In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data be...In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.展开更多
This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bound...This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.展开更多
Zinc oxide(ZnO),as a broadband gap semiconductor material,exhibits unique physical and chemical properties that make it highly suitable for optoelectronics,piezoelectric devices,and gas-sensitive sensors,showing signi...Zinc oxide(ZnO),as a broadband gap semiconductor material,exhibits unique physical and chemical properties that make it highly suitable for optoelectronics,piezoelectric devices,and gas-sensitive sensors,showing significant potential for various applications.This paper focuses on the regulation and application of ZnO-based p-n junctions and piezoelectric devices.It discusses in detail the preparation of ZnO materials,the construction of p-n junctions,the optimization of piezoelectric device performance,and its application in various fields.By employing different preparation methods and strategies,high-quality ZnO thin films can be grown,and effective control of p-type conductivity achieved.This study provides both a theoretical foundation and technical support for controlling the performance of ZnO-based piezoelectric devices,as well as paving new pathways for the broader application of ZnO materials.展开更多
This article investigates the approaching control for fixed-wing Unmanned Aerial Vehi-cle(UAV)aerial recovery in the presence of pre-specified performance requirements,complex air-flows,maneuvering flight of transport...This article investigates the approaching control for fixed-wing Unmanned Aerial Vehi-cle(UAV)aerial recovery in the presence of pre-specified performance requirements,complex air-flows,maneuvering flight of transport aircraft,and different initial deviations.First,a novelcontrol-oriented Six-Degree-Of-Freedom(6-DOF)UAV model considering airflow disturbancesis established for better consistency with the actual UAV system.Then,to achieve satisfactory per-formance in the approaching process,a Flexible Appointed-time Prescribed Performance Control(FAPPC)algorithm,with the features of user-specified time convergence,no overshoot,indepen-dence from the initial value,and singularity-free,is proposed.Specifically,to solve the singularityissue encountered by the existing PPC methods in dealing with sudden disturbances,an adaptiveadjustment signal is introduced in FAPPC to perceive the threat of increasing error and relax thepreset boundaries appropriately.Moreover,minimum learning parameter-based neural networkestimators are developed to approximate unknown lumped disturbances at a low computationalcost.Finally,the stability of the closed system is analyzed via Lyapunov synthesis,and the effective-ness and advantages of the proposed control scheme are demonstrated via simulation andHardware-In-the-Loop(HIL)experimental validation.展开更多
The problem of trajectory tracking for a class of differentially driven wheeled mobile robots(WMRs)under partial loss of the effectiveness of the actuated wheels is investigated in this paper.Such actuator faults may ...The problem of trajectory tracking for a class of differentially driven wheeled mobile robots(WMRs)under partial loss of the effectiveness of the actuated wheels is investigated in this paper.Such actuator faults may cause the loss of strong controllability of the WMR,such that the conventional fault-tolerant control strategies unworkable.In this paper,a new mixed-gain adaption scheme is devised,which is adopted to adapt the gain of a decoupling prescribed performance controller to adaptively compensate for the loss of the effectiveness of the actuators.Different from the existing gain adaption technique which depends on both the barrier functions and their partial derivatives,ours involves only the barrier functions.This yields a lower magnitude of the resulting control signals.Our controller accomplishes trajectory tracking of the WMR with the prescribed rate and accuracy even in the faulty case,and the control design relies on neither the information of the WMR dynamics and the actuator faults nor the tools for function approximation,parameter identification,and fault detection or estimation.The comparative simulation results justify the theoretical findings.展开更多
Maintaining stable high temperatures under pressure remains a challenge in high-pressure,high-temperature experiments using multi-anvil presses(MAPs).Temperature fluctuations exceeding 10℃ at high pressures are commo...Maintaining stable high temperatures under pressure remains a challenge in high-pressure,high-temperature experiments using multi-anvil presses(MAPs).Temperature fluctuations exceeding 10℃ at high pressures are common and particularly problematic with LaCrO_(3) heaters,which can experience significant power fluctuations and even failure due to substantial resistance changes—an issue conventional thyristorcontrolled heating systems cannot effectively manage.To address this limitation,we have developed the Multi-Anvil Stable Temperature controller(MASTer),a high-performance heating system optimized for MAP experiments.MASTer enables precise,high-speed measurement of heating parameters and power output control,incorporating a gentle regulation strategy to enhance stability.It ensures consistent heating across various heater types,including LaCrO_(3),with power fluctuations limited to±0.1 W and temperature fluctuations to within±2℃ in most cases.The design,operating principles,user interface,functionality,and performance of the heating system are discussed in detail.展开更多
In this paper,a robust decoupled sliding mode control(RDSMC)is proposed for active suspension system(ASS)to balance the trade-off between ride comfort and road holding.The ASS is decoupled into two subsystems:a sprung...In this paper,a robust decoupled sliding mode control(RDSMC)is proposed for active suspension system(ASS)to balance the trade-off between ride comfort and road holding.The ASS is decoupled into two subsystems:a sprung-mass subsystem(regarding ride comfort)and an unsprung-mass subsystem(regarding road holding),which correspond to two prescribed performance tracking problems.Subsequently,an integrated control law is designed by introducing the unsprung-mass sliding surface into the control of the sprung-mass one.To reduce chattering and stabilize the subsystems,a prescribed-time extended disturbance observer(PT-EDO)is designed,achieving the time-varying switching gain RDSMC(TVSG-RDSMC).Numerical simulations imply that the proposed TVSG-RDSMC can effectively improve ride comfort and road holding with a significantly reduced chattering.展开更多
To overcome external environmental disturbances,inertial parameter uncertainties and vibration of flexible modes in the process of attitude tracking,a comprehensively effective predefined-time guaranteed performance c...To overcome external environmental disturbances,inertial parameter uncertainties and vibration of flexible modes in the process of attitude tracking,a comprehensively effective predefined-time guaranteed performance controller based on multi⁃observers for flexible spacecraft is proposed.First,to prevent unwinding phenomenon in attitude description,the rotation matrix is used to represent the spacecraft’s attitude.Second,the flexible modes observer which can guarantee predefined⁃time convergence is designed,for the case where flexible vibrations are unmeasurable in practice.What’s more,the disturbance observer is applied to estimate and compensate the lumped disturbances to improve the robustness of attitude control.A predefined-time controller is proposed to satisfy the prescribed performance and stabilize the attitude tracking system via barrier Lyapunov function.Finally,through comparative numerical simulations,the proposed controller can achieve high-precision convergence compared with the existing finite-time attitude tracking controller.This paper provides certain references for the high-precision predefined-time prescribed performance attitude tracking of flexible spacecraft with multi-disturbance.展开更多
This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters.An enhanced adaptive terminal sliding mode based prescribed performance ...This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters.An enhanced adaptive terminal sliding mode based prescribed performance control scheme is proposed,which enables the lateral position error of the vehicle to be kept within the prescribed performance boundaries all the time.This is achieved by firstly introducing an improved performance function into the controller design such that the stringent initial condition requirements can be relaxed,which further allows the global prescribed performance control result,and then,developing a multivariable adaptive terminal sliding mode based controller such that both input saturation and parameter uncertainties are handled effectively,which further ensures the robust lane-keeping control.Finally,the proposed control strategy is validated through numerical simulations,demonstrating its effectiveness.展开更多
To realize automatic control of automobile transmission performance test stand Methods The automatic control technique of the lubricant temperature,the program- controll- edautomaticshifting of the transmission,the c...To realize automatic control of automobile transmission performance test stand Methods The automatic control technique of the lubricant temperature,the program- controll- edautomaticshifting of the transmission,the continuous adjusting of revolution speed and load, data-acquisition and data real-time processing were adopted.Results The lubricant temperature was controlled at the set temperature ±2℃.The automatic shifting of the trans- mission is simple,reliable and accurate.The automatic adjusting of load and rotation speed is rapidandaccurate,the torque divergence is ±1N·m,the rotation speed divergence is ±5r/min Conclusion The four kinds of techniques are applied into the automobile transmission perfor- mance test stand successfully. mancetest stand successfully.展开更多
An integrated approach that considers the performance limitations of tracking control systems for air-breathing hypersonic vehicles is proposed. First, a set of ascent trajectories is obtained as candidates for tracki...An integrated approach that considers the performance limitations of tracking control systems for air-breathing hypersonic vehicles is proposed. First, a set of ascent trajectories is obtained as candidates for tracking control through a trajectory design method that considers the available acceleration. Second, the basic theory of performance limitations, which is adopted to calculate the limits on control performance through the trajectory, is integrated. The openloop dynamics of air-breathing hypersonic vehicles is responsible for these limits on the control system. Comprehensive specifications on stability, tracking accuracy, and robustness are derived, and the flight envelope with constraints and control specifications is identified. Simulation results suggest that trajectory design should consider restrictions on control performance to obtain reliable solutions.展开更多
For a distributed drive electric vehicle(DDEV)driven by four in-wheel motors,advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently,quickly and precisely.And dir...For a distributed drive electric vehicle(DDEV)driven by four in-wheel motors,advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently,quickly and precisely.And direct yaw-moment control(DYC)has been widely studied and applied to vehicle stability control.Good vehicle handling performance:quick yaw rate transient response,small overshoot,high steady yaw rate gain,etc,is required by drivers under normal conditions,which is less concerned,however.Based on the hierarchical control methodology,a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed.The upper-loop control system consists of two parts:a state feedback controller,which aims to realize the ideal transient response of yaw rate,with a vehicle sideslip angle observer;and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain.Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors,the integrated time and absolute error(ITAE)function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix.Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method:yaw rate rising time is reduced,steady yaw rate gain is increased,vehicle steering characteristic is close to neutral steer and drivers burdens are also reduced.The control system improves vehicle handling performance under normal conditions in both transient and steady response.State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to drivers is relieved.展开更多
This paper is concerned with the control performance assessment based on the multivariable generalized minimum variance benchmark.An explicit expression for the feedback controller-invariant(the generalized minimum va...This paper is concerned with the control performance assessment based on the multivariable generalized minimum variance benchmark.An explicit expression for the feedback controller-invariant(the generalized minimum variance)term of the multivariable control system is obtained,which is used as a standard benchmark for the assessment of the control performance for multi input multi output(MIMO)process.The proposed approach is based on the multivariable minimum variance benchmark.In comparison with the minimum variance benchmark, the developed method is more reasonable and practical for the control performance assessment of multivariable systems.The approach is illustrated by a simulation example and an industrial application.展开更多
The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric d...The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric damping from the symmetric MR-damper design, robustness on the vehicle operation parameter uncertainties and consideration of essential multiple suspension goals. Following the proposed skyhook-based asymmetric semi-active controller （Part I ） for achieving the above goals, herein, a set of suspension performance measures and three kinds of varying amplitude harmonic, rounded pulse and really measured random excitations are systematically defined, and the sensitivity of quarter-vehicle MR-suspension performance to variations in operating conditions is thoroughly analyzed. The results illustrate that the proposed skyhook-based semi-active MR-suspension in the asymmetric mode yields relatively superior dynamic responses to meet the multiple suspension performances of ride, rattle space, road-holding and dynamic tire force transmitted to the pavement, and has desirable robustness on variations in operating conditions of vehicle load and speed and the road roughness.展开更多
The feasibility of utilizing molybdenum tailing and diatomite as siliceous materials to prepare calcium silicate board was explored.The influences of molybdenum tailing/diatomite proportion on hydration characteristic...The feasibility of utilizing molybdenum tailing and diatomite as siliceous materials to prepare calcium silicate board was explored.The influences of molybdenum tailing/diatomite proportion on hydration characteristics,thermal conductivity,water absorption,flexural strength and moisture adsorption-desorption property of calcium silicate board were investigated in detail.The experimental results reveal that molybdenum tailing is environmentally friendly to prepare building materials.The main hydration products in calcium silicate board under autoclaved condition are C-S-H with low crystallinity and tobermorite.Molybdenum tailing is favorable to the formation of tobermorite.The flexural strength and bulk density of the calcium silicate board gradually increase when the content of molybdenum tailing increases.Netlike C-S-H is formed with the increase of diatomite content during autoclaved curing process,resulting in the enhancement of moisture adsorptiondesorption performance and the reduction of thermal conductivity.The optimal content of molybdenum tailing is 20%,furthermore,the flexual strength and thermal conductivity of calcium silicate board at this content meet the Chinese standard JC/T564.1-2008.展开更多
Tradeoff analysis of the factors,including external environment and unmanned aerial vehicle(UAV)aerodynamic attributes,which affect longitudinal carrier landing performance,is important for small UAV.First,small UAV l...Tradeoff analysis of the factors,including external environment and unmanned aerial vehicle(UAV)aerodynamic attributes,which affect longitudinal carrier landing performance,is important for small UAV.First,small UAV longitudinal carrier landing system is established,as well as the nonlinear dynamics and kinematics model,and then the longitudinal flight control system using backstepping technology with minimum information about the aerodynamic is designed.To assess the landing performance,a variety of influencing factors are considered,resulting in the constraints of aerodynamic attributes of carrier UAV.The simulation results show that the severe sea condition has the greatest influence on landing dispersion,while air wake is the primary factor on impact velocity.Among the longitudinal aerodynamic parameters,the lift curve slope is the most important factor affecting the landing performance,and increasing lift curve slope can improve the landing performance significantly.A better system performance will be achieved when the lift curve slope is larger than 2per radian.展开更多
A statistic-based benchmark was proposed for performance assessment and monitoring of model predic- tive control; the benchmark was straightforward and achievable by recording a set of output data only when the contro...A statistic-based benchmark was proposed for performance assessment and monitoring of model predic- tive control; the benchmark was straightforward and achievable by recording a set of output data only when the control performance was good according to the user’s selection. Principal component model was built and an auto- regressive moving average filter was identified to monitor the performance; an improved T2 statistic was selected as the performance monitor index. When performance changes were detected, diagnosis was done by model validation using recursive analysis and generalized likelihood ratio (GLR) method. This distinguished the fact that the per- formance change was due to plant model mismatch or due to disturbance term. Simulation was done about a heavy oil fractionator system and good results were obtained. The diagnosis result was helpful for the operator to improve the system performance.展开更多
Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying th...Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying the requirement of macro/micro-structure. It is not only the key paths in improving performance, saving material and energy, and green manufacturing of components used in major equipments, but also the challenging subjects in frontiers of advanced plastic forming. To provide a novel horizon for the manufacturing in the critical components is significant. Focused on the high-performance large-scale components such as bearing rings, flanges, railway wheels, thick-walled pipes, etc, the conventional processes and their developing situations are summarized. The existing problems including multi-pass heating, wasting material and energy, high cost and high-emission are discussed, and the present study unable to meet the manufacturing in high-quality components is also pointed out. Thus, the new techniques related to casting-rolling compound precise forming of rings, compact manufacturing for duplex-metal composite rings, compact manufacturing for railway wheels, and casting-extruding continuous forming of thick-walled pipes are introduced in detail, respectively. The corresponding research contents, such as casting ring blank, hot ring rolling, near solid-state pressure forming, hot extruding, are elaborated. Some findings in through-thickness microstructure evolution and mechanical properties are also presented. The components produced by the new techniques are mainly characterized by fine and homogeneous grains. Moreover, the possible directions for fin＇ther development of those techniques are suggested. Finally, the key scientific problems are first proposed. All of these results and conclusions have reference value and guiding significance for the integrated control of shape and performance in advanced compact manufacturing.展开更多
Refractory alloys such as tungsten and molybdenum based alloys with high strength,thermal/electrical conductivity,low coefficient of thermal expansion and excellent creep resistances are highly desirable for applicati...Refractory alloys such as tungsten and molybdenum based alloys with high strength,thermal/electrical conductivity,low coefficient of thermal expansion and excellent creep resistances are highly desirable for applications in nuclear facilities,critical components in aerospace and defense components.However,the serious embrittlement limits the engineering usability of some refractory alloys.A lot of research results indicate that the performances of refractory alloys are closely related to the physical/chemical status,such as the interface dimension,interface type,interface composition of their grain boundaries(GBs),phase boundaries(PBs)and other interface features.This paper reviewed the recent progress of simulations and experiments on interface design strategies that achieve high performance refractory alloys.These strategies include GB interface purifying/strengthening,PB interface strengthening and PB/GB synergistic strengthening.Great details are provided on the design/fabrication strategy such as GB interface controlling,PB interface controlling and synergistic control of multi-scaled interfaces.The corresponding performances such as the mechanical property,thermal conductivity,thermal load resistance,thermal stability,irradiation resistance,and oxidation resistance are reviewed in the aspect to the effect of interfaces.In addition,the relationships between these interfaces and material properties are discussed.Finally,future developments and potential new research directions for refractory alloys are proposed.展开更多
Electrically controlled rotor （ECR） system has the potential to enhance the rotor perfor- mance by applying higher harmonic flap inputs. In order to explore the feasibility and effectiveness for ECR performance enha...Electrically controlled rotor （ECR） system has the potential to enhance the rotor perfor- mance by applying higher harmonic flap inputs. In order to explore the feasibility and effectiveness for ECR performance enhancement using closed-loop control method, firstly, an ECR rotor performance analysis model based on helicopter flight dynamic model is established, which can reflect the performance characteristics of ECR helicopter at high advance ratio. Based on the simulation platform, an active control method named adaptive T-matrix algorithm is adopted to explore the feasibility and effectiveness for ECR performance enhancement. The simulation results verify the effectiveness of this closed-loop control method. For the sample ECR helicopter, about 3% rotor power reduction is obtained with the optimum 2/rev flap inputs at the advance ratio of 0.34. And through analyzing the distributions of attack of angle and drag in rotor disk, the underlying physical essence of ECR power reduction is cleared. Furthermore, the influence of the key control parameters, including convergence factor and weighting matrix, on the effectiveness of closed-loop control for ECR performance enhancement is explored. Some useful results are summarized, which can be used to direct the future active control law design of ECR performance enhancement.展开更多
基金supported in part by the National Natural Science Foundation of China(62125306)Zhejiang Key Research and Development Project(2024C01163)the State Key Laboratory of Industrial Control Technology,China(ICT2024A06)
文摘In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.
基金supported by the National Natural Science Foundation of China(Nos.51775021,52302511)the Fundamental Research Funds for the Central Universities,China(Nos.501JCGG2024129003,501JCGG2024129005,501JCGG2024129006),the Fundamental Research Funds for the Central Universities,China(No.YWF-24-JC-09)the National Key Research and Development Program of China(No.2018YFC1506401)。
文摘This paper studies the tracking control problem for stratospheric airships with userspecified performance.Dealing with the infinite gain phenomenon in the prescribed-time stability,a new stability criterion with bounded gain is proposed by using a new time-varying scaling function.Moreover,a same-side performance function and a novel barrier Lyapunov function are incorporated into the control algorithm,which can compress the feasible domain of tracking error to minimize the overshoot and solve the difficult in tracking error not converging to zero simultaneously.The proposed scheme guarantees the airship capable of operating autonomously with satisfactory transient performance and tracking accuracy,where the performance parameters can be designed artificially and link to the physical process directly.Finally,the effectiveness of the proposed control scheme is verified by theoretical analysis and numerical simulation.
基金The Natural Science Foundation of Guangdong Province(Project No.2023A1515012352)。
文摘Zinc oxide(ZnO),as a broadband gap semiconductor material,exhibits unique physical and chemical properties that make it highly suitable for optoelectronics,piezoelectric devices,and gas-sensitive sensors,showing significant potential for various applications.This paper focuses on the regulation and application of ZnO-based p-n junctions and piezoelectric devices.It discusses in detail the preparation of ZnO materials,the construction of p-n junctions,the optimization of piezoelectric device performance,and its application in various fields.By employing different preparation methods and strategies,high-quality ZnO thin films can be grown,and effective control of p-type conductivity achieved.This study provides both a theoretical foundation and technical support for controlling the performance of ZnO-based piezoelectric devices,as well as paving new pathways for the broader application of ZnO materials.
基金funded by the National Natural Science Foundation of China(Nos.62173022,61673042)the Academic Excellence Foundation of Beihang University for Ph.D.Studentsthe Outstanding Research Project of Shen Yuan Honors College,Beihang University,China(No.230123104)。
文摘This article investigates the approaching control for fixed-wing Unmanned Aerial Vehi-cle(UAV)aerial recovery in the presence of pre-specified performance requirements,complex air-flows,maneuvering flight of transport aircraft,and different initial deviations.First,a novelcontrol-oriented Six-Degree-Of-Freedom(6-DOF)UAV model considering airflow disturbancesis established for better consistency with the actual UAV system.Then,to achieve satisfactory per-formance in the approaching process,a Flexible Appointed-time Prescribed Performance Control(FAPPC)algorithm,with the features of user-specified time convergence,no overshoot,indepen-dence from the initial value,and singularity-free,is proposed.Specifically,to solve the singularityissue encountered by the existing PPC methods in dealing with sudden disturbances,an adaptiveadjustment signal is introduced in FAPPC to perceive the threat of increasing error and relax thepreset boundaries appropriately.Moreover,minimum learning parameter-based neural networkestimators are developed to approximate unknown lumped disturbances at a low computationalcost.Finally,the stability of the closed system is analyzed via Lyapunov synthesis,and the effective-ness and advantages of the proposed control scheme are demonstrated via simulation andHardware-In-the-Loop(HIL)experimental validation.
基金supported in part by the National Natural Science Foundation of China under Grants 61991404,62103093 and 62473089the Research Program of the Liaoning Liaohe Laboratory,China under Grant LLL23ZZ-05-01+5 种基金the Key Research and Development Program of Liaoning Province of China under Grant 2023JH26/10200011the 111 Project 2.0 of China under Grant B08015,the National Key Research and Development Program of China under Grant 2022YFB3305905the Xingliao Talent Program of Liaoning Province of China under Grant XLYC2203130the Natural Science Foundation of Liaoning Province of China under Grants 2024JH3/10200012 and 2023-MS-087the Open Research Project of the State Key Laboratory of Industrial Control Technology of China under Grant ICT2024B12the Fundamental Research Funds for the Central Universities of China under Grants N2108003 and N2424004.
文摘The problem of trajectory tracking for a class of differentially driven wheeled mobile robots(WMRs)under partial loss of the effectiveness of the actuated wheels is investigated in this paper.Such actuator faults may cause the loss of strong controllability of the WMR,such that the conventional fault-tolerant control strategies unworkable.In this paper,a new mixed-gain adaption scheme is devised,which is adopted to adapt the gain of a decoupling prescribed performance controller to adaptively compensate for the loss of the effectiveness of the actuators.Different from the existing gain adaption technique which depends on both the barrier functions and their partial derivatives,ours involves only the barrier functions.This yields a lower magnitude of the resulting control signals.Our controller accomplishes trajectory tracking of the WMR with the prescribed rate and accuracy even in the faulty case,and the control design relies on neither the information of the WMR dynamics and the actuator faults nor the tools for function approximation,parameter identification,and fault detection or estimation.The comparative simulation results justify the theoretical findings.
基金supported by the National Science Fund for Distinguished Young Scholars(Grant No.T2225027)the National Key R&D Program of China(Grant No.2023YFA1608902).
文摘Maintaining stable high temperatures under pressure remains a challenge in high-pressure,high-temperature experiments using multi-anvil presses(MAPs).Temperature fluctuations exceeding 10℃ at high pressures are common and particularly problematic with LaCrO_(3) heaters,which can experience significant power fluctuations and even failure due to substantial resistance changes—an issue conventional thyristorcontrolled heating systems cannot effectively manage.To address this limitation,we have developed the Multi-Anvil Stable Temperature controller(MASTer),a high-performance heating system optimized for MAP experiments.MASTer enables precise,high-speed measurement of heating parameters and power output control,incorporating a gentle regulation strategy to enhance stability.It ensures consistent heating across various heater types,including LaCrO_(3),with power fluctuations limited to±0.1 W and temperature fluctuations to within±2℃ in most cases.The design,operating principles,user interface,functionality,and performance of the heating system are discussed in detail.
基金supported by the National Natural Science Foundation of China(No.62173125).
文摘In this paper,a robust decoupled sliding mode control(RDSMC)is proposed for active suspension system(ASS)to balance the trade-off between ride comfort and road holding.The ASS is decoupled into two subsystems:a sprung-mass subsystem(regarding ride comfort)and an unsprung-mass subsystem(regarding road holding),which correspond to two prescribed performance tracking problems.Subsequently,an integrated control law is designed by introducing the unsprung-mass sliding surface into the control of the sprung-mass one.To reduce chattering and stabilize the subsystems,a prescribed-time extended disturbance observer(PT-EDO)is designed,achieving the time-varying switching gain RDSMC(TVSG-RDSMC).Numerical simulations imply that the proposed TVSG-RDSMC can effectively improve ride comfort and road holding with a significantly reduced chattering.
基金supported by the National Natural Science Foundation of China(No.12472045)the Shanghai Aerospace Science and Technology Innovation Fund(No.SAST2022-036)。
文摘To overcome external environmental disturbances,inertial parameter uncertainties and vibration of flexible modes in the process of attitude tracking,a comprehensively effective predefined-time guaranteed performance controller based on multi⁃observers for flexible spacecraft is proposed.First,to prevent unwinding phenomenon in attitude description,the rotation matrix is used to represent the spacecraft’s attitude.Second,the flexible modes observer which can guarantee predefined⁃time convergence is designed,for the case where flexible vibrations are unmeasurable in practice.What’s more,the disturbance observer is applied to estimate and compensate the lumped disturbances to improve the robustness of attitude control.A predefined-time controller is proposed to satisfy the prescribed performance and stabilize the attitude tracking system via barrier Lyapunov function.Finally,through comparative numerical simulations,the proposed controller can achieve high-precision convergence compared with the existing finite-time attitude tracking controller.This paper provides certain references for the high-precision predefined-time prescribed performance attitude tracking of flexible spacecraft with multi-disturbance.
基金supported in part by the National Key Research and Development Program of China under Grant 2023YFA1011803in part by Natural Science Foundation of Chongqing,China under Grant CSTB2023NSCQ-MSX0588+2 种基金in part by the Fundamental Research Funds for the Central Universities,China under Grant 2023CDJKYJH047in part by the National Natural Science Foundation of China under Grant 62273064,Grant 61991400,Grant 61991403,Grant 61933012,Grant 62250710167,Grant 62203078in part by Innovation Support Program for International Students Returning to China under Grant cx2022016.
文摘This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters.An enhanced adaptive terminal sliding mode based prescribed performance control scheme is proposed,which enables the lateral position error of the vehicle to be kept within the prescribed performance boundaries all the time.This is achieved by firstly introducing an improved performance function into the controller design such that the stringent initial condition requirements can be relaxed,which further allows the global prescribed performance control result,and then,developing a multivariable adaptive terminal sliding mode based controller such that both input saturation and parameter uncertainties are handled effectively,which further ensures the robust lane-keeping control.Finally,the proposed control strategy is validated through numerical simulations,demonstrating its effectiveness.
文摘To realize automatic control of automobile transmission performance test stand Methods The automatic control technique of the lubricant temperature,the program- controll- edautomaticshifting of the transmission,the continuous adjusting of revolution speed and load, data-acquisition and data real-time processing were adopted.Results The lubricant temperature was controlled at the set temperature ±2℃.The automatic shifting of the trans- mission is simple,reliable and accurate.The automatic adjusting of load and rotation speed is rapidandaccurate,the torque divergence is ±1N·m,the rotation speed divergence is ±5r/min Conclusion The four kinds of techniques are applied into the automobile transmission perfor- mance test stand successfully. mancetest stand successfully.
基金supported by Aerospace Science and Technology Innovation Fund of China (No. CASC2016)Six Talent Peaks Project in Jiangsu Province of China (KTHY025)+3 种基金Funding of Jiangsu Innovation Program for Graduate Educationthe National Natural Science Foundation of China (Nos. 61403191, 11572149)the Funding of Jiangsu Innovation Program for Graduate Education of China (Nos. KYLX_0281, KYLX15_0318 and NZ2015205)the Fundamental Research Funds for the Central Universities of China
文摘An integrated approach that considers the performance limitations of tracking control systems for air-breathing hypersonic vehicles is proposed. First, a set of ascent trajectories is obtained as candidates for tracking control through a trajectory design method that considers the available acceleration. Second, the basic theory of performance limitations, which is adopted to calculate the limits on control performance through the trajectory, is integrated. The openloop dynamics of air-breathing hypersonic vehicles is responsible for these limits on the control system. Comprehensive specifications on stability, tracking accuracy, and robustness are derived, and the flight envelope with constraints and control specifications is identified. Simulation results suggest that trajectory design should consider restrictions on control performance to obtain reliable solutions.
基金Supported by National Basic Research Program of China(973 Program,Grant No.2011CB711200)National Science and Technology Support Program of China(Grant No.2015BAG17B00)National Natural Science Foundation of China(Grant No.51475333)
文摘For a distributed drive electric vehicle(DDEV)driven by four in-wheel motors,advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently,quickly and precisely.And direct yaw-moment control(DYC)has been widely studied and applied to vehicle stability control.Good vehicle handling performance:quick yaw rate transient response,small overshoot,high steady yaw rate gain,etc,is required by drivers under normal conditions,which is less concerned,however.Based on the hierarchical control methodology,a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed.The upper-loop control system consists of two parts:a state feedback controller,which aims to realize the ideal transient response of yaw rate,with a vehicle sideslip angle observer;and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain.Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors,the integrated time and absolute error(ITAE)function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix.Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method:yaw rate rising time is reduced,steady yaw rate gain is increased,vehicle steering characteristic is close to neutral steer and drivers burdens are also reduced.The control system improves vehicle handling performance under normal conditions in both transient and steady response.State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to drivers is relieved.
基金Supported by the National High Technology Research and Development Program of China(2008AA042902)the National Basic Research Program of China(2007CB714006)the Graduate Creative Research Program of Zhejiang Province (YK2008024)
文摘This paper is concerned with the control performance assessment based on the multivariable generalized minimum variance benchmark.An explicit expression for the feedback controller-invariant(the generalized minimum variance)term of the multivariable control system is obtained,which is used as a standard benchmark for the assessment of the control performance for multi input multi output(MIMO)process.The proposed approach is based on the multivariable minimum variance benchmark.In comparison with the minimum variance benchmark, the developed method is more reasonable and practical for the control performance assessment of multivariable systems.The approach is illustrated by a simulation example and an industrial application.
基金Senior Visiting Scholarship of Chinese Scholarship Council (No.20H05002)Jiangsu Provincial Natural Science Foundation of Education Commission of China (No.03KJB510072)Jiangsu Provincial Six Categories of Summit Talents of China (No.2OO6194)
文摘The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric damping from the symmetric MR-damper design, robustness on the vehicle operation parameter uncertainties and consideration of essential multiple suspension goals. Following the proposed skyhook-based asymmetric semi-active controller （Part I ） for achieving the above goals, herein, a set of suspension performance measures and three kinds of varying amplitude harmonic, rounded pulse and really measured random excitations are systematically defined, and the sensitivity of quarter-vehicle MR-suspension performance to variations in operating conditions is thoroughly analyzed. The results illustrate that the proposed skyhook-based semi-active MR-suspension in the asymmetric mode yields relatively superior dynamic responses to meet the multiple suspension performances of ride, rattle space, road-holding and dynamic tire force transmitted to the pavement, and has desirable robustness on variations in operating conditions of vehicle load and speed and the road roughness.
基金Funded by the National Key R&D Program of China(No.2017YFC0703206).
文摘The feasibility of utilizing molybdenum tailing and diatomite as siliceous materials to prepare calcium silicate board was explored.The influences of molybdenum tailing/diatomite proportion on hydration characteristics,thermal conductivity,water absorption,flexural strength and moisture adsorption-desorption property of calcium silicate board were investigated in detail.The experimental results reveal that molybdenum tailing is environmentally friendly to prepare building materials.The main hydration products in calcium silicate board under autoclaved condition are C-S-H with low crystallinity and tobermorite.Molybdenum tailing is favorable to the formation of tobermorite.The flexural strength and bulk density of the calcium silicate board gradually increase when the content of molybdenum tailing increases.Netlike C-S-H is formed with the increase of diatomite content during autoclaved curing process,resulting in the enhancement of moisture adsorptiondesorption performance and the reduction of thermal conductivity.The optimal content of molybdenum tailing is 20%,furthermore,the flexual strength and thermal conductivity of calcium silicate board at this content meet the Chinese standard JC/T564.1-2008.
基金supported by the National Nature Science Foundation of China(Nos.61304223,61403197)the Aeronautical Science Foundation of China(No.2013ZA52002)the Research Fund for the Doctoral Program of Higher Education of China(No.20123218120015)
文摘Tradeoff analysis of the factors,including external environment and unmanned aerial vehicle(UAV)aerodynamic attributes,which affect longitudinal carrier landing performance,is important for small UAV.First,small UAV longitudinal carrier landing system is established,as well as the nonlinear dynamics and kinematics model,and then the longitudinal flight control system using backstepping technology with minimum information about the aerodynamic is designed.To assess the landing performance,a variety of influencing factors are considered,resulting in the constraints of aerodynamic attributes of carrier UAV.The simulation results show that the severe sea condition has the greatest influence on landing dispersion,while air wake is the primary factor on impact velocity.Among the longitudinal aerodynamic parameters,the lift curve slope is the most important factor affecting the landing performance,and increasing lift curve slope can improve the landing performance significantly.A better system performance will be achieved when the lift curve slope is larger than 2per radian.
基金Supported by the National Natural Science Foundation of China (Nos.60474051, 60534020), the Key Technology and Devel-opment Program of Shanghai Science and Technology Department (No.04DZ11008), and the Program for New Century Ex-cellent Talents in the University of China (NCET).
文摘A statistic-based benchmark was proposed for performance assessment and monitoring of model predic- tive control; the benchmark was straightforward and achievable by recording a set of output data only when the control performance was good according to the user’s selection. Principal component model was built and an auto- regressive moving average filter was identified to monitor the performance; an improved T2 statistic was selected as the performance monitor index. When performance changes were detected, diagnosis was done by model validation using recursive analysis and generalized likelihood ratio (GLR) method. This distinguished the fact that the per- formance change was due to plant model mismatch or due to disturbance term. Simulation was done about a heavy oil fractionator system and good results were obtained. The diagnosis result was helpful for the operator to improve the system performance.
基金Supported by National Natural Science Foundation of China(Grant Nos.51675361,51575371)Key Program of National Natural Science Foundation of China(Grant No.51135007)Key Research Project of Shanxi Province(Grant No.03012015004)
文摘Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying the requirement of macro/micro-structure. It is not only the key paths in improving performance, saving material and energy, and green manufacturing of components used in major equipments, but also the challenging subjects in frontiers of advanced plastic forming. To provide a novel horizon for the manufacturing in the critical components is significant. Focused on the high-performance large-scale components such as bearing rings, flanges, railway wheels, thick-walled pipes, etc, the conventional processes and their developing situations are summarized. The existing problems including multi-pass heating, wasting material and energy, high cost and high-emission are discussed, and the present study unable to meet the manufacturing in high-quality components is also pointed out. Thus, the new techniques related to casting-rolling compound precise forming of rings, compact manufacturing for duplex-metal composite rings, compact manufacturing for railway wheels, and casting-extruding continuous forming of thick-walled pipes are introduced in detail, respectively. The corresponding research contents, such as casting ring blank, hot ring rolling, near solid-state pressure forming, hot extruding, are elaborated. Some findings in through-thickness microstructure evolution and mechanical properties are also presented. The components produced by the new techniques are mainly characterized by fine and homogeneous grains. Moreover, the possible directions for fin＇ther development of those techniques are suggested. Finally, the key scientific problems are first proposed. All of these results and conclusions have reference value and guiding significance for the integrated control of shape and performance in advanced compact manufacturing.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.:51771184,11735015,51801203,51771181)the Natural Science Foundation of Anhui Province(Grant No.1808085QE132)+2 种基金the Open Project of State Key Laboratory of Environment friendly Energy Materials(18kfhg02)a fund from the Science and Technology on Surface Physics and Chemistry Laboratory(Grant No.JZX7Y201901SY00900103)the Innovation Center of Nuclear Materials for National Defense Industry。
文摘Refractory alloys such as tungsten and molybdenum based alloys with high strength,thermal/electrical conductivity,low coefficient of thermal expansion and excellent creep resistances are highly desirable for applications in nuclear facilities,critical components in aerospace and defense components.However,the serious embrittlement limits the engineering usability of some refractory alloys.A lot of research results indicate that the performances of refractory alloys are closely related to the physical/chemical status,such as the interface dimension,interface type,interface composition of their grain boundaries(GBs),phase boundaries(PBs)and other interface features.This paper reviewed the recent progress of simulations and experiments on interface design strategies that achieve high performance refractory alloys.These strategies include GB interface purifying/strengthening,PB interface strengthening and PB/GB synergistic strengthening.Great details are provided on the design/fabrication strategy such as GB interface controlling,PB interface controlling and synergistic control of multi-scaled interfaces.The corresponding performances such as the mechanical property,thermal conductivity,thermal load resistance,thermal stability,irradiation resistance,and oxidation resistance are reviewed in the aspect to the effect of interfaces.In addition,the relationships between these interfaces and material properties are discussed.Finally,future developments and potential new research directions for refractory alloys are proposed.
基金supported by the National Natural Science Foundation of China (No. 51375229)
文摘Electrically controlled rotor （ECR） system has the potential to enhance the rotor perfor- mance by applying higher harmonic flap inputs. In order to explore the feasibility and effectiveness for ECR performance enhancement using closed-loop control method, firstly, an ECR rotor performance analysis model based on helicopter flight dynamic model is established, which can reflect the performance characteristics of ECR helicopter at high advance ratio. Based on the simulation platform, an active control method named adaptive T-matrix algorithm is adopted to explore the feasibility and effectiveness for ECR performance enhancement. The simulation results verify the effectiveness of this closed-loop control method. For the sample ECR helicopter, about 3% rotor power reduction is obtained with the optimum 2/rev flap inputs at the advance ratio of 0.34. And through analyzing the distributions of attack of angle and drag in rotor disk, the underlying physical essence of ECR power reduction is cleared. Furthermore, the influence of the key control parameters, including convergence factor and weighting matrix, on the effectiveness of closed-loop control for ECR performance enhancement is explored. Some useful results are summarized, which can be used to direct the future active control law design of ECR performance enhancement.
