An MPC-based manoeuvre stability controller for full drive-by-wire vehicles

Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle dynamics are predicted by a twodegree-of-freedom vehicle model with input delay.Secondly,in order to prevent the vehicle from destabilizing due to excessive side slip angles,the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment.Moreover,in order to improve the trajectory tracking ability,a side slip angle constraint determined by phase plane stability boundaries is added to the cost function.The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases.Meanwhile,the trajectory tracking ability is improved obviously by compensating the time delay.

The prediction of projectile-target intersection for moving tank based on adaptive robust constraint-following control and interval uncertainty analysis

To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.

Study on creep deformation and energy development of underground surrounding rock under four‐dimensional support

There is an urgent need to develop optimal solutions for deformation control of deep high‐stress roadways,one of the critical problems in underground engineering.The previously proposed four‐dimensional support(hereinafter 4D support),as a new support technology,can set the roadway surrounding rock under three‐dimensional pressure in the new balanced structure,and prevent instability of surrounding rock in underground engineering.However,the influence of roadway depth and creep deformation on the surrounding rock supported by 4D support is still unknown.This study investigated the influence of roadway depth and creep deformation time on the instability of surrounding rock by analyzing the energy development.The elastic strain energy was analyzed using the program redeveloped in FLAC3D.The numerical simulation results indicate that the combined support mode of 4D roof supports and conventional side supports is highly applicable to the stability control of surrounding rock with a roadway depth exceeding 520 m.With the increase of roadway depth,4D support can effectively restrain the area and depth of plastic deformation in the surrounding rock.Further,4D support limits the accumulation range and rate of elastic strain energy as the creep deformation time increases.4D support can effectively reduce the plastic deformation of roadway surrounding rock and maintain the stability for a long deformation period of 6 months.As confirmed by in situ monitoring results,4D support is more effective for the long‐term stability control of surrounding rock than conventional support.

Multi-objective Stability Control Algorithm of Heavy Tractor Semi-trailer Based on Differential Braking

Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.

Stability influence factors analysis and construction of a deep beam anchorage structure in roadway roof

Deep beam anchorage structures based on spatial distribution analysis of the cable prestressed field have been proposed for roadway roof support, Stability and other factors that influence deep beam structures are studied in this paper using mechanical calculations, numerical analysis and field measurements, A mechanical model of deep beam structure subjected to multiple loading is established, including analysis of roof support in the return airway of S1203 working face in the Yuwu coal mine, China, The expression of maximum shear stress in the deep beam structure is deduced according to the stress superposition criterion, It is found that the primary factors affecting deep beam structure stability are deep beam thickness, cable pre-tension and cable spacing, The variation of maximum shear stress distribution and prestressed field diffusion effects according to various factors are analyzed using Matlah and FLAC3DTM software, and practical support parameters of the S1203 return airway roof are determined, According to the observations of rock pressure, there is no evidence of roof separation, and the maximum values of roof subsidence and convergence of wall rock are 72 and 48 mm, respectively, The results show that the proposed roof support design with a deep beam structure is feasible and achieves effective control of the roadway roof,

Four Wheel Independent Drive Electric Vehicle Lateral Stability Control Strategy

In this paper,a kind of lateral stability control strategy is put forward about the four wheel independent drive electric vehicle.The design of control system adopts hierarchical structure.Unlike the previous control strategy,this paper introduces a method which is the combination of sliding mode control and optimal allocation algorithm.According to the driver’s operation commands(steering angle and speed),the steady state responses of the sideslip angle and yaw rate are obtained.Based on this,the reference model is built.Upper controller adopts the sliding mode control principle to obtain the desired yawing moment demand.Lower controller is designed to satisfy the desired yawing moment demand by optimal allocation of the tire longitudinal forces.Firstly,the optimization goal is built to minimize the actuator cost.Secondly,the weighted least-square method is used to design the tire longitudinal forces optimization distribution strategy under the constraint conditions of actuator and the friction oval.Beyond that,when the optimal allocation algorithm is not applied,a method of axial load ratio distribution is adopted.Finally,Car Sim associated with Simulink simulation experiments are designed under the conditions of different velocities and different pavements.The simulation results show that the control strategy designed in this paper has a good following effect comparing with the reference model and the sideslip angle is controlled within a small rang at the same time.Beyond that,based on the optimal distribution mode,the electromagnetic torque phase of each wheel can follow the trend of the vertical force of the tire,which shows the effectiveness of the optimal distribution algorithm.

An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model

Due to the bus characteristics of large quality,high center of gravity and narrow wheelbase,the research of its yaw stability control(YSC)system has become the focus in the field of vehicle system dynamics.However,the tire nonlinear mechanical properties and the effectiveness of the YSC control system are not considered carefully in the current research.In this paper,a novel adaptive nonsingular fast terminal sliding mode(ANFTSM)control scheme for YSC is proposed to improve the bus curve driving stability and safety on slippery roads.Firstly,the STI(Systems Technologies Inc.)tire model,which can effectively reflect the nonlinear coupling relationship between the tire longitudinal force and lateral force,is established based on experimental data and firstly adopted in the bus YSC system design.On this basis,a more accurate bus lateral dynamics model is built and a novel YSC strategy based on ANFTSM,which has the merits of fast transient response,finite time convergence and high robustness against uncertainties and external disturbances,is designed.Thirdly,to solve the optimal allocation problem of the tire forces,whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire,the robust least-squares allocation method is adopted.To verify the feasibility,effectiveness and practicality of the proposed bus YSC approach,the TruckSim-Simulink co-simulation results are finally provided.The co-simulation results show that the lateral stability of bus under special driving conditions has been significantly improved.This research proposes a more effective design method for bus YSC system based on a more accurate tire model.

Reliability and sensitivity analysis of loop-designed security and stability control system in interconnected power systems

Security and stability control system(SSCS)in power systems involves collecting information and sending the decision from/to control stations at different layers;the tree structure of the SSCS requires more levels.Failure of a station or channel can cause all the execution stations(EXs)to be out of control.The randomness of the controllable capacity of the EXs increases the difficulty of the reliability evaluation of the SSCS.In this study,the loop designed SSCS and reliability analysis are examined for the interconnected systems.The uncertainty analysis of the controllable capacity based on the evidence theory for the SSCS is proposed.The bidirectional and loop channels are introduced to reduce the layers and stations of the existing SSCS with tree configuration.The reliability evaluation and sensitivity analysis are proposed to quantify the controllability and vulnerable components for the SSCS in different configurations.By aiming at the randomness of the controllable capacity of the EXs,the uncertainty analysis of the controllable capacity of the SSCS based on the evidence theory is proposed to quantify the probability of the SSCS for balancing the active power deficiency of the grid.

Mechanics criterion and factors affecting overburden stability in solid dense filling mining

The effect of controlling strata movement in solid filling mining depends on the filling rate of the goal. However, the mechanical property of the overburden in the backfill stope and the designed size of the backfill mining workface should also be considered. In this study, we established a main roof strata model with loads in accordance with the theory of key strata to investigate the stability of the overburden in solid dense filling mining. We analyzed the stress distribution law of the main roof strata based on elastic thin plate theory. The results show that the position of the long side midpoint of the main roof strata failed more easily because of tensile yield, indicating that this position is the area where failure is likely to occur more easily. We also deduced the stability mechanics criterion of the main roof strata based on tensile yield criterion. The factors affecting the stability of the overburden in solid dense filling mining were also analyzed, including the thickness and elasticity modulus of the main roof strata, overlying strata loads, advanced distance and length of workface, and elastic foundation coefficient of backfill body. The research achievements can provide an important theoretical basis for determining the designed size of the solid dense filling mining workface.

Stability of coal pillar in gob-side entry driving under unstable overlying strata and its coupling support control technique

Considering the situation that it is difficult to control the stability of narrow coal pillar in gob-side entry driving under unstable overlying strata, the finite difference numerical simulation method was adopted to analyze the inner stress distribution and its evolution regularity, as well as the deformation characteristics of narrow coal pillar in gob-side entry driving, in the whole process from entry driving of last working face to the present working face mining. A new method of narrow coal pillar control based on the triune coupling support technique (TCST), which includes that high-strength prestressed thread steel bolt is used to strain the coal on the goaf side, and that short bolt to control the integrity of global displacement zone in coal pillar on the entry side, and that long grouting cable to fix anchor point to constrain the bed separation between global displacement zone and fixed zone, is thereby generated and applied to the field production. The result indicates that after entry excavating along the gob under unstable overlying strata, the supporting structure left on the gob side of narrow coal pillar is basically invalid to maintain the coal-pillar stability, and the large deformation of the pillar on the gob side is evident. Except for the significant dynamic pressure appearing in the coal mining of last working face and overlying strata stabilizing process, the stress variation inside the coal pillar in other stages are rather steady, however, the stress expansion is obvious and the coal pillar continues to deform. Once the gob-side entry driving is completed, a global displacement zone on the entry side appears in the shallow part of the pillar, whereas, a relatively steady fixed zone staying almost still in gob-side entry driving and present working face mining is found in the deep part of the pillar. The application of TCST can not only avoid the failure of pillar supporting structure, but exert the supporting capacity of the bolting structure left in the pillar of last sublevel entry, thus to jointly maintain the stability of coal pillar.

Stability control of multi-parameter adaptive wireless communication systems based on multi-Lyapunov function

With the occurrence of burst interference,bit error rate( BER) stability of the wireless communication system( WCS) always degrades significantly. To cope with it,a stability control algorithm is proposed,utilizing the stability theory of switched systems,which is specifically applicable for multi-parameter adaptive WCS with spectrum sensing ability,and it is capable of stabilizing BER within a reasonable range. Firstly,WCS is modeled as a switched system. Then,based on the multi-Lyapunov function,controlling rules are presented to enable the switched system to satisfy stable condition asymptotically. Finally,analysis and numerical simulation results demonstrate that the switched WCS with the proposed controlling rules is superior to conventional power-controlled WCS with or without state feedback control in terms of stability performance.

ABSOLUTE STABILITY OF GENERAL LURIE CONTROL SYSTEMS

In this paper, we investigate the absolute stability of the general Lurie control systems. The necessary and sufficient conditions for absolute stability are obtained. These conditions can be readily checked and are convenient in application.

Map-based control method for vehicle stability enhancement

This work proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka's tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low friction coefficient. However, map-based control determines a compensated yaw moment to maintain the vehicle within the stability region,so the typical responses of vehicle enable to converge rapidly. The simulation results with sine and step steering show that map-based control provides better the tracking responsibility and control performance than model-referenced control.

Stability analysis and stabilization of wireless networked control systems based on deadband control scheduling

The stability analysis and stabilization problems of the wireless networked control systems(WNCSs) with signal transmission deadbands were considered. The deadbands were respectively set up at the sensor to the controller and the controller to the actor sides in the WNCS, which were used to reduce data transmission, furthermore, to decrease the network collision and node energy consumption. Under the consideration of time-varying delays and signal transmission deadbands, the model for the WNCS was presented. A novel Lyapunov functional which took full advantages of the network factors was exploited. Meanwhile, new stability analysis and stabilization conditions for the WNCS were proposed, which described the relationship of the delay bounds, the transmission deadband bounds and the system stability. Two examples were used to demonstrate the effectiveness of the proposed methods. The results show that the proposed approach can guarantee asymptotical stability of the system and reduce the data transmission effectively.

MHD Stability Analysis and Flow Controls of Liquid Metal Free Surface Film Flows as Fusion Reactor PFCs

Numerical and experimental investigation results on the magnetohydrodynamics（MHD） film flows along flat and curved bottom surfaces are summarized in this study. A simplified modeling has been developed to study the liquid metal MHD film state, which has been validated by the existing experimental results. Numerical results on how the inlet velocity（V）, the chute width（W） and the inlet film thickness（d0） affect the MHD film flow state are obtained. MHD stability analysis results are also provided in this study. The results show that strong magnetic fields make the stable V decrease several times compared to the case with no magnetic field,especially small radial magnetic fields（Bn） will have a significant impact on the MHD film flow state. Based on the above numerical and MHD stability analysis results flow control methods are proposed for flat and curved MHD film flows. For curved film flow we firstly proposed a new multi-layers MHD film flow system with a solid metal mesh to get the stable MHD film flows along the curved bottom surface. Experiments on flat and curved MHD film flows are also carried out and some firstly observed results are achieved.

NASCS FOR THE ABSOLUTE STABILITY OF LURE DIRECT CONTROL SYSTEMS

In this paper, we transform n-th order Lure direct control systems into nonlinear systems with separating variables, and induce a concept for absolute stability of part arguments. The necessary and sufficient conditions (NASC) for the absolute stability of Lure direct control systems are given and some sufficient conditions are obtained

Delay-dependent asymptotic stability of mobile ad-hoc networks:A descriptor system approach

In order to analyze the capacity stability of the time-varying-propagation and delay-dependent of mobile ad-hoc networks （MANETs）, in this paper, a novel approach is proposed to explore the capacity asymptotic stability for the delay- dependent of MANETs based on non-cooperative game theory, where the delay-dependent conditions are explicitly taken into consideration. This approach is based on the Lyapunov-Krasovskii stability theory for functional differential equations and the linear matrix inequality （LMI） technique. A corresponding Lyapunov-Krasovskii functional is introduced for the stability analysis of this system with use of the descriptor and ＂neutral-type＂ model transformation without producing any additional dynamics. The delay-dependent stability criteria are derived for this system. Conditions are given in terms of linear matrix inequalities, and for the first time referred to neutral systems with the time-varying propagation and delay- dependent stability for capacity analysis of MANETs. The proposed criteria are less conservative since they are based on an equivalent model transformation. Furthermore, we also provide an effective and efficient iterative algorithm to solve the constrained stability control model. Simulation experiments have verified the effectiveness and efficiency of our algorithm.

Analysis and control of hydraulic support stability in fully-mechanized longwall face to the dip with great mining height

The working condition of the hydraulic support in working face can be divided into three kinds of situations in the following： roof fall and col,lapse with cavity, advancing support and supporting. Took single support with four-pole in Iongwall face to the dip as research object, control method was studied to avoid support instability in three situations mentioned above. Based on these researches, the major factors of influencing on support stability and its controlling measures were put forward. According to specific conditions of working face 1215（3）, which is fully-mechanized and Iongwall face to the dip with great mining height in Zhangji Coal Mine, Huainan Mining Group, the effective measures was taken to control supports stability..

Generalization of integral inequalities and (c_1,c_1) stability of neutral differential equations with time-varying delays

A uniform stability analysis is developed for a type of neutral delays differential equations which depend on more general nonlinear integral inequalities. Many original investigations and results are obtained. Firstly, generations of two integral nonlinear inequalities are presented, which are very effective in dealing with the complicated integro-differential inequalities whose variable exponents are greater than zero. Compared with existed integral inequalities, those proposed here can be applied to more complicated differential equations, such as time-varying delay neutral differential equations. Secondly, the notions of (ω, Ω) uniform stable and (ω, Ω) uniform asymptotically stable, especially (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable, are presented. Sufficient conditions on about (c1, c1) uniform stable and (c1, c1) uniform asymptotically stable of time-varying delay neutral differential equations are established by the proposed integral inequalities. Finally, a complex numerical example is presented to illustrate the main results effectively. The above work allows to provide further applications on the proposed stability analysis and control system design for different nonlinear systems. © 2017 Beijing Institute of Aerospace Information.

Stability analysis of the simplest Takagi-Sugeno fuzzy control system using circle criterion

A frequency-domain-based sufficient condition is derived to guarantee the globally asymptotic stability of the simplest Takagi-Sugeno （T-S） fuzzy control system by using the circle criterion. The analysis is performed in the frequency domain, and hence the condition is of great significance when the frequency-response method, which is widely used in the linear control theory and practice, is employed to synthesize the simplest T-S fuzzy controller. Besides, this sufficient condition is featured by a graphical interpretation, which makes the condition straightforward to be used. Comparisons are drawn between the performance of the simplest T-S fuzzy controller and that of the linear compensator. Two numerical examples are presented to demonstrate how this sufficient condition can be applied to both stable and unstable plants.