The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances.Based on the novel train model resulting from the Takagi–Sugeno fuzzy theory, a sliding-mode fau...The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances.Based on the novel train model resulting from the Takagi–Sugeno fuzzy theory, a sliding-mode fault-tolerant control strategy is proposed. The norm bounded disturbances which are composed of interactive forces among adjacent carriages and basis running resistances are rearranged by the fuzzy linearity technique. The modeled disturbances described as an exogenous system are compensated for by a disturbance observer. Moreover, a sliding mode surface is constructed, which can transform the stabilization problem of position and velocity into the stabilization problem of position errors and velocity errors, i.e., the tracking problem of position and velocity. Based on the parallel distributed compensation method and the disturbance observer, the fault-tolerant controller is solved. The Lyapunov theory is used to prove the stability of the closed-loop system. The feasibility and effectiveness of the proposed fault-tolerant control strategy are illustrated by simulation results.展开更多
High-speed Electromagnetic Suspension(EMS)train is continuously impacted by the irregularity of the track,which worsens the levitation performance of the train.In this paper,a composite control scheme for the EMS is p...High-speed Electromagnetic Suspension(EMS)train is continuously impacted by the irregularity of the track,which worsens the levitation performance of the train.In this paper,a composite control scheme for the EMS is proposed to suppress track irregularities by integrating a Refined Disturbance Observer(RDO)and a Prescribed Performance Fixed-Time Controller(PPFTC).The RDO is designed to estimate precisely the track irregularities and lumped disturbances with uncertainties and exogenous disturbances in the suspension system,and reduce input chattering by applying to the disturbance compensation channel.PPFTC is designed to converge the suspension air gap error to equilibrium point with prescribed performance by completing error conversion,and solve the fast dynamic issue of EMS.And the boundary of overshoot and steady-state is limited in the ranged prescribed.A theoretical analysis is conducted on the stability of the proposed control method.Finally,the effectiveness and reasonability of the proposed composite anti-disturbance control scheme is verified by simulation results.展开更多
Cloud cavitation shows an unsteady periodic tendency under a certain flow condition. In a cavitating water jet flow with cavitation clouds, the cavities or the clouds produce high impact at their collapse. In order to...Cloud cavitation shows an unsteady periodic tendency under a certain flow condition. In a cavitating water jet flow with cavitation clouds, the cavities or the clouds produce high impact at their collapse. In order to make clear a mechanism of the periodic cavity behavior, we experimentally examine the behavior in a transparent cylindrical convergent-divergent nozzle using a high-speed video camera. An effect of upstream pressure fluctuation due to a plunger pump is investigated from a viewpoint of unsteady behavior in a cavitating water jet. As a result, it is found that the cavitating flow has two kinds of oscillation patterns in the cavity length (cavitation cloud region). One is due to the upstream pressure fluctuation caused by the plunger pump. The other is much shorter periodic motion related to the characteristic oscillation of cavitation clouds accompanied with the shrinking (reentrant), growing and shedding motion of the clouds.展开更多
A method is presented to determine significant frequencies of oscillations of cavitation structures from high-speed camera recordings of a flow around a 2-D hydrofoil. The top view of the suction side of an NACA 2412 ...A method is presented to determine significant frequencies of oscillations of cavitation structures from high-speed camera recordings of a flow around a 2-D hydrofoil. The top view of the suction side of an NACA 2412 hydrofoil is studied in a transparent test section of a cavitation tunnel for selected cloud cavitation regimes with strong oscillations induced by the leading-edge cavity shedding. The ability of the method to accurately determine the dominant oscillation frequencies is confirmed by pressure measure- ments. The method can resolve subtle flow characteristics that are not visible to the naked eye. The method can be used for non- invasive experimental studies of oscillations in cavitating flows with adequate visual access when pressure measurements are not available or when such measurements would disturb the flow.展开更多
A special experiment setup was designed to observe the interaction between bubbles and particle in flotation cell and to analyze the bubble characteristics such as bubble size, distribution and bubble-loading efficien...A special experiment setup was designed to observe the interaction between bubbles and particle in flotation cell and to analyze the bubble characteristics such as bubble size, distribution and bubble-loading efficiency. Bubbles in water-gas system and three-phase system were measured. The results indicate that with the current setup the bubbles as small as 10 μm can be easily distinguished. The average size of the bubbles generated under the given conditions in two-phase system is 410 μm at frother concentration of 0.004%, which is in good correspondence with the results of other works. The effect of frother on bubble size was probed. Increasing frother concentration from 0 to 0.004% causes a reduction of bubble size from 700 to 400 μm. The bubble loading efficiency was reported. The result indicates that the fine particle is more easily entrapped than the coarse particle. Some factors, which have effect on measurement accuracy were discussed. The aeration speed has a significant effect on the accuracy of results, if it surpasses 30 mL/s, and the image becomes unclear due to the entrapment of fine particle. Another factor, which can affect observing results, is the sampling position. At a wrong sampling position, the images become unclear.展开更多
基金Project supported by the National Natural Science Foundation of China (Grant Nos. 62203246, 62003127, and 62003183)。
文摘The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances.Based on the novel train model resulting from the Takagi–Sugeno fuzzy theory, a sliding-mode fault-tolerant control strategy is proposed. The norm bounded disturbances which are composed of interactive forces among adjacent carriages and basis running resistances are rearranged by the fuzzy linearity technique. The modeled disturbances described as an exogenous system are compensated for by a disturbance observer. Moreover, a sliding mode surface is constructed, which can transform the stabilization problem of position and velocity into the stabilization problem of position errors and velocity errors, i.e., the tracking problem of position and velocity. Based on the parallel distributed compensation method and the disturbance observer, the fault-tolerant controller is solved. The Lyapunov theory is used to prove the stability of the closed-loop system. The feasibility and effectiveness of the proposed fault-tolerant control strategy are illustrated by simulation results.
基金supported by the National Natural Science Foundation of China(Grant 62273029).
文摘High-speed Electromagnetic Suspension(EMS)train is continuously impacted by the irregularity of the track,which worsens the levitation performance of the train.In this paper,a composite control scheme for the EMS is proposed to suppress track irregularities by integrating a Refined Disturbance Observer(RDO)and a Prescribed Performance Fixed-Time Controller(PPFTC).The RDO is designed to estimate precisely the track irregularities and lumped disturbances with uncertainties and exogenous disturbances in the suspension system,and reduce input chattering by applying to the disturbance compensation channel.PPFTC is designed to converge the suspension air gap error to equilibrium point with prescribed performance by completing error conversion,and solve the fast dynamic issue of EMS.And the boundary of overshoot and steady-state is limited in the ranged prescribed.A theoretical analysis is conducted on the stability of the proposed control method.Finally,the effectiveness and reasonability of the proposed composite anti-disturbance control scheme is verified by simulation results.
文摘Cloud cavitation shows an unsteady periodic tendency under a certain flow condition. In a cavitating water jet flow with cavitation clouds, the cavities or the clouds produce high impact at their collapse. In order to make clear a mechanism of the periodic cavity behavior, we experimentally examine the behavior in a transparent cylindrical convergent-divergent nozzle using a high-speed video camera. An effect of upstream pressure fluctuation due to a plunger pump is investigated from a viewpoint of unsteady behavior in a cavitating water jet. As a result, it is found that the cavitating flow has two kinds of oscillation patterns in the cavity length (cavitation cloud region). One is due to the upstream pressure fluctuation caused by the plunger pump. The other is much shorter periodic motion related to the characteristic oscillation of cavitation clouds accompanied with the shrinking (reentrant), growing and shedding motion of the clouds.
基金supported by the Czech Science Foundation(Grant No.13-23550S)the institutional support RVO:61388998 of the Institute of Thermome-chanics of the CAS,v.v.i
文摘A method is presented to determine significant frequencies of oscillations of cavitation structures from high-speed camera recordings of a flow around a 2-D hydrofoil. The top view of the suction side of an NACA 2412 hydrofoil is studied in a transparent test section of a cavitation tunnel for selected cloud cavitation regimes with strong oscillations induced by the leading-edge cavity shedding. The ability of the method to accurately determine the dominant oscillation frequencies is confirmed by pressure measure- ments. The method can resolve subtle flow characteristics that are not visible to the naked eye. The method can be used for non- invasive experimental studies of oscillations in cavitating flows with adequate visual access when pressure measurements are not available or when such measurements would disturb the flow.
文摘A special experiment setup was designed to observe the interaction between bubbles and particle in flotation cell and to analyze the bubble characteristics such as bubble size, distribution and bubble-loading efficiency. Bubbles in water-gas system and three-phase system were measured. The results indicate that with the current setup the bubbles as small as 10 μm can be easily distinguished. The average size of the bubbles generated under the given conditions in two-phase system is 410 μm at frother concentration of 0.004%, which is in good correspondence with the results of other works. The effect of frother on bubble size was probed. Increasing frother concentration from 0 to 0.004% causes a reduction of bubble size from 700 to 400 μm. The bubble loading efficiency was reported. The result indicates that the fine particle is more easily entrapped than the coarse particle. Some factors, which have effect on measurement accuracy were discussed. The aeration speed has a significant effect on the accuracy of results, if it surpasses 30 mL/s, and the image becomes unclear due to the entrapment of fine particle. Another factor, which can affect observing results, is the sampling position. At a wrong sampling position, the images become unclear.
