The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Des...The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.展开更多
The aging process of pure copper precursors and copper-zinc binary precursorswere studied by XRD, TG-DTG and TPR techniques. The catalytic activity and stability of CuO/ZnOwere tested using fixed-bed flow reactor, and...The aging process of pure copper precursors and copper-zinc binary precursorswere studied by XRD, TG-DTG and TPR techniques. The catalytic activity and stability of CuO/ZnOwere tested using fixed-bed flow reactor, and the physical properties of the catalysts and Cuspecies were characterized with N_2 adsorption and N_2O passivation method, respectively. For theCu-Zn binary system prepared at the precipitating condition of pH=8.0 and temperature=80℃, theinitial phase was a mixture of copper nitrate hydroxide Cu_2(NO_3)(OH)_3, georgeite and hydrozinciteZn_5(CO_3)_2(OH)_6. By increasing the duration of its aging time, the phase of Cu_2(NO_3)(OH)_2first transited to georgeite, and then interdiffused into Zn_5(CO_3)_2(OH)_6 and resulted in two newphases: rosasite (Cu,Zn)_2CO_3(OH)_2 and au-richalcite (Zn,Cu)_5(CO_3)_2(OH)_6. The former phasewas much easier to be formed than the latter one, while the latter phase was more responsible forthe activity of methanol synthesis than the former one. It is found that the composition andstructure of the precursors altered obviously after the colour transition point. The experimentalresults showed that methanol synthesis is a structure-sensitive catalytic reaction.展开更多
In order to comprehensively understand the water quality in Yinma River Basin,and to analyze the spatial-temporal variation characteristics of water quality over the years and the causes of water pollution,15 sections...In order to comprehensively understand the water quality in Yinma River Basin,and to analyze the spatial-temporal variation characteristics of water quality over the years and the causes of water pollution,15 sections were selected in the Yinma River Basin.Based on the water quality monitoring data in the past decade,7 evaluation indexes including dissolved oxygen(DO),5-day biochemical oxygen demand(BOD_(5)),permanganate index(COD_(MN)),chemical oxygen demand(COD),ammonia nitrogen(NH_(4)-N),total phosphorus(TP)and total nitrogen(TN)were determined,according to the Environmental Quality Standard for Surface Water(GB3838-2002)and the historical monitoring data of rivers.The water quality of 15 sections in Yinma River Basin was comprehensively evaluated,and the water quality categories and the evolution of river water quality were analyzed.The pollution sources of Yinma River Basin were analyzed,and the constructive countermeasures were put forward according to the conclusions.展开更多
基金supported in part by the Youth Foundation of China University of Petroleum-Beijing at Karamay(under Grant No.XQZX20230038)the Karamay Innovative Talents Program(under Grant No.20212022HJCXRC0005).
文摘The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.
文摘The aging process of pure copper precursors and copper-zinc binary precursorswere studied by XRD, TG-DTG and TPR techniques. The catalytic activity and stability of CuO/ZnOwere tested using fixed-bed flow reactor, and the physical properties of the catalysts and Cuspecies were characterized with N_2 adsorption and N_2O passivation method, respectively. For theCu-Zn binary system prepared at the precipitating condition of pH=8.0 and temperature=80℃, theinitial phase was a mixture of copper nitrate hydroxide Cu_2(NO_3)(OH)_3, georgeite and hydrozinciteZn_5(CO_3)_2(OH)_6. By increasing the duration of its aging time, the phase of Cu_2(NO_3)(OH)_2first transited to georgeite, and then interdiffused into Zn_5(CO_3)_2(OH)_6 and resulted in two newphases: rosasite (Cu,Zn)_2CO_3(OH)_2 and au-richalcite (Zn,Cu)_5(CO_3)_2(OH)_6. The former phasewas much easier to be formed than the latter one, while the latter phase was more responsible forthe activity of methanol synthesis than the former one. It is found that the composition andstructure of the precursors altered obviously after the colour transition point. The experimentalresults showed that methanol synthesis is a structure-sensitive catalytic reaction.
文摘In order to comprehensively understand the water quality in Yinma River Basin,and to analyze the spatial-temporal variation characteristics of water quality over the years and the causes of water pollution,15 sections were selected in the Yinma River Basin.Based on the water quality monitoring data in the past decade,7 evaluation indexes including dissolved oxygen(DO),5-day biochemical oxygen demand(BOD_(5)),permanganate index(COD_(MN)),chemical oxygen demand(COD),ammonia nitrogen(NH_(4)-N),total phosphorus(TP)and total nitrogen(TN)were determined,according to the Environmental Quality Standard for Surface Water(GB3838-2002)and the historical monitoring data of rivers.The water quality of 15 sections in Yinma River Basin was comprehensively evaluated,and the water quality categories and the evolution of river water quality were analyzed.The pollution sources of Yinma River Basin were analyzed,and the constructive countermeasures were put forward according to the conclusions.
