This paper presents an adaptive friction compensation method based on LuGre model for large diameter electric-hydraulic proportional valves in which the valve core contains friction.A mathematic model of the electric-...This paper presents an adaptive friction compensation method based on LuGre model for large diameter electric-hydraulic proportional valves in which the valve core contains friction.A mathematic model of the electric-hydraulic proportional valve is established,and the friction characteristics are described based on the LuGre model.The global asymptotic stability of the control system with the adaptive friction compensation controller is guaranteed over Lyapunov theorem.The adaptive compensation of the friction on LuGre friction model is verified by simulation and experiment.The steady-state error is about [-4.23 × 10^(-5)m,5.91 × 10^(-5)m]and[-2.5 × 10^(-4)m,2.6 ×10^(-4) m] on simulation and experiment,the position tracking accuracy is higher,and the lag time of the main valve through the dead zone is shorter.The result proves that the adaptive friction compensation method can effectively compensate for the negative effects of nonlinear friction.展开更多
为挖掘油莎豆匍匐茎形成茎豆过程中的关键代谢物质,调控匍匐茎形成更多的茎豆,以匍匐茎及新茎豆为研究对象,利用高效液相色谱联合三重四极杆质谱仪进行广泛靶向代谢组学分析,采用多元统计学方法挖掘与茎豆形成相关的差异代谢物质,并富...为挖掘油莎豆匍匐茎形成茎豆过程中的关键代谢物质,调控匍匐茎形成更多的茎豆,以匍匐茎及新茎豆为研究对象,利用高效液相色谱联合三重四极杆质谱仪进行广泛靶向代谢组学分析,采用多元统计学方法挖掘与茎豆形成相关的差异代谢物质,并富集差异代谢物相关的KEGG代谢通路。结果表明,未膨大匍匐茎(PFJ1)、膨大匍匐茎(PFJ2)及新茎豆(JD1)3组样本中共检测到1 217个代谢物。按照变量投影重要度(VIP)>1、P<0.05且差异倍数(FC)>2或FC<0.5的条件进行差异代谢物筛选,JD1 vs PFJ1筛选到35个差异代谢物,其中26个上调表达,9个下调表达;JD1 vs PFJ2筛选到57个差异代谢物,其中50个上调表达,7个下调表达;PFJ2 vs PFJ1筛选到39个差异代谢物,其中3个上调表达,36个下调表达。利用数据库对代谢物进行定性分析,差异表达代谢物主要被鉴定为氨基酸及其衍生物、核苷酸及其衍生物、有机氧化合物、黄酮类、苯丙素类、酚类等。差异表达代谢物相对含量分析显示,JD1谷胱甘肽含量是PFJ1的14.021倍、PFJ2的29.195倍;JD1 3-甲基组氨酸含量是PFJ1的10.463倍、PFJ2的129.931倍;JD1山柰酚含量是PFJ1的0.421倍、PFJ2的0.358倍。进一步的KEGG通路分析显示,差异表达代谢物主要富集到氨酰-tRNA生物合成,精氨酸和脯氨酸代谢,丙氨酸、天冬氨酸及谷氨酸代谢,苯丙氨酸代谢,黄酮及黄酮醇生物合成等代谢通路。综上,与油莎豆茎豆形成相关的代谢物质主要为氨基酸类及黄酮类物质;代谢通路主要集中在氨酰-tRNA生物合成及黄酮和黄酮醇生物合成途径中。展开更多
基金Supported by the National Key Basic Research Program of China(No.2014CB046405)Key Projects in the National Science&Technology Pillar Program during the Twelfth Five-year Plan of China(No.2014BAF02B00,2011BAF09B04)
文摘This paper presents an adaptive friction compensation method based on LuGre model for large diameter electric-hydraulic proportional valves in which the valve core contains friction.A mathematic model of the electric-hydraulic proportional valve is established,and the friction characteristics are described based on the LuGre model.The global asymptotic stability of the control system with the adaptive friction compensation controller is guaranteed over Lyapunov theorem.The adaptive compensation of the friction on LuGre friction model is verified by simulation and experiment.The steady-state error is about [-4.23 × 10^(-5)m,5.91 × 10^(-5)m]and[-2.5 × 10^(-4)m,2.6 ×10^(-4) m] on simulation and experiment,the position tracking accuracy is higher,and the lag time of the main valve through the dead zone is shorter.The result proves that the adaptive friction compensation method can effectively compensate for the negative effects of nonlinear friction.
文摘为挖掘油莎豆匍匐茎形成茎豆过程中的关键代谢物质,调控匍匐茎形成更多的茎豆,以匍匐茎及新茎豆为研究对象,利用高效液相色谱联合三重四极杆质谱仪进行广泛靶向代谢组学分析,采用多元统计学方法挖掘与茎豆形成相关的差异代谢物质,并富集差异代谢物相关的KEGG代谢通路。结果表明,未膨大匍匐茎(PFJ1)、膨大匍匐茎(PFJ2)及新茎豆(JD1)3组样本中共检测到1 217个代谢物。按照变量投影重要度(VIP)>1、P<0.05且差异倍数(FC)>2或FC<0.5的条件进行差异代谢物筛选,JD1 vs PFJ1筛选到35个差异代谢物,其中26个上调表达,9个下调表达;JD1 vs PFJ2筛选到57个差异代谢物,其中50个上调表达,7个下调表达;PFJ2 vs PFJ1筛选到39个差异代谢物,其中3个上调表达,36个下调表达。利用数据库对代谢物进行定性分析,差异表达代谢物主要被鉴定为氨基酸及其衍生物、核苷酸及其衍生物、有机氧化合物、黄酮类、苯丙素类、酚类等。差异表达代谢物相对含量分析显示,JD1谷胱甘肽含量是PFJ1的14.021倍、PFJ2的29.195倍;JD1 3-甲基组氨酸含量是PFJ1的10.463倍、PFJ2的129.931倍;JD1山柰酚含量是PFJ1的0.421倍、PFJ2的0.358倍。进一步的KEGG通路分析显示,差异表达代谢物主要富集到氨酰-tRNA生物合成,精氨酸和脯氨酸代谢,丙氨酸、天冬氨酸及谷氨酸代谢,苯丙氨酸代谢,黄酮及黄酮醇生物合成等代谢通路。综上,与油莎豆茎豆形成相关的代谢物质主要为氨基酸类及黄酮类物质;代谢通路主要集中在氨酰-tRNA生物合成及黄酮和黄酮醇生物合成途径中。