This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transi...This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.展开更多
This paper investigates the asymptotical stabilization of Hamiltonian control systems with time delay. First, Hamiltonian control systems with time delay are proposed. Second, a two-to-one （TTO） principle is introdu...This paper investigates the asymptotical stabilization of Hamiltonian control systems with time delay. First, Hamiltonian control systems with time delay are proposed. Second, a two-to-one （TTO） principle is introduced that two different Hamiltonian functions are simultaneously energy-shaping by one desired energy function. Third, a novel matching equation is built via the TTO principle for the Hamiltonian control systems with time delay, which generates an effective control law for the Hamiltonian control systems with time delay. Finally, a numerical example shows the effectiveness of proposed method.展开更多
In this paper, the asymptotic stability of Port-Hamiltonian (PH) systems with constant inputs is studied. Constant inputs are useful for stabilizing systems at their nonzero equilibria and can be realized by step sign...In this paper, the asymptotic stability of Port-Hamiltonian (PH) systems with constant inputs is studied. Constant inputs are useful for stabilizing systems at their nonzero equilibria and can be realized by step signals. To achieve this goal, two methods based on integral action and comparison principle are presented in this paper. These methods change the convex Hamiltonian function and the restricted damping matrix of the previous results into a Hamiltonian function with a local minimum and a positive semidefinite matrix, respectively. Due to common conditions of Hamiltonian function and damping matrix, the proposed method asymptotically stabilizes more classes of PH systems with constant inputs than the existing methods. Finally, the validity and advantages of the presented methods are shown in an example.展开更多
The permanent magnet electromagnetic hybridmagnet (PEHM) has the advantages of low energy consumptionand a large suspension air gap. In this study, an unbalancedPEHM structure is proposed, which combines the advantage...The permanent magnet electromagnetic hybridmagnet (PEHM) has the advantages of low energy consumptionand a large suspension air gap. In this study, an unbalancedPEHM structure is proposed, which combines the advantages ofthe previous hybrid magnet structure. First, by establishing themagnetic circuit model of the new hybrid magnet structure, theinfluence of magnetic field distribution on the working magneticcircuit of the magnet is analyzed, and the method of magneticforce correction calculation of the new structure magnet isgiven. Then, the validity of the magnetic calculation method isverified by the 3D finite element method (FEM). Furthermore, theaverage suspension power force ratio is used as the optimizationgoal, and the system parameters of the hybrid magnet under aworking air gap of 6–10 mm and a load condition of 15000–20000 N are optimized by a genetic algorithm. Compared withthe previous hybrid magnet, the optimized hybrid magnet systemcan maintain lower power consumption under comprehensiveworking conditions.展开更多
基金supported by the National Natural Science Foundation of China(Nos.61125301,60974026)
文摘This paper investigates the asymptotical stabilization of port-controlled Hamiltonian （PCH） systems via the improved potential energy-shaping （IPES） method. First, a desired potential energy introduced by a transitive Hamiltonian function is added to the original kinetic energy to yield a desired Hamiltonian function. Second, an asymptotically stabilized controller is designed based on a new matching equation with the obtained Hamiltonian function. Finally, a numerical example is given to show the effectiveness of the proposed method.
基金supported by the National Science Fund for Distinguished Youth Scholars of China (No. 61125301)
文摘This paper investigates the asymptotical stabilization of Hamiltonian control systems with time delay. First, Hamiltonian control systems with time delay are proposed. Second, a two-to-one （TTO） principle is introduced that two different Hamiltonian functions are simultaneously energy-shaping by one desired energy function. Third, a novel matching equation is built via the TTO principle for the Hamiltonian control systems with time delay, which generates an effective control law for the Hamiltonian control systems with time delay. Finally, a numerical example shows the effectiveness of proposed method.
基金supported by the National Nature Science Fund of China(No.61603311).
文摘In this paper, the asymptotic stability of Port-Hamiltonian (PH) systems with constant inputs is studied. Constant inputs are useful for stabilizing systems at their nonzero equilibria and can be realized by step signals. To achieve this goal, two methods based on integral action and comparison principle are presented in this paper. These methods change the convex Hamiltonian function and the restricted damping matrix of the previous results into a Hamiltonian function with a local minimum and a positive semidefinite matrix, respectively. Due to common conditions of Hamiltonian function and damping matrix, the proposed method asymptotically stabilizes more classes of PH systems with constant inputs than the existing methods. Finally, the validity and advantages of the presented methods are shown in an example.
基金the Fundamental Research Funds for the Central Universities of China(No.2682017CX050).
文摘The permanent magnet electromagnetic hybridmagnet (PEHM) has the advantages of low energy consumptionand a large suspension air gap. In this study, an unbalancedPEHM structure is proposed, which combines the advantages ofthe previous hybrid magnet structure. First, by establishing themagnetic circuit model of the new hybrid magnet structure, theinfluence of magnetic field distribution on the working magneticcircuit of the magnet is analyzed, and the method of magneticforce correction calculation of the new structure magnet isgiven. Then, the validity of the magnetic calculation method isverified by the 3D finite element method (FEM). Furthermore, theaverage suspension power force ratio is used as the optimizationgoal, and the system parameters of the hybrid magnet under aworking air gap of 6–10 mm and a load condition of 15000–20000 N are optimized by a genetic algorithm. Compared withthe previous hybrid magnet, the optimized hybrid magnet systemcan maintain lower power consumption under comprehensiveworking conditions.
