Shape is an important quality index of cold rolling strip. Up to now, many problems in the shape control domain have not been solved satisfactorily, and a review on the research progress in the shape control domain ca...Shape is an important quality index of cold rolling strip. Up to now, many problems in the shape control domain have not been solved satisfactorily, and a review on the research progress in the shape control domain can help to seek new breakthrough directions. In the past 10 years, researches and applications of shape control models, shape control means, shape detection technology, and shape con- trol system have achieved significant progress. In the aspect of shape control models, the researches in the past improve the accuracy, speed and robustness of the models. The intelligentization of shape control models should be strengthened in the future. In the aspect of the shape control means, the researches in the past focus on the roll opti- mization, mill type selection, process optimization, local strip shape control, edge drop control, and so on. In the future, more attention should be paid to the coordination control of both strip shape and other quality indexes, and the refinement of control objective should be strengthened. In the aspects of shape detection technology and shape control system, some new types of shape detection meters and shape control systems are developed and have successfully indus- trial applications. In the future, the standardization of shape detection technology and shape control system should be promoted to solve the problem of compatibility. In general,the four expected development trends of shape control for cold roiling strip in the future are intelligentization, coordi- nation, refinement, and standardization. The proposed research provides new breakthrough directions for improv- ing shape quality.展开更多
Flatness is one of the most important criterion factors to evaluate the quality of the steel strip. To improve the strip' s flatness quality, the most frequently used methodology is to employ the closed-loop automati...Flatness is one of the most important criterion factors to evaluate the quality of the steel strip. To improve the strip' s flatness quality, the most frequently used methodology is to employ the closed-loop automatic shape control system. However, in the shape control system, the shape-meter is always installed at the down way of the exit of the cold rolling mill and can not sense the changes of the strip flatness in the rolling gap directly. This kind of installation results in the delay of the feedback in the control system. Therefore, the stability and response performance of the system are strongly affected by the delay. At present, there is still no mature way to design controllers for systems with time delay. Although the conventional PID controller used in most practical applications has the capability to compensate the delay, the effect of the compensation is limited, especially for the systems with long time delay. Smith predictor, as a compensator for solving this problem, is now widely used in industry systems. However, the request of highly precise model of the system and the poor adaptive performance to the changes of related parameters limit the application of the Smith predictor in practice. In order to overcome the drawbacks of the Smith predictor, a new Smith predictor based on single neural network PID (SNN-PID) is proposed. Because the single neural network is employed into the Smith predictor to improve the controller's self-adaptability, the adaptive capability to the varying parameters of the system is improved. Meanwhile, for the purpose of solving the problems such as time-consuming and complicated calculation of the neural networks in real time, the learning coefficient of neural network is divided into several stages as usually done in expert control system. Therefore, the control system can obtain fast response due to the improved calculation speed of the neural networks. In order to validate the performance of the proposed controller, the experiment is conducted on the shape control system in a 300 mm four-high reversing cold rolling mill. The experimental results show that the SNN-PID with Smith predictor controller can effectively compensate the delay effects and achieve better control performance than the conventional PID controller.展开更多
The static and dynamic magnetic controlling characteristics of NiMnGa magnetically controlled shape memory alloy (MSMA) were experimentally studied. The results show that the characteristics of induced strain with r...The static and dynamic magnetic controlling characteristics of NiMnGa magnetically controlled shape memory alloy (MSMA) were experimentally studied. The results show that the characteristics of induced strain with respect to the magnetic field are nonlinear with saturation nature, and dependent on the temperature as well as the load applied to the MSMA. The magnetic shape memory effect can be observed only in complete martensite phase at room temperature. The magnetic permeability of MSMA is not constant and reduces with the increment of magnetic field. The relative saturation magnetic permeability of MSMA is about 1.5.展开更多
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
In the strip rolling process, shape control system possesses the characteristics of nonlinearity, strong coupling, time delay and time variation. Based on self adapting Elman dynamic recursion network prediction model...In the strip rolling process, shape control system possesses the characteristics of nonlinearity, strong coupling, time delay and time variation. Based on self adapting Elman dynamic recursion network prediction model, the fuzzy control method was used to control the shape on four-high cold mill. The simulation results showed that the system can be applied to real time on line control of the shape.展开更多
Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying th...Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying the requirement of macro/micro-structure. It is not only the key paths in improving performance, saving material and energy, and green manufacturing of components used in major equipments, but also the challenging subjects in frontiers of advanced plastic forming. To provide a novel horizon for the manufacturing in the critical components is significant. Focused on the high-performance large-scale components such as bearing rings, flanges, railway wheels, thick-walled pipes, etc, the conventional processes and their developing situations are summarized. The existing problems including multi-pass heating, wasting material and energy, high cost and high-emission are discussed, and the present study unable to meet the manufacturing in high-quality components is also pointed out. Thus, the new techniques related to casting-rolling compound precise forming of rings, compact manufacturing for duplex-metal composite rings, compact manufacturing for railway wheels, and casting-extruding continuous forming of thick-walled pipes are introduced in detail, respectively. The corresponding research contents, such as casting ring blank, hot ring rolling, near solid-state pressure forming, hot extruding, are elaborated. Some findings in through-thickness microstructure evolution and mechanical properties are also presented. The components produced by the new techniques are mainly characterized by fine and homogeneous grains. Moreover, the possible directions for fin'ther development of those techniques are suggested. Finally, the key scientific problems are first proposed. All of these results and conclusions have reference value and guiding significance for the integrated control of shape and performance in advanced compact manufacturing.展开更多
A theoretical method for selecting strip rolling mill type that considered shape control ability was established using the figure alteration range that was worked by the alteration track of vector expressing strip'...A theoretical method for selecting strip rolling mill type that considered shape control ability was established using the figure alteration range that was worked by the alteration track of vector expressing strip's cross section (crown) to express the shape control ability of rolling mill. With the mathematical models and simulation software that were developed by the authors' own models, four types of mills were aimed, including HCM (6-high middle rolls shift type HC (high crown) -mill), HCMW (6-high middle rolls and work rolls shift type HC-mill), UCM (6-high middle rolls shift type HC-mill with middle roll bender) and UCMW (6-high middle rolls and work rolls shift type HC-mill with middle roll bender), and the shape and crown control ability of every mill type was analyzed and compared. An appropriate arrangement mode of tandem mill was brought forward. The results show that UCMW mill is a perfect choice for controlling shape and crown, and the area of control characteristics curve of UCMW (or UCM) is twice than that of HCM, but UCM mill is also a good choice for its simple frame. In other word, the shape and crown controlling ability of UCMW mill is better than that of UCM mill, but the frame of UCM mill is simpler than that of UCMW mill. As for the final type of mill, should be synthetically decided by thinking over fund and equipment technology.展开更多
Abstract: Shape Memory Alloy (SMA) is a type of material that offers some unique characteristics for use in devices for vibration control applications. Based on SMA's material properties, fottr types of control de...Abstract: Shape Memory Alloy (SMA) is a type of material that offers some unique characteristics for use in devices for vibration control applications. Based on SMA's material properties, fottr types of control devices that incorporate NiTi SMA wires are introduced in this paper, which include three types of dampers (SMA damper, SMA-MR damper and SMA-friction damper) and one kind of isolation bearing (SMA-rubber bearing). Mechanical models of these devices and their experimental verifications are presented. To investigate the control performance of these devices, the SMA-MR damper and SMA-rubber bearing are applied to structures. The results show that the control devices could be effective in reducing the seismic response of structures.展开更多
Gold nanoparticles with different shapes and sizes were prepared by adding gold precursor (HAuC14) to an electrolyzed aqueous solution of poly(N-vinylpyrrolidone) (PVP) and KN03, which indicates the good reducin...Gold nanoparticles with different shapes and sizes were prepared by adding gold precursor (HAuC14) to an electrolyzed aqueous solution of poly(N-vinylpyrrolidone) (PVP) and KN03, which indicates the good reducing capacity of the PVP-containing solution after being treated by electrolysis. Using a catholyte and an anolyte as the reducing agents for HAuC14,' respectively, most gold nanoparticles were spherical particles in the former case but plate-like particles in the latter case. The change in the pH value of electrolytes caused by the electrolysis of water would be the origin of the differences in shape and morphology of gold nanoparticles. A hypothesis of the H+ or OH- catalyzed PVP degradation mechanism was proposed to interpret why the pH value played a key role in determining the shape or morphology of gold nanoparticles. These experiments open up a new method for effectively controlling the shape and morphology of metal nanoparticles by using electrochemical methods.展开更多
A novel strategy of probability density function (PDF) shape control is proposed in stochastic systems. The control er is designed whose parameters are optimal y obtained through the improved particle swarm optimiza...A novel strategy of probability density function (PDF) shape control is proposed in stochastic systems. The control er is designed whose parameters are optimal y obtained through the improved particle swarm optimization algorithm. The parameters of the control er are viewed as the space position of a particle in particle swarm optimization algorithm and updated continual y until the control er makes the PDF of the state variable as close as possible to the expected PDF. The proposed PDF shape control technique is compared with the equivalent linearization technique through simulation experiments. The results show the superiority and the effectiveness of the proposed method. The control er is excellent in making the state PDF fol ow the expected PDF and has the very smal error between the state PDF and the expected PDF, solving the control problem of the PDF shape in stochastic systems effectively.展开更多
Optical membrane mirrors are promising key components for future space telescopes. Due to their ultra-thin and high flexible properties, the surfaces of these membrane mirrors are susceptible to temperature variations...Optical membrane mirrors are promising key components for future space telescopes. Due to their ultra-thin and high flexible properties, the surfaces of these membrane mirrors are susceptible to temperature variations. Therefore adaptive shape control of the mirror is essential to maintain the surface precision and to ensure its working performance. However, researches on modeling and control of membrane mirrors under thermal loads are sparse in open literatures. A 0.2 m diameter scale model of a polyimide membrane mirror is developed in this study. Three Polyvinylidene fluoride(PVDF) patches are laminated on the non-reflective side of the membrane mirror to serve as in-plane actuators. A new mathematical model of the piezoelectric actuated membrane mirror in multiple fields,(i.e., thermal,mechanical, and electrical field) is established, with which dynamic and static behaviors of the mirror can be analyzed.A closed-loop membrane mirror shape control system is set up and a surface shape control method based on an influence function matrix of the mirror is then investigated. Several experiments including surface displacement tracking and thermal deformation alleviation are performed. The deviations range from 15 μm to 20 μm are eliminated within 0.1 s and the residual deformation is controlled to micron level, which demonstrates the effectiveness of the proposed membrane shape control strategy and shows a satisfactory real-time performance. The proposed research provides a technological support and instruction for shape control of optical membrane mirrors.展开更多
The nonlinear dynamic characteristics and optimal control of a giant magnetostrictive film (GMF)-shaped memory alloy (SMA) composite plate subjected to in-plane stochastic excitation are studied. GMF is prepared b...The nonlinear dynamic characteristics and optimal control of a giant magnetostrictive film (GMF)-shaped memory alloy (SMA) composite plate subjected to in-plane stochastic excitation are studied. GMF is prepared based on an SMA plate, and combined into a GMF-SMA composite plate. The Van der Pol item is improved to explain the hysteretic phenomena of GMF and SMA, and the nonlinear dynamics model of a GMF-SMA composite cantilever plate subjected to in-plane stochastic excitation is developed. The stochastic stability of the system is analyzed, and the steady-state probability density function of the dynamic response of the system is obtained. The condition of stochastic Hopf bifurcation is discussed, the reliability function of the system is provided, and then the probability density of the first-passage time is given. Finally, the stochastic optimal control strategy is proposed by the stochastic dynamic programming method. Numerical simulation shows that the stability of the trivial solution varies with bifurcation parameters, and stochastic Hopf bifurcation appears in the process; the system's reliability is improved through stochastic optimal control, and the first- passage time is delayed. A GMF-SMA composite plate combines the advantages of GMF and SMA, and can reduce vibration through passive control and active control effectively. The results are helpful for the engineering applications of GMF-SMA composite plates.展开更多
Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop...Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.展开更多
The strong-field coherent control of the nonresonant ionization of nitrous oxide using shaped pulses is investigated.We study the dependence of periodic coherent oscillation of the total ionization yield on the variat...The strong-field coherent control of the nonresonant ionization of nitrous oxide using shaped pulses is investigated.We study the dependence of periodic coherent oscillation of the total ionization yield on the variation of laser phase parameters. The physical mechanism of the strong-field coherent control is investigated experimentally and theoretically by the nonresonant spectral phase interferences in the frequency domain. We show that the intense shaped pulses with broadband and off-resonance can be used as a robust strong-field coherent control method.展开更多
This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response,...This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.展开更多
The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memor...The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.展开更多
In the optimal control problem of nonlinear dynamical system,the Hamiltonian formulation is useful and powerful to solve an optimal control force.However,the resulting Euler-Lagrange equations are not easy to solve,wh...In the optimal control problem of nonlinear dynamical system,the Hamiltonian formulation is useful and powerful to solve an optimal control force.However,the resulting Euler-Lagrange equations are not easy to solve,when the performance index is complicated,because one may encounter a two-point boundary value problem of nonlinear differential algebraic equations.To be a numerical method,it is hard to exactly preserve all the specified conditions,which might deteriorate the accuracy of numerical solution.With this in mind,we develop a novel algorithm to find the solution of the optimal control problem of nonlinear Duffing oscillator,which can exactly satisfy all the required conditions for the minimality of the performance index.A new idea of shape functions method(SFM)is introduced,from which we can transform the optimal control problems to the initial value problems for the new variables,whose initial values are given arbitrarily,and meanwhile the terminal values are determined iteratively.Numerical examples confirm the high-performance of the iterative algorithms based on the SFM,which are convergence fast,and also provide very accurate solutions.The new algorithm is robust,even large noise is imposed on the input data.展开更多
A type of single neuron adaptive PID regulator with auto-tuning gain is proposed and applied to the work control of fans, waterpumps and air-pressers etc. in Handan Iron & Steel Compel China. The robusthess of ind...A type of single neuron adaptive PID regulator with auto-tuning gain is proposed and applied to the work control of fans, waterpumps and air-pressers etc. in Handan Iron & Steel Compel China. The robusthess of induStrial parameter closed-loop process controlsystems is improved, and the work quality of the systems bettered.展开更多
The efficacy of shape control is the core of this technology and the main basis of automatic shape control system model designing. This passage constructs the three-dimensional elastic deformation model of CVCplus rol...The efficacy of shape control is the core of this technology and the main basis of automatic shape control system model designing. This passage constructs the three-dimensional elastic deformation model of CVCplus roll system in 2250 mm hot rolling mill. Comparing and analyzing different influence of working factors on control characteristic, the shape control characteristic of CVCplus roll system in its whole work time is studied, and the cause is analyzed and the difference of the roll gap curve and crown adjustable area in early and latter work time is compared. The outcome has crucial meaning in both theory and production.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
基金Supported by National Key Technology Support Program of China (Grant No. 2011BAF15B00)Hebei Provincial Natural Science Foundation of China (Grant No. E2016203482)+1 种基金Hebei Provincial Science and Technology Research Foundation of China (Grant No. ZD2014034)Youth Independent Research Program of Yanshan University of China (Grant No. 14LGA003)
文摘Shape is an important quality index of cold rolling strip. Up to now, many problems in the shape control domain have not been solved satisfactorily, and a review on the research progress in the shape control domain can help to seek new breakthrough directions. In the past 10 years, researches and applications of shape control models, shape control means, shape detection technology, and shape con- trol system have achieved significant progress. In the aspect of shape control models, the researches in the past improve the accuracy, speed and robustness of the models. The intelligentization of shape control models should be strengthened in the future. In the aspect of the shape control means, the researches in the past focus on the roll opti- mization, mill type selection, process optimization, local strip shape control, edge drop control, and so on. In the future, more attention should be paid to the coordination control of both strip shape and other quality indexes, and the refinement of control objective should be strengthened. In the aspects of shape detection technology and shape control system, some new types of shape detection meters and shape control systems are developed and have successfully indus- trial applications. In the future, the standardization of shape detection technology and shape control system should be promoted to solve the problem of compatibility. In general,the four expected development trends of shape control for cold roiling strip in the future are intelligentization, coordi- nation, refinement, and standardization. The proposed research provides new breakthrough directions for improv- ing shape quality.
基金supported by National Natural Science Foundation of China (Grant No. 604740044)Hebei Provincial Natural Science Foundation of China (Grant No. E2004000221)
文摘Flatness is one of the most important criterion factors to evaluate the quality of the steel strip. To improve the strip' s flatness quality, the most frequently used methodology is to employ the closed-loop automatic shape control system. However, in the shape control system, the shape-meter is always installed at the down way of the exit of the cold rolling mill and can not sense the changes of the strip flatness in the rolling gap directly. This kind of installation results in the delay of the feedback in the control system. Therefore, the stability and response performance of the system are strongly affected by the delay. At present, there is still no mature way to design controllers for systems with time delay. Although the conventional PID controller used in most practical applications has the capability to compensate the delay, the effect of the compensation is limited, especially for the systems with long time delay. Smith predictor, as a compensator for solving this problem, is now widely used in industry systems. However, the request of highly precise model of the system and the poor adaptive performance to the changes of related parameters limit the application of the Smith predictor in practice. In order to overcome the drawbacks of the Smith predictor, a new Smith predictor based on single neural network PID (SNN-PID) is proposed. Because the single neural network is employed into the Smith predictor to improve the controller's self-adaptability, the adaptive capability to the varying parameters of the system is improved. Meanwhile, for the purpose of solving the problems such as time-consuming and complicated calculation of the neural networks in real time, the learning coefficient of neural network is divided into several stages as usually done in expert control system. Therefore, the control system can obtain fast response due to the improved calculation speed of the neural networks. In order to validate the performance of the proposed controller, the experiment is conducted on the shape control system in a 300 mm four-high reversing cold rolling mill. The experimental results show that the SNN-PID with Smith predictor controller can effectively compensate the delay effects and achieve better control performance than the conventional PID controller.
基金This work was supported by the National Natural Science Foundation of China under grant No.50177019by the Education Department of China under grant No.20040142004.
文摘The static and dynamic magnetic controlling characteristics of NiMnGa magnetically controlled shape memory alloy (MSMA) were experimentally studied. The results show that the characteristics of induced strain with respect to the magnetic field are nonlinear with saturation nature, and dependent on the temperature as well as the load applied to the MSMA. The magnetic shape memory effect can be observed only in complete martensite phase at room temperature. The magnetic permeability of MSMA is not constant and reduces with the increment of magnetic field. The relative saturation magnetic permeability of MSMA is about 1.5.
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
基金ItemSponsored by Provincial Natural Science Foundation of Hebei Province of China (E2004000206)
文摘In the strip rolling process, shape control system possesses the characteristics of nonlinearity, strong coupling, time delay and time variation. Based on self adapting Elman dynamic recursion network prediction model, the fuzzy control method was used to control the shape on four-high cold mill. The simulation results showed that the system can be applied to real time on line control of the shape.
基金Supported by National Natural Science Foundation of China(Grant Nos.51675361,51575371)Key Program of National Natural Science Foundation of China(Grant No.51135007)Key Research Project of Shanxi Province(Grant No.03012015004)
文摘Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying the requirement of macro/micro-structure. It is not only the key paths in improving performance, saving material and energy, and green manufacturing of components used in major equipments, but also the challenging subjects in frontiers of advanced plastic forming. To provide a novel horizon for the manufacturing in the critical components is significant. Focused on the high-performance large-scale components such as bearing rings, flanges, railway wheels, thick-walled pipes, etc, the conventional processes and their developing situations are summarized. The existing problems including multi-pass heating, wasting material and energy, high cost and high-emission are discussed, and the present study unable to meet the manufacturing in high-quality components is also pointed out. Thus, the new techniques related to casting-rolling compound precise forming of rings, compact manufacturing for duplex-metal composite rings, compact manufacturing for railway wheels, and casting-extruding continuous forming of thick-walled pipes are introduced in detail, respectively. The corresponding research contents, such as casting ring blank, hot ring rolling, near solid-state pressure forming, hot extruding, are elaborated. Some findings in through-thickness microstructure evolution and mechanical properties are also presented. The components produced by the new techniques are mainly characterized by fine and homogeneous grains. Moreover, the possible directions for fin'ther development of those techniques are suggested. Finally, the key scientific problems are first proposed. All of these results and conclusions have reference value and guiding significance for the integrated control of shape and performance in advanced compact manufacturing.
基金Project (50374058) supported by the National Natural Science Foundation of China and Shanghai Baosteel Group Co.
文摘A theoretical method for selecting strip rolling mill type that considered shape control ability was established using the figure alteration range that was worked by the alteration track of vector expressing strip's cross section (crown) to express the shape control ability of rolling mill. With the mathematical models and simulation software that were developed by the authors' own models, four types of mills were aimed, including HCM (6-high middle rolls shift type HC (high crown) -mill), HCMW (6-high middle rolls and work rolls shift type HC-mill), UCM (6-high middle rolls shift type HC-mill with middle roll bender) and UCMW (6-high middle rolls and work rolls shift type HC-mill with middle roll bender), and the shape and crown control ability of every mill type was analyzed and compared. An appropriate arrangement mode of tandem mill was brought forward. The results show that UCMW mill is a perfect choice for controlling shape and crown, and the area of control characteristics curve of UCMW (or UCM) is twice than that of HCM, but UCM mill is also a good choice for its simple frame. In other word, the shape and crown controlling ability of UCMW mill is better than that of UCM mill, but the frame of UCM mill is simpler than that of UCMW mill. As for the final type of mill, should be synthetically decided by thinking over fund and equipment technology.
基金National Natural Science Foundation of China Under Grant No.50178006Beijing Natural Science Foundation Under Grant No. 8042008 Funding Project for Academic Human Resources Development in Institutions of Higher Learning Under the Jurisdiction of Beijing Municipality
文摘Abstract: Shape Memory Alloy (SMA) is a type of material that offers some unique characteristics for use in devices for vibration control applications. Based on SMA's material properties, fottr types of control devices that incorporate NiTi SMA wires are introduced in this paper, which include three types of dampers (SMA damper, SMA-MR damper and SMA-friction damper) and one kind of isolation bearing (SMA-rubber bearing). Mechanical models of these devices and their experimental verifications are presented. To investigate the control performance of these devices, the SMA-MR damper and SMA-rubber bearing are applied to structures. The results show that the control devices could be effective in reducing the seismic response of structures.
基金supported by the National Natural Science Foundation of China(No.21073111)the Natural Science Foundation of Shandong Province,China(No.ZR2010BQ029)
文摘Gold nanoparticles with different shapes and sizes were prepared by adding gold precursor (HAuC14) to an electrolyzed aqueous solution of poly(N-vinylpyrrolidone) (PVP) and KN03, which indicates the good reducing capacity of the PVP-containing solution after being treated by electrolysis. Using a catholyte and an anolyte as the reducing agents for HAuC14,' respectively, most gold nanoparticles were spherical particles in the former case but plate-like particles in the latter case. The change in the pH value of electrolytes caused by the electrolysis of water would be the origin of the differences in shape and morphology of gold nanoparticles. A hypothesis of the H+ or OH- catalyzed PVP degradation mechanism was proposed to interpret why the pH value played a key role in determining the shape or morphology of gold nanoparticles. These experiments open up a new method for effectively controlling the shape and morphology of metal nanoparticles by using electrochemical methods.
基金supported by the National Natural Science Fundation of China(61273127)the Specialized Research Fund of the Doctoral Program in Higher Education(20106118110009+2 种基金20116118110008)the Scientific Research Plan Projects of Shaanxi Education Department(12JK0524)the Young Teachers Scientific Research Fund of Xi’an University of Posts and Telecommunications(1100434)
文摘A novel strategy of probability density function (PDF) shape control is proposed in stochastic systems. The control er is designed whose parameters are optimal y obtained through the improved particle swarm optimization algorithm. The parameters of the control er are viewed as the space position of a particle in particle swarm optimization algorithm and updated continual y until the control er makes the PDF of the state variable as close as possible to the expected PDF. The proposed PDF shape control technique is compared with the equivalent linearization technique through simulation experiments. The results show the superiority and the effectiveness of the proposed method. The control er is excellent in making the state PDF fol ow the expected PDF and has the very smal error between the state PDF and the expected PDF, solving the control problem of the PDF shape in stochastic systems effectively.
基金supported by the National Natural Science Foundation of China(Grant No.51175103)Self-Planned Task of State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS201301B)
文摘Optical membrane mirrors are promising key components for future space telescopes. Due to their ultra-thin and high flexible properties, the surfaces of these membrane mirrors are susceptible to temperature variations. Therefore adaptive shape control of the mirror is essential to maintain the surface precision and to ensure its working performance. However, researches on modeling and control of membrane mirrors under thermal loads are sparse in open literatures. A 0.2 m diameter scale model of a polyimide membrane mirror is developed in this study. Three Polyvinylidene fluoride(PVDF) patches are laminated on the non-reflective side of the membrane mirror to serve as in-plane actuators. A new mathematical model of the piezoelectric actuated membrane mirror in multiple fields,(i.e., thermal,mechanical, and electrical field) is established, with which dynamic and static behaviors of the mirror can be analyzed.A closed-loop membrane mirror shape control system is set up and a surface shape control method based on an influence function matrix of the mirror is then investigated. Several experiments including surface displacement tracking and thermal deformation alleviation are performed. The deviations range from 15 μm to 20 μm are eliminated within 0.1 s and the residual deformation is controlled to micron level, which demonstrates the effectiveness of the proposed membrane shape control strategy and shows a satisfactory real-time performance. The proposed research provides a technological support and instruction for shape control of optical membrane mirrors.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11272229 and 11302144)the Ph.D.Programs Foundation of the Ministry of Education of China(Grant No.20120032120006)the Tianjin Research Program of Application Foundation and Advanced Technology,China(Grant No.13JCYBJC17900)
文摘The nonlinear dynamic characteristics and optimal control of a giant magnetostrictive film (GMF)-shaped memory alloy (SMA) composite plate subjected to in-plane stochastic excitation are studied. GMF is prepared based on an SMA plate, and combined into a GMF-SMA composite plate. The Van der Pol item is improved to explain the hysteretic phenomena of GMF and SMA, and the nonlinear dynamics model of a GMF-SMA composite cantilever plate subjected to in-plane stochastic excitation is developed. The stochastic stability of the system is analyzed, and the steady-state probability density function of the dynamic response of the system is obtained. The condition of stochastic Hopf bifurcation is discussed, the reliability function of the system is provided, and then the probability density of the first-passage time is given. Finally, the stochastic optimal control strategy is proposed by the stochastic dynamic programming method. Numerical simulation shows that the stability of the trivial solution varies with bifurcation parameters, and stochastic Hopf bifurcation appears in the process; the system's reliability is improved through stochastic optimal control, and the first- passage time is delayed. A GMF-SMA composite plate combines the advantages of GMF and SMA, and can reduce vibration through passive control and active control effectively. The results are helpful for the engineering applications of GMF-SMA composite plates.
文摘Design of general multivariable process controllers is an attractive and practical alternative to optimizing design by evolutionary algorithms (EAs) since it can be formulated as an optimization problem. A closed-loop particle swarm optimization (CLPSO) algorithm is proposed by mapping PSO elements into the closed-loop system based on control theories. At each time step, a proportional integral (PI) controller is used to calculate an updated inertia weight for each particle in swarms from its last fitness. With this modification, limitations caused by a uniform inertia weight for the whole population are avoided, and the particles have enough diversity. After the effectiveness, efficiency and robustness are tested by benchmark functions, CLPSO is applied to design a multivariable proportional-integral-derivative (PID) controller for a solvent dehydration tower in a chemical plant and has improved its performances.
基金supported by the National Natural Science Foundation of China(Grant No.11374124)
文摘The strong-field coherent control of the nonresonant ionization of nitrous oxide using shaped pulses is investigated.We study the dependence of periodic coherent oscillation of the total ionization yield on the variation of laser phase parameters. The physical mechanism of the strong-field coherent control is investigated experimentally and theoretically by the nonresonant spectral phase interferences in the frequency domain. We show that the intense shaped pulses with broadband and off-resonance can be used as a robust strong-field coherent control method.
文摘This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.
基金Project(51105170) supported by the National Natural Science Foundation of ChinaProject supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,Ministry of Education,China
文摘The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.
文摘In the optimal control problem of nonlinear dynamical system,the Hamiltonian formulation is useful and powerful to solve an optimal control force.However,the resulting Euler-Lagrange equations are not easy to solve,when the performance index is complicated,because one may encounter a two-point boundary value problem of nonlinear differential algebraic equations.To be a numerical method,it is hard to exactly preserve all the specified conditions,which might deteriorate the accuracy of numerical solution.With this in mind,we develop a novel algorithm to find the solution of the optimal control problem of nonlinear Duffing oscillator,which can exactly satisfy all the required conditions for the minimality of the performance index.A new idea of shape functions method(SFM)is introduced,from which we can transform the optimal control problems to the initial value problems for the new variables,whose initial values are given arbitrarily,and meanwhile the terminal values are determined iteratively.Numerical examples confirm the high-performance of the iterative algorithms based on the SFM,which are convergence fast,and also provide very accurate solutions.The new algorithm is robust,even large noise is imposed on the input data.
文摘A type of single neuron adaptive PID regulator with auto-tuning gain is proposed and applied to the work control of fans, waterpumps and air-pressers etc. in Handan Iron & Steel Compel China. The robusthess of induStrial parameter closed-loop process controlsystems is improved, and the work quality of the systems bettered.
文摘The efficacy of shape control is the core of this technology and the main basis of automatic shape control system model designing. This passage constructs the three-dimensional elastic deformation model of CVCplus roll system in 2250 mm hot rolling mill. Comparing and analyzing different influence of working factors on control characteristic, the shape control characteristic of CVCplus roll system in its whole work time is studied, and the cause is analyzed and the difference of the roll gap curve and crown adjustable area in early and latter work time is compared. The outcome has crucial meaning in both theory and production.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.