A master-slave generalized predictive synchronization control for preheating process of multi-cavity hot runner system

As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.

Hierarchical hybrid control network design based on LON and master-slave RS-422/485 protocol

Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.

Influence of Design Margin on Operation Optimization and Control Performance of Chemical Processes

Operation optimization is an effective method to explore potential economic benefits for existing plants. The m.aximum potential benefit from operationoptimization is determined by the distances between current operating point and process constraints, which is related to the margins of design variables. Because of various ciisturbances in chemical processes, some distances must be reserved for fluctuations of process variables and the optimum operating point is not on some process constraints. Thus the benefit of steady-state optimization can not be fully achied（ed while that of dynamic optimization can be really achieved. In this study, the steady-state optimizationand dynamic optimization are used, and the potential benefit-is divided into achievable benefit for profit and unachievable benefit for control. The fluid catalytic cracking unit （FCCU） is used for case study. With the analysis on how the margins of design variables influence the economic benefit and control performance, the bottlenecks of process design are found and appropriate control structure can be selected.

Simulation for the Controlling Factors of Structural Deformation in the Southern Margin of the Junggar Basin

According to the differences of structural deformation characteristics, the southern margin of the Junggar basin can be divided into two segments from east to west. Arcnate thrust-and-fold belts that protrude to the north are developed in the eastern segment. There are three rows of en echelon thrust-and-fold belts in the western segment. Thrust and fold structures of basement-involved styles are developed in the first row, and decollement fold structures are formed from the second row to the third row. In order to study the factors controlling the deformation of structures, sand-box experiments have been devised to simulate the evolution of plane and profile deformation. The planar simulation results indicate that the orthogonal compression coming from Bogeda Mountain and the oblique compression with an angle of 75° between the stress and the boundary originating from North Tianshan were responsible for the deformation differences between the eastern part and the western part. The Miquan-Uriimqi fault in the basement is the pre-existing condition for generating fragments from east to west. The profile simulation results show that the main factors controlling the deformation in the eastern part are related to the decollement of Jurassic coal beds alone, while those controlling the deformation in the western segment are related to both the Jurassic coal beds and the Eogene clay beds. The total amount of shortening from the Yaomoshan anticline to the Gumudi anticline in the eastern part is -19.57 km as estimated from the simulation results, and the shortening rate is about 36.46%; that from the Qingshuihe anticline to the Anjihai anticline in the western part is -22.01 km as estimated by the simulation results, with a shortening rate of about 32.48%. These estimated values obtained from the model results are very close to the values calculated by means of the balanced cross section.

Lithostructural controls in Douala-Buea Region landscape (SW Cameroon margin):Insights from morphometric analysis

The Douala-Buea Region(DBR;4°-5°N,9°-10°30’E),a portion of the southern Cameroon passive margin,developed on the Proterozoic granito-gneissic basement and the Cretaceous to Recent volcanosedimentary cover,was explored in order to evaluate the lithology and tectonics controls on its landscape usingthequalitativeandquantitative geomorphological analyses based on 30 m resolution Digital Elevation Models(DEM)and field evidences.This area displays an uneven and complex landscape differentiated into four morphological units:Douala,Nkondjock,Kumba and Buea Units.The Douala Unit corresponds to the Coastal Plain and is extended on the Douala-Kribi/Camposedimentarybasin.The Nkondjock Unit represents a middle plateau developed on a Proterozoic granito-gneissic basement.The Kumba Unit matches with the southernmost volcanic Western Cameroon High Plateau.The Buea Unit corresponds to the Mount Cameroon stratovolcano.The relief analysis through mountain-front sinuosity(Smf,1.19–1.43)and relative relief ratio(Rr,0.10–2.31)vary from one unit to another.The drainage network analysis including drainage patterns,stepped longitudinalriverprofiles,theassociated morphometric indexes,notably the concavity index(IC,0.56–0.88),deviation(D,267–2912 m),basin asymmetry factor(A_(F),6.37–42.12),hypsometric integral(HI,0.10–0.29),valley floor width to valley height ratio(V_(f),0.36–2.75),elongation ratio(R_(e),0.30–0.50),watershed slope(S,6.88–88.88)and stream length gradient index(SL,0–3332)vary from one basin to another too.These results also show the heterogeneous and uneven DBR landscape controlled by its lithology and active tectonics.The drainage system reveals concave to concavo-convex longitudinal river profile shapes with knick points,asymmetric basins,and fault reactivations,and highlights the tectonics activity that used to occur through the time and their control on the morphology.Together,they document the lithostructural controls on the DBR landscape evolution,extendable in the whole SW Cameroon margin.

Research on Master-slave Telerobot Force Telepresence Technology

A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.

Constrained Moving Path Following Control for UAV With Robust Control Barrier Function

This paper studies the moving path following(MPF)problem for fixed-wing unmanned aerial vehicle(UAV)under output constraints and wind disturbances.The vehicle is required to converge to a reference path moving with respect to the inertial frame,while the path following error is not expected to violate the predefined boundaries.Differently from existing moving path following guidance laws,the proposed method removes complex geometric transformation by formulating the moving path following problem into a second-order time-varying control problem.A nominal moving path following guidance law is designed with disturbances and their derivatives estimated by high-order disturbance observers.To guarantee that the path following error will not exceed the prescribed bounds,a robust control barrier function is developed and incorporated into controller design with quadratic program based framework.The proposed method does not require the initial position of the UAV to be within predefined boundaries.And the safety margin concept makes error-constraint be respected even if in a noisy environment.The proposed guidance law is validated through numerical simulations of shipboard landing and hardware-in-theloop(HIL)experiments.

新疆克拉玛依乌尔禾张扭性走滑断裂特征及其控藏作用研究

乌尔禾沥青矿断裂带位于准噶尔盆地西北缘乌夏断裂带乌尔禾鼻隆之上,是一个小型左旋走滑断裂带。断裂带形成后未发生强烈改造,断裂带内发育沥青矿脉,露头地质条件好,且有三维地震覆盖,是研究走滑断裂特征和控藏作用的天然实验室。本文采用无人机三维立体建模技术,结合野外剖面实测,对乌尔禾沥青矿走滑断裂带野外剖面露头进行定量分析和解剖。结果表明,沥青矿断裂带共发育17条断层,主断层西北侧断层呈雁列状分布,东南侧断层呈马尾状,断裂带纵向呈负花状。研究表明,断层形成于燕山期左旋剪切应力场,受拉张应力影响,整体处于张扭环境,形成张扭性走滑断裂带。断层发育空腔和诱导裂缝,尤其主动盘裂缝更为发育,空腔的开度与油气侵染宽度呈正相关。结合塔里木盆地张扭性走滑断裂与油气藏关系分析,本文认为张扭性走滑断裂是良好的垂向油气运移通道,主动盘具有侧向输导作用,被动盘具有封堵作用,走滑断裂主动盘一侧圈闭是良好的油气聚集区域。

被动大陆边缘页岩沉积古环境及其对有机质富集的控制:以上扬子渝北地区下志留统龙马溪组为例

目前对于被动大陆边缘沉积古环境演化的研究相对较少,特别是对上升洋流活动变化规律认识不足,导致对有机质富集主控因素认识不清。据此,以渝北地区下志留统龙马溪组为例,基于岩心/露头、矿物岩石学、有机地球化学和元素分析等资料,探讨被动大陆边缘页岩沉积古环境及其对有机质富集的控制。研究表明,区内有机质富集受保存条件、陆源输入和古生产力水平等因素控制,但不同时期主控因素存在差异:鲁丹期(LM1-LM5沉积期),保存条件、陆源输入和古生产力水平共同控制有机质富集,TOC含量最高;埃隆早期(LM6沉积期),盆地进入挠曲—迁移期,构造活动增强,渝北地区障壁开口打开,上升洋流活动增强,保存条件变差是造成TOC含量降低的主因;埃隆中期(LM7沉积期),迁移作用增强,障壁开口进一步打开,上升洋流活动达到最强,保存条件变差和古生产力水平急剧升高是导致TOC含量与LM6沉积期差异不大的主因;埃隆晚期(LM8沉积期),障壁开口向西北方向迁移,TOC含量降低,有机质富集主控因素与LM1-LM5一致;特列奇早期(LM9沉积期),海平面降至最低,以富氧环境为主,TOC含量降至最低,保存条件是控制有机质富集的主要因素。总体而言,研究区不同时期有机质富集主控因素变化与构造活动和海平面变化引起的沉积古环境变化密切相关。

基于FOCA的永磁游标电机PI参数自整定

针对磁场定向控制中电流内环和转速外环比例积分(PI)控制器参数整定困难且耗时长的问题,基于Matlab/Simulink的磁场定向控制自整定(FOCA)模块搭建了永磁游标电机磁场定向控制双闭环调速系统参数自整定模型。该模块在PI控制器输出端注入正弦扰动信号,根据系统输入输出数据计算频率响应,基于频率响应自动整定PI参数,同时实现指定的目标带宽和相位裕度。最后通过仿真对比分析各个环路整定前后的控制性能,仿真结果表明使用FOCA模块能够快速自动整定PI控制器参数并且拥有良好的控制性能。

海上边际油气项目成本控制前期策略研究

对于海上边际油气项目,由于其可采资源“小、散、碎”或开发条件较差导致总投资较高,因此设置成本目标和限额设计、成本绩效管理等成本控制手段对于其经济有效开发尤为重要。目前针对海上边际油气项目投资管理的管理,缺少主动统筹的成本控制观念。为此,文章从项目决策的基本要求出发,系统分析了海上边际油气项目的开发工程模式,以项目参与各方共赢为导向,以实现项目经济效益为目标,提出基于目标成本法的成本规划策略和基于价值工程分析的成本计划策略。研究结果表明:在海上边际油气项目前期决策中,为推进边际油气项目经济有效实施,应积极融合各方利益,制定成本目标、明确成本计划。结论认为:在海上边际油气项目实施前主动制定符合要求的成本目标,实施过程中严格执行成本计划,对保证海上边际油气项目经济开发具有现实意义。

被动陆缘深水海底限制性水道三维地震表征及沉积演化——以纳米贝盆地为例

【目的】被动陆缘盆地深水浊积砂体已成为深海油气勘探突破及储量发现的新领域。【方法】以典型被动陆缘纳米贝盆地深水高分辨率三维地震资料为研究基础,以受构造活动和沉积压实影响较小而保持原始水道沉积构型的海底第四纪沉积地层为目标,精细描述和解析了目标层内限制性水道沉积的剖面和平面地震响应特征。【结果与结论】限制性浊积水道侵蚀作用总体大于沉积作用,单一水道的沉积模式以凹岸侵蚀、凸岸“S”型加积为主,该过程使“V”型河谷展宽并充填形成“U”型水道沉积;多期叠置水道沉积体系分为侧切叠置和垂切叠置的两种模式,以侧切叠置模式为主;窄陆架、宽缓陆坡的海底地形控制限制性水道的延伸方向及长度规模,陆缘盆地的沉降中心控制着各期水道的迁移方向,古气候事件发生频率控制着水道体系内部浊积砂体发育的期次。该研究成果能够给予限制性水道沉积构型认识及砂体储层预测启发。

准噶尔盆地南缘西段齐古组深层储层特征及物性控制因素

准噶尔盆地南缘西段齐古组深层碎屑岩储层油气勘探潜力巨大,但目前针对其储层特征及物性控制因素尚缺乏系统研究,制约了后期油气勘探进程。本文综合利用铸体薄片、扫描电镜、物性、压汞及包裹体等资料,并结合区域埋藏史及古地温等相关成果,对齐古组储层岩石学特征、物性特征、成岩作用特征及物性控制因素进行系统研究。结果表明,齐古组储层具有低成分成熟度、高塑性岩屑含量及中等结构成熟度的岩石学特征。尽管储层主体埋深大于3500 m,但储集空间仍以粒间孔为主,平均孔隙度为10.29%,平均渗透率为34.12×10^(-3)μm^(2),总体上属低孔低渗储层,但仍发育部分中-高孔渗储层。储层成岩作用主要有压实作用、胶结作用及溶蚀作用,成岩强度相对较弱,主体处于早成岩B期—中成岩A期,并表现为压实强度中等、胶结物含量较低且晚期发育酸性溶蚀的特征。富石英与长石、贫岩屑以及分选好等特征有利于储层物性的保存,而储层物性损失以压实减孔最为显著,但储层内部绿泥石包壳及中成岩期的酸性溶蚀作用可有效改善储层物性。此外,齐古组地层早期长期浅埋、后期短期快速深埋、地层超压及较低的古地温梯度等因素延缓了储层成岩进程,进而降低成岩作用强度,导致齐古组优质储层得以有效保存。

基于公式化限额和最小裕度最大化的电网热稳定限额计算

编制热稳定控制限额是电网调度控制中心的重要工作,也是保障电网安全运行的重要手段。针对新能源大规模并网后潮流不确定性大导致热稳定限额制定难度增大的问题,以预想故障分析为基础计算潮流转移关系并建立电网安全约束,进而提出了基于公式化限额和最小裕度最大化的三阶段电网热稳定限额计算方法,实现了热稳定限额的批量自动计算。第1阶段对输电通道限额进行初始化,第2阶段对故障后易过载的通道按照故障后不超瓶颈设备短时载流能力制定公式化限额要求,第3阶段对转移关系约束存在耦合的通道集合逐次按最小裕度最大化原则计算通道控制限额。对输电资源紧张的通道同时采用公式化限额和通道控制限额要求可以减小保守性,充分释放通道输电能力;对其余通道只采用通道控制限额要求,可减少并简化控制要求。以某区域电网2023年夏季高峰运行方式为例,限额自动计算结果与稳定规程的一致性较好,验证了所提方法的有效性。

植草带宽度对蜘蛛和步甲群落动态及比邻玉米田害虫发生的影响

农田边界植草带是农田系统各斑块间生物物种迁移和群落演替、物质和能量交换的主要区域,对维持农业生物多样性及提高农田生产力具有重要意义。基于作物-害虫-天敌互作有机整体对植草带宽度的响应,选取不同宽度植草带(2 m、4 m、6 m)及其比邻农田并以对应宽度作物边界作为对照,采用地表陷阱法对蜘蛛和步甲进行取样调查,探究植草带宽度对蜘蛛和步甲种群结构、迁移扩散规律以及对农田害虫控制潜力的影响。结果表明:植草带内蜘蛛和步甲个体数均显著高于对照条带,4 m、6 m植草带的蜘蛛和步甲多度显著高于2 m植草带,且物种丰富度和多度显著高于其对照条带。此外,不同宽度植草带蜘蛛和步甲群落存在较高的异质性,蜘蛛和步甲群落结构差异显著;在4 m和6 m植草带及其比邻玉米田内,蜘蛛和步甲多度在植草带和植草带与比邻玉米田交界处显著高于农田内部,且随距离的增加,蜘蛛物种多度呈显著降低趋势,植草带宽度和距离共同决定蜘蛛和步甲的空间分布;Monte Carlo检验结果表明,植草带宽度、植被Margalef指数对农田中蜘蛛和步甲群落结构的影响均达到显著水平,蜘蛛主要优势科和步甲主要优势种主要分布在6 m植草带比邻玉米田内;4 m、6 m植草带比邻的玉米田中蜘蛛和步甲对玉米害虫的益害比显著高于2 m植草带比邻的玉米田,且4 m、6 m植草带显著增加了玉米籽粒的百粒重及比邻农田的玉米总产量。本研究对植草带涵养捕食性天敌预防害虫发生的最适宽度进行探索,综合考虑植草带耕地占用、天敌涵养和生物控害潜力等因素,确定4 m宽度植草带是具有推广价值的农田边界模式。

参与电网调频的多端柔性直流输电系统改进下垂控制策略

参与电网调频的传统下垂控制策略能够利用频率偏差和直流电压实现多端柔性直流输电系统频率之间的相互支撑。然而传统电压下垂系数固定,在分配不平衡功率时容易忽略电网的运行状态和换流站自身容量,导致换流站过载以及弱电网承担功率时频率波动较大。为解决这一问题,提出了一种参与电网调频的改进下垂控制策略。首先分析了参与电网调频的传统下垂控制策略能量调配关系。其次考虑电网的频率裕度以及换流站的自身容量重新设计电压下垂系数。在系统受到扰动后,提出的控制策略能够保证换流站不发生过载,同时实现弱电网的稳定运行。最后通过仿真软件MATLAB/SIMULINK进行仿真验证,结果表明所提控制策略提高了多端柔性直流输电系统的频率调节能力,使系统的运行水平得到有效提升。

肥胖与普通男性跨越不同高度障碍动态稳定性的差异

背景:肥胖对步行时的动态平衡产生负面影响,而跨越障碍是较为日常的功能活动,对控制身体姿势的稳定性要求更高。目的:探讨肥胖男性与普通男性动态稳定性的差异,采用相对更具挑战性的跨越障碍对肥胖男性的平衡能力进行评估。方法:招募24名男性青年,肥胖组与普通组(非肥胖组)各12名,分别以随机顺序完成平地行走和不同高度(4,11,15 cm)障碍物的跨越测试。使用Qualisys运动捕捉系统与Kistler测力台采集运动学与动力学数据。采用双因素(2组别*4动作类型)重复测量方差分析,对各指标进行统计分析。结果与结论:①肥胖组比普通组步速更低(P<0.05),跨越11 cm与15 cm障碍时第一单支撑期占比减小,第二双支撑期占比增加(P<0.05);②在平地行走时,普通组的内外方向动态稳度大于肥胖组(P<0.05);③在跨越4 cm障碍时,肥胖组前后方向动态稳度低于普通组(P<0.05);④在跨越11 cm障碍时,两组前后方向动态稳度无显著性差异(P>0.05),而内外方向差异有显著性意义(P<0.05);⑤在跨越15 cm障碍时,肥胖组动态稳度低于普通组(P<0.05);⑥提示肥胖使人体在跨越障碍过程中对身体的控制能力下降,动态稳定性降低,发生跌倒的风险较普通人群更高;此外,相较于平地行走,跨越障碍时肥胖组稳定性下降较普通人群更为显著。

Adaptive PI Control Based Stability Margin Configuration of Aircraft Control Systems with Unknown System Parameters and Time Delay

The stability margin is a vital indicator for assessing the safety level of aircraft control systems.It should maintain sufficient stability margin to ensure safety during flight,especially in the process of large maneuver operations.The stability margin is generally quantified by the Bode diagram,which strictly depends on the system parameters and the open-loop transfer function.However,due to the uncertain flight environments,transmission delays of sensors and mode switchings,etc.,there exist large parameter and structure uncertainties in the aircraft control systems,which make it difficult to precisely configure the stability margin to the desired value by the usual control methods.To address this problem,an indirect adaptive control strategy is proposed in this paper,where an adaptive PI control law with the capability of self-configuration of stability margin is developed.The developed control law not only achieves stable time-varying command tracking in the time domain,but also is able to automatically configure the phase margin and gain margin in the frequency domain.Finally,the simulation of the one-degree-of-freedom roll rate control model of the air vehicle verifies the validity of the proposed control method.

变循环发动机模式转换对加减速性能的影响

变循环发动机具有单外涵与双外涵两种工作模式,根据使用场景或发动机性能匹配需求可能在加减速过程中进行模式转换。为了评估模式转换对加减速性能的影响,建立了可在加减速过程中进行模式转换性能模拟的过渡态性能计算模型,对比分析了引入模式转换后的加减速特性。结果表明:模式转换控制规律对风扇工作线和发动机加速性有影响,设计时应使风扇工作线变化平稳,同时在保证发动机稳定工作的前提下缩短模式转换时间;模式转换可使减速过程中的风扇最小喘振裕度从2%提高至15%,从而消除风扇喘振裕度对减速供油规律的限制,进而改善发动机减速性能。