Associated dynamic performance of the clamping force control valve used in continuously variable transmission （CVT） is optimized. Firstly, the structure and working principle of the valve are analyzed, and then a dy...Associated dynamic performance of the clamping force control valve used in continuously variable transmission （CVT） is optimized. Firstly, the structure and working principle of the valve are analyzed, and then a dynamic model is set up by means of mechanism analysis. For the purpose of checking the validity of the modeling method, a prototype workpiece of the valve is manufactured for comparison test, and its simulation result follows the experimental result quite well. An associated performance index is founded considering the response time, overshoot and saving energy, and five structural parameters are selected to adjust for deriving the optimal associated performance index. The optimization problem is solved by the genetic algorithm （GA） with necessary constraints. Finally, the properties of the optimized valve are compared with those of the prototype workpiece, and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.展开更多
The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its...The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its design model is verified on the state-space model of EHSAS by using simulation program SIMULINK. Real data used to test the system. Simulation results give a good agreement for the controller and also for the state-space model.展开更多
A robust control for uncertain nonlinear systems based on T-S fuzzy model is discussed in this paper. First, a T-S fuzzy system is adopted to model the uncertain nonlinear systems. Then, for the system with input vari...A robust control for uncertain nonlinear systems based on T-S fuzzy model is discussed in this paper. First, a T-S fuzzy system is adopted to model the uncertain nonlinear systems. Then, for the system with input variables adopting standard fuzzy partitions, the efficient maximal overlapped-rules group （EMORG） is presented, and a new sufficient condition to check the stability of T-S fuzzy system with uncertainty is derived, which is expressed in terms of Linear Matrix Inequalities. The derived stability condition, which only requires a local common positive definite matrix in each EMORG, can reduce the conservatism and difficulty in existing stability conditions. Finally, a simulation example shows the proposed approach is effective.展开更多
This paper deals with control system design and implementation problems encountered in multiple robot systems. The methodology developed is depicted by a set of coordination mechanisms using hierarchical net structure...This paper deals with control system design and implementation problems encountered in multiple robot systems. The methodology developed is depicted by a set of coordination mechanisms using hierarchical net structures and their accompanying rules. With the net models, the hierarchical and distributed control system is designed for an assembly task. Synchronization commands allow coordination of the movements of the robots. The net models make concurrency of the movements of the robots transparent to users. The net based machine controller executes robot motion control through the communication with the external robot controller using the command/response concept. Sensory signals indicating the change of state of robots are used to trigger or initiate tasks. Simultaneous movement of the robots is obtained by creating different background threads running in parallel under Windows OS. The multilevel hierarchical control system can be consistently constructed using net models.展开更多
Background: Binary as well as polytomous logistic models are widely used for estimating odds ratios when the exposure of prime interest assumes unordered multiple levels under matched pairs case-control design. In our...Background: Binary as well as polytomous logistic models are widely used for estimating odds ratios when the exposure of prime interest assumes unordered multiple levels under matched pairs case-control design. In our previous studies, we have shown that the use of a polytomous logistic model for estimating cumulative odds ratios when the outcome (response) variable is ordinal (in addition to being polytomous) under matched pairs case-control design. The cumulative odds ratios were estimated based on separate fitting of the model at each of the cutpoint level as compared to less than equal to that level. In this paper we propose an alternative method of estimating the cumulative odds ratios and reanalyze the Los Angeles Endometrial Cancer data in the context of dose levels of conjugated oestrogen exposure and development of endometrial cancer under the matched pair case-control design. Methods: In the present study, the cumulative logit model is fitted using a single multinomial logit model for the data. For this, the full maximum likelihood estimation procedure is adopted. A test for equality of the cumulative odds ratios across the exposure levels is proposed. Results: The analysis revealed that there is a strong evidence of risk for developing endometrial cancer due to oestrogen exposure above each of the three dose level as compared to less than equal to that level. The estimated values at the three cutpoint levels were found to be 6.17, 3.60 and 5.16 respectively. Conclusions: The odds of developing endometrial cancer are very high for the users of any amount of oestrogen, even if it is the least dose, as compared to the non-users.展开更多
Scaled physical model tests for steam breakthrough were conducted based on the analysis of mechanisms and influence factors of steam breakthrough. Physical simulation results showed that at the initial steam breakthro...Scaled physical model tests for steam breakthrough were conducted based on the analysis of mechanisms and influence factors of steam breakthrough. Physical simulation results showed that at the initial steam breakthrough, preferential flow channels were formed in narrow sand packs and most residual oil left in these channels was immobile. This shortened the steam breakthrough time of follow-up steam flooding and decreased the increment of oil recovery efficiency. Steam breakthrough occurred easily for a smaller producer-injector spacing, and a bigger difference in physical properties between fluids and rock. Steam breakthrough is more likely to occur at a larger formation permeability （k）, greater steam displacement velocity （u） and smaller producer-injector spacing （L）. Steam breakthrough time is a function of the parameter group （uk/L）, i.e. tb=3.2151 （uk/L）^-0.5142. A non piston-like displacement model was built based on steam breakthrough observation for a steam stimulated well in the Jinglou Oilfield, Henan Oilfield Company. The steam volume swept in different directions could be obtained from inter-well permeability capacity and breakthrough angle, and the steam swept pore volume （SSPV） was also determined. Numerical simulation showed that steam sweep efficiency reached its peak value when a slug of profile control agent （slug size 10%-15% SSPV） was set at one half of the inter-well spacing. Field test with 12.5% SSPV of profile control agents in the Jinglou Oilfield achieved success in sealing breakthrough channels and good production performance of adjacent producers.展开更多
This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint...This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator(LQR), linear quadratic Gaussian control(LQG), H_2 control and H_∞ control. Simulation is performed for all the approaches yielding good performance results.展开更多
This paper proposes a case study in the control of a heavy oil pyrolysis/cracking furnace with a newly extended U-model based pole placement controller(U-PPC). The major work of the paper includes: 1) establishing a c...This paper proposes a case study in the control of a heavy oil pyrolysis/cracking furnace with a newly extended U-model based pole placement controller(U-PPC). The major work of the paper includes: 1) establishing a control oriented nonlinear dynamic model with Naphtha cracking and thermal dynamics; 2) analysing a U-model(i.e., control oriented prototype) representation of various popular process model sets; 3)designing the new U-PPC to enhance the control performance in pole placement and stabilisation; 4) taking computational bench tests to demonstrate the control system design and performance with a user-friendly step by step procedure.展开更多
Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity ...Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.展开更多
To improve the performance of an active mass damper control system,the controller should be designed based on a reduced-order model. An improved method based on balanced truncation method was proposed to reduce the di...To improve the performance of an active mass damper control system,the controller should be designed based on a reduced-order model. An improved method based on balanced truncation method was proposed to reduce the dimension of high-rise buildings,and was compared with other widely used reduction methods by using a framework with ten floors. This optimized method has improvement of reduction process and choice of the order. Based on the reduced-order model obtained by the improved method and pole-assignment algorithm,a controller was designed. Finally,a comparative analysis of structural responses,transfer functions,and poles was conducted on an actual high-rise building. The results show the effectiveness of the improved method.展开更多
基金Key Science-Technology Foundation of Hunan Province, China (No. 05GK2007).
文摘Associated dynamic performance of the clamping force control valve used in continuously variable transmission （CVT） is optimized. Firstly, the structure and working principle of the valve are analyzed, and then a dynamic model is set up by means of mechanism analysis. For the purpose of checking the validity of the modeling method, a prototype workpiece of the valve is manufactured for comparison test, and its simulation result follows the experimental result quite well. An associated performance index is founded considering the response time, overshoot and saving energy, and five structural parameters are selected to adjust for deriving the optimal associated performance index. The optimization problem is solved by the genetic algorithm （GA） with necessary constraints. Finally, the properties of the optimized valve are compared with those of the prototype workpiece, and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.
文摘The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its design model is verified on the state-space model of EHSAS by using simulation program SIMULINK. Real data used to test the system. Simulation results give a good agreement for the controller and also for the state-space model.
基金supported by the National Natural Science Foundation of China (No.70471087)China Postdoctoral Science Foundation Funded Project(No.20080430929)Liaoning Province Education Bureau Foundation (No.20060106)
文摘A robust control for uncertain nonlinear systems based on T-S fuzzy model is discussed in this paper. First, a T-S fuzzy system is adopted to model the uncertain nonlinear systems. Then, for the system with input variables adopting standard fuzzy partitions, the efficient maximal overlapped-rules group （EMORG） is presented, and a new sufficient condition to check the stability of T-S fuzzy system with uncertainty is derived, which is expressed in terms of Linear Matrix Inequalities. The derived stability condition, which only requires a local common positive definite matrix in each EMORG, can reduce the conservatism and difficulty in existing stability conditions. Finally, a simulation example shows the proposed approach is effective.
文摘This paper deals with control system design and implementation problems encountered in multiple robot systems. The methodology developed is depicted by a set of coordination mechanisms using hierarchical net structures and their accompanying rules. With the net models, the hierarchical and distributed control system is designed for an assembly task. Synchronization commands allow coordination of the movements of the robots. The net models make concurrency of the movements of the robots transparent to users. The net based machine controller executes robot motion control through the communication with the external robot controller using the command/response concept. Sensory signals indicating the change of state of robots are used to trigger or initiate tasks. Simultaneous movement of the robots is obtained by creating different background threads running in parallel under Windows OS. The multilevel hierarchical control system can be consistently constructed using net models.
文摘Background: Binary as well as polytomous logistic models are widely used for estimating odds ratios when the exposure of prime interest assumes unordered multiple levels under matched pairs case-control design. In our previous studies, we have shown that the use of a polytomous logistic model for estimating cumulative odds ratios when the outcome (response) variable is ordinal (in addition to being polytomous) under matched pairs case-control design. The cumulative odds ratios were estimated based on separate fitting of the model at each of the cutpoint level as compared to less than equal to that level. In this paper we propose an alternative method of estimating the cumulative odds ratios and reanalyze the Los Angeles Endometrial Cancer data in the context of dose levels of conjugated oestrogen exposure and development of endometrial cancer under the matched pair case-control design. Methods: In the present study, the cumulative logit model is fitted using a single multinomial logit model for the data. For this, the full maximum likelihood estimation procedure is adopted. A test for equality of the cumulative odds ratios across the exposure levels is proposed. Results: The analysis revealed that there is a strong evidence of risk for developing endometrial cancer due to oestrogen exposure above each of the three dose level as compared to less than equal to that level. The estimated values at the three cutpoint levels were found to be 6.17, 3.60 and 5.16 respectively. Conclusions: The odds of developing endometrial cancer are very high for the users of any amount of oestrogen, even if it is the least dose, as compared to the non-users.
文摘Scaled physical model tests for steam breakthrough were conducted based on the analysis of mechanisms and influence factors of steam breakthrough. Physical simulation results showed that at the initial steam breakthrough, preferential flow channels were formed in narrow sand packs and most residual oil left in these channels was immobile. This shortened the steam breakthrough time of follow-up steam flooding and decreased the increment of oil recovery efficiency. Steam breakthrough occurred easily for a smaller producer-injector spacing, and a bigger difference in physical properties between fluids and rock. Steam breakthrough is more likely to occur at a larger formation permeability （k）, greater steam displacement velocity （u） and smaller producer-injector spacing （L）. Steam breakthrough time is a function of the parameter group （uk/L）, i.e. tb=3.2151 （uk/L）^-0.5142. A non piston-like displacement model was built based on steam breakthrough observation for a steam stimulated well in the Jinglou Oilfield, Henan Oilfield Company. The steam volume swept in different directions could be obtained from inter-well permeability capacity and breakthrough angle, and the steam swept pore volume （SSPV） was also determined. Numerical simulation showed that steam sweep efficiency reached its peak value when a slug of profile control agent （slug size 10%-15% SSPV） was set at one half of the inter-well spacing. Field test with 12.5% SSPV of profile control agents in the Jinglou Oilfield achieved success in sealing breakthrough channels and good production performance of adjacent producers.
基金supported by the Deanship of Scientific Research(DSR)at the King Fahd University of Petroleum and Minerals(KFUPM)(141048)
文摘This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR(inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator(LQR), linear quadratic Gaussian control(LQG), H_2 control and H_∞ control. Simulation is performed for all the approaches yielding good performance results.
基金partially supported by the National Natural Science Foundation of China(61273188,61473312)Taishan Scholar Construction Engineering Special Funding of Shandong
文摘This paper proposes a case study in the control of a heavy oil pyrolysis/cracking furnace with a newly extended U-model based pole placement controller(U-PPC). The major work of the paper includes: 1) establishing a control oriented nonlinear dynamic model with Naphtha cracking and thermal dynamics; 2) analysing a U-model(i.e., control oriented prototype) representation of various popular process model sets; 3)designing the new U-PPC to enhance the control performance in pole placement and stabilisation; 4) taking computational bench tests to demonstrate the control system design and performance with a user-friendly step by step procedure.
文摘Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.
文摘To improve the performance of an active mass damper control system,the controller should be designed based on a reduced-order model. An improved method based on balanced truncation method was proposed to reduce the dimension of high-rise buildings,and was compared with other widely used reduction methods by using a framework with ten floors. This optimized method has improvement of reduction process and choice of the order. Based on the reduced-order model obtained by the improved method and pole-assignment algorithm,a controller was designed. Finally,a comparative analysis of structural responses,transfer functions,and poles was conducted on an actual high-rise building. The results show the effectiveness of the improved method.
