Research on cubic polynomial acceleration and deceleration control model for high speed NC machining

To satisfy the need of high speed NC (numerical control) machining, an acceleration and deceleration (acc/dec) control model is proposed, and the speed curve is also constructed by the cubic polynomial. The proposed control model provides continuity of acceleration, which avoids the intense vibration in high speed NC machining. Based on the discrete characteristic of the data sampling interpolation, the acc/dec control discrete mathematical model is also set up and the discrete expression of the theoretical deceleration length is obtained furthermore. Aiming at the question of hardly predetermining the deceleration point in acc/dec control before interpolation, the adaptive acc/dec control algorithm is deduced from the expressions of the theoretical deceleration length. The experimental result proves that the acc/dec control model has the characteristic of easy implementation, stable movement and low impact. The model has been applied in multi-axes high speed micro fabrication machining successfully.

Effect of different interventions on orthodontic tooth movement acceleration:A network meta-analysis

Objective: To explore the effectiveness of various interventions in accelerating tooth movement, a systematic review and net-work meta analysis were used to draw a conclusion. Methods: MEDLINE, EMBASE, Willey Library, EBSCO, Web of Science Databases, and Cochrane Central Register of Controlled Trials databases to identify relevant studies. ADDIS 1.16.6 and Stata 16.0 software were used for NMA. Results: Five thousand five hundred and forty-two articles were searched out. After screening by two independent investigators, forty-seven randomized controlled trials, 1 390 participants, were included in this network meta-analysis. A total of 11 interventions involving Piezocision (Piezo), Photobiomodulation therapy (PBMT), Plate- let-rich plasma(PRP), Electromagnetic field(EF), Low intensity laser therapy(LLLT), Low intensity pulsed ultrasound(LI-PUS), Low-frequency vibrations(LFV), Distraction osteogenesis(DAD), Corticotomy(Corti), Microosteoperforations (MOPS), Traditional orthodontic(OT)were identified and classified into 3 classes including surgical treatment, non-surgical treatment and traditional orthodontic treatment. According to SUCRA probability ranking of the best intervention effect, when orthodontic treatment lasted for 1 month, PBMT (90.6%), Piezo(87.4%) and MOPs(73.6%)were the top three interventions to improve the efficiency of canine tooth movement. When orthodontic treatment lasted for 2 months, Corti (75.7%), Piezo (69.6%) and LFV(58.9%)were the top three interventions for improving the mobility efficiency of canine tooth movement. When orthodontic treatment lasted for 3 months, Cort (73.3%), LLLT(68.4%)and LFV(60.8%)were the top three interventions for improving the mobility efficiency of canine tooth movement. Conclusion: PBMT and Piezo can improve the efficiency of canine tooth movement significantly after 1 month, while Corti and LFV can improve the efficiency of canine tooth movement better after 2 and 3 months.

Current protocol to achieve dental movement acceleration and pain control with Photo-biomodulation

When designing a study on dental movement acceleration or pain control during orthodontic treatment,it is crucial to consider effective parameters.The objective of this editorial is to compile the most effective parameters supported by evidence that should be considered in future studies to achieve complete parameter homogenization.The protocol currently recommended to homogenize the parameters and facilitate the development of further meta-analysis in terms of acceleration of movement and pain control in orthodontics is Wavelength:810 nm,2.2 J per surface,0.1 W in continuous mode/0.1 W average power in a superpulsed,sweeping movement,1mm from the mucosa,22 seconds along the vestibular surface and 22 seconds along the lingual surface,the recommended speed of movement is 2 mm/sec,1 application during each orthodontic control,to achieve dental movement acceleration and repeat the dose at 24 h to ensure pain elimination.The energy density and power density will depend on the spot size used in the equipment and the distance from the mucosa.It will strengthen the evidence of photobiomodulation as the best therapy to accelerate tooth movement and at the same time control the pain produced by orthodontic treatments.

A Generalized Acceleration and Deceleration Approach for Continuous Small Line Blocks with Look-ahead

Generally complex 3D contours are divided into a lot of continuous small line blocks by CAD/CAM software. When these small line blocks are used in conventional way,machine tool has to stop at the end of one move before continuing on to the next to meet accuracy requirement,which results in inefficiency.Look-ahead is an intelligent function that aims at adjusting the feed rate automatically to achieve maximum productivity while maintaining accuracy.By now most researchers just utilize the simplest linear acceleration(ACC)and deceleration(DEC)to deal with look-ahead intelligence.A generalized ACC/DEC ap- proach and corresponding optimal look-ahead algorithm based on dynamic back tracking along a doubly linked list are proposed.An improved rounding strategy for reducing interpolation errors is also presented.By using the proposed techniques,arbitrary velocity profiles that offer look-ahead feature and have the desired ACC/DEC characteristics for movement of a lot of continuous line blocks can be generated efficiently.Both simulations and experiments showed the productivity was dramatically increased without sacri- fice of accuracy.

Earth rotation deceleration/acceleration due to semidiurnal oceanic/atmospheric tides:Revisited with new calculation

The global oceanic/atmospheric tides exert decelerating/accelerating secular torques on the Earth rotation. We developed new formulations to accurately calculate amounts of two kinds of secular tidal torques. After Melchior, we found that an additional factor 1+k-l = 1.216, which has been formerly neglected, must be multiplied unto the tidal torque integral. By using our refined formulations and the recent oceanic/atmospheric global tide models, we found that:(i) semidiurnal oceanic lunar/solar tides exert decelerating torques of about-4.462 × 10^(16)/-0.676 × 10^(16) Nm respectively and(ii) atmospheric S_2 tide exerts accelerating torque of 1.55 × 10^(15) Nm. Former estimates of the atmospheric S_2 tidal torque were twice as large as our estimate due to improper consideration of loading effect. We took the load Love number for atmospheric loading effect from Guo et al.(2004). For atmospheric loading of spherical harmonic degree two, the value of k′=-0.6031 is different from that for ocean loading as k′ =-0.3052,while the latter is currently used for both cases-ocean/atmospheric loading-without distinction. We discuss(i) the amount of solid Earth tidal dissipation(which has been left most uncertain) and(ii) secular changes of the dynamical state of the Earth-Moon-Sun system. Our estimate of the solid Earth tidal torque is-4.94×10^(15) Nm.

Characterisation of Real-World Bus Acceleration and Deceleration Signals

Public transportation by bus is an essential part of mobility. Braking and starting, e.g., approaching a bus stop, are documented as the main reason for non-collision incidents. These situations are evoked by the acceleration forces leading to perturbations of the passenger’s base of support. In laboratory studies perturbations are applied to getting insight into the postural control system and neuromuscular responses. However, bus perturbations diverge from laboratory ones with respect to duration, maximum and shape, and it was shown recently that these characteristics influence the postural response. Thus, results from posturographic studies cannot be generalised and transferred to bus perturbations. In this study, acceleration (ACC) and deceleration (DEC) signals of real traffic situations were examined. A mathematical approach is proposed in order to identify characteristics of these signals and to quantify their similarity and complexity. Typical characteristics (duration, maximum, and shape) of real-world driving manoeuvres concerning start and stop situations could be identified. A mean duration of 13.6 s for ACC and 9.8 s for DEC signals was found which is clearly longer than laboratory perturbations. ACC and DEC signals are more complex than the used signals for platform displacements in the laboratory. The proposed method enables the reconstruction of bus ACC and DEC signals. The data can be used as input for studies on postural control with high ecological validity.

DC active power filter based on model predictive control for DC bus overvoltage suppression of accelerator grid power supply

The China Fusion Engineering Test Reactor plans to build a 200 k V/25 A acceleration grid power supply(AGPS)for the negative-ion-based neutral beam injector prototype system.The AGPS uses a rectifier-inverter-isolated step-up structure.There is a DC bus between the rectifier and the inverter.In order to limit DC bus voltage ripple and transient fluctuations,a large number of capacitors are used,which degrades the reliability of the power supply and occupies a large amount of space.This work finds that due to the difference in the turn-off time of the rectifier and the inverter,the capacitance mainly depends on the rectifier current when the inverter is turned off.On this basis,an active power filter(APF)scheme is proposed to absorb the current.To enhance the dynamic response ability of the APF,model predictive control is adopted.In this paper,the circuit structure of the APF is introduced,the prediction model is deduced,the corresponding control strategy and signal detection method are proposed,and the simulation and experimental results show that APF can track the transient current of the DC bus and reduce the voltage fluctuation significantly.

Torque-based Optimal Acceleration Control for Electric Vehicle

The existing research of the acceleration control mainly focuses on an optimization of the velocity trajectory with respect to a criterion formulation that weights acceleration time and fuel consumption. The minimum-fuel acceleration problem in conventional vehicle has been solved by Pontryagin＇s maximum principle and dynamic programming algorithm, respectively. The acceleration control with minimum energy consumption for battery electric vehicle（EV） has not been reported. In this paper, the permanent magnet synchronous motor（PMSM） is controlled by the field oriented control（FOC） method and the electric drive system for the EV（including the PMSM, the inverter and the battery） is modeled to favor over a detailed consumption map. The analytical algorithm is proposed to analyze the optimal acceleration control and the optimal torque versus speed curve in the acceleration process is obtained. Considering the acceleration time, a penalty function is introduced to realize a fast vehicle speed tracking. The optimal acceleration control is also addressed with dynamic programming（DP）. This method can solve the optimal acceleration problem with precise time constraint, but it consumes a large amount of computation time. The EV used in simulation and experiment is a four-wheel hub motor drive electric vehicle. The simulation and experimental results show that the required battery energy has little difference between the acceleration control solved by analytical algorithm and that solved by DP, and is greatly reduced comparing with the constant pedal opening acceleration. The proposed analytical and DP algorithms can minimize the energy consumption in EV＇s acceleration process and the analytical algorithm is easy to be implemented in real-time control.

Acceleration Feedback Enhanced H_∞Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems

在这篇论文，一个概括加速反馈控制(声频抗流圈) 设计方法，命名声频抗流圈提高了 H ∞控制器，为两个被建议完整激活并且在激活的非线性的自治车辆系统下面。声频抗流圈基于已知的动力学作为柔韧的改进被设计到正常控制。首先，以便拒绝不确定性和外部骚乱，线性 prefilter 在新声频抗流圈设计方法被使用在正常声频抗流圈代替高获得。然后，背走算法被用于 AFC 设计在激活的系统下面。两个的分析在有限获得 L2 稳定性显示出的频率领域和输入产量的骚乱变细新控制器设计方法是适用的。最后，模拟关于无人的模型直升飞机的追踪的控制被进行。结果与没有声频抗流圈，追踪的控制获得验证新方法的可行性的那些相比。

Acceleration Factor Harmonious Particle Swarm Optimizer

A Particle Swarm Optimizer （PSO） exhibits good performance for optimization problems, although it cannot guarantee convergence to a global, or even local minimum. However, there are some adjustable parameters, and restrictive conditions, which can affect the performance of the algorithm. In this paper, the sufficient conditions for the asymptotic stability of an acceleration factor and inertia weight are deduced, the value of the inertia weight w is enhanced to （ 1, 1）. Furthermore a new adaptive PSO algorithm - Acceleration Factor Harmonious PSO （AFHPSO） is proposed, and is proved to be a global search algorithm. AFHPSO is used for the parameter design of a fuzzy controller for a linear motor driving servo system. The performance of the nonlinear model for the servo system demonstrates the effectiveness of the optimized fuzzy controller and AFHPSO.

Automatic Control System of Ion Electrostatic Accelerator and Anti-Interference Measures

An automatic control system for the electrostatic accelerator has been developed by adopting the PLC （Programmable Logic Controller） control technique, infrared and optical-fibre transmission technique and network communication with the purpose to improve the intelligence level of the accelerator and to enhance the ability of monitoring, collecting and recording parameters. In view of the control system＇ structure, some anti-interference measures have been adopted after analyzing the interference sources. The measures in hardware include controlling the position of the corona needle, using surge arresters, shielding, ground connection and stabilizing the voltage. The measures in terms of software involve inter-blocking protection, soft-spacing, time delay, and diagnostic and protective programs. The electromagnetic compatible ability of the control system has thus been effectively improved.

Design and control of the accelerator grid power supply-conversion system applied to CFETR N-NBI prototype

The acceleration grid power supply(AGPS)rated 200 kV/25 A is a key component devoted to supply the acceleration grids of the China fusion engineering test reactor negative-ion-based neutral beam injector(N-NBI)prototype system.This paper focused on the design and control of the AGPS conversion system(AGPS-CS),with emphasis on the requirement of the wide range output voltage and rise time.A voltage regulation switch at the front of step-down transformer is applied to optimize the grid current and DC-link voltage.Moreover,a new feedforward control strategy with piecewise PI compensator is proposed to improve the characteristics of AGPS.The simulation results of the proposed AGPS-CS are presented,proving the performance of the power supply to achieve the desired requirements.

New Method for Confirming the Desired Safety Headway Distance and Desired Deceleration in ACC System

A new method of confirming the desired safety headway distance and desired deceleration is put forward according to the detected static or moving target and its simulation results in Matlab are also presented. The validity of the algorithm to calculate the reference speeds of both the ACC vehicle and the targeted car according to the vector quadrangle composed of the relative distance, the relative azimuth angle, the relative speeds of the vehicles has also been demonstrated through numerical example in Matlab. New laws to obtain the desired deceleration by estimating the braking force according to the vehicle analyses force equation are established too.

INDIRECT ACCELERATED ADAPTIVE FUZZY CONTROLLER

According to a type of normal nonlinear system, an indirect adaptive fuzzy （IAF） controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To satisfy with system performance, an indirect accelerated adaptive fuzzy （IAAF） controller is proposed, and its general form is presented. The general form IAAF controller ensures necessary control criteria and system＇s global stability using Lyapunov Theorem. It has been proved that the close-loop system error converges to a small neighborhood of equilibrium point. The optimal IAAF controller is derived to guarantee the process＇s shortest settling time. Simulation results indicate the IAAF controller make the system more stable, accurate, and fast.

Acceleration-Dependent Analysis of Vertical Ball Screw Feed System without Counterweight

The distinguishing feature of a vertical ball screw feed system without counterweight is that the spindle system weight directly acts on the kinematic joints.Research into the dynamic characteristics under acceleration and deceleration is an important step in improving the structural performance of vertical milling machines.The magnitude and direction of the inertial force change significantly when the spindle system accelerates and decelerates.Therefore,the kinematic joint contact stiffness changes under the action of the inertial force and the spindle system weight.Thus,the system transmission stiffness also varies and affects the dynamics.In this study,a variable-coefficient lumped parameter dynamic model that considers the changes in the spindle system weight and the magnitude and direction of the inertial force is established for a ball screw feed system without counterweight.In addition,a calculation method for the system stiffness is provided.Experiments on a vertical ball screw feed system under acceleration and deceleration with different accelerations are also performed to verify the proposed dynamic model.Finally,the influence of the spindle system position,the rated dynamic load of the screw-nut joint,and the screw tension force on the natural frequency of the vertical ball screw feed system under acceleration and deceleration are studied.The results show that the vertical ball screw feed system has obviously different variable dynamics under acceleration and deceleration.The influence of the rated dynamic load and the spindle system position on the natural frequency under acceleration and deceleration is much greater than that of the screw tension force.

STUDY ON RESTRAINING THE RESIDUAL VIBRATION OF FLEXIBLE ARM BY PLANNING ACCELERATION

The method of planning acceleration is discussed to restrain the residual vibration of flexible arm. Based on the built mathematical model of the flexible arm, the equations of vibration with acceleration,vibration frequency,damping and time are obtained theoretically.According to the vibration frequency and damping, the suitable acceleration is executed experimentally to the flexible arm at the corresponding time. The result shows that this way can give rise to good effect to restrain the residual vibration.

Roll gap prediction in acceleration and deceleration process of cold rolling based on a data-driven method

Severe fluctuation of the effective roll gap in the acceleration and deceleration section of the cold rolling process is a significant factor causing thickness deviation.However,the conventional roll gap compensation method and control strategy do not meet the stringent strip quality requirements.The roll gap model in the acceleration and deceleration process is studied to increase the thickness control precision.In order to improve model accuracy,a roll gap prediction method based on data-driven is proposed.Given the complexities of the cold rolling process,the extreme gradient boosting(XGBoost)method is used to predict the roll gap model as the rolling speed changes.Meanwhile,support vector regression and neural network-based methods are taken to evaluate and compare the prediction performances.Based on the field data,the simulation experiments are carried out.It demonstrated that the prediction performance of the proposed method outperformed the other two methods.The values of root mean square error,determination coefficient value,mean absolute percentage error and mean absolute error obtained from the XGBoost model were equal to 0.000346,0.952,7.02,and 0.00028,respectively.In addition,the proposed method analyzed the contribution rates of the rolling affecting parameters on the roll gap.The data showed that in the controllable rolling parameters,the rolling speed is the most impacting factor that disturbs the roll gap model in the acceleration and deceleration process,which can provide a useful direction for actual roll gap adjustment.

Robust missile autopilot design based on dynamic surface control

Since the dynamical system and control system of the missile are typically nonlinear, an effective acceleration tracking autopilot is designed using the dynamic surface control(DSC)technique in order to make the missile control system more robust despite the uncertainty of the dynamical parameters and the presence of disturbances. Firstly, the nonlinear mathematical model of the tail-controlled missile is decomposed into slow acceleration dynamics and fast pitch rate dynamics based on the naturally existing time scale separation. Secondly, the controller based on DSC is designed after obtaining the linear dynamics characteristics of the slow and fast subsystems. An extended state observer is used to detect the uncertainty of the system state variables and aerodynamic parameters to achieve the compensation of the control law. The closed-loop stability of the controller is derived and rigorously analyzed. Finally, the effectiveness and robustness of the design is verified by Monte Carlo simulation considering different initial conditions and parameter uptake. Simulation results illustrate that the missile autopilot based DSC controller achieves better performance and robustness than the other two well-known autopilots.The method proposed in this paper is applied to the design of a missile autopilot, and the results show that the acceleration tracking autopilot based on the DSC controller can ensure accurate tracking of the required commands and has better performance.

一种基于函数逼近的柔性加减速算法研究

嵌入式数控系统优点诸多,但系统资源、处理能力有限。三角函数加减速算法拥有柔性冲击小、精度高的优点,但其计算复杂,当运用在嵌入式数控系统时,难以满足系统的高实时性要求。针对这个问题,提出一种加减速算法,基于最佳平方逼近方法,利用多项式函数逼近三角函数,进而推理、构建出完整的加减速方程,随后分析算法在不同情况下的速度规划。最终对该算法进行了仿真分析并在以MCU为控制器的数控平台进行了实验,结果表明:算法在保留三角函数曲线柔性的同时降低了计算复杂度,提高了加工效率。