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A 4-MA linear transformer driver for X-ray generation
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作者 Hao Wei Mengtong Qiu +21 位作者 Xiaofeng Jiang Zhiguo Wang Hongyu Jiang Weibo Yao Dingguo Lai Hanyu Wu Cheng Lou Jiachen Wang Yaorong Yang Fengju Sun Mo Li Liangping Wang Qifu Xu Pengchao Li Sen Yang Yi Shen Zhen Wu Jinhua Wang Wei Liu Hailiang Yang Wei Wu Aici Qiu 《Matter and Radiation at Extremes》 2025年第6期42-50,共9页
We have designed,assembled,and tested a 4-MA,60-ns fast linear transformer driver(LTD),which is the first operating generator featuring multiple LTD modules connected in parallel.The LTD-based accelerator comprises si... We have designed,assembled,and tested a 4-MA,60-ns fast linear transformer driver(LTD),which is the first operating generator featuring multiple LTD modules connected in parallel.The LTD-based accelerator comprises six modules in parallel,each of which has ten-stage cavities stacked in series.The six LTD modules are connected to a water tank of diameter 6 m via a 3-m-long impedance-matched deionized waterinsulated coaxial transmission line.In the water tank,the electrical pulses are transmitted down by six horizontal tri-plate transmission lines.A 2.1-m-diameter two-level vacuum insulator stack is utilized to separate the deionized water region from the vacuum region.In the vacuum,the currents are further transported downstream by a two-level magnetically insulated transmission-line and then converged through four post-hole convolutes.Plasma radiation loads or bremsstrahlung electron beam diodes serve as loads that are expected to generate intense soft X rays or warm X rays.The machine is 3.2 m in height and 22 m in outer diameter,including support systems such as a high-voltage charge supply,magnetic core reset system,trigger system,and support platform for inner stalk installation and maintenance.A total of 1440 individual±100-kV multi-gap spark switches and 2880 individual 100-kV capacitors are employed in the accelerator.A total of 12 fiberoptic laser-controlled trigger generators combining photoconductive and traditional gas spark switch technologies are used to realize the synchronous discharge of the more than 1000 gas switches.At an LTD charge voltage of±85 kV,the accelerator stores an initial energy of about 300 kJ and is expected to deliver a current of 3–5 MA into various loads.To date,the LTD facility has shot into a thick-walled aluminum liner load and a reflex triode load.With a thick-walled aluminum liner of inductance 1.81 nH,a current with peak up to 4.1 MA and rise time(10%–90%)of about 60 ns has been achieved.The current transport efficiency from the insulator stack to the liner load approaches 100%during peak times.The LTD accelerator has been used to drive reflex triode loads generating warm X rays with high energy fluence and large radiation area.It has been demonstrated that this LTD is a promising and high-efficiency prime pulsed power source suitable for use in constructing the next generation of large-scale accelerators with currents of tens of megaamperes. 展开更多
关键词 X ray Generation linear transformer Driver Multi Megampere Accelerator water tank water tankthe Pulsed Power Source linear transformer driver ltd which operating generator
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A Multi-Gap Multi-Channel Gas Switch for the Linear Transformer Driver 被引量:3
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作者 刘轩东 梁天学 +4 位作者 孙凤举 姜晓峰 李佳 孙福 邱爱慈 《Plasma Science and Technology》 SCIE EI CAS CSCD 2009年第6期725-729,共5页
A multi-gap and multi-channel gas switch with convexo-convex discal planet electrodes was designed and investigated. Eight gaps are formed in series by a trigger electrode, six intermediate electrodes and two high vol... A multi-gap and multi-channel gas switch with convexo-convex discal planet electrodes was designed and investigated. Eight gaps are formed in series by a trigger electrode, six intermediate electrodes and two high voltage electrodes with a uniform gap length of 5 ram. The self breakdown and triggered breakdown performance of the switch are reported. Both the delay time and jitter decrease with the increase in the trigger voltage, switching coefficient and the decrease in the trigger isolating resistor. The delay time of the switch is about 40 ns, and the jitter is less than 2 ns when charged with 4-85 kV and triggered by a voltage pule of -75 kV. The inductance of the switch is about 30 nH. 展开更多
关键词 multi-gap multi-channel gas spark closing switch linear transformer driver delay time JITTER
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Numerical Analysis of the Output-Pulse Shaping Capability of Linear Transformer Drivers 被引量:2
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作者 刘鹏 孙风举 +1 位作者 尹佳辉 邱爱慈 《Plasma Science and Technology》 SCIE EI CAS CSCD 2011年第2期246-251,共6页
Output-pulse shaping capability of a linear transformer driver (LTD) module under different conditions is studied, by conducting the whole circuit model simulation by using the PSPICE code. Results indicate that a h... Output-pulse shaping capability of a linear transformer driver (LTD) module under different conditions is studied, by conducting the whole circuit model simulation by using the PSPICE code. Results indicate that a higher impedance profile of the internal transmission line would lead to a wider adjustment range for the output current rise time and a narrower adjustment range for the current peak. The number of cavities in series has a positive effect on the output- pulse shaping capability of LTD. Such an improvement in the output-pulse shaping capability can primarily be ascribed to the increment in the axial electric length of LTD. For a triggering time interval longer than the time taken by a pulse to propagate through the length of one cavity, the output parameters of LTD could be improved significantly. The present insulating capability of gas switches and other elements in the LTD cavities may only tolerate a slightly longer deviation in the triggering time interval. It is feasible for the LTD module to reduce the output current rise time, though it is not useful to improve the peak power effectively. 展开更多
关键词 linear transformer driver (LTD) circuit model pulsed power transmission line impedance profile trigger delay
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Influences of Switching Jitter on the Operational Performances of Linear Transformer Drivers-Based Drivers 被引量:2
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作者 刘鹏 孙凤举 +3 位作者 魏浩 王志国 尹佳辉 邱爱慈 《Plasma Science and Technology》 SCIE EI CAS CSCD 2012年第4期347-352,共6页
A whole circuit model of a linear transformer drivers (LTD) module composed of 60 cavities in series was developed in the software PSPICE to study the influence of switching jitter on the operational performances of... A whole circuit model of a linear transformer drivers (LTD) module composed of 60 cavities in series was developed in the software PSPICE to study the influence of switching jitter on the operational performances of LTDs. In the model, each brick in each cavity is capable of operating with jitter in its switch. Additionally, the manner of triggering cables entering into cavities was considered. The performances of the LTD module operating with three typical cavity-triggering sequences were simulated and the simulation results indicate that switching jitter affects slightly the peak and starting time of the output current pulse. However, the enhancement in switching jitter would significantly lengthen the rise time of the output current pulse. Without considering other factors, a jitter lower than 10 ns may be necessary for the switches in the LTD module to provide output current parameters with an acceptable deviation. 展开更多
关键词 linear transformer drivers (LTDs) circuit model pulsed power transmission line JITTER trigger delay
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Optical Diagnostics of Multi-Gap Gas Switches for Linear Transformer Drivers 被引量:1
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作者 盛亮 李阳 +7 位作者 孙铁平 丛培天 张美 彭博栋 赵吉祯 岳志勤 魏福利 袁媛 《Plasma Science and Technology》 SCIE EI CAS CSCD 2014年第7期677-682,共6页
The trigger characteristics of a multi-gap gas switch with double insulating layers,a square-groove electrode supporter and a UV pre-ionizing structure are investigated aided by a high sensitivity fiber-bundle array d... The trigger characteristics of a multi-gap gas switch with double insulating layers,a square-groove electrode supporter and a UV pre-ionizing structure are investigated aided by a high sensitivity fiber-bundle array detector, a UV fiber detector, and a framing camera, in addition to standard electrical diagnostics. The fiber-bundle-array detector is used to track the turn-on sequence of each electrode gap at a timing precision of 0.6 ns. Each fiber bundle, including five fibers with different azimuth angles, aims at the whole emitting area of each electrode gap and is fed to a photomultiplier tube. The UV fiber detector with a spectrum response of 260-320 nm,including a fused-quartz fiber of 200 μm in diameter and a solar-blinded photomultiplier tube, is adopted to study the effect of UV pre-ionizing on trigger characteristics. The framing camera,with a capacity of 4 frames per shot and an exposure time of 5 ns, is employed to capture the evolution of channel arcs. Based on the turn-on light signal of each electrode gap, the breakdown delay is divided into statistical delay and formative delay. A decrease in both of them, a smaller switch jitter and more channel arcs are observed with lower gas pressure. An increase in trigger voltage can reduce the statistical delay and its jitter, while higher trigger voltage has a relatively small influence on the formative delay and the number of channel arcs. With the UV pre-ionizing structure at 0.24 MPa gas pressure and 60 kV trigger voltage, the statistical delay and its jitter can be reduced by 1.8 ns and 0.67 ns, while the formative delay and its jitter can only be reduced by 0.5 ns and 0.25 ns. 展开更多
关键词 optical diagnostics multi-gap gas switches linear transformer driver
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UNCERTAINTY PRINCIPLES AND SIGNAL RECOVERY RELATED TO THE CANONICAL FOURIER-BESSEL TRANSFORM
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作者 Jihed SAHBANI Lazhar DHAOUADI 《Acta Mathematica Scientia》 2025年第5期2190-2207,共18页
The aim of this paper is to prove another variation on the Heisenberg uncertainty principle,we generalize the quantitative uncertainty relations in n different(time-frequency)domains and we will give an algorithm for ... The aim of this paper is to prove another variation on the Heisenberg uncertainty principle,we generalize the quantitative uncertainty relations in n different(time-frequency)domains and we will give an algorithm for the signal recovery related to the canonical Fourier-Bessel transform. 展开更多
关键词 Fourier Bessel transform linear canonical transform quantitative uncertainty principles Heisenberg uncertainty principle signal recovery
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New strategy for fault detection and classification in wind turbines based on doubly-fed induction generators
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作者 Boaz Wadawa Joseph Yves Effa 《Global Energy Interconnection》 2025年第4期668-684,共17页
A novel robust diagnostic system based on a linear fractional transform(LFT)representation combined with a static redundancy approach is proposed to design a residual generator for fault detection and localization in ... A novel robust diagnostic system based on a linear fractional transform(LFT)representation combined with a static redundancy approach is proposed to design a residual generator for fault detection and localization in a wind system using the doubly fed induction generator(DFIG).As a result,faults in DFIG-based grid-connected wind systems can be grouped into three classes of faults,namely,model uncertainty-related faults(FLMU),set point disturbance-related faults(FLDS)and parameter uncertainty-related faults(FLPU).Based on the parity-space residual generations,an artificial neural network(ANN)structure has been combined with the classification to enable the assessment of hidden,indistinguishable or small amplitude faults.The training validation with two data sizes of 1278*4 and 1278*1 respectively at the inputs and outputs of the proposed ANN,presents better performance for a mean squared error value(MSE=3.0532e 9),and a good correlation between outputs and targets for a regression value(R=1).It emerges that the proposed robust and complete diagnostic system for the optimal and sustainable integration of wind turbines into the grid,offers very great advan-tages,particularly with regard to the precise and rapid detection of faults,and the assessment of hidden faults and/or ambiguous fault states in the wind system based on DFIG.In addition,the proposed approach allows the use of a reduced number of data,sensors and actuators required.Consequently,the system maintenance difficulties,complexity and cost of the diagnostic system are reduced. 展开更多
关键词 Classification Diagnostic system Static redundancy approach linear Fractional Transformation(LFT) Artificial Neural Network(ANN)
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Discrete Bai distribution function and its sampling requirements
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作者 Yushi Zheng Min Wan John J.Healy 《Advanced Photonics Nexus》 2025年第1期30-41,共12页
In recent years,many phase space distributions have been proposed,and one of the more independently interesting is the Bai distribution function(BDF).The BDF has been shown to interpolate between the instantaneous aut... In recent years,many phase space distributions have been proposed,and one of the more independently interesting is the Bai distribution function(BDF).The BDF has been shown to interpolate between the instantaneous auto-correlation function and the Wigner distribution function,and be applied in linear frequency modulated signal parameter estimation and optical partial coherence areas.Currently,the BDF is only defined for continuous signals.However,for both simulation and experimental purposes,the signals must be discrete.This necessitates the development of a BDF analysis workflow for discrete signals.In this work,we analyze the sampling requirements imposed by the BDF and demonstrate their correctness by comparing the continuous BDFs of continuous test signals with their numerically approximated counterparts.Our results permit more accurate simulations using BDFs,which will be useful in applying them to problems such as partial coherence. 展开更多
关键词 phase space optics linear canonical transforms numerical Fourier optics Bai distribution function.
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State Feedback Control for a Class of Fractional Order Nonlinear Systems 被引量:2
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作者 Yige Zhao Yuzhen Wang Haitao Li 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI 2016年第4期483-488,共6页
Using the Lyapunov function method, this paper investigates the design of state feedback stabilization controllers for fractional order nonlinear systems in triangular form, and presents a number of new results. First... Using the Lyapunov function method, this paper investigates the design of state feedback stabilization controllers for fractional order nonlinear systems in triangular form, and presents a number of new results. First, some new properties of Caputo fractional derivative are presented, and a sufficient condition of asymptotical stability for fractional order nonlinear systems is obtained based on the new properties. Then, by introducing appropriate transformations of coordinates, the problem of controller design is converted into the problem of finding some parameters, which can be certainly obtained by solving the Lyapunov equation and relevant matrix inequalities. Finally, based on the Lyapunov function method, state feedback stabilization controllers making the closed-loop system asymptotically stable are explicitly constructed. A simulation example is given to demonstrate the effectiveness of the proposed design procedure. © 2014 Chinese Association of Automation. 展开更多
关键词 Closed loop systems Controllers Differentiation (calculus) linear transformations Lyapunov functions Nonlinear systems STABILIZATION State feedback
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Uncertainty Principle for the Quaternion Linear Canonical Transform in Terms of Covariance 被引量:2
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作者 Yanna Zhang 《Journal of Beijing Institute of Technology》 EI CAS 2021年第3期238-243,共6页
An uncertainty principle(UP),which offers information about a signal and its Fourier transform in the time-frequency plane,is particularly powerful in mathematics,physics and signal processing community.Under the pola... An uncertainty principle(UP),which offers information about a signal and its Fourier transform in the time-frequency plane,is particularly powerful in mathematics,physics and signal processing community.Under the polar coordinate form of quaternion-valued signals,the UP of the two-sided quaternion linear canonical transform(QLCT)is strengthened in terms of covariance.The condition giving rise to the equal relation of the derived result is obtained as well.The novel UP with covariance can be regarded as one in a tighter form related to the QLCT.It states that the product of spreads of a quaternion-valued signal in the spatial domain and the QLCT domain is bounded by a larger lower bound. 展开更多
关键词 uncertainty principle quaternion linear canonical transform quaternion-valued signals COVARIANCE
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H_∞ Output Feedback Control of Linear Time-invariant Fractional-order Systems over Finite Frequency Range 被引量:1
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作者 Cuihong Wang Huanhuan Li YangQuan Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI 2016年第3期304-310,共7页
This paper focuses on the H∞output feedback control problem of linear time-invariant fractional-order systems over finite frequency range. Based on the generalized Kalman-Yakubovic-Popov (KYP) Lemma and a key project... This paper focuses on the H∞output feedback control problem of linear time-invariant fractional-order systems over finite frequency range. Based on the generalized Kalman-Yakubovic-Popov (KYP) Lemma and a key projection lemma, a necessary and sufficient condition is established to ensure the existence of the H∞output feedback controller over finite frequency range, a desirable property in control engineering practice. By using the matrix congruence transformation, the feedback control gain matrix is decoupled and further parameterized by a scalar matrix. Two iterative linear matrix inequality algorithms are developed to solve this problem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed method. © 2014 Chinese Association of Automation. 展开更多
关键词 ALGEBRA Feedback control Iterative methods linear matrix inequalities linear transformations Matrix algebra Numerical methods
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An Improved Robust Model Predictive Control Approach to Systems with Linear Fractional Transformation Perturbations 被引量:2
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作者 Peng-Yuan Zheng Yu-Geng Xi De-Wei Li 《International Journal of Automation and computing》 EI 2011年第1期134-140,共7页
In this paper, a robust model predictive control approach is proposed for a class of uncertain systems with time-varying, linear fractional transformation perturbations. By adopting a sequence of feedback control laws... In this paper, a robust model predictive control approach is proposed for a class of uncertain systems with time-varying, linear fractional transformation perturbations. By adopting a sequence of feedback control laws instead of a single one, the control performance can be improved and the region of attraction can be enlarged compared with the existing model predictive control (MPC) approaches. Moreover, a synthesis approach of MPC is developed to achieve high performance with lower on-line computational burden. The effectiveness of the proposed approach is verified by simulation examples. 展开更多
关键词 Robust model predictive control linear fractional transformation (LFT) perturbations linear matrix inequalities (LMIs) feedback model predictive control (MPC) framework sequence of feedback control laws.
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THE BLUE AND MINQUE IN GAUSS-MARKOFF MODEL WITH LINEAR TRANSFORMATION OF THE OBSERVABLE VARIABLES
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作者 张宝学 《Acta Mathematica Scientia》 SCIE CSCD 2007年第1期203-210,共8页
For a singular linear model A = (y, Xβ, σ2 V) and its transformed model MF = (Fy, FXβ, σ 2FVF'), where V is nonnegative definite and X can be rank-deficient, the expressions for the differences of the estimat... For a singular linear model A = (y, Xβ, σ2 V) and its transformed model MF = (Fy, FXβ, σ 2FVF'), where V is nonnegative definite and X can be rank-deficient, the expressions for the differences of the estimates for the vector of FXβ and the variance factor σ2 are given. Moreover, the necessary and sufficient conditions for the equalities of the estimates for the vector of FXβ and the variance factor σ2 are also established. In the meantime, works in Baksalary and Kala (1981) are strengthened and consequences in Puntanen and Nurhonen (1992), and Puntanen (1996) are extended. 展开更多
关键词 Singular linear model BLUE MINQUE linear transformation
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On the Group of Units for the Ring of Linear Transformations
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作者 张光辉 孙应德 《Chinese Quarterly Journal of Mathematics》 CSCD 北大核心 2005年第4期355-359,共5页
In this paper, we introduce a practical method for obtaining the structure of thegroup of units for the ring of linear transformations of a vector space over an arbitrary field,and we give a further generalization of ... In this paper, we introduce a practical method for obtaining the structure of thegroup of units for the ring of linear transformations of a vector space over an arbitrary field,and we give a further generalization of the result in [3]. 展开更多
关键词 semidirect product linear transformation normal group BASIS
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Research Progress on Discretization of Linear Canonical Transform
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作者 Yannan Sun Bingzhao Li Ran Tao 《Journal of Beijing Institute of Technology》 EI CAS 2021年第3期205-216,共12页
Linear canonical transformation(LCT)is a generalization of the Fourier transform and fractional Fourier transform.The recent research has shown that the LCT is widely used in signal processing and applied mathematics,... Linear canonical transformation(LCT)is a generalization of the Fourier transform and fractional Fourier transform.The recent research has shown that the LCT is widely used in signal processing and applied mathematics,and the discretization of the LCT becomes vital for the applic-ations of LCT.Based on the development of discretization LCT,a review of important research progress and current situation is presented,which can help researchers to further understand the discretization of LCT and can promote its engineering application.Meanwhile,the connection among different discretization algorithms and the future research are given. 展开更多
关键词 linear canonical transform(LCT) discrete linear canonical transform sampling Wign-er-Ville distribution fast algorithm
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A DECOMPOSITION DEPENDED ON DIRECTIONS FOR NONSINGULAR LINEAR TRANSFORMATION
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作者 张慎学 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 1996年第8期789-794,共6页
In this paper. we give a decomposition depending on p(1≤p≤n-2) orthonormaldirections assigned for nonsingular linear transformation F on a n-dimension (n≥3)Euclidean space En, and then prove foal there exist q(q=n-... In this paper. we give a decomposition depending on p(1≤p≤n-2) orthonormaldirections assigned for nonsingular linear transformation F on a n-dimension (n≥3)Euclidean space En, and then prove foal there exist q(q=n-p) quasi-Principaldirections.for F depending on the preceding p orthonormal directions. As applicance ofthe preceding result, we derive that there exist at least two orthonormal principaldirections of strain in arbitrary plane of body which is in homogeneous deformation,and strain energy density is.function of 5 real numbers under arbitrary quasi-principalbase.for the preceding nonsingular linear transformation. 展开更多
关键词 NONSINGULAR linear transformation quasi-principal directions.Decomposition
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Linear Transformation Theory of Quantum Field Operators and Its Applications
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作者 MALei 《Communications in Theoretical Physics》 SCIE CAS CSCD 2003年第3期291-294,共4页
We extend the linear quantum transformation theory to the case of quantum field operators. The corresponding general transformation expressions of CPT transformations and gauge field transformations are considered as ... We extend the linear quantum transformation theory to the case of quantum field operators. The corresponding general transformation expressions of CPT transformations and gauge field transformations are considered as its applications. 展开更多
关键词 linear quantum transformation CPT transformations gauge field transformations
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Speech Encryption in Linear Canonical Transform Domain Based on Chaotic Dynamic Modulation
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作者 Liyun Xu Tong Zhang Chao Wen 《Journal of Beijing Institute of Technology》 EI CAS 2021年第3期295-304,共10页
In order to transmit the speech information safely in the channel,a new speech encryp-tion algorithm in linear canonical transform(LCT)domain based on dynamic modulation of chaot-ic system is proposed.The algorithm fi... In order to transmit the speech information safely in the channel,a new speech encryp-tion algorithm in linear canonical transform(LCT)domain based on dynamic modulation of chaot-ic system is proposed.The algorithm first uses a chaotic system to obtain the number of sampling points of the grouped encrypted signal.Then three chaotic systems are used to modulate the corres-ponding parameters of the LCT,and each group of transform parameters corresponds to a group of encrypted signals.Thus,each group of signals is transformed by LCT with different parameters.Fi-nally,chaotic encryption is performed on the LCT domain spectrum of each group of signals,to realize the overall encryption of the speech signal.The experimental results show that the proposed algorithm is extremely sensitive to the keys and has a larger key space.Compared with the original signal,the waveform and LCT domain spectrum of obtained encrypted signal are distributed more uniformly and have less correlation,which can realize the safe transmission of speech signals. 展开更多
关键词 communication security linear canonical transform transform domain encryption chaotic system
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LMI_based robust iterative learning controller design for discrete linear uncertain systems
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作者 Jianming xu Mingxuan SUN Li YU 《控制理论与应用(英文版)》 EI 2005年第3期259-265,共7页
This paper addresses the design problem of robust iterative learning controllers for a class of linear discrete-time systems with norm-bounded parameter uncertainties. An iterative learning algorithm with current cycl... This paper addresses the design problem of robust iterative learning controllers for a class of linear discrete-time systems with norm-bounded parameter uncertainties. An iterative learning algorithm with current cycle feedback is proposed to achieve both robust convergence and robust stability. The synthesis problem of the proposed iterative learmng control (ILC) system is reformulated as a γ-suboptimal H-infinity control problem via the linear fractional transformation (LFT). A sufficient condition for the convergence of the ILC algorithm is presented in terms of linear matrix inequalities (LMIs). Furthermore, the linear wansfer operators of the ILC algorithm with high convergence speed are obtained by using existing convex optimization techniques. The simulation results demonstrate the effectiveness of the proposed method. 展开更多
关键词 Iteradve learning control H-infinity control linear fractional transformation linear matrix inequality(LMI)
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Nonlinear symbolic LFT model for UAV
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作者 涂海峰 刘莉 《Journal of Beijing Institute of Technology》 EI CAS 2015年第2期143-150,共8页
A nonlinear modeling framework is presented for an oceanographic unmanned aerial vehicle (UAV) by using symbolic modeling and linear fractional transformation (LFT) techniques . Consequently, an exact nonlinear sy... A nonlinear modeling framework is presented for an oceanographic unmanned aerial vehicle (UAV) by using symbolic modeling and linear fractional transformation (LFT) techniques . Consequently, an exact nonlinear symbolic LFT model of the UAV is derived in a standard M-A form where M represents the nominal, known, part of the system and A contains the time-varying, uncertain and nonlinear components. The advantages of the proposed modeling approach are that: it not only provides an ideal starting point to obtain various final design-oriented models through subse- quent assumptions and simplifications, but also it facilitates the control system analysis with models of different levels of fidelity/complexity. Furthermore, a linearized symbolic LFT model of the UAV is proposed based on the LFT differentiation, which is amenable directly to a sophisticated linear ro- bust control strategy such as μ synthesis/analysis. Both of the derived LFT models are validated with the original nonlinear model in time domain. Simulation results show the effectiveness of the pro- posed algorithm. 展开更多
关键词 nonlinear symbolic modeling linear fractional transformation unmanned aerial vehicle
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