper proposes amultilevel linkage coordinated optimization strategy to reduce the voltage deviation of the distribution network.Firstly,a capacitor bank reactive power compensation voltage control model and a distributed photovoltaic(PV)activereactive power regulationmodel are established.Additionally,an external characteristicmodel of EVactive-reactive power regulation is developed considering the four-quadrant operational characteristics of the EVcharger.Amultiobjective optimization model of the distribution network is then constructed considering the time-series coupling constraints of multiple types of voltage regulators.A multi-timescale control strategy is proposed by considering the impact of voltage regulators on active-reactive EV energy consumption and PV energy consumption.Then,a four-stage voltage control optimization strategy is proposed for various types of voltage regulators with multiple time scales.Themulti-objective optimization is solved with the improvedDrosophila algorithmto realize the power fluctuation control of the distribution network and themulti-stage voltage control optimization.Simulation results validate that the proposed voltage control optimization strategy achieves the coordinated control of decentralized voltage control resources in the distribution network.It effectively reduces the voltage deviation of the distribution network while ensuring the energy demand of EV users and enhancing the stability and economic efficiency of the distribution network.
文摘The flying-wing aircraft has excellent aerodynamic efficiency and stealth performance.However,due to the lack of tails,the flying-wing aircraft has a serious attitude control problem.In this paper,the effective flow control strategy of three-axis control is proposed by using continuous jets for a flapless flying-wing aircraft.The wind tunnel test of two kinds of flying-wing models,namely one flow control model and one mechanical control model,is conducted,and the control effect is analyzed and compared.By simultaneous blowing of the circulation control actuators inboard and differential blowing of the circulation control actuators outboard,the pitch and roll controls are achieved,respectively.It also has an effective control effect at very large angles of attack where the conventional control surface fails.A linear relationship is found between the increment of the controlled aerodynamic force/moment coefficient and the momentum coefficient for circulation control actuators.Moreover,to resolve the difficulty in yaw control,a novel wingtip jet is proposed based on the concept of the all-moving tip and compared with apex jet and circulation control jet.It is found that the wingtip jet is the most efficient actuator,followed by the simultaneous-blowing circulation control jet.Therefore,based on the research above,two optimized fluidic control configurations are proposed.One employs circulation control jet and wingtip jet,and the other is completely dependent on circulation control jet.Finally,the flow control mechanism of circulation control is discussed.Circulation control significantly accelerates the flow on the upper surface of the airfoil in attached flow and reduces the flow separation region in separated flow,leading to aerodynamic performance improvement.These results provide an important theoretic basis for the flapless flight control of flying-wing aircraft.
基金supported by the National Natural Science Foundation of China(62073094)the Fundamental Research Funds for the Central Universities(3072024GH0404)
文摘Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.
基金supported in part by the Thai Nguyen University of Technology,Vietnam.
文摘This article presents an adaptive optimal control method for a semi-active suspension system.The model of the suspension system is built,in which the components of uncertain parameters and exogenous disturbance are described.The adaptive optimal control law consists of the sum of the optimal control component and the adaptive control component.First,the optimal control law is designed for the model of the suspension system after ignoring the components of uncertain parameters and exogenous disturbance caused by the road surface.The optimal control law expresses the desired dynamic characteristics of the suspension system.Next,the adaptive component is designed with the purpose of compensating for the effects caused by uncertain parameters and exogenous disturbance caused by the road surface;the adaptive component has adaptive parameter rules to estimate uncertain parameters and exogenous disturbance.When exogenous disturbances are eliminated,the system responds with an optimal controller designed.By separating theoretically the dynamic of a semi-active suspension system,this solution allows the design of two separate controllers easily and has reduced the computational burden and the use of too many tools,thus allowing for more convenient hardware implementation.The simulation results also show the effectiveness of damping oscillations of the proposed solution in this article.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC 20220801)+1 种基金the Graduate Innovation Fund Project of Beijing University of Civil Engineering and Architecture(No.PG2025160)the Special Fund for Cultivation Projects of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.
基金supported by the National Natural Science Foundation of China(Nos.52275022,52175015 and U2037603)the Natural Science Foundation of Jiangsu Province,China(Nos.BK20222011 and BK20230093)the State Key Laboratory of Mechanics and Control for Aerospace Structures,China(No.MCAS-S-0223G01)。
文摘Piezoelectric active vibration control holds paramount importance in space structures.An embedded piezoelectric actuator with a sandwich configuration is proposed,which enhances control accuracy by integrating various components.Firstly,the electromechanical coupling characteristics of the actuator are revealed,and the model is established.Secondly,the equivalent model of a cylindrical cantilever beam is investigated as the object,and the feasibility of the vibration control of the actuator is verified by simulation.Finally,the prototype comprised of two actuators,which respectively use the proposed embedded actuators for producing the vibration and suppressing the vibration,is developed,and the measurement system is constructed.Experimental results demonstrate the excellent control efficiency in two orthogonal directions,achieving a minimum vibration amplitude control of 0.00102 mm and a maximum vibration control of-42.74 d B.The integrated structure offers fast response,lightness,adaptability,and high control efficiency,which is conducive to enhancing the vibration control.
基金the Key Research and Development Plan of Shandong Province (Major Scientific and Technological Innovation Project) (2021ZDSYS24)the Science Fund of Shandong Laboratory of Advanced Materials and Green Manufacturing (Yantai) (AMGM2023A09)the Open Project Program of Fujian Universities Engineering Research Center of Reactive Distillation Technology (RDRC202204), Fuzhou University。
文摘Innovating distillation technology to improve the efficiency of distillation equipment,reduce energy consumption,and increase product purity is an important challenge for the rapid development of the distillation industry.In this paper,steady-state simulations are developed for the separated isopropanol and water systems,and the sensitive temperature stage locations are determined using sensitivity and singular value decomposition(SVD).An open-loop steady-state gain analysis of the isopropanol/water system was performed,and a series of dynamic control schemes were designed and optimized to resist±10% feed flow disturbances and ±5% feed composition disturbances,comparing the performance of the control schemes one by one through IAE error analysis.The results show that the side-stream extractive distillation separation of isopropanol and water system using a single temperature fixed reflux ratio control loop suffers from a large product shift problem.One of the key control loops is to control the isopropanol purity by controlling the bottom of the column flow rate,and the scheme performs well under both single-temperature control and dual-temperature control,effectively resisting ±10% feed flow disturbances and ±5% feed composition disturbances.The improvement of product purity can be seen from the compone nt controllers play an important role,while the feed-fo rward effect under certain conditions can also enable the system to quickly restore stability and improve the system response speed.
基金supported by the Jiangxi University of Water Resources and Electric Power Doctoral Research Initiation Fund(Grant No.2024kyqd030)。
文摘Ships experience rolling motion under the action of sea waves and may even face the risk of capsizing.Anti-rolling devices are designed to reduce this motion and enhance vessel safety.This is especially critical for engineering ships operating at sea under zero-speed conditions,where a stable posture is essential for efficient performance.Gyro stabilizers can suppress roll motion at zero speed;however,their high cost typically makes them unsuitable for large civilian vessels.Additionally,most existing anti-rolling devices rely on a certain water speed to function,which results in increased drag.In this study,an anti-rolling system incorporating swing control is proposed.Inspired by the human body's ability to maintain balance by swinging arms during walking or running,the system generates an antirolling moment by oscillating a water tank.This approach operates independently of water speed and does not generate additional drag.The mechanical design of the anti-rolling system is introduced,and a corresponding control system model is derived.The swing-tank mechanism provides phase lead compensation and reduces the system's sensitivity to wave disturbances.To enhance performance,robust control techniques are applied.Simulation results demonstrate that the proposed anti-rolling system delivers effective roll reduction for ships.
基金Supported by Undergraduate Training Programs for Innovation and Entrepreneurship of Guangdong Province(202310580005)Youth Project of Zhaoqing University(QN202443)China Agriculture Research System of MOF and MARA(CARS-26).
文摘This paper systematically introduces the extraction process of the active components from the essential oil of Melaleuca alternifolia,elucidates the biological functions of these active components,and summarizes their applications in agricultural pest control.Furthermore,the paper examines the future developmental directions of M.alternifolia essential oil in pest control,along with the current challenges associated with its application.The aim is to offer insights for future research on botanical essential oils,particularly regarding their biological functions and applications in agricultural pest control.
