The Design and Its Application of Cross-Coupled Controller in X-Y Table

In conventional cross-coupled controller design,the method usually ignored the inherent characteristic of time-vary- ing parameters and model uncertainties in system.In this paper,a cross-coupled controller(CCC)using an H~∞control scheme has been proposed to reduce the contouring error for an X-Y table.Furthermore,the proposed CCC design,which is a typical Multi- Input Multi-Output(MIMO)system with linear time varying(LTV)characteristics,has been verified as being internally stable. The simulations are carried on Matlab simulink to verify the proposed method,and the results showed that the proposed method can reduce the contouring error significantly compared with the conventional one.

High Frequency Oscillator Design Using a Single 45 nm CMOS Current Controlled Current Conveyor (CCCII+) with Minimum Passive Components

In the field of analog VLSI design, current conveyors have reasonably established their identity as an important circuit design element. In the literature published during the past few years, numerous application have been reported which are based on a variety of current conveyors. In this paper, an oscillator circuit has been proposed. This oscillator is designed using a single positive type second generation current controlled current conveyor (CCCII+). A CCCII has parasitic input resistance on it’s current input node. This resistance could be exploited to reduce circuit complexities. Thus in this accord, a novel oscillator circuit is proposed which utilizes the parasitic resistance of the CCCII+ along with a few more passive components.

基于改进FNN-CCC的双伺服压力机同步控制策略研究

目的改善双伺服压力机同步控制策略的动态响应性能和鲁棒性,提升双伺服压力机的单轴跟踪精度和双轴同步精度,实现成形过程的高精度位置控制。方法建立双伺服压力机驱动系统数学模型,分析系统同步误差来源,结合模糊神经网络单轴控制算法,引入迭代学习律,设计一种改进模糊神经网络-交叉耦合(FNN-CCC)同步控制器。基于系统控制模型进行单轴阶跃响应特性与双轴正弦跟随特性仿真,搭建嵌入式双伺服压力机驱动系统试验平台,在偏载干扰条件下进行双轴同步控制试验,验证所提出理论的有效性。结果仿真结果表明,与模糊控制算法和BP神经网络控制算法相比,该控制器单轴控制算法的超调量分别减少了11.5%和25.5%,调节时间分别减少了48.8%和34.4%,具有更好的动态响应性能。与原控制器相比,改进后的交叉耦合同步控制器最大双轴同步误差降低了65.7%,同步控制精度有所提高。试验结果表明,与传统PID-交叉耦合控制器相比,改进的FNN-CCC控制器有更好的控制性能,在热冲压合模成形阶段,单轴跟踪误差分别减小了81.8%和75.0%,双轴同步误差减小了69.2%。结论所提出的同步控制策略在偏载干扰条件下具有较好的动态响应性能和鲁棒性,能够使同步误差快速收敛,提高了双伺服压力机驱动系统的单轴跟踪精度和双轴同步控制精度,实现了对双伺服压力机的高精度控制。

Selective control of secondary alcohols upgrading using Ir-catalyzed cross-coupling strategy

The selective coupling of alcohols is a fascinating yet challenging approach for upgrading alcohols. Herein, we accomplished the controlled production of β-disubstituted ketones or upgraded secondary alcohols via the Ir-catalyzed cross-coupling of secondary alcohols in excellent yields with broad substrate scopes. This selective control was achieved by using an in-situ generated monoNHC-Ir or a tris-NHC-Ir complex as the catalysts, respectively. Mechanistic studies revealed that the delicate balance between dehydrogenation and hydrogenation abilities of these bifunctional catalysts is crucial for achieving different selectivity. The tris-NHC-Ir complex effectively facilitated dehydrogenation of alcohols and hydrogenation of intermediates, leading to the desired upgraded secondary alcohols. Conversely, the high dehydrogenation ability of the mono-NHC-Ir complex promoted the conversion of formed secondary alcohols back to ketones.

一类含CCCS网络形成节点阻抗矩阵的新算法

电流控制电流源(CCCS)存在不同支路电流之间的控制行为,给该类网络节点阻抗矩阵的形成带来困难。本文对含有CCCS的电力网络中节点注入电流、节点电压、支路电流与支路电压四类电气量之间的约束关系进行深入分析,分别定义了三个过渡矩阵:支路电流对节点注入电流矩阵MIJ、节点电压对支路电压矩阵MVU和节点电压对支路电流矩阵MVI,并给出了各自的求取过程。利用这三个矩阵的运算结果并结合kron法,推导了一种能很好地适于含CCCS的大规模电网形成节点阻抗矩阵的新算法。文中结合7节点系统给出了算法的主体流程,并通过大量的算例系统进行了验证分析,计算结果证明了所提算法的有效性。该方法为利用节点阻抗矩阵开展进一步研究工作提供了一个新的支持工具。

高产过程的CCC-r图控制限优化

针对高产量过程监测中提出的累计合格品数控制图(CCC-r图),即检验出r个不合格品前累计检验的产品总数,但当产品的不合格率开始偏离目标值时平均链长出现增加的问题.采用数值解方法,构造关于控制限的函数,利用Matlab软件数值求解最小值,优化了CCC-r图的上下控制限.结果表明:当准确定义了平均链长后,给出计算CCC-r图的平均链长表达式,就能消除ARL-biased的性能,同时能够有效降低了CCC-r控制图对于监测产品不合格率增加的反应时间,提升了监测产品退化的灵敏度.

Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.

CAN-based Synchronized Motion Control for Induction Motors

A control area network （CAN） based multi-motor synchronized motion control system with an advanced synchronized control strategy is proposed. The strategy is to incorporate the adjacent cross-coupling control strategy into the sliding mode control architecture. As illustrated by the four-induction-motor-based experimental results, the multi-motor synchronized motion control system, via the CAN bus, has been successfully implemented. With the employment of the advanced synchronized motion control strategy, the synchronization performance can be significantly improved.

Multivariable fuzzy control of residential inverter-driven air conditionings

A model free intelligent muhivariable fuzzy controller （MFC） designed for modulating the vapor compression cycles in a residential inverter-driven air conditioning is proposed. The novel controller combines a traditional fuzzy controller （TFC） and an additional coupling fuzzy controller, the coupling fuzzy controller is introduced to compensate for the unknown cross-coupling effects of this muhivariable system. In order to evaluate the control performance of the MFC, it is digitally implemented in terms of regulating the desired evaporating temperature and superheat. The experimental results show the effectiveness of the MFC for improvement of system performance and energy efficiency.

Intelligent Control Algorithm of PTZ System Driven by Two-DOF Ultrasonic Motor

It is difficult for the traditional pan-tilt-zoom(PTZ)system driven by electromagnetic motor to meet the growing demand for video surveillance system.The key challenge is high positioning accuracy,high dynamic performance and miniaturization of the PTZ system.Here a PTZ system driven by two degree-of-freedom obeliskshaped ultrasonic motor with single stator is presented,and its intelligent control algorithm is studied.The structure and driving mechanism of the presented PTZ system are analyzed by both simulation and experiment.To solve the complex nonlinear factors,e.g.time-variation,dead zone,the fuzzy PID control algorithm and the variable gain cross-coupled control strategy are combined to improve the control performance.The results show that the proposed algorithm has faster response,higher precision than traditional control algorithm,and it also has a good robustness to prevent the effect of interference.

CCC控制系统在首套PTA机组中的应用

介绍了国内首套PTA压缩机组控制系统的配置方案与CCC控制系统的特点,结合工艺流程,说明了CCC控制系统在PTA压缩机组中的控制应用。

An Advanced Control Strategy for Dual-Actuator Driving System in Full-Scale Fatigue Test of Wind Turbine Blades

A new dual-actuator fatigue loading system of wind turbine blades was designed.Compared with the traditional pendulum loading mode,the masses in this system only moved linearly along the loading direction to increase the exciting force.However,the two actuators and the blade constituted a complicated non-linear energy transferring system,which led to the non-synchronization of actuators.On-site test results showed that the virtual spindle synchronous strategy commonly used in synchronous control was undesirable and caused the instability of the blade’s amplitude eventually.A cross-coupled control strategy based on the active disturbance rejection algorithm was proposed.Firstly,a control system model was built according to the synchronization error and tracking error.Furthermore,based on arranging the transition process,estimating the system state and error feedback,and compensating disturbance,an active disturbance rejection controller was designed by adopting the optimal control function.Finally,on-site test results showed that the cross-coupled control strategy based on the active disturbance rejection algorithm could ensure the synchronization of two actuators.The maximum speed synchronization error of the two motors was less than 16 RPM,the displacement synchronization error of the two actuators was less than 0.25 mm and approaching zero after 4 seconds,and the peak value of vibration of the blade was less than 5 mm,which satisfied the fatigue test requirement.

CCC防喘振控制器在转炉送风机中的运用

从控制方法的选择、喘振变量的计算、各种喘振控制线的确定以及CCC控制器在防喘振控制上的特点入手,对CCC防喘振控制器在某铜业公司转炉送风机防喘振控制系统中的应用进行了分析。实践证明,使用该控制器能充分保护风机并提高风机运行的经济性。

基于五电平功率变换器的开关磁阻电动机CCC控制方法

传统的SRM(switched reluctance motor)功率变换器功率容量受到限制,只适用于中小功率的场合。为了扩大其应用范围,提出了五电平SRM功率变换器及其控制方法。该控制方法通过DSP物理实验表明,其五电平变换器器件开关次数可大大少于传统的功率变换器,不仅电流波形优于传统功率变换器,而且在同样耐压器件的情况下,五电平功率变换器的电压和容量将比传统三相不对称半桥结构提高1倍。

CCC 5系列控制系统在二氧化碳压缩机上的应用

介绍CCC5系列控制系统在二氧化碳压缩机上的应用,结合实际介绍改造的经验和特点,以及CCC5系列产品的主要功能。

CCC控制系统在空分3TY压缩机上的应用

介绍了CCC控制系统软、硬件的构成;通过对喘振线的确定方法以及控制系统的基本控制功能和特殊响应等情况的分析和介绍,阐述了CCC控制系统的控制功能和控制效果。

Robust adaptive cross-coupling position control of biaxial motion system

The stability and synchronous performance are usually hard to be improved simultaneously in the biaxial cross-coupling position motion control system.Based on analyzing the characteristics of the cross-coupling control system,a robust adaptive cross-coupling control strategy is proposed.To restrict influences of destabilizing factors and improve both of stability and synchronous performance,the strategy forces dual axes to track the same reference model using Narendra adaptive control theory.And then,a robust parameters adaptive law is proposed.The stability analysis of the proposed strategy is conducted by applying Lyapunov stability theory.Related simulations and experiments indicate that the proposed strategy can improve synchronous performance and stability simultaneously.

基于滑模交叉耦合的双永磁电机转速同步控制

为降低双永磁电机在动态过程和扰动情况下的速度同步误差,研究了一种基于电流参考切换和滑模交叉耦合控制的方法。首先,建立了交叉耦合控制下的系统模型,并分析交叉耦合控制的作用机理;通过频域分析证明其能够降低速度同步误差,并给出了交叉耦合控制器参数设计方法;然后,为提升扰动情况下的速度同步误差收敛时间,提出了基于滑模的交叉耦合控制方法;最后,使用电流参考切换解决动态过程中受最大电流限制造成的速度同步性能不佳问题。实验结果表明,基于电流参考切换的滑模交叉耦合控制能够使扰动下速度同步误差收敛更快,同时有效降低动态过程中的速度同步误差。

Motion synchronization of dual-cylinder pneumatic servo systems with integration of adaptive robust control and cross-coupling approach

We investigate motion synchronization of dual-cylinder pneumatic servo systems and develop an adaptive robust synchronization controller. The proposed controller incorporates the cross-coupling technology into the integrated direct/indirect adaptive robust control(DIARC) architecture by feeding back the coupled position errors, which are formed by the trajectory tracking errors of two cylinders and the synchronization error between them. The controller employs an online recursive least squares estimation algorithm to obtain accurate estimates of model parameters for reducing the extent of parametric uncertainties, and uses a robust control law to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. Therefore, asymptotic convergence to zero of both trajectory tracking and synchronization errors can be guaranteed. Experimental results verify the effectiveness of the proposed controller.

聋童执行功能发展:聋童与正常儿童的比较

利用标准Dimensional Change Card Sort任务（DCCS），对76名智力正常的3-8岁聋童和78名3-5．5岁的正常儿童进行了对比测试，旨在考察聋童执行功能发展的年龄特征与发展水平。结果发现，3岁组的聋童和正常儿童在DCCS任务上的表现没有显著性差异，但正常儿童在4-4．5岁时进入一个迅速发展期，而聋童要在6岁时才有快速的发展，到7岁后才相当于正常儿童5岁的发展水平，大约滞后2年。研究认为，造成聋童执行功能发展滞后的原因主要有：（1）语言符号系统和聋童特有的符号系统之间可能存在的差异；（2）聋童可能存在计划和灵活性的缺陷；（3）聋童可能存在命名和标识策略上的困难和注意机制的缺陷。结合关于聋童心理理论发展滞后于正常儿童7年以上的报道，心理理论发展和执行功能发展在聋童身上表现出较大的不一致性。