Accurate kinematic calibration is the very foundation for robots'application in industry demanding high precision such as machining.Considering the complex error characteristic and severe ill-posed identification ...Accurate kinematic calibration is the very foundation for robots'application in industry demanding high precision such as machining.Considering the complex error characteristic and severe ill-posed identification issues of a 5-DoF parallel machining robot,this paper proposes an adaptive and weighted identification method to achieve high-precision kinematic calibration while maintaining reliable stability.First,a kinematic error propagation mechanism model considering the non-ideal constraints and the screw self-rotation is formulated by incorporating the intricate structure of multiple chains and a unique driven screw arrangement of the robot.To address the challenge of accurately identifying such a sophisticated error model,a novel adaptive and weighted identification method based on generalized cross validation(GCV)is proposed.Specifically,this approach innovatively introduces Gauss-Markov estimation into the GCV algorithm and utilizes prior physical information to construct both a weighted identification model and a weighted cross-validation function,thus eliminating the inaccuracy caused by significant differences in dimensional magnitudes of pose errors and achieving accurate identification with flexible numerical stability.Finally,the kinematic calibration experiment is conducted.The comparative experimental results demonstrate that the presented approach is effective and has enhanced accuracy performance over typical least squares methods,with maximum position and orientation errors reduced from 2.279 mm to 0.028 mm and from 0.206°to 0.017°,respectively.展开更多
A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose...A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose is derived without using any theoretical model, so the confidence of the identified model is increased, and then the 6 degrees of freedom rigid body model is extended to 9 degrees of freedom high-order model. Bode sensitivity function is derived to increase the accuracy of frequency spectra calculation which influences the accuracy of model parameter identification. Then a frequency domain identification algorithm is established. Acceleration technique is developed furthermore to increase calculation efficiency, and the total identification time is reduced by more than 50% using this technique. A comprehensive two-step method is established for helicopter high-order flight dynamics model identification which increases the numerical stability of model identification compared with single step algorithm. Application of the developed method to identify the flight dynamics model of BO 105 helicopter based on flight test data is implemented. A comparative study between the high-order model and rigid body model is performed at last. The results show that the developed method can be used for helicopter high-order flight dynamics model identification with high accuracy as well as efficiency, and the advantage of identified high-order model is very obvious compared with low-order model.展开更多
Data-driven soft sensor is an effective solution to provide rapid and reliable estimations for key quality variables online. The secondary variables affect the primary variable in considerably different speed, and sof...Data-driven soft sensor is an effective solution to provide rapid and reliable estimations for key quality variables online. The secondary variables affect the primary variable in considerably different speed, and soft sensor systems exhibit multi-dynamic characteristics. Thus, the first contribution is improving the model in the previous study with multi-time-constant. The characteristics-separation-based model will be identified in substep way,and the stochastic Newton recursive(SNR) algorithm is adopted. Considering the dual-rate characteristics of soft sensor systems, the proposed model cannot be identified directly. Thus, two auxiliary models are first proposed to offer the intersample estimations at each update period, based on which the improved algorithm(DAM-SNR) is derived. These two auxiliary models function in switching mechanism which has been illustrated in detail. This algorithm serves for the identification of the proposed model together with the SNR algorithm, and the identification procedure is then presented. Finally, the laboratorial case confirms the effectiveness of the proposed soft sensor model and the algorithms.展开更多
A hybrid identification model based on multilayer artificial neural networks(ANNs) and particle swarm optimization(PSO) algorithm is developed to improve the simultaneous identification efficiency of thermal conductiv...A hybrid identification model based on multilayer artificial neural networks(ANNs) and particle swarm optimization(PSO) algorithm is developed to improve the simultaneous identification efficiency of thermal conductivity and effective absorption coefficient of semitransparent materials.For the direct model,the spherical harmonic method and the finite volume method are used to solve the coupled conduction-radiation heat transfer problem in an absorbing,emitting,and non-scattering 2D axisymmetric gray medium in the background of laser flash method.For the identification part,firstly,the temperature field and the incident radiation field in different positions are chosen as observables.Then,a traditional identification model based on PSO algorithm is established.Finally,multilayer ANNs are built to fit and replace the direct model in the traditional identification model to speed up the identification process.The results show that compared with the traditional identification model,the time cost of the hybrid identification model is reduced by about 1 000 times.Besides,the hybrid identification model remains a high level of accuracy even with measurement errors.展开更多
By combining the distributed Kalman filter （DKF） with the back propagation neural network （BPNN）,a novel method is proposed to identify the bias of electrostatic suspended gyroscope （ESG）. Firstly,the data sets ...By combining the distributed Kalman filter （DKF） with the back propagation neural network （BPNN）,a novel method is proposed to identify the bias of electrostatic suspended gyroscope （ESG）. Firstly,the data sets of multi-measurements of the same ESG in different noise environments are ＂mapped＂ into a sensor network,and DKF with embedded consensus filters is then used to preprocess the data sets. After transforming the preprocessed results into the trained input and the desired output of neural network,BPNN with the learning rate and the momentum term is further utilized to identify the ESG bias. As demonstrated in the experiment,the proposed approach is effective for the model identification of the ESG bias.展开更多
OBJECTIVE:To study the correlation between five flavors(Wuwei)and the chemical substances of Chinese herbal medicines in Lamiaceae and to establish five flavors identification models.METHODS:A total of 245 herbs belon...OBJECTIVE:To study the correlation between five flavors(Wuwei)and the chemical substances of Chinese herbal medicines in Lamiaceae and to establish five flavors identification models.METHODS:A total of 245 herbs belonging to the Lamiaceae family were selected from the Pharmacopoeia of the People's Republic of China 2020 and Chinese Materia Medica.A database of the chemical substances of these herbs was constructed,with the chemical substances obtained from the professional literature and databases.A three-level classification system of the material components was established on the basis of the molecular structure and biosynthetic pathway of these substances.Apriori association rule analysis and feature selection were employed to obtain the material basis of the five flavors.A multiple logistic regression analysis method was employed to establish identification models for the five flavors.RESULTS:The association rule analysis revealed 34 high-value groups and 30 specific groups for the main flavors,and 39 high-value groups and 36 specific groups for the combined flavors.Sixteen groups of chemical components were the decisive groups for the main flavors,and 13 groups were the decisive groups for the combined flavors.Multiple logistic regression analysis was used to successfully establish identification models with an overall accuracy of 88.8%for the main flavors and 87%for the combined flavors.CONCLUSIONS:Five flavors are often characterized by the interaction of multiple classes of substances,and a single class of substances cannot be used to characterize flavors.The organic combination of multiple classes of substances is the material basis of the five flavors,both the main and combined flavors.Significant differences exist in the material basis of the main and combined flavors,suggesting that the“natural flavor”and“functional flavor”may have different material bases.展开更多
In concert with developments in global trade and energy resource transportation, there has been a marked increase in reliance on overseas shipping. Unimpeded marine transportation has therefore become a key issue whic...In concert with developments in global trade and energy resource transportation, there has been a marked increase in reliance on overseas shipping. Unimpeded marine transportation has therefore become a key issue which influences national maritime interests including the security of trade and energy resources. A strategic shipping pivot thus performs a vital controlling function for global shipping networks. In this study strategic shipping pivots are defined and subdivided into sea hubs, channels and areas. We then develop a model to identify strategic shipping pivots on a global scale. The results show that, depending on differences in location, function, and type, the concept of strategic shipping pivot permits the identification of both spatial and structural differentiation with respect to strategic hubs, corridors, and seas. Now 44 strategic hubs have formed across the globe. These hubs have become the control centers of local shipping network organization. At the same time, seven strategic corridors containing most shipping routes and transportation capacity connect important sea areas, and permit a high-degree of control over the transport of strategic materials. The strategic seas, the Caribbean, the Mediterranean, Southeast Asia, and the Pacific provide vital import and export pathways, so that the formation of strategic shipping pivots is mainly influenced by factors such as physical geographical conditions, the spatial distribution of socio-economic activities, business organization, technical progress, geopolitical patterns and geopolitical disputes. Physical geographical conditions provide the potential foundations for strategic shipping pivots, while the spatial distribution of socio-economic activities and communications determine the strategic value of these points. Finally, business organization, technical progress, and geopolitical disputes all function to strengthen the strategic mechanisms and the mutagenicity of strategic shipping pivots.展开更多
This paper proposes a new adaptive linear domain system identification method for small unmanned aerial rotorcraft.Byusing the flash memory integrated into the micro guide navigation control module, system records the...This paper proposes a new adaptive linear domain system identification method for small unmanned aerial rotorcraft.Byusing the flash memory integrated into the micro guide navigation control module, system records the data sequences of flighttests as inputs (control signals for servos) and outputs (aircraft’s attitude and velocity information).After data preprocessing, thesystem constructs the horizontal and vertical dynamic model for the small unmanned aerial rotorcraft using adaptive geneticalgorithm.The identified model is verified by a series of simulations and tests.Comparison between flight data and the one-stepprediction data obtained from the identification model shows that the dynamic model has a good estimation for real unmannedaerial rotorcraft system.Based on the proposed dynamic model, the small unmanned aerial rotorcraft can perform hovering,turning, and straight flight tasks in real flight tests.展开更多
The aerodynamic test in the pulse combustion wind tunnel is very important for the design, evaluation and optimization of aerodynamic characteristics of the hypersonic aircraft.The test accuracy even affects the succe...The aerodynamic test in the pulse combustion wind tunnel is very important for the design, evaluation and optimization of aerodynamic characteristics of the hypersonic aircraft.The test accuracy even affects the success or failure of hypersonic aircraft development. In the aerodynamic test of pulse combustion wind tunnel, the aerodynamic signal is disturbed by the inertial force signal, which seriously affects the test accuracy of aerodynamic force. Aiming at the above problems, this paper innovatively proposes an aerodynamic intelligent identification method, that is the transfer learning network based on adaptive Empirical Modal Decomposition(EMD) and Soft Thresholding(TLN-AE&ST). Compared with the existing aerodynamic intelligent identification model based on deep learning technology, this study introduces the transfer learning idea into the aerodynamic intelligent identification model for the first time. The TLN-AE&ST effectively alleviates the problem of scarcity of training samples for intelligent models due to the high cost of wind tunnel tests, and provides a new idea for further implementation of deep learning technology in the field of wind tunnel aerodynamic testing. And this study designed residual attention block with soft threshold and dense block with adaptive EMD in TLN-AE&ST model. Residual attention block with soft threshold module can more effectively suppress the influence of instrument noise signal on model training effect. Dense block with adaptive EMD makes the deep learning model no longer a black box to a certain extent, and has certain physical significance. Finally, a series of wind tunnel tests were carried out in the Φ = 2.4 m pulse combustion wind tunnel of China Aerodynamic Research and Development Center to verify the effectiveness of TLN-AE&ST.展开更多
Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression mo...Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression model and the least squares （LS） method will result in bias. Based on the models of inertial navigation platform error and observation error, the errors-in-variables （EV） model and the total least squares （TLS） method axe proposed to identify the error model of the inertial navigation platform. The estimation precision is improved and the result is better than the conventional regression model based LS method. The simulation results illustrate the effectiveness of the proposed method.展开更多
In this paper, a methodology has been developed to address the issue of force fighting and to achieve precise position tracking of control surface driven by two dissimilar actuators.The nonlinear dynamics of both actu...In this paper, a methodology has been developed to address the issue of force fighting and to achieve precise position tracking of control surface driven by two dissimilar actuators.The nonlinear dynamics of both actuators are first approximated as fractional order models. Based on the identified models, three fractional order controllers are proposed for the whole system. Two Fractional Order PID（FOPID） controllers are dedicated to improving transient response and are designed in a position feedback configuration. In order to synchronize the actuator dynamics, a third fractional order PI controller is designed, which feeds the force compensation signal in position feedback loop of both actuators. Nelder-Mead（N-M） optimization technique is employed in order to optimally tune controller parameters based on the proposed performance criteria. To test the proposed controllers according to real flight condition, an external disturbance of higher amplitude that acts as airload is applied directly on the control surface. In addition, a disturbance signal function of system states is applied to check the robustness of proposed controller. Simulation results on nonlinear system model validated the performance of the proposed scheme as compared to optimal PID and high gain PID controllers.展开更多
We proposed a dynamic model identification and design of an H-Infinity （i.e.H） controller using a LightweightPiezo-Composite Actuator （LIPCA）.A second-order dynamic model was obtained by using input and output dat...We proposed a dynamic model identification and design of an H-Infinity （i.e.H） controller using a LightweightPiezo-Composite Actuator （LIPCA）.A second-order dynamic model was obtained by using input and output data, and applyingan identification algorithm.The identified model coincides well with the real LIPCA.To reduce the resonating mode that istypical of piezoelectric actuators, a notch filter was used.A feedback controller using the Hcontrol scheme was designed basedon the identified dynamic model; thus, the LIPCA can be easily used as an actuator for biomemetic applications such as artificialmuscles or macro/micro positioning in bioengineering.The control algorithm was implemented using a microprocessor, analogfilters, and power amplifying drivers.Our simulation and experimental results demonstrate that the proposed control algorithmworks well in real environment, providing robust performance and stability with uncertain disturbances.展开更多
In this paper,an analysis for ill conditioning problem in subspace identifcation method is provided.The subspace identifcation technique presents a satisfactory robustness in the parameter estimation of process model ...In this paper,an analysis for ill conditioning problem in subspace identifcation method is provided.The subspace identifcation technique presents a satisfactory robustness in the parameter estimation of process model which performs control.As a frst step,the main geometric and mathematical tools used in subspace identifcation are briefly presented.In the second step,the problem of analyzing ill-conditioning matrices in the subspace identifcation method is considered.To illustrate this situation,a simulation study of an example is introduced to show the ill-conditioning in subspace identifcation.Algorithms numerical subspace state space system identifcation(N4SID)and multivariable output error state space model identifcation(MOESP)are considered to study,the parameters estimation while using the induction motor model,in simulation(Matlab environment).Finally,we show the inadequacy of the oblique projection and validate the efectiveness of the orthogonal projection approach which is needed in ill-conditioning;a real application dealing with induction motor parameters estimation has been experimented.The obtained results proved that the algorithm based on orthogonal projection MOESP,overcomes the situation of ill-conditioning in the Hankel s block,and thereby improving the estimation of parameters.展开更多
A novel identification method of aerodynamicmodels using a physics neural network,named the attitude dynamics network,which incorporates the attitude dynamics of an aircraft without any prior aerodynamic knowledge,is ...A novel identification method of aerodynamicmodels using a physics neural network,named the attitude dynamics network,which incorporates the attitude dynamics of an aircraft without any prior aerodynamic knowledge,is proposed.Then a learning controller,which combines feedback linearization with sliding mode control,is developed by introducing the learned aerodynamicmodels.The merit of the identification method is that the aerodynamicmodels can be learned end-to-end by the physics network directly from the flight data.Consequently,the paper uses an offline scheme and an online scheme to combine the identification process and the control process.In the offline scheme,learning the aerodynamic models and controlling the aircraft compose a cascade system,whereas the online scheme,similar to Learn-to-Fly,is a parallel system.Specifically,in the offline scheme,the physics neural network is trained by sufficient offline flight data,and then the trained network is substituted into the controller.The online scheme refers to the controller making the aircraft fly to generate flight data and sending these data to the deep network at the time of training,while the deep network provides the trained aerodynamic models to the controller at other times.Simulation results show that both under nominal and disturbance aerodynamic conditions,the network trained offline with a large amount of nominal data approximate the aerodynamicmodels well.Thus,the performance of the controller reaches a good level;for the online scheme,the predictive capability of the network increases and the performance of the controller improves with more training data.展开更多
In order to achieve prediction for vibration of rotating machinery, an accurate finite element （FE） model and an efficient parameter identification method of the rotor system are required. In this research, a test r...In order to achieve prediction for vibration of rotating machinery, an accurate finite element （FE） model and an efficient parameter identification method of the rotor system are required. In this research, a test rig is used as a prototype of a rotor system to validate a novel parameter identification technique based on an FE model. Rotor shaft vibration at varying operating speeds is measured and correlated with the FE results. Firstly, the theories of the FE modelling and identification technique are introduced. Then disk unbalance parameter, stiffness and damping coefficients of the bearing supports on the test rig are identified. The calculated responses of the FE model with identified parameters are studied in comparison with the experimental results.展开更多
A distortion identification technique is presented based on Hilbert-Huang transform to identify distortion model and distortion frequency of distorted real-world image sequences. The distortion model is identified sim...A distortion identification technique is presented based on Hilbert-Huang transform to identify distortion model and distortion frequency of distorted real-world image sequences. The distortion model is identified simply based on Hilbert marginal spectral analysis after empirical mode decomposing. And distortion frequency is identified by analyzing the occurrence frequency of instantaneous frequency components of every intrinsic mode functions. Rational digital frequency filter with suitable cutoff frequency is designed to remove undesired fluctuations based on identification results. Experimental results show that this technique can identify distortion model and distortion frequency of displacement sequence accurately and efficiently. Based on identification results, distorted image sequence can be stabilized effectively.展开更多
The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bea...The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bearing. Two approaches are proposed to model the disturbance torque. Firstly, the gravity induced moment,the vortex torque, and the damping moment are modeled separately. However, the vortex torque and the damping moment are coupled with each other as both of them are caused by the viscosity. In the second approach, the coupling effect is considered. A nano-satellite is constructed based on aerostatic bearing. The time history of the free rotation rate from an initial speed is measured by the gyro, which is further used to calculate the rotation angle and acceleration. The static vortex torque is measured via the removable micro-torque measurement system. Based on these data, the model parameters are identified and modeling errors are presented. Results show that the second model is more precise.The root mean squire error is less than 0.5×10^（-4） N·m and the relative error of the static vortex torque is 0.16%.展开更多
The paper describes a closed-loop system identification procedure for hybrid continuous-time Box–Jenkins models and demonstrates how it can be used for IMC based PID controller tuning. An instrumental variable algori...The paper describes a closed-loop system identification procedure for hybrid continuous-time Box–Jenkins models and demonstrates how it can be used for IMC based PID controller tuning. An instrumental variable algorithm is used to identify hybrid continuous-time transfer function models of the Box–Jenkins form from discretetime prefiltered data, where the process model is a continuous-time transfer function, while the noise is represented as a discrete-time ARMA process. A novel penalized maximum-likelihood approach is used for estimating the discrete-time ARMA process and a circulatory noise elimination identification method is employed to estimate process model. The input–output data of a process are affected by additive circulatory noise in a closedloop. The noise-free input–output data of the process are obtained using the proposed method by removing these circulatory noise components. The process model can be achieved by using instrumental variable estimation method with prefiltered noise-free input–output data. The performance of the proposed hybrid parameter estimation scheme is evaluated by the Monte Carlo simulation analysis. Simulation results illustrate the efficacy of the proposed procedure. The methodology has been successfully applied in tuning of IMC based flow controller and a practical application demonstrates the applicability of the algorithm.展开更多
Explicitly identifying the spatial distribution of ecological transition zones(ETZs)and simulating their response to climate scenarios is of significance in understanding the response and feedback of ecosystems to glo...Explicitly identifying the spatial distribution of ecological transition zones(ETZs)and simulating their response to climate scenarios is of significance in understanding the response and feedback of ecosystems to global climate change.In this study,a quantitative spatial identification method was developed to assess ETZ distribution in terms of the improved Holdridge life zone(iHLZ)model.Based on climate observations collected from 782 weather stations in China in the T0(1981–2010)period,and the Intergovernmental Panel on Climate Change Coupled Model Intercomparison Project(IPCC CMIP5)RCP2.6,RCP4.5,and RCP8.5 climate scenario data in the T1(2011–2040),T2(2041–2070),and T3(2071–2100)periods,the spatial distribution of ETZs and their response to climate scenarios in China were simulated in the four periods of T0,T1,T2,and T3.Additionally,a spatial shift of mean center model was developed to quantitatively calculate the shift direction and distance of each ETZ type during the periods from T0 to T3.The simulated results revealed 41 ETZ types in China,accounting for 18%of the whole land area.Cold temperate grassland/humid forest and warm temperate arid forest(564,238.5 km~2),cold temperate humid forest and warm temperate arid/humid forest(566,549.75 km~2),and north humid/humid forest and cold temperate humid forest(525,750.25 km~2)were the main ETZ types,accounting for 35%of the total ETZ area in China.Between 2010 and 2100,the area of cold temperate desert shrub and warm temperate desert shrub/thorn steppe ETZs were projected to increase at a rate of 4%per decade,which represented an increase of 3604.2,10063.1,and 17,242 km~2 per decade under the RCP2.6,RCP4.5,and RCP8.5 scenarios,respectively.The cold ETZ was projected to transform to the warm humid ETZ in the future.The average shift distance of the mean center in the north wet forest and cold temperate desert shrub/thorn grassland ETZs was generally larger than that of other ETZs,with the mean center moving to the northeast and the shift distance being more than 150 km during the periods from T0 to T3.In addition,with a gradual increase of temperature and precipitation,the ETZs in northern China displayed a shifting northward trend,while the area of ETZs in southern China decreased gradually,and their mean center moved to high-altitude areas.The effects of climate change on ETZs presented an increasing trend in China,especially in the Qinghai-Tibet Plateau.展开更多
基金Supported by National Key R&D Program of China(Grant No.2022YFB3404101)National Natural Science Foundation of China(Grant Nos.52375018,92148301)。
文摘Accurate kinematic calibration is the very foundation for robots'application in industry demanding high precision such as machining.Considering the complex error characteristic and severe ill-posed identification issues of a 5-DoF parallel machining robot,this paper proposes an adaptive and weighted identification method to achieve high-precision kinematic calibration while maintaining reliable stability.First,a kinematic error propagation mechanism model considering the non-ideal constraints and the screw self-rotation is formulated by incorporating the intricate structure of multiple chains and a unique driven screw arrangement of the robot.To address the challenge of accurately identifying such a sophisticated error model,a novel adaptive and weighted identification method based on generalized cross validation(GCV)is proposed.Specifically,this approach innovatively introduces Gauss-Markov estimation into the GCV algorithm and utilizes prior physical information to construct both a weighted identification model and a weighted cross-validation function,thus eliminating the inaccuracy caused by significant differences in dimensional magnitudes of pose errors and achieving accurate identification with flexible numerical stability.Finally,the kinematic calibration experiment is conducted.The comparative experimental results demonstrate that the presented approach is effective and has enhanced accuracy performance over typical least squares methods,with maximum position and orientation errors reduced from 2.279 mm to 0.028 mm and from 0.206°to 0.017°,respectively.
基金the support of the Fund of Key Laboratory of Chinaa Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions of China
文摘A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose is derived without using any theoretical model, so the confidence of the identified model is increased, and then the 6 degrees of freedom rigid body model is extended to 9 degrees of freedom high-order model. Bode sensitivity function is derived to increase the accuracy of frequency spectra calculation which influences the accuracy of model parameter identification. Then a frequency domain identification algorithm is established. Acceleration technique is developed furthermore to increase calculation efficiency, and the total identification time is reduced by more than 50% using this technique. A comprehensive two-step method is established for helicopter high-order flight dynamics model identification which increases the numerical stability of model identification compared with single step algorithm. Application of the developed method to identify the flight dynamics model of BO 105 helicopter based on flight test data is implemented. A comparative study between the high-order model and rigid body model is performed at last. The results show that the developed method can be used for helicopter high-order flight dynamics model identification with high accuracy as well as efficiency, and the advantage of identified high-order model is very obvious compared with low-order model.
基金Supported by the Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents(2016RCJJ046)the National Basic Research Program of China(2012CB720500)
文摘Data-driven soft sensor is an effective solution to provide rapid and reliable estimations for key quality variables online. The secondary variables affect the primary variable in considerably different speed, and soft sensor systems exhibit multi-dynamic characteristics. Thus, the first contribution is improving the model in the previous study with multi-time-constant. The characteristics-separation-based model will be identified in substep way,and the stochastic Newton recursive(SNR) algorithm is adopted. Considering the dual-rate characteristics of soft sensor systems, the proposed model cannot be identified directly. Thus, two auxiliary models are first proposed to offer the intersample estimations at each update period, based on which the improved algorithm(DAM-SNR) is derived. These two auxiliary models function in switching mechanism which has been illustrated in detail. This algorithm serves for the identification of the proposed model together with the SNR algorithm, and the identification procedure is then presented. Finally, the laboratorial case confirms the effectiveness of the proposed soft sensor model and the algorithms.
基金supported by the Fundamental Research Funds for the Central Universities (No.3122020072)the Multi-investment Project of Tianjin Applied Basic Research(No.23JCQNJC00250)。
文摘A hybrid identification model based on multilayer artificial neural networks(ANNs) and particle swarm optimization(PSO) algorithm is developed to improve the simultaneous identification efficiency of thermal conductivity and effective absorption coefficient of semitransparent materials.For the direct model,the spherical harmonic method and the finite volume method are used to solve the coupled conduction-radiation heat transfer problem in an absorbing,emitting,and non-scattering 2D axisymmetric gray medium in the background of laser flash method.For the identification part,firstly,the temperature field and the incident radiation field in different positions are chosen as observables.Then,a traditional identification model based on PSO algorithm is established.Finally,multilayer ANNs are built to fit and replace the direct model in the traditional identification model to speed up the identification process.The results show that compared with the traditional identification model,the time cost of the hybrid identification model is reduced by about 1 000 times.Besides,the hybrid identification model remains a high level of accuracy even with measurement errors.
文摘By combining the distributed Kalman filter （DKF） with the back propagation neural network （BPNN）,a novel method is proposed to identify the bias of electrostatic suspended gyroscope （ESG）. Firstly,the data sets of multi-measurements of the same ESG in different noise environments are ＂mapped＂ into a sensor network,and DKF with embedded consensus filters is then used to preprocess the data sets. After transforming the preprocessed results into the trained input and the desired output of neural network,BPNN with the learning rate and the momentum term is further utilized to identify the ESG bias. As demonstrated in the experiment,the proposed approach is effective for the model identification of the ESG bias.
基金the National Natural Science Foundation of China:Research on the Identification of Cold-Hot Properties in Lamiaceae Herbs based on Infrared Spectroscopy Holistic Component Characteristic Markers(No.81673622)the Anhui Provincial Natural Science Foundation:Research on the Extraction and Identification of Holistic Compositional Characteristics of Warm-Hot Properties of Lamiaceae Herbs(No.1508085MH202)the Anhui Provincial Natural Science Research Project of Higher Education:Research on the Material Basis of Cold-Hot Properties of Lamiaceae Herbs based on Pattern Recognition and Energy Metabolism(No.2023AH050773)。
文摘OBJECTIVE:To study the correlation between five flavors(Wuwei)and the chemical substances of Chinese herbal medicines in Lamiaceae and to establish five flavors identification models.METHODS:A total of 245 herbs belonging to the Lamiaceae family were selected from the Pharmacopoeia of the People's Republic of China 2020 and Chinese Materia Medica.A database of the chemical substances of these herbs was constructed,with the chemical substances obtained from the professional literature and databases.A three-level classification system of the material components was established on the basis of the molecular structure and biosynthetic pathway of these substances.Apriori association rule analysis and feature selection were employed to obtain the material basis of the five flavors.A multiple logistic regression analysis method was employed to establish identification models for the five flavors.RESULTS:The association rule analysis revealed 34 high-value groups and 30 specific groups for the main flavors,and 39 high-value groups and 36 specific groups for the combined flavors.Sixteen groups of chemical components were the decisive groups for the main flavors,and 13 groups were the decisive groups for the combined flavors.Multiple logistic regression analysis was used to successfully establish identification models with an overall accuracy of 88.8%for the main flavors and 87%for the combined flavors.CONCLUSIONS:Five flavors are often characterized by the interaction of multiple classes of substances,and a single class of substances cannot be used to characterize flavors.The organic combination of multiple classes of substances is the material basis of the five flavors,both the main and combined flavors.Significant differences exist in the material basis of the main and combined flavors,suggesting that the“natural flavor”and“functional flavor”may have different material bases.
基金The Strategic Priority Research Program of the CAS,No.XDA20010101National Natural Science Foundation of China,No.41571113The Key Project of the Chinese Academy of Sciences,No.ZDRW-ZS-2017-4
文摘In concert with developments in global trade and energy resource transportation, there has been a marked increase in reliance on overseas shipping. Unimpeded marine transportation has therefore become a key issue which influences national maritime interests including the security of trade and energy resources. A strategic shipping pivot thus performs a vital controlling function for global shipping networks. In this study strategic shipping pivots are defined and subdivided into sea hubs, channels and areas. We then develop a model to identify strategic shipping pivots on a global scale. The results show that, depending on differences in location, function, and type, the concept of strategic shipping pivot permits the identification of both spatial and structural differentiation with respect to strategic hubs, corridors, and seas. Now 44 strategic hubs have formed across the globe. These hubs have become the control centers of local shipping network organization. At the same time, seven strategic corridors containing most shipping routes and transportation capacity connect important sea areas, and permit a high-degree of control over the transport of strategic materials. The strategic seas, the Caribbean, the Mediterranean, Southeast Asia, and the Pacific provide vital import and export pathways, so that the formation of strategic shipping pivots is mainly influenced by factors such as physical geographical conditions, the spatial distribution of socio-economic activities, business organization, technical progress, geopolitical patterns and geopolitical disputes. Physical geographical conditions provide the potential foundations for strategic shipping pivots, while the spatial distribution of socio-economic activities and communications determine the strategic value of these points. Finally, business organization, technical progress, and geopolitical disputes all function to strengthen the strategic mechanisms and the mutagenicity of strategic shipping pivots.
基金supported by the State Key Program of National Natural Science of China(Grant No.60736025)the National Natural Science Foundation of China(Grant No.60905056)the National Basic Research Program of China(973 Program)(Grant No.2009CB72400102)
文摘This paper proposes a new adaptive linear domain system identification method for small unmanned aerial rotorcraft.Byusing the flash memory integrated into the micro guide navigation control module, system records the data sequences of flighttests as inputs (control signals for servos) and outputs (aircraft’s attitude and velocity information).After data preprocessing, thesystem constructs the horizontal and vertical dynamic model for the small unmanned aerial rotorcraft using adaptive geneticalgorithm.The identified model is verified by a series of simulations and tests.Comparison between flight data and the one-stepprediction data obtained from the identification model shows that the dynamic model has a good estimation for real unmannedaerial rotorcraft system.Based on the proposed dynamic model, the small unmanned aerial rotorcraft can perform hovering,turning, and straight flight tasks in real flight tests.
基金co-supported by the National Natural Science Foundation of China(52105562)the Fundamental Research Funds for the Central Universities,China(XJ2021KJZK037)the Fundamental Research Funds for the Central Universities,China(2682022CX058).
文摘The aerodynamic test in the pulse combustion wind tunnel is very important for the design, evaluation and optimization of aerodynamic characteristics of the hypersonic aircraft.The test accuracy even affects the success or failure of hypersonic aircraft development. In the aerodynamic test of pulse combustion wind tunnel, the aerodynamic signal is disturbed by the inertial force signal, which seriously affects the test accuracy of aerodynamic force. Aiming at the above problems, this paper innovatively proposes an aerodynamic intelligent identification method, that is the transfer learning network based on adaptive Empirical Modal Decomposition(EMD) and Soft Thresholding(TLN-AE&ST). Compared with the existing aerodynamic intelligent identification model based on deep learning technology, this study introduces the transfer learning idea into the aerodynamic intelligent identification model for the first time. The TLN-AE&ST effectively alleviates the problem of scarcity of training samples for intelligent models due to the high cost of wind tunnel tests, and provides a new idea for further implementation of deep learning technology in the field of wind tunnel aerodynamic testing. And this study designed residual attention block with soft threshold and dense block with adaptive EMD in TLN-AE&ST model. Residual attention block with soft threshold module can more effectively suppress the influence of instrument noise signal on model training effect. Dense block with adaptive EMD makes the deep learning model no longer a black box to a certain extent, and has certain physical significance. Finally, a series of wind tunnel tests were carried out in the Φ = 2.4 m pulse combustion wind tunnel of China Aerodynamic Research and Development Center to verify the effectiveness of TLN-AE&ST.
基金supported by the National Security Major Basic Research Project of China (973-61334).
文摘Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression model and the least squares （LS） method will result in bias. Based on the models of inertial navigation platform error and observation error, the errors-in-variables （EV） model and the total least squares （TLS） method axe proposed to identify the error model of the inertial navigation platform. The estimation precision is improved and the result is better than the conventional regression model based LS method. The simulation results illustrate the effectiveness of the proposed method.
文摘In this paper, a methodology has been developed to address the issue of force fighting and to achieve precise position tracking of control surface driven by two dissimilar actuators.The nonlinear dynamics of both actuators are first approximated as fractional order models. Based on the identified models, three fractional order controllers are proposed for the whole system. Two Fractional Order PID（FOPID） controllers are dedicated to improving transient response and are designed in a position feedback configuration. In order to synchronize the actuator dynamics, a third fractional order PI controller is designed, which feeds the force compensation signal in position feedback loop of both actuators. Nelder-Mead（N-M） optimization technique is employed in order to optimally tune controller parameters based on the proposed performance criteria. To test the proposed controllers according to real flight condition, an external disturbance of higher amplitude that acts as airload is applied directly on the control surface. In addition, a disturbance signal function of system states is applied to check the robustness of proposed controller. Simulation results on nonlinear system model validated the performance of the proposed scheme as compared to optimal PID and high gain PID controllers.
基金supported by the Korea Research Foundation Grant(KRF-2006-005-J03303)
文摘We proposed a dynamic model identification and design of an H-Infinity （i.e.H） controller using a LightweightPiezo-Composite Actuator （LIPCA）.A second-order dynamic model was obtained by using input and output data, and applyingan identification algorithm.The identified model coincides well with the real LIPCA.To reduce the resonating mode that istypical of piezoelectric actuators, a notch filter was used.A feedback controller using the Hcontrol scheme was designed basedon the identified dynamic model; thus, the LIPCA can be easily used as an actuator for biomemetic applications such as artificialmuscles or macro/micro positioning in bioengineering.The control algorithm was implemented using a microprocessor, analogfilters, and power amplifying drivers.Our simulation and experimental results demonstrate that the proposed control algorithmworks well in real environment, providing robust performance and stability with uncertain disturbances.
基金supported by the Ministry of Higher Education and Scientific Research of Tunisia
文摘In this paper,an analysis for ill conditioning problem in subspace identifcation method is provided.The subspace identifcation technique presents a satisfactory robustness in the parameter estimation of process model which performs control.As a frst step,the main geometric and mathematical tools used in subspace identifcation are briefly presented.In the second step,the problem of analyzing ill-conditioning matrices in the subspace identifcation method is considered.To illustrate this situation,a simulation study of an example is introduced to show the ill-conditioning in subspace identifcation.Algorithms numerical subspace state space system identifcation(N4SID)and multivariable output error state space model identifcation(MOESP)are considered to study,the parameters estimation while using the induction motor model,in simulation(Matlab environment).Finally,we show the inadequacy of the oblique projection and validate the efectiveness of the orthogonal projection approach which is needed in ill-conditioning;a real application dealing with induction motor parameters estimation has been experimented.The obtained results proved that the algorithm based on orthogonal projection MOESP,overcomes the situation of ill-conditioning in the Hankel s block,and thereby improving the estimation of parameters.
文摘A novel identification method of aerodynamicmodels using a physics neural network,named the attitude dynamics network,which incorporates the attitude dynamics of an aircraft without any prior aerodynamic knowledge,is proposed.Then a learning controller,which combines feedback linearization with sliding mode control,is developed by introducing the learned aerodynamicmodels.The merit of the identification method is that the aerodynamicmodels can be learned end-to-end by the physics network directly from the flight data.Consequently,the paper uses an offline scheme and an online scheme to combine the identification process and the control process.In the offline scheme,learning the aerodynamic models and controlling the aircraft compose a cascade system,whereas the online scheme,similar to Learn-to-Fly,is a parallel system.Specifically,in the offline scheme,the physics neural network is trained by sufficient offline flight data,and then the trained network is substituted into the controller.The online scheme refers to the controller making the aircraft fly to generate flight data and sending these data to the deep network at the time of training,while the deep network provides the trained aerodynamic models to the controller at other times.Simulation results show that both under nominal and disturbance aerodynamic conditions,the network trained offline with a large amount of nominal data approximate the aerodynamicmodels well.Thus,the performance of the controller reaches a good level;for the online scheme,the predictive capability of the network increases and the performance of the controller improves with more training data.
基金supported by the National Natural Science Foundation of China(50775028)the Ministry of Science and Technology of China for the 863 High-Tech Scheme(2007AA04Z418)
文摘In order to achieve prediction for vibration of rotating machinery, an accurate finite element （FE） model and an efficient parameter identification method of the rotor system are required. In this research, a test rig is used as a prototype of a rotor system to validate a novel parameter identification technique based on an FE model. Rotor shaft vibration at varying operating speeds is measured and correlated with the FE results. Firstly, the theories of the FE modelling and identification technique are introduced. Then disk unbalance parameter, stiffness and damping coefficients of the bearing supports on the test rig are identified. The calculated responses of the FE model with identified parameters are studied in comparison with the experimental results.
基金Supported by the President Fund of Graduate University, Chinese Academy of Sciences.
文摘A distortion identification technique is presented based on Hilbert-Huang transform to identify distortion model and distortion frequency of distorted real-world image sequences. The distortion model is identified simply based on Hilbert marginal spectral analysis after empirical mode decomposing. And distortion frequency is identified by analyzing the occurrence frequency of instantaneous frequency components of every intrinsic mode functions. Rational digital frequency filter with suitable cutoff frequency is designed to remove undesired fluctuations based on identification results. Experimental results show that this technique can identify distortion model and distortion frequency of displacement sequence accurately and efficiently. Based on identification results, distorted image sequence can be stabilized effectively.
基金supported by the National Natural Science Foundation of China(1167209351705109)+2 种基金the Special Foundation of Heilongjiang Postdoctoral Science(LBH-TZ1609)the Open Fund of National Defense Key Discipline Laboratory of Micro-Spacecraft Technology(HIT.KLOF.MST.201507)the Fundamental Research Funds for the Central Universities(HIT.NSRIF.201622)
文摘The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bearing. Two approaches are proposed to model the disturbance torque. Firstly, the gravity induced moment,the vortex torque, and the damping moment are modeled separately. However, the vortex torque and the damping moment are coupled with each other as both of them are caused by the viscosity. In the second approach, the coupling effect is considered. A nano-satellite is constructed based on aerostatic bearing. The time history of the free rotation rate from an initial speed is measured by the gyro, which is further used to calculate the rotation angle and acceleration. The static vortex torque is measured via the removable micro-torque measurement system. Based on these data, the model parameters are identified and modeling errors are presented. Results show that the second model is more precise.The root mean squire error is less than 0.5×10^（-4） N·m and the relative error of the static vortex torque is 0.16%.
基金Supported by the National Natural Science Foundation of China(61573052,61174128)
文摘The paper describes a closed-loop system identification procedure for hybrid continuous-time Box–Jenkins models and demonstrates how it can be used for IMC based PID controller tuning. An instrumental variable algorithm is used to identify hybrid continuous-time transfer function models of the Box–Jenkins form from discretetime prefiltered data, where the process model is a continuous-time transfer function, while the noise is represented as a discrete-time ARMA process. A novel penalized maximum-likelihood approach is used for estimating the discrete-time ARMA process and a circulatory noise elimination identification method is employed to estimate process model. The input–output data of a process are affected by additive circulatory noise in a closedloop. The noise-free input–output data of the process are obtained using the proposed method by removing these circulatory noise components. The process model can be achieved by using instrumental variable estimation method with prefiltered noise-free input–output data. The performance of the proposed hybrid parameter estimation scheme is evaluated by the Monte Carlo simulation analysis. Simulation results illustrate the efficacy of the proposed procedure. The methodology has been successfully applied in tuning of IMC based flow controller and a practical application demonstrates the applicability of the algorithm.
基金National Key R&D Program of China,No.2018YFC0507202,No.2017YFA0603702National Natural Science Foundation of China,No.41971358,No.41930647+1 种基金Strategic Priority Research Program(A)of the Chinese Academy of Sciences,No.XDA20030203Innovation Research Project of State Key Laboratory of Resources and Environment Information System,CAS。
文摘Explicitly identifying the spatial distribution of ecological transition zones(ETZs)and simulating their response to climate scenarios is of significance in understanding the response and feedback of ecosystems to global climate change.In this study,a quantitative spatial identification method was developed to assess ETZ distribution in terms of the improved Holdridge life zone(iHLZ)model.Based on climate observations collected from 782 weather stations in China in the T0(1981–2010)period,and the Intergovernmental Panel on Climate Change Coupled Model Intercomparison Project(IPCC CMIP5)RCP2.6,RCP4.5,and RCP8.5 climate scenario data in the T1(2011–2040),T2(2041–2070),and T3(2071–2100)periods,the spatial distribution of ETZs and their response to climate scenarios in China were simulated in the four periods of T0,T1,T2,and T3.Additionally,a spatial shift of mean center model was developed to quantitatively calculate the shift direction and distance of each ETZ type during the periods from T0 to T3.The simulated results revealed 41 ETZ types in China,accounting for 18%of the whole land area.Cold temperate grassland/humid forest and warm temperate arid forest(564,238.5 km~2),cold temperate humid forest and warm temperate arid/humid forest(566,549.75 km~2),and north humid/humid forest and cold temperate humid forest(525,750.25 km~2)were the main ETZ types,accounting for 35%of the total ETZ area in China.Between 2010 and 2100,the area of cold temperate desert shrub and warm temperate desert shrub/thorn steppe ETZs were projected to increase at a rate of 4%per decade,which represented an increase of 3604.2,10063.1,and 17,242 km~2 per decade under the RCP2.6,RCP4.5,and RCP8.5 scenarios,respectively.The cold ETZ was projected to transform to the warm humid ETZ in the future.The average shift distance of the mean center in the north wet forest and cold temperate desert shrub/thorn grassland ETZs was generally larger than that of other ETZs,with the mean center moving to the northeast and the shift distance being more than 150 km during the periods from T0 to T3.In addition,with a gradual increase of temperature and precipitation,the ETZs in northern China displayed a shifting northward trend,while the area of ETZs in southern China decreased gradually,and their mean center moved to high-altitude areas.The effects of climate change on ETZs presented an increasing trend in China,especially in the Qinghai-Tibet Plateau.
