Multivariables, strong coupling, nonlinearity, and large delays characterize the boiler-turbine coordinated control systems for ship power equipment. To better deal with these conditions, a compound control strategy b...Multivariables, strong coupling, nonlinearity, and large delays characterize the boiler-turbine coordinated control systems for ship power equipment. To better deal with these conditions, a compound control strategy based on a support vector machine （SVM） with inverse identification was proposed and applied to research simulating coordinated control systems. This method combines SVM inverse control and fuzzy control, taking advantage of the merits of SVM inverse controls which can be designed easily and have high reliability, and those of fuzzy controls, which respond rapidly and have good anti-jamming capability and robustness. It ensures the controller can be controlled with near instantaneous adjustments to maintain a steady state, even if the SVM is not trained well. The simulation results show that the control quality of this fuzzy-SVM compound control algorithm is high, with good performance in dynamic response speed, static stability, restraint of overshoot, and robustness.展开更多
Aiming at characteristic of time delay, time-varying parameters and much disturb in glass greenhouse heating system, fuzzy smith cascade compound control policy based on typical PID cascade compound control policy is ...Aiming at characteristic of time delay, time-varying parameters and much disturb in glass greenhouse heating system, fuzzy smith cascade compound control policy based on typical PID cascade compound control policy is proposed. Simulation results show that it is effective to overcome the influence of time delay on stability of control system and the system possesses strong robust and good dynamic performance..展开更多
To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invari...To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invariance principle was used to realize static decoupling between the speed and tension of reversible cold strip mill. Then, considering the influence caused by the time variation of steel coil radius and rotational inertia of the left and right coilers, as well as the uncertainties, a CC strategy that is composed of extended state observer(ESO) and global sliding mode control(GSMC) with backstepping adaptive was proposed,which further realized dynamic decoupling and coordination control for the speed and tension system. Theoretical analysis shows that the resulting closed-loop system is global bounded stable. Finally, the simulation was carried out on the speed and tension system of a 1422 mm reversible cold strip mill by using the actual data, and through the comparison of the other control strategies, validity of the proposed CC strategy was shown by the results.展开更多
Based on the pressure regulation circuit adopting electro-hydraulic proportional relief valve to control tension, a new type of electro-hydraulic compound control circuit with throttle control unit is presented, which...Based on the pressure regulation circuit adopting electro-hydraulic proportional relief valve to control tension, a new type of electro-hydraulic compound control circuit with throttle control unit is presented, which can obtain optimal dynamic damping ratio through real-time altering pressure-flow gain of the throttle control unit, improve the dynamic characteristic of tension follow-up control for the tension system with high inertia loads. Moreover, the characteristic when the cable linear velocity variation causes change of tension is investigated, and a compound control strategy is proposed. The theoretical analysis and experimental results show that the electro-hydraulic compound control circuit is effective and the characteristic of the compound control strategy is satisfactory.展开更多
The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among chan...The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.展开更多
By analyzing the target's motion pattern, in terms of the requirement for the performance indexes of the follow up system, the structure changing control and time optimal theory is proposed. The system's co...By analyzing the target's motion pattern, in terms of the requirement for the performance indexes of the follow up system, the structure changing control and time optimal theory is proposed. The system's control scheme from three different aspects(the dynamic response simulation, compound control simulation and dynamic tracking simulation) is also studied. And all the results proved the feasibility of the synthetical utilization of the open loop control, speed decreased control and position closed loop control.展开更多
Objective To explore the feasibility of electroacupuncture compound anesthesia in radiofrequency ablation for hypertrophic inferior turbinate.Methods The patients confirmed to the enrolled criteria were randomly divid...Objective To explore the feasibility of electroacupuncture compound anesthesia in radiofrequency ablation for hypertrophic inferior turbinate.Methods The patients confirmed to the enrolled criteria were randomly divided into an observation group（n=31） and a control group（n=30）.In the observation group,electroacupuncture was applied to Sìbái（四白 ST 2）,Xiàguān（下关 ST 7）,Hégǔ（合谷 LI 4） and Zhīgōu（支沟 TE 6） on the left side for the anesthesia and the routine local anesthesia was done on the right side.In the control group,the routine local anesthesia was adopted on both sides.The feelings of pain,circulatory index and operation effect were observed and compared between the two groups.Results During radiofrequency ablation,the pain grades of two measurements on the left side and the 2nd measurement on the right in the observation group were all lower than those in the control group（all P〈0.05）.In the observation group,the pain grade on the left side was lower than that on the right side（P〈0.05）,and the systolic blood pressure and the heart rate were lower than those in the control group when undergoing the 2nd radiofrequency ablation on the right side and on the left side,respectively（all P〈0.05）.There was no significant difference in operation effect between the two groups.Conclusion Electroacupuncture compound anesthesia can meet the analgesia requirement of radiofrequency ablation for hypertrophic inferior turbinate,and would be helpful to prevent cyclic fluctuation during the operation at the same time.展开更多
A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the ...A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer （DOB） is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.展开更多
The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space m...The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.展开更多
A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. ...A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller.展开更多
To solve the control allocation problem of dual aero/jet vane control missile, dynamics e- quations in longitudinal plane are derived, and the structure of compound control loop is designed based on attitude autopilot...To solve the control allocation problem of dual aero/jet vane control missile, dynamics e- quations in longitudinal plane are derived, and the structure of compound control loop is designed based on attitude autopilot. Four brief compound control allocation strategies are researched and an- alyzed. Furthermore, a new strategy called chain combination variable proportional coefficient strat- egy based on rudder effect is presented. By simulation of initial climb trajectory, the characteristics of all the strategies are researched, and the results illustrate that the new strategy can meet the re- quirement well.展开更多
This study examined the release characteristics of different N forms in an uncoated slow/controlled-release compound fertilizer(UCRF)and the N uptake and N-use efficiency by rice plants.Water dissolution,soil leaching...This study examined the release characteristics of different N forms in an uncoated slow/controlled-release compound fertilizer(UCRF)and the N uptake and N-use efficiency by rice plants.Water dissolution,soil leaching,and pot experiments were employed.The dynamics of N release from the UCRF could be quantitatively described by three equations:the first-order kinetics equation[N1=N0(1-e^-kt)],Elovich equation(N1=a+blnt),and parabola equation(N1=a+bt^0.5),with the best fitting by the first-order kinetics equation for different N(r=0.9569^**-0.9999^**).The release potentials(No values estimated by the first-order kinetics equation)of different N in the UCRF decreased in the order of total N〉DON〉urea-N〉NH4^+-N〉NO3^-N in water,and total N〉NH4^+-N〉DON〉urea-N〉NO3^--N in soil,respectively,being in accordance with cumulative amounts of N release.The constants of N release rate(k values and b values)for different N forms were in decreasing order of total N〉DON〉NH4^+-N〉NO3^--N in water,whereas the k values were urea-N〉DON〉NH4^+-N〉total N〉NO3^--N,and the b values were total N〉NH4^+-N〉DON〉NO3^--N〉urea-N in soil.Compared with a common compound fertilizer,the N-use efficiency,N-agronomy efficiency,and N-physiological efficiency of the UCRF were increased by 11.4%,8.32 kg kg^-1,and 5.17 kg kg^-1,respectively.The ratios of different N to total N in the UCRF showed significant correlation with N uptake by rice plants.The findings showed that the first-order kinetics equation[Nt=N0(l-e^kt)]could be used to describe the release characteristics of different N forms in the fertilizer.The UCRF containing different N forms was more effective in facilitating N uptake by rice compared with the common compound fertilizer containing single urea-N form.展开更多
Electric load simulator(ELS) systems are employed for electric power steering(EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering...Electric load simulator(ELS) systems are employed for electric power steering(EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator’s acceleration.展开更多
Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound co...Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound control method is proposed. This compound controller consists of two components: one is a traditional PID for the feedback control to guarantee stability of the system; the other is the CMAC control algorithm to form a feed-forward control for achieving high control precision and short response time of the controlled plant. Then the CMAC-PID compound control method is used in the digital valve control servo system to improve its control performance. Through simulation and experiment,the proposed CMAC-PID compound control method is superior to the traditional PID control for enhancing stability and robustness,and thus this compound control can be used as a new control strategy for the digital valve control servo system.展开更多
Based on the analysis of the failure characteristics and backfilling effect of the compound roof at 1801 backfilling workface in Taiyuan coal mine, China, we propose a method of controlling the pre- subsidence of a co...Based on the analysis of the failure characteristics and backfilling effect of the compound roof at 1801 backfilling workface in Taiyuan coal mine, China, we propose a method of controlling the pre- subsidence of a compound roof by using pre-stressed bolts to improve the backfilling ratio of the work- face so as to maintain the global stability of the stope roof. In addition, PHASE simulation software was employed to analyze the influence law of pre-stressing force, length, and interval on roof subsidence at the workface. On the basis of the numerical simulation results, a model for calculating the pre-stressing force and length of the bolts, the interval between the bolts, as well as roof subsidence at the workface, was established by using SPSS regression analysis software. Moreover, the research results were applied successfully to the 1801 filling workface. According to the monitoring data of roof closure, it was found that the final subsidence value for the goal roof was 350 mm and the filling ratio at the workface was 86%, which could fully meet the demand for safety production at the workface. The safe and effective control of the stope roof was therefore realized, which achieves the goal of safe and efficient backfilling mining under a compound roof.展开更多
A new closed loop flow controlling principle through correcting the valve'sopening area while load pressure is changing is carried out. Further more a principle using only oneproportional valve to compound control...A new closed loop flow controlling principle through correcting the valve'sopening area while load pressure is changing is carried out. Further more a principle using only oneproportional valve to compound control pressure and flow is suggested. By using very simpleproportional throttle valve in structure, the functions that five kinds of proportional valves orany two of them combined possess can be complimented. After analyzing, comparing, and testing thedynamic and static characteristics of valve with different controlling principles and main valvestructure styles, the optimized structure styles and control methods are achieved.展开更多
文摘Multivariables, strong coupling, nonlinearity, and large delays characterize the boiler-turbine coordinated control systems for ship power equipment. To better deal with these conditions, a compound control strategy based on a support vector machine （SVM） with inverse identification was proposed and applied to research simulating coordinated control systems. This method combines SVM inverse control and fuzzy control, taking advantage of the merits of SVM inverse controls which can be designed easily and have high reliability, and those of fuzzy controls, which respond rapidly and have good anti-jamming capability and robustness. It ensures the controller can be controlled with near instantaneous adjustments to maintain a steady state, even if the SVM is not trained well. The simulation results show that the control quality of this fuzzy-SVM compound control algorithm is high, with good performance in dynamic response speed, static stability, restraint of overshoot, and robustness.
文摘Aiming at characteristic of time delay, time-varying parameters and much disturb in glass greenhouse heating system, fuzzy smith cascade compound control policy based on typical PID cascade compound control policy is proposed. Simulation results show that it is effective to overcome the influence of time delay on stability of control system and the system possesses strong robust and good dynamic performance..
基金Project(61074099)supported by the National Natural Science Foundation of ChinaProject(LJRC013)supported by Cultivation Program for Leading Talent of Innovation Team in Colleges and Universities of Hebei Province,ChinaProject(B705)supported by Doctor Foundation of Yanshan University,China
文摘To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invariance principle was used to realize static decoupling between the speed and tension of reversible cold strip mill. Then, considering the influence caused by the time variation of steel coil radius and rotational inertia of the left and right coilers, as well as the uncertainties, a CC strategy that is composed of extended state observer(ESO) and global sliding mode control(GSMC) with backstepping adaptive was proposed,which further realized dynamic decoupling and coordination control for the speed and tension system. Theoretical analysis shows that the resulting closed-loop system is global bounded stable. Finally, the simulation was carried out on the speed and tension system of a 1422 mm reversible cold strip mill by using the actual data, and through the comparison of the other control strategies, validity of the proposed CC strategy was shown by the results.
基金This project is supported by National Natural Science Foundation of China (No.50475105).
文摘Based on the pressure regulation circuit adopting electro-hydraulic proportional relief valve to control tension, a new type of electro-hydraulic compound control circuit with throttle control unit is presented, which can obtain optimal dynamic damping ratio through real-time altering pressure-flow gain of the throttle control unit, improve the dynamic characteristic of tension follow-up control for the tension system with high inertia loads. Moreover, the characteristic when the cable linear velocity variation causes change of tension is investigated, and a compound control strategy is proposed. The theoretical analysis and experimental results show that the electro-hydraulic compound control circuit is effective and the characteristic of the compound control strategy is satisfactory.
文摘The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.
文摘By analyzing the target's motion pattern, in terms of the requirement for the performance indexes of the follow up system, the structure changing control and time optimal theory is proposed. The system's control scheme from three different aspects(the dynamic response simulation, compound control simulation and dynamic tracking simulation) is also studied. And all the results proved the feasibility of the synthetical utilization of the open loop control, speed decreased control and position closed loop control.
基金Supported by Foundation Project in Guang'anmen Hospital,China Academy of Chinese Medical Sciences:2006 S 195
文摘Objective To explore the feasibility of electroacupuncture compound anesthesia in radiofrequency ablation for hypertrophic inferior turbinate.Methods The patients confirmed to the enrolled criteria were randomly divided into an observation group（n=31） and a control group（n=30）.In the observation group,electroacupuncture was applied to Sìbái（四白 ST 2）,Xiàguān（下关 ST 7）,Hégǔ（合谷 LI 4） and Zhīgōu（支沟 TE 6） on the left side for the anesthesia and the routine local anesthesia was done on the right side.In the control group,the routine local anesthesia was adopted on both sides.The feelings of pain,circulatory index and operation effect were observed and compared between the two groups.Results During radiofrequency ablation,the pain grades of two measurements on the left side and the 2nd measurement on the right in the observation group were all lower than those in the control group（all P〈0.05）.In the observation group,the pain grade on the left side was lower than that on the right side（P〈0.05）,and the systolic blood pressure and the heart rate were lower than those in the control group when undergoing the 2nd radiofrequency ablation on the right side and on the left side,respectively（all P〈0.05）.There was no significant difference in operation effect between the two groups.Conclusion Electroacupuncture compound anesthesia can meet the analgesia requirement of radiofrequency ablation for hypertrophic inferior turbinate,and would be helpful to prevent cyclic fluctuation during the operation at the same time.
基金Program for New Century Excellent Talents in University (NCET-07-0044)
文摘A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer （DOB） is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.
基金supported by the National Natural Science Foundation of China(Nos.11072061 and 11372073)the Natural Science Foundation of Fujian Province(No.2010J01003)
文摘The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.
基金supported by the National Natural Science Foundation of China(11572036)
文摘A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller.
文摘To solve the control allocation problem of dual aero/jet vane control missile, dynamics e- quations in longitudinal plane are derived, and the structure of compound control loop is designed based on attitude autopilot. Four brief compound control allocation strategies are researched and an- alyzed. Furthermore, a new strategy called chain combination variable proportional coefficient strat- egy based on rudder effect is presented. By simulation of initial climb trajectory, the characteristics of all the strategies are researched, and the results illustrate that the new strategy can meet the re- quirement well.
文摘This study examined the release characteristics of different N forms in an uncoated slow/controlled-release compound fertilizer(UCRF)and the N uptake and N-use efficiency by rice plants.Water dissolution,soil leaching,and pot experiments were employed.The dynamics of N release from the UCRF could be quantitatively described by three equations:the first-order kinetics equation[N1=N0(1-e^-kt)],Elovich equation(N1=a+blnt),and parabola equation(N1=a+bt^0.5),with the best fitting by the first-order kinetics equation for different N(r=0.9569^**-0.9999^**).The release potentials(No values estimated by the first-order kinetics equation)of different N in the UCRF decreased in the order of total N〉DON〉urea-N〉NH4^+-N〉NO3^-N in water,and total N〉NH4^+-N〉DON〉urea-N〉NO3^--N in soil,respectively,being in accordance with cumulative amounts of N release.The constants of N release rate(k values and b values)for different N forms were in decreasing order of total N〉DON〉NH4^+-N〉NO3^--N in water,whereas the k values were urea-N〉DON〉NH4^+-N〉total N〉NO3^--N,and the b values were total N〉NH4^+-N〉DON〉NO3^--N〉urea-N in soil.Compared with a common compound fertilizer,the N-use efficiency,N-agronomy efficiency,and N-physiological efficiency of the UCRF were increased by 11.4%,8.32 kg kg^-1,and 5.17 kg kg^-1,respectively.The ratios of different N to total N in the UCRF showed significant correlation with N uptake by rice plants.The findings showed that the first-order kinetics equation[Nt=N0(l-e^kt)]could be used to describe the release characteristics of different N forms in the fertilizer.The UCRF containing different N forms was more effective in facilitating N uptake by rice compared with the common compound fertilizer containing single urea-N form.
基金Supported by National Natural Science Foundation of China (Grant No. 51505178)China Postdoctoral Science Foundation (Grant No. 2014M561289)。
文摘Electric load simulator(ELS) systems are employed for electric power steering(EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator’s acceleration.
基金Supported by the National Natural Science Foundation of China(No.51505412)the Independent Study Program for Young Teachers in Yanshan University(No.14LGB004)
文摘Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound control method is proposed. This compound controller consists of two components: one is a traditional PID for the feedback control to guarantee stability of the system; the other is the CMAC control algorithm to form a feed-forward control for achieving high control precision and short response time of the controlled plant. Then the CMAC-PID compound control method is used in the digital valve control servo system to improve its control performance. Through simulation and experiment,the proposed CMAC-PID compound control method is superior to the traditional PID control for enhancing stability and robustness,and thus this compound control can be used as a new control strategy for the digital valve control servo system.
基金the Qinglan Project,the National Key Basic Research Program of China (No.2013CB227905)the Science Fund for Creative Research Groups of the National Natural Science Foundation of China (No.51421003)
文摘Based on the analysis of the failure characteristics and backfilling effect of the compound roof at 1801 backfilling workface in Taiyuan coal mine, China, we propose a method of controlling the pre- subsidence of a compound roof by using pre-stressed bolts to improve the backfilling ratio of the work- face so as to maintain the global stability of the stope roof. In addition, PHASE simulation software was employed to analyze the influence law of pre-stressing force, length, and interval on roof subsidence at the workface. On the basis of the numerical simulation results, a model for calculating the pre-stressing force and length of the bolts, the interval between the bolts, as well as roof subsidence at the workface, was established by using SPSS regression analysis software. Moreover, the research results were applied successfully to the 1801 filling workface. According to the monitoring data of roof closure, it was found that the final subsidence value for the goal roof was 350 mm and the filling ratio at the workface was 86%, which could fully meet the demand for safety production at the workface. The safe and effective control of the stope roof was therefore realized, which achieves the goal of safe and efficient backfilling mining under a compound roof.
基金This project is supported by National Natural Science Foundation of China (No.50275102)Provincial Foundation for Abroad Return People of Shanxi (No.101045).
文摘A new closed loop flow controlling principle through correcting the valve'sopening area while load pressure is changing is carried out. Further more a principle using only oneproportional valve to compound control pressure and flow is suggested. By using very simpleproportional throttle valve in structure, the functions that five kinds of proportional valves orany two of them combined possess can be complimented. After analyzing, comparing, and testing thedynamic and static characteristics of valve with different controlling principles and main valvestructure styles, the optimized structure styles and control methods are achieved.
