The Heihe River drainage basin is one of the endangered ecological regions of China. The shortage of water resources is the bottleneck, which constrains the sustainable development of the region. Many scholars in Chin...The Heihe River drainage basin is one of the endangered ecological regions of China. The shortage of water resources is the bottleneck, which constrains the sustainable development of the region. Many scholars in China have done researches concerning this problem. Based on previous researches, this paper analyzed characteristics, tendencies, and causes of annual runoff variations in the Yingluo Gorge （1944-2005） and the Zhengyi Gorge （1954-2005）, which are the boundaries of the upper reaches, the middle reaches, and the lower reaches of the Heihe River drainage basin, by wavelet analysis, wavelet neural network model, and GIS spatial analysis. The results show that： （1） annual runoff variations of the Yingluo Gorge have principal periods of 7 years and 25 years, and its increasing rate is 1.04 m^3/s.10y; （2） annual runoff variations of the Zhengyi Gorge have principal periods of 6 years and 27 years, and its decreasing rate is 2.25 m^3/s.10y; （3） prediction results show that： during 2006-2015, annual runoff variations of the Yingluo and Zhengyi gorges have ascending tendencies, and the increasing rates are respectively 2.04 m^3/s.10y and 1.61 m^3/s.10y; （4） the increase of annual runoff in the Yingluo Gorge has causal relationship with increased temperature and precipitation in the upper reaches, and the decrease of annual runoff in the Zhengyi Gorge in the past decades was mainly caused by the increased human consumption of water resources in the middle researches. The study results will provide scientific basis for making rational use and allocation schemes of water resources in the Heihe River drainage basin.展开更多
Research of thermal characteristics has been a key issue in the development of high-speed feed system. Most of the work carried out thus far is based on the principle of directly mapping the thermal error against the ...Research of thermal characteristics has been a key issue in the development of high-speed feed system. Most of the work carried out thus far is based on the principle of directly mapping the thermal error against the temperature of critical machine elements irrespective of the operating conditions. But recent researches show that different sets of operating parameters generated significantly different error values even though the temperature of the machine elements generated was similar. As such, it is important to develop a generic thermal error model which is capable of evaluating the positioning error induced by different operating parameters. This paper ultimately aims at the development of a comprehensive prediction model that can predict the thermal characteristics under different operating conditions （feeding speed, load and preload of ballscrew） in a feed system. A novel wavelet neural network based on feedback linearization autoregressive moving averaging （NARMA-L2） model is introduced to predict the temperature rise of sensitive points and thermal positioning errors considering the different operating conditions as the model inputs. Particle swarm optimization（PSO） algorithm is brought in as the training method. According to ISO230-2 Positioning Accuracy Measurement and ISO230-3 Thermal Effect Evaluation standards, experiments under different operating conditions were carried out on a self-made quasi high-speed feed system experimental bench HUST-FS-001 by using Pt100 as temperature sensor, and the positioning errors were measured by Heidenhain linear grating scale. The experiment results show that the recommended method can be used to predict temperature rise of sensitive points and thermal positioning errors with good accuracy. The work described in this paper lays a solid foundation of thermal error prediction and compensation in a feed system based on varying operating conditions and machine tool characteristics.展开更多
In this paper, a novel real time non-linear model predictive controller(NMPC) for a multi-variable coupled tank system(CTS) is designed. CTSs are highly non-linear and can be found in many industrial process applicati...In this paper, a novel real time non-linear model predictive controller(NMPC) for a multi-variable coupled tank system(CTS) is designed. CTSs are highly non-linear and can be found in many industrial process applications. The involvement of multi-input multi-output(MIMO) system makes the design of an effective controller a challenging task. MIMO systems have inherent couplings,interactions in-between the process input-output variables and generally have an complex internal structure. The aim of this paper is to design, simulate, and implement a novel real time constrained NMPC for a multi-variable CTS with the aid of intelligent system techniques. There are two major formidable challenges hindering the success of the implementation of a NMPC strategy in the MIMO case. The first is the difficulty of obtaining a good non-linear model by training a non-convex complex network to avoid being trapped in a local minimum solution. The second is the online real time optimisation(RTO) of the manipulated variable at every sampling time.A novel wavelet neural network(WNN) with high predicting precision and time-frequency localisation characteristic was selected for an MIMO model and a fast stochastic wavelet gradient algorithm was used for initial training of the network. Furthermore, a genetic algorithm was used to obtain the optimised parameters of the WNN as well as the RTO during the NMPC strategy. The proposed strategy performed well in both simulation and real time on an MIMO CTS. The results indicated that WNN provided better trajectory regulation with less mean-squared-error and average control energy compared to an artificial neural network. It is also shown that the WNN is more robust during abnormal operating conditions.展开更多
The recycle fluidization roasting in alumina production was studied and a temperature forecast model was established based on wavelet neural network that had a momentum item and an adjustable learning rate. By analyzi...The recycle fluidization roasting in alumina production was studied and a temperature forecast model was established based on wavelet neural network that had a momentum item and an adjustable learning rate. By analyzing the roasting process, coal gas flux, aluminium hydroxide feeding and oxygen content were ascertained as the main parameters for the forecast model. The order and delay time of each parameter in the model were deduced by F test method. With 400 groups of sample data (sampled with the period of 1.5 min) for its training, a wavelet neural network model was acquired that had a structure of {7 211}, i.e., seven nodes in the input layer, twenty-one nodes in the hidden layer and one node in the output layer. Testing on the prediction accuracy of the model shows that as the absolute error ±5.0 ℃ is adopted, the single-step prediction accuracy can achieve 90% and within 6 steps the multi-step forecast result of model for temperature is receivable.展开更多
Tracking precision of pre-planned trajectories is essential for an auto-guided vehicle (AGV). The purpose of this paper is to design a self-constructing wavelet neural network (SCWNN) method for dynamical modeling and...Tracking precision of pre-planned trajectories is essential for an auto-guided vehicle (AGV). The purpose of this paper is to design a self-constructing wavelet neural network (SCWNN) method for dynamical modeling and control of a 2-DOF AGV. In control systems of AGVs, kinematical models have been preferred in recent research documents. However, in this paper, to enhance the trajectory tracking performance through including the AGV’s inertial effects in the control system, a learned dynamical model is replaced to the kinematical kind. As the base of a control system, the mathematical models are not preferred due to modeling uncertainties and exogenous inputs. Therefore, adaptive dynamic and control models of AGV are proposed using a four-layer SCWNN system comprising of the input, wavelet, product, and output layers. By use of the SCWNN, a robust controller against uncertainties is developed, which yields the perfect convergence of AGV to reference trajectories. Owing to the adaptive structure, the number of nodes in the layers is adjusted in online and thus the computational burden of the neural network methods is decreased. Using software simulations, the tracking performance of the proposed control system is assessed.展开更多
基金National Natural Science Foundation of China, No.40335046
文摘The Heihe River drainage basin is one of the endangered ecological regions of China. The shortage of water resources is the bottleneck, which constrains the sustainable development of the region. Many scholars in China have done researches concerning this problem. Based on previous researches, this paper analyzed characteristics, tendencies, and causes of annual runoff variations in the Yingluo Gorge （1944-2005） and the Zhengyi Gorge （1954-2005）, which are the boundaries of the upper reaches, the middle reaches, and the lower reaches of the Heihe River drainage basin, by wavelet analysis, wavelet neural network model, and GIS spatial analysis. The results show that： （1） annual runoff variations of the Yingluo Gorge have principal periods of 7 years and 25 years, and its increasing rate is 1.04 m^3/s.10y; （2） annual runoff variations of the Zhengyi Gorge have principal periods of 6 years and 27 years, and its decreasing rate is 2.25 m^3/s.10y; （3） prediction results show that： during 2006-2015, annual runoff variations of the Yingluo and Zhengyi gorges have ascending tendencies, and the increasing rates are respectively 2.04 m^3/s.10y and 1.61 m^3/s.10y; （4） the increase of annual runoff in the Yingluo Gorge has causal relationship with increased temperature and precipitation in the upper reaches, and the decrease of annual runoff in the Zhengyi Gorge in the past decades was mainly caused by the increased human consumption of water resources in the middle researches. The study results will provide scientific basis for making rational use and allocation schemes of water resources in the Heihe River drainage basin.
基金supported by National Key Basic Research Program of China(973Program,Grant No.2005CB724100,Grant No.2011CB706803)National Natural Science Foundation of China(Grant No.50675076,Grant No.50575087,Grant No.51075161)National Hi-tech Research and Development Program of China(863Program,Grant No.2008AA042802)
文摘Research of thermal characteristics has been a key issue in the development of high-speed feed system. Most of the work carried out thus far is based on the principle of directly mapping the thermal error against the temperature of critical machine elements irrespective of the operating conditions. But recent researches show that different sets of operating parameters generated significantly different error values even though the temperature of the machine elements generated was similar. As such, it is important to develop a generic thermal error model which is capable of evaluating the positioning error induced by different operating parameters. This paper ultimately aims at the development of a comprehensive prediction model that can predict the thermal characteristics under different operating conditions （feeding speed, load and preload of ballscrew） in a feed system. A novel wavelet neural network based on feedback linearization autoregressive moving averaging （NARMA-L2） model is introduced to predict the temperature rise of sensitive points and thermal positioning errors considering the different operating conditions as the model inputs. Particle swarm optimization（PSO） algorithm is brought in as the training method. According to ISO230-2 Positioning Accuracy Measurement and ISO230-3 Thermal Effect Evaluation standards, experiments under different operating conditions were carried out on a self-made quasi high-speed feed system experimental bench HUST-FS-001 by using Pt100 as temperature sensor, and the positioning errors were measured by Heidenhain linear grating scale. The experiment results show that the recommended method can be used to predict temperature rise of sensitive points and thermal positioning errors with good accuracy. The work described in this paper lays a solid foundation of thermal error prediction and compensation in a feed system based on varying operating conditions and machine tool characteristics.
基金supported by Petroleum Training Development Fund,Nigeria
文摘In this paper, a novel real time non-linear model predictive controller(NMPC) for a multi-variable coupled tank system(CTS) is designed. CTSs are highly non-linear and can be found in many industrial process applications. The involvement of multi-input multi-output(MIMO) system makes the design of an effective controller a challenging task. MIMO systems have inherent couplings,interactions in-between the process input-output variables and generally have an complex internal structure. The aim of this paper is to design, simulate, and implement a novel real time constrained NMPC for a multi-variable CTS with the aid of intelligent system techniques. There are two major formidable challenges hindering the success of the implementation of a NMPC strategy in the MIMO case. The first is the difficulty of obtaining a good non-linear model by training a non-convex complex network to avoid being trapped in a local minimum solution. The second is the online real time optimisation(RTO) of the manipulated variable at every sampling time.A novel wavelet neural network(WNN) with high predicting precision and time-frequency localisation characteristic was selected for an MIMO model and a fast stochastic wavelet gradient algorithm was used for initial training of the network. Furthermore, a genetic algorithm was used to obtain the optimised parameters of the WNN as well as the RTO during the NMPC strategy. The proposed strategy performed well in both simulation and real time on an MIMO CTS. The results indicated that WNN provided better trajectory regulation with less mean-squared-error and average control energy compared to an artificial neural network. It is also shown that the WNN is more robust during abnormal operating conditions.
基金Project(60634020) supported by the National Natural Science Foundation of China
文摘The recycle fluidization roasting in alumina production was studied and a temperature forecast model was established based on wavelet neural network that had a momentum item and an adjustable learning rate. By analyzing the roasting process, coal gas flux, aluminium hydroxide feeding and oxygen content were ascertained as the main parameters for the forecast model. The order and delay time of each parameter in the model were deduced by F test method. With 400 groups of sample data (sampled with the period of 1.5 min) for its training, a wavelet neural network model was acquired that had a structure of {7 211}, i.e., seven nodes in the input layer, twenty-one nodes in the hidden layer and one node in the output layer. Testing on the prediction accuracy of the model shows that as the absolute error ±5.0 ℃ is adopted, the single-step prediction accuracy can achieve 90% and within 6 steps the multi-step forecast result of model for temperature is receivable.
文摘Tracking precision of pre-planned trajectories is essential for an auto-guided vehicle (AGV). The purpose of this paper is to design a self-constructing wavelet neural network (SCWNN) method for dynamical modeling and control of a 2-DOF AGV. In control systems of AGVs, kinematical models have been preferred in recent research documents. However, in this paper, to enhance the trajectory tracking performance through including the AGV’s inertial effects in the control system, a learned dynamical model is replaced to the kinematical kind. As the base of a control system, the mathematical models are not preferred due to modeling uncertainties and exogenous inputs. Therefore, adaptive dynamic and control models of AGV are proposed using a four-layer SCWNN system comprising of the input, wavelet, product, and output layers. By use of the SCWNN, a robust controller against uncertainties is developed, which yields the perfect convergence of AGV to reference trajectories. Owing to the adaptive structure, the number of nodes in the layers is adjusted in online and thus the computational burden of the neural network methods is decreased. Using software simulations, the tracking performance of the proposed control system is assessed.
