Tracking Performance of Electric Power Steering System Based on the Mixed H_2/H_∞ Strategy

The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system＇s robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system＇s robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers.

Delay-dependent decentralized H_∞ filtering for uncertain interconnected systems

This article considers delay dependent decentralized H∞ filtering for a class of uncertain interconnected systems, where the uncertainties are assumed to be time varying and satisfy the norm-bounded conditions. First, combining the Lyapunov-Krasovskii functional approach and the delay integral inequality of matrices, a sufficient condition of the existence of the robust decentralized H∞ filter is derived, which makes the error systems asymptotically stable and satisfies the H∞ norm of the transfer function from noise input to error output less than the specified up-bound on the basis of the form of uncertainties. Then, the above sufficient condition is transformed to a system of easily solvable LMIs via a series of equivalent transformation. Finally, the numerical simulation shows the efficiency of the main results.

H_∞ State Feedback Delay-dependent Control for Discrete Systems with Multi-time-delay

In this paper, H ∞ state feedback control with delay information for discrete systems with multi-time-delay is discussed. Making use of linear matrix inequality (LMI) approach, a time-delay-dependent criterion for a discrete system with multi-time-delay to satisfy H ∞ performance indices is induced, and then a strategy for H ∞ state feedback control with delay values for plant with multi-time-delay is obtained. By solving corresponding LMI, a delay-dependent state feedback controller satisfying H ∞ performance indices is designed. Finally, a simulation example demonstrates the validity of the proposed approach. Keywords Multi-time-delay - discrete time system - LMI - delay-dependent - H ∞ control Bai-Da Qu received B. S. degree in electrical automation from Fuxin Mining Institute, China in 1982, M. Eng. degree from Hefei University of Polytechnology in 1990, and Ph.D from Northerneastern University in 1999. He was an electro-mechanical engineer at Erdaohezi Mine, Heilongjiang, China from 1982 to 1990, a Lecturer, Senior Engineer, Associate Professor and Professor in Shenyang Institue of Technology from 1990 to 2002. He is currently a professor in Communication and Control Engineering School, Southern Yangtze University. His research interests include control theory and applications (robust control, H ∞ control, time-delay systems, complex systems), system engineering (modeling, analysis and simulation, MIS,CMIS), power-electronics and electrical driving, signal detecting and process, industrial automation.

Delay-dependent robust H_∞control of convex polyhedral uncertain fuzzy systems

The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with timevarying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent Lyapunov functional method, a new delay-dependent robust H∞ fuzzy controller, which depends on the size of the delays and the derivative of the delays, is presented in term of linear matrix inequalities （LMIs）. For all admissible uncertainties and delays, the controller guarantees not only the asymptotic stability of the system but also the prescribed H∞ attenuation level. In addition, the effectiveness of the proposed design method is demonstrated by a numerical example.

Delay-dependent robust H_∞ control for uncertain discrete time-delay fuzzy systems

The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno （T-S） fuzzy systems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, a new delay-dependent sufficient condition on robust H∞-disturbance attenuation is presented, in which both robust stability and prescribed H∞ performance are guaranteed to be achieved. Then based on the condition, a delay-dependent robust Hoo controller design scheme is developed in term of a convex algorithm. Finally, examples are given to illustrate the effectiveness of the proposed method.

Delay-dependent Non-fragile H_∞ Filtering for Uncertain Fuzzy Systems Based on Switching Fuzzy Model and Piecewise Lyapunov Function

This paper is concerned with the non-fragile H∞ filter design problem for uncertain discrete-time Takagi-Sugeno （T-S） fuzzy systems with time delay. To begin with, the T-S fuzzy system is transformed to an equivalent switching fuzzy system. Then, based on the piecewise Lyapunov function and matrix decoupling technique, a new delay-dependent non-fragile H∞ filtering method is proposed for the switching fuzzy system. The proposed condition is less conservative than the previous results. Since only a set of LMIs is involved, the filter parameters can be solved directly. Finally, a design example is provided to illustrate the validity of the proposed method.

Temperature Dependence of Performance of 6H-SiC Unipolar Power Devices

The temperature dependence of some performance of 6H SiC unipolar power devices is analyzed theoretically.By employing the temperature dependent ionization coefficient and mobility of a silicon carbide,the analytical expressions of the temperature dependent performance,such as breakdown characteristics and on resistance of 6H SiC unipolar power devices are derived in a closed form.The analytical results are compared with the experimental results,with good accordance found in the breakdown characteristics.

焊接空心球连接H型钢Z字形螺栓节点静力性能研究

提出了一种新型焊接空心球连接H型钢Z字形螺栓节点(新型螺栓节点),该节点适用于全装配大跨度弦支穹顶结构体系上部网壳连接。该节点的弦杆采用热轧H型钢,方便栓接、施工便捷、制造能耗低,可以实现部品部件到体系的标准化。为了研究新型螺栓节点的静力性能,对该节点进行了轴压、轴拉、纯弯和压弯荷载工况下的有限元分析,研究了该节点在不同荷载工况下的破坏模式、承载力、刚度、延性等力学性能指标,对比分析了新型螺栓节点与焊接空心球连接H型钢焊接节点(焊接节点)的破坏模式和静力性能。研究表明,在轴压和压弯荷载下新型螺栓节点和焊接节点的极限破坏模式均为H型钢弦杆局部屈曲和屈服,在轴拉荷载下新型螺栓节点和焊接节点的极限破坏模式均为H型钢弦杆全截面屈服,在纯弯荷载下新型螺栓节点和焊接节点的极限破坏模式均为H型钢弦杆局部屈曲。新型螺栓节点可以实现塑性铰远离焊缝和拼接区,符合“强连接,弱杆件”的设计要求。

T型钢连接方钢管柱-H型钢梁节点抗震性能分析

目的为了研究单边螺栓和T型钢连接的方钢管柱-H型钢梁节点的抗震特性,方法采用室内试验和数值模拟分析方法,对1∶2缩尺的边节点进行拟静力试验,并通过ABAQUS有限元软件进行数值模拟,综合分析边节点的滞回特性、承载力、刚度与耗能等力学特性。有限元分析变量为T型钢加肋、梁翼缘狗骨式和梁腹板开圆孔式。结果试验中,节点试件中连接件T型钢参与耗能且其变形最明显,梁、柱构件变形较小。塑性铰主要集中在连接构件T型钢上,T型钢腹板与翼缘交接处出现应力集中状态。试验弹性阶段,节点构件共同抵抗外部作用力。进入塑性阶段,节点损伤逐渐累积至T型钢,使T型钢最终产生塑性破坏而失效。有限元模拟中,T型钢加肋的形式对节点整体承载力影响最大,其中加3号肋的形式使节点承载力的增长量达到最大;梁翼缘狗骨式的形式对节点整体耗能能力影响最大,为44.01%。结论在T型钢上加肋板对节点的承载力和刚度提升较明显,对耗能能力影响不大;梁翼缘狗骨式和梁腹板开圆孔式均能提高节点的耗能能力,节点承载力和刚度基本不变;梁翼缘做狗骨式对节点抗震性能影响最显著。

Comparative Study on Growth Performance of Transgenic(Over-Expressed OsNHX1) and Wild-Type Nipponbare under Different Salinity Regimes

Transgenic Nipponbare which over-expressed a Na＋/H~ antiporter gene OsNHX1 was used to compare its growth performance, water status and photosynthetic efficiency with its wild type under varying salinity regimes. Chlorophyll content, quantum yield and photosynthetic rate were measured to assess the impact of salinity stress on photosynthetic efficiency for transgenic and wild-type Nipponbare. Effects of salinity on water status and gas exchange to both lines were studied by measuring water use efficiency, instantaneous transpiration rate and stomatal conductance. Dry shoot weight and leaf area were determined after three months of growth to assess the impacts of salinity on the growth of those two lines. Our study showed that both lines were affected by salinity stress, however, the transgenic line showed higher photosynthetic efficiency, better utilization of water, and better growth due to low transpiration rate and stomatal conductance. Reduction of photosynthetic efficiency exhibited by the wild-type Nipponbare was correlated to its poor growth under salinity stress.

Hydrothermal Synthesis of H_3PW_(12)O_(40)/TiO_2 Nanometer Photocatalyst and Its Catalytic Performance for Methyl Orange

H3PW12O40/TiO2 nanometer photocatalyst was prepared by one step hydrothermal synthesis from H3PW12O40·nH20 and Ti（OBu）4, simultaneously realizing the load and modification of H3PW12O40. The catalyst was characterized by Fourier transform infrared spectroscopy（FTIR）, powder X-ray diffraction（XRD）, nitrogen adsorp- tion-desorption analysis and scanning electron microscopy（SEM）. The results show that the catalyst is Keggin struc- ture and crystallized in anatase structure, the diameter and specific area of the prepared catalyst are 3.8 nm and 177.9 m^2/g, respectively, and its dispersity is better. The photocatalytic properties were compared for TiO2H3PW12O40/TiO2 prepared by impregnation and H3PW12O40/TiO2 prepared by hydrothermal method with methyl orange as a probe. The effects of H3PW12O40 loadings, crystallization method, initial pH and concentration of dye solution on the degradation of methyl orange were investigated.

Effect of H_2S Flow Rate and Concentration on Performance of H_2S/Air Solid Oxide Fuel Cell

A solid state H2S/air electrochemical cell having the configuration of H2S, (MoS2+NiS+Ag)/YSZ/Pt, air has been examined with different H2S flow rates and concentrations at atmospheric pressure and 750-850 ℃. Performance of the fuel cell was dependent on anode compartment H2S flow rate and concentration. The cell open-circuit voltage increased with increasing H2S flow rate. It was found that increasing both H2S flow rate and H2S concentration improved current-voltage and power density performance. This is resulted from improved gas diffusion in anode and increased concentration of anodic electroactive species. Operation at elevated H2S concentration improved the cell performance at a given gas flow rate. However, as low as 5% H2S in gas mixture can also be utilized as fuel feed to cells. Highest current and power densities, 17500mA·cm-2 and 200mW·cm-2, are obtained with pure H2S flow rate of 50ml·min-1 and air flow rate of 100ml·min-1 at 850℃.

Delay-dependent H_(2)/H_(∞) Control for Vehicle Magneto-rheological Semi-active Suspension

The exist researches of the magneto-rheological semi-active suspension(MSAS) control mainly focus on the design of control laws,which aim at obtaining an optimal control strategy to improve the ride comfort and handling stability.In the controller design,the stability of the MSAS system cannot be confirmed owing to the control input time delay considered little.In this paper,a quarter vehicle MSAS model with time-delay is built.Therefore,through formulating the sprung mass acceleration suitably as the optimization object,suspension deflection and tyre dynamic load and coulomb damping force as the constraint objects,with considering the control input time-delay,a delay-dependent state feedback H2/H∞ controller is designed.According to Lyapunov-Krasovskii functional theory,the sufficient conditions for asymptotic stability and the existence of delay-dependent H2/H∞ controller are obtained,and the controller design is transformed into the minimization problem for linear function through linear matrix inequality(LMI).Random road excitation simulations and experiments are carried out.The simulation and experiment results show that the design can preserve the closed-loop stability and achieve the performances for MSAS system in spite of the existence of the control input time-delay.The present study can provide an important basis and method for research on time-delay problem in MSAS and other chassis subsystems.

System-Level Performance Evaluation of Very High Complexity Media Applications : A H264/AVC Encoder Case Study

Given the substantially increasing complexity of embedded systems, the use of relatively detailed clock cycle-accurate simulators for the design-space exploration is impractical in the early design stages. Raising the abstraction level is nowadays widely seen as a solution to bridge the gap between the increasing system complexity and the low design productivity. For this, several system-level design tools and methodologies have been introduced to efficiently explore the design space of heterogeneous signal processing systems. In this paper, we demonstrate the effectiveness and the flexibility of the Sesame/Artemis system-level modeling and simulation methodology for efficient peformance evaluation and rapid architectural exploration of the increasing complexity heterogeneous embedded media systems. For this purpose, we have selected a system level design of a very high complexity media application;a H.264/AVC (Advanced Video Codec) video encoder. The encoding performances will be evaluated using system-level simulations targeting multiple heterogeneous multiprocessors platforms.

Enhanced LMI Representations for H2 Performance of Polytopic Uncertain Systems: Continuous-time Case

Based on two recent results, several new criteria of H2 performance for continuous-time linear systems are established by introducing two slack matrices. When used in robust analysis of systems with polytopic uncertainties, they can reduce conservatism inherent in the earlier quadratic method and the established parameter-dependent Lyapunov function approach. Two numerical examples are included to illustrate the feasibility and advantage of the proposed representations.

Improved Hemolytic Performance of Blood Pump with Fluorine-Doped Hydrogenated Amorphous Carbon Coating

Fluorine-doped hydrogenated amorphous carbon (a-C:H:F) film was deposited on a flow-straightener, impeller and diffuser surface (SUS 304) of an enclosed-impeller type flow blood pump using the ionization deposition method with a source gas of C6F5H. The surface characteristics of the a-C:H:F film were examined using atomic force microscopy, X-ray photoelectron spectroscopy, and measurements of surface roughness, friction and surface potential. The a-C:H:F film tends to increase surface roughness and the negative surface charge. In addition, the surface energy and friction decrease with fluorine dopant in the a-C:H film. To estimate the hemolytic performance of a blood pump with the a-C:H:F film coating, the amount of hemolysis was measured using a mock circulatory system (in vitro test) with 500 mL of pig blood containing sodium citrate. In vitro test was conducted for 180 min with the blood flow and pump head maintained at 5 L/min and 100 mmHg, respectively. The a-C:H:F film coating reduced the amount of hemolysis and improved the hemolytic performance. Decreasing the surface energy and negative surface charge of the a-C:H:F film contributes to the improvement of the hemolytic performance. The a-C:H:F film coating is thus expected to be utilized in medical technology as a surface coating technology for artificial heart blood pumps.

不锈钢复合钢H形截面钢梁受剪承载性能

基于复合钢本构模型,明确了复合比β对不锈钢复合钢应力-应变性能的影响。通过试验结果的承载曲线和破坏模式验证了数值模拟方法的准确性,进而以β、腹板宽高比a/hw和腹板高厚比hw/tw为变量开展300个数值模型的参数分析,系统分析了各变量对不锈钢复合钢H形截面钢梁受剪承载曲线和极限承载力的影响。研究结果表明:随着β的增加,不锈钢复合钢应力-应变曲线中的屈服平台逐渐消失,复合钢应力-应变性能逐渐由碳钢转变为不锈钢。当β较小时,不锈钢复合钢应力-应变曲线存在明显的屈服平台,这削弱了复合钢的应变强化对H形截面钢梁受剪承载性能的有利影响。随着β的增加,不锈钢复合钢的非线性应变强化性能逐渐增强,导致H形截面钢梁的延性性能逐渐提高,强度性能逐渐降低。经过验证,既有的欧洲规范设计公式对不锈钢复合钢H形截面钢梁受剪极限承载力的预测过于保守。基于参数分析结果,建立了考虑β影响的腹板贡献系数计算方法。研究结论有助于推广不锈钢复合钢的工程应用。

Effects of ZnCl2/H2O/C2H5OH Treatment on the Filter Paper Performance

Bleached softwood kraft pulp (BSKP) fibers were pretreated in a 5 mol/L NaOH aqueous solution at 35℃ for 90 min. The ZnCl2/H2O/ C2H5OH was used to treat the pretreated BSKP fibers, filter papers were then prepared. In the course of processing, the effects of various molar ratios of ZnCl2/H2O/C2H5OH on the filter paper performance were evaluated. SEMEDX was conducted to analyze the physical configuration of the filter papers. Moreover, FT-IR and XPS were performed to further characterize the BSKP, the pretreated BSKP and the filter paper fibers. The results indicated that the fibers treated by ZnCl2/H2O/C2H5OH were swollen and exhibited slight fibrillation, leading to a looser fiber structure and therefore, enhanced filter paper performance. Air permeability increased from 161.7 L/(m2·s) to 1450.4 L/(m2·s) for the filter papers when the molar ratio of ZnCl2/H2O/C2H5OH was 1:14:1. The optimum molar ratio of ZnCl2/H2O/C2H5OH was found to be 1:14:1, and no significant effect of ZnCl2/H2O/C2H5OH on fibers’ functional groups was detected. These results showed that filtration performance of filter papers was improved when treated with the ZnCl2/H2O/C2H5OH solution.

面向3min追踪间隔的400 km/h高速列车追踪过程仿真分析

将高速铁路运营速度提高至400km/h有利于提升旅行速度和旅客运输效率。但速度提高会影响追踪间隔,导致能力降低。在梳理高速铁路列车追踪间隔影响因素的基础上,构建了基于距离步长的高速铁路列车追踪运行多智能体仿真模型。通过仿真实验,计算了不同目标速度下的追踪间隔,并分析了各种追踪间隔随目标速度变化的趋势,以及出发及到达追踪间隔对列车牵引制动性能提升的响应情况。实验结果表明,在目标速度400km/h和采用中国标准动车组为基础模拟的牵引制动性能的仿真场景下,列车的区间追踪间隔在3min以内,而出发追踪间隔和到达追踪间隔均大于3min;若提升列车牵引加速度与制动减速度,则可以使列车出发及到达追踪间隔控制在3min以内。

Performance Estimation of HEVC/h.265 Decoder in a Co-Design Flow with SADF-FSM Graphs

Multiprocessor System on Chip (MPSoC) technology presents an interesting solution to reduce the computational time of complex applications such as multimedia applications. Implementing the new High Efficiency Video Coding (HEVC/h.265) codec on the MPSoC architecture becomes an interesting research point that can reduce its algorithmic complexity and resolve the real time constraints. The implementation consists of a set of steps that compose the Co-design flow of an embedded system design process. One of the first anf key steps of a Co-design flow is the modeling phase which allows designers to make best architectural choices in order to meet user requirements and platform constraints. Multimedia applications such as HEVC decoder are complex applications that demand increasing degrees of agility and flexibility. These applications are usually modeling by dataflow techniques. Several extensions with several schedules techniques of dataflow model of computation have been proposed to support dynamic behavior changes while preserving static analyzability. In this paper, the HEVC/h.265 video decoder is modeled with SADF based FSM in order to solve problems of placing and scheduling this application on an embedded architecture. In the modeling step, a high-level performance analysis is performed to find an optimal balance between the decoding efficiency and the implementation cost, thereby reducing the complexity of the system. The case study in this case works with the HEVC/h.265 decoder that runs on the Xilinx Zedboard platform, which offers a real environment of experimentation.