基于级联惯性负载转矩观测器的永磁伺服电机复合抗扰控制

针对永磁伺服电机在运行时位置跟踪精度差和抗干扰性能弱等问题,提出一种模型预测位置控制与非奇异快速终端滑模速度控制相结合的复合模型预测控制策略。该控制策略采用非奇异快速终端滑模设计速度控制器,以有效提高响应速度及系统鲁棒性;采用模型预测位置控制提高位置跟踪精度;同时,采用基于转动惯量观测和负载转矩观测器相结合的级联惯性负载转矩观测器观测负载转矩并进行前馈补偿,进一步提高系统的抗干扰性能。通过仿真和实验结果可得,所提复合模型预测控制可有效提高永磁伺服电机的动态响应速度和抗负载扰动能力。

Permanence and Global Stability for a Non-Autonomous Predator-Prey Model with Modified Leslie-Gower and Holling-Type II Schemes with Delays

In this paper, a nonautonomous predator-prey system based on a modified version of the Leslie-Gower scheme and Holling-type II scheme with delayed effect is investigated. The general criteria of integrable form on the permanence are established. By constructing suitable Lyapunov functionals, a set of easily verifiable sufficient conditions are derived for global stability of any positive solutions to the

On the Permanence of a Nonautonomous Nicholson’s Blowflies Model with Feedback Control and Delay

A nonautonomous Nicholson's Blowflies model with feedback control and delay is investigated in this paper. We show that for this system, feedback control variable has no influence on the persistent property of the system.

Permanence and periodic solutions of delayed predator-prey system with impulse

The existence of positive periodic solution of a generalized semi-ratio-dependent predator-prey system with time delay and impulse is studied by using the continuation theorem based on the coincidence degree theory. The permanence of the system is also considered. The results partially improve and extend some known criteria.

Permanence and global attractivity of stage-structured predator-prey model with continuous harvesting on predator and impulsive stocking on prey

We investigate a stage-structured delayed predator-prey model with impulsive stocking on prey and continuous harvesting on predator. According to the fact of biological resource management, we improve the assumption of a predator-prey model with stage structure for predator population that each individual predator has the same ability to capture prey. It is assumed that the immature and mature individuals of the predator population are divided by a fixed age, and immature predator population does not have the ability to attach prey. Sufficient conditions are obtained, which guarantee the global attractivity of predator-extinction periodic solution and the permanence of the system. Our results show that the behavior of impulsive stocking on prey plays an important role for the permanence of the system, and provide tactical basis for the biological resource management. Numerical analysis is presented to illuminate the dynamics of the system.

PERMANENCE AND ASYMPTOTIC PROPERTIES OF NONLINEAR DELAY DIFFERENCE EQUATIONS

The asymptotic behavior of a class of nonlinear delay difference equation wax studied . Some sufficient conditions are obtained for permanence and global attractivity . The results can be applied to a claxs of nonlinear delay difference equations and to the delay discrete Logistic model and some known results are included.

Permanence and Positive Periodic Solutions for Kolmogorov Competing Species Systems with Periodic Forced Terms

In this paper，we consider the Kolmogorov type n-species competition systems with forced terms．We prove that this system is permanent in the case of which there are positive forced terms in this system;and if there are several negative forced terms in this system，it has at least two positive periodic solutions.

Partial extinction, permanence and global attractivity innonautonomous n-species Lotka-Volterra competitivesystems with impulses

In this paper, the qualitative properties of general nonautonomous Lotka-Volterran-species competitive systems with impulsive e？ects are studied. Some new criteria on thepermanence, extinction and global attractivity of partial species are established by used themethods of inequalities estimate and Liapunov functions. As applications, nonautonomous twospecies Lotka-Volterra systems with impulses are discussed.

The permanence of a higher order discrete time system

The permanence of a nonlinear higher order discrete time system from macroeconomics is studied, and a sufficient condition is proposed for the permanence of the system described by 11(,...,)nnnnkxrxfxx---=+ where :kfRR, the initial values 01,,kxx-are real numbers and [0,1)r is constant after exploring the relationship between this equation and 1(,...,)nnnkxfxx--= for certain classes of function f. As an application a short proof is given to a known result in a simpler way than ever reported.

PERMANENCE AND PERSISTENCE OF TIME VARYING LOTKA-VOLTERRA SYSTEMS

In this article, the permanence and persistence for thrce classes time varying Lotka-Volterra ecological system are investigated by using Lyapunov stability analysis and constrncting the compact set of attraction. Some examples are given to illustrate the theorems.

Permanence of a Nicholson's Blowflies Model with Feedback Control and Multiple Time-varying Delays

This paper covers the dynamic behaviors for a class of Nicholson’s blowflies model with multiple time-varying delay and feedback control. By using the dierential inequality theory, a set of sucient conditions are obtained to ensure the permanence of the system. Our result shows that feedback control variables have no influence on the permanence of the system.

Permanence, Periodicity and Extinction of a Delayed Biological System with Stage-Structured Preference for Predator

This study considers a delayed biological system of predator-prey interactions where the predator has stage-structured preference. It is assumed that the prey population has two stages: immature and mature. The predator population has different preference for the stage-structured prey. This type of behavior has been reported in Asecodes hispinarum and Microplitis mediator. By some lemmas and methods of delay differential equation, the conditions for the permanence, existence of positive periodic solution and extinction of the system are obtained. Numerical simulations are presented that illustrate the analytical results as well as demonstrate certain biological phenomena. In particular, overcrowding of the predator does not affect the persistence of the system, but our numerical simulations suggest that overcrowding reduces the density of the predator. Under the assumption that immature prey is easier to capture, our simulations suggest that the predator’s preference for immature prey increases the predator density.

The permanence and global attractivity of a competitive system with feedback controls and toxic substance

In this paper,we consider a nonautonomous competitive system with feedback controls and toxic substance.Some average couditions for the permanence and global attractivity of the system are obtained.It is shown that our results are generalization or improvement of those of Zhao,Jiang and Lazer [Nonlinear Analysis:Real World Applications,5(4)(2004),265-276],Xia,Cao,Zhang and Chen [Journal of Mathematical Analysis and Applications,294(2)(2004),503-522] and Chen [Nonlinear Analysis:Real World Applications,in press]

生物活性陶瓷iRoot BP Plus^(■)在儿童年轻恒前牙复杂冠折牙髓切断术中的应用

目的:观察生物活性陶瓷材料iRoot BP Plus^(■)(Innovative BioCeramix Inc,Vancouver,BC,Canada)在儿童年轻恒前牙复杂冠折牙髓切断术中的应用,并对其预后进行分析,为该术式的更广泛应用提供临床参考。方法:收集2017年3月至2022年9月因恒前牙复杂冠折就诊于北京大学口腔医院急诊科,行以生物活性陶瓷iRoot BP Plus^(■)为盖髓剂的牙髓切断术患者。根据患者术前根尖片和初诊病历显示为年轻恒牙者,纳入97颗年轻恒牙进行研究。收集患者初诊及复查时的临床及影像学检查资料,临床检查包括根尖孔形成情况、松动度、牙冠颜色、牙髓活力测试(冷测)、有无脓肿和瘘管,影像学检查包括根周膜连续性、根尖周低密度影像、复诊时盖髓剂下方牙本质桥形成情况、髓腔及根管钙化情况,并对上述结果进行分析。结果:最终纳入有复诊记录的64例患者共75颗患牙,其中男性37例(57.8%),女性27例(42.2%),就诊时平均年龄为9.1岁,平均随访时长19.3个月。采用iRoot BP Plus^(■)盖髓的牙髓切断术后6个月成功率为96.0%,术后1年成功率为94.7%。术后复查2年以上者共23例,累计失败6例。成功率在患牙就诊时距外伤的时间是否超过24 h组中(P=0.61)以及是否松动组中(P=0.28)的差异无统计学意义。结论:对无移位性损伤的年轻恒牙复杂冠折患牙,采用iRoot BP Plus^(■)盖髓的牙髓切断术1年成功率很高,该术式具备广泛推广价值。

飞轮储能用永磁同步电机温度场分析

针对飞轮储能用永磁同步电机散热困难的问题,以某额定功率为300 kW、转速为10000 r/min的永磁同步电机为研究对象,利用磁热耦合的方法,对永磁同步电机的损耗和温度场进行模拟及测试分析,研究永磁同步电机的损耗及电机热分布;利用热仿真模型,研究电机关键部件散热的影响因素。结果表明:高温主要集中于永磁体及绕组区域;减小流道宽度、增大流道数目以及增大流道圆角半径可有效提高定子散热性能;辐射率越高,永磁体散热性能越好;改进电机结构后,永磁体最高温度下降10.5%。研究结果可为永磁同步电机的设计及散热优化提供参考。

永久性肠造口患者社会参与感受现状及影响因素

目的探讨永久性肠造口患者社会参与感受现状,并分析其影响因素。方法选取2022年1月至2023年1月于郑州大学第二附属医院普通外科一病区、二病区、伤口造口门诊就诊的152例永久性肠造口患者作为研究对象。采用社会参与感受量表、智谋量表、社会影响量表进行调查。采用多元线性回归分析永久性肠造口患者社会参与感受的影响因素。结果永久性肠造口患者社会参与感受得分为(80.38±12.95)分。多元线性回归分析显示,年龄、造口术后时间、智谋和病耻感是永久性肠造口患者社会参与感受的影响因素(P<0.05)。结论永久性肠造口患者社会参与感受较差,年龄、造口术后时间、智谋和病耻感是永久性肠造口患者社会参与感受的主要影响因素,提示医务人员应当关注相关因素,采取干预措施提高患者智谋水平,降低其病耻感,以增强患者社会参与的幸福感。

3D打印混凝土永久模板叠合柱的抗压性能数值模拟研究

为深入研究3D打印混凝土永久模板叠合柱的抗压性能,基于3D打印混凝土永久模板叠合柱及同尺寸整体现浇对照柱试验建立构件数值模型,模拟分析其轴压荷载-位移响应及失效形态。针对界面粘结性能、现浇混凝土抗压强度、打印模板厚度、荷载偏心距等参数开展3D打印混凝土永久模板叠合柱的抗压性能计算分析,研究表明:叠合柱轴压极限承载力随着薄弱界面剪切强度、刚度及现浇混凝土抗压强度的增大而增大。由于打印材料的抗压强度高于现浇混凝土,叠合柱抗压极限承载力提升率与打印模板厚度呈近似线性关系,叠合圆柱的抗压极限承载力随着荷载偏心距的增大而降低,呈近似线性负相关。此外,偏心距对叠合圆柱极限承载力下降幅度的影响大于现浇圆柱。

永磁同步电机交直轴电流解耦控制方法综述

该文归纳整理永磁同步电机交直轴电流解耦控制方法,分析各种解耦方法的思想来源、脉络体系和演变过程,论证不同解耦方法的解耦本质和内在联系。从整体和局部视角出发,建立解耦问题的思维架构,概括出对角化解耦、抗干扰解耦和逆系统解耦3类方法。3类方法依次体现出模型依赖性降低、鲁棒性增强、算法复杂度提高的趋势,呈现出从“模型论”向“控制论”过渡的技术发展路线。讨论参数不确定条件下各种解耦控制方法的鲁棒性,指出将解耦方法与先进控制算法、扰动观测技术、系统辨识方法以及人工智能方法相结合,并充分利用已知的模型信息,有利于提升交直轴电流解耦效果,增强系统鲁棒性,减弱单一观测器、控制器、滤波器等的设计难度与参数整定要求,有助于实现系统全局最优。最后,对永磁同步电机交直轴电流解耦问题的关键技术、应用与发展做出展望。

基于改进正交锁相环的永磁同步电机无位置传感器控制

针对传统正交锁相环(QPLL)应用于永磁同步电机无位置传感器控制中存在的反转失效与加、减速工况下出现显著的转子位置直流偏移误差问题,该文提出一种改进的正交锁相环(IQPLL)。其通过重构鉴相器环节,使得鉴相器的输出与永磁同步电机的转向不再相关,从而解决传统QPLL在电机反转时估算转子位置出现180°偏差的问题。此外,在新型鉴相器结构下,设计前馈环路以补偿加、减速工况下的位置直流偏移误差。并建立了IQPLL的小信号模型,根据系统的频率响应特性给出了IQPLL的参数设计方法。实验结果表明,相对于传统的QPLL,所提出的IQPLL可实现永磁同步电机无位置传感器控制正、反转稳定运行,并有效抑制了加、减速工况下的转子位置直流偏移误差。

双并列转子永磁直驱电机转子不平衡力分析与优化

双并列转子永磁直驱电机受轴间距限制,设计时会切掉部分定子铁心和绕组,造成转子电磁力不平衡。为最大限度地抑制转子所受的不平衡电磁力,该文从双并列转子结构出发,分析了电机绕组电感参数不对称的原因,提出通过合理设计线圈跨距和分布平衡三相电感。在此基础上,构建转子所受总电磁力的数学模型,理论分析各个分力的来源及影响因素,研究各个分力对转子所受总电磁力的影响,提出了优化占空角、优化耦合间距、采用定子端部不对称结构、采用转子偏心结构和切除部分单元电机五种优化方法,实现对转子所受电磁力的优化,探讨了不同方法的优化效果,以及其对转矩脉动的影响,总结了不同优化方法的优缺点。