谐波驱动系统Back-stepping滑模控制研究

针对谐波传动系统动力学模型中存在的柔性变形、摩擦和运动误差等非线性因素。为了提高系统的传动精度,针对系统非线性刚度和静态误差因素进行了建模,并提出了一种Back-stepping滑模控制方法。利用Lyapunov稳定性理论,证明了闭环系统的误差是一致有界的。仿真结果表明,与PID控制相比,采用Back-stepping滑模控制,系统传动误差曲线峰峰值减小66.63%;负载端角速率误差曲线峰峰值减小77.35%。Back-stepping滑模控制能有效地补偿系统传动误差,抑制其负载端的速度波动,提高了系统的传动精度。

Curve Veering in Torsional Systems with Stepped Shafts

In this study, the influence of geometrical parameters on the curve veering phenomenon in a tor-sional system with stepped shaft is investigated. Three approximate solutions including finite el-ement, Rayleigh-Ritz and discretization methods, along with an exact solution are employed to obtain the natural frequencies of the structure. The study reveals that, under specific circumstances, the results obtained by approximate methods are very close to the exact solution. The curve veering behavior is manifested irrespective of the method employed. It is concluded that for the structure studied the curve veering behavior is not because of the approximate techniques used to compute the natural frequencies, and is an inherent behavior of the structure.

Identification and PID Control for a Class of Delay Fractional-order Systems

In this paper, a new model identification method is developed for a class of delay fractional-order system based on the process step response. Four characteristic functions are defined to characterize the features of the normalized fractional-order model. Based on the time scaling technology, two identification schemes are proposed for parameters U+02BC estimation. The scheme one utilizes three exact points on the step response of the process to calculate model parameters directly. The other scheme employs optimal searching method to adjust the fractional order for the best model identification. The proposed two identification schemes are both applicable to any stable complex process, such as higher-order, under-damped U+002F over-damped, and minimum-phase U+002F nonminimum-phase processes. Furthermore, an optimal PID tuning method is proposed for the delay fractional-order systems. The requirements on the stability margins and the negative feedback are cast as real part constraints U+0028 RPC U+0029 and imaginary part constraints U+0028 IPC U+0029. The constraints are implemented by trigonometric inequalities on the phase variable, and the optimal PID controller is obtained by the minimization of the integral of time absolute error U+0028 ITAE U+0029 index. Identification and control of a Titanium billet heating process is given for the illustration. © 2014 Chinese Association of Automation.

Noether＇s theorem and one-step corrections method for holonomic system

In this paper, a new computational method for improving the accuracy of numerically computed solutions is introduced. The computational method is based on the one-step method and conserved quantities of holonomic systems are considered as kinematical constraints in this method.

Nonlinear system PID-type multi-step predictive control

A compound neural network was constructed during the process of identification and multi-step prediction. Under the PID-type long-range predictive cost function, the control signal was calculated based on gradient algorithm. The nonlinear controller’s structure was similar to the conventional PID controller. The parameters of this controller were tuned by using a local recurrent neural network on-line. The controller has a better effect than the conventional PID controller. Simulation study shows the effectiveness and good performance.

State Feedback Stabilzation for a Class of Time-delay Nonlinear Systems

The problem of global stabilization by state feedback for a class of time-delay nonlinear system is considered. By constructing the appropriate Lyapunov-Krasovskii functionals (LKF) and using the backstepping design, a linear state feedback controller making the closed-loop system globally asymptotically stable is constructed.

A novel methodology for constructing a multi-wing chaotic and hyperchaotic system with a unified step function switching control

This paper aims at developing a novel method of constructing a class of multi-wing chaotic and hyperchaotic system by introducing a unified step function. In order to overcome the essential difficulties in iteratively adjusting multiple parameters of conventional multi-parameter control, this paper introduces a unified step function controlled by a single parameter for constructing various multi-wing chaotic and hyperchaotic systems. In particular, to the best of the authors＇ knowledge, this is also the first time to find a non-equilibrium multi-wing hyperchaotic system by means of the unified step function control. According to the heteroclinic loop Shilnikov theorem, some properties for multi-wing attractors and its chaos mechanism are further discussed and analyzed. A circuit for multi-wing systems is designed and implemented for demonstration, which verifies the effectiveness of the proposed approach.

Iterative Methods for Parametric Linear Systems with Linear Functions

This paper mainly proposes a new C-XSC （C- for eXtended Scientific Computing） software for the symmetric single step method and relaxation method for computing an enclosure for the solution set and compares the methods with others＇ and then makes some modifications and finally, examples illustrating the applicability of the proposed methods are given.

Inference and optimal design on step-stress partially accelerated life test for hybrid system with masked data

Under Type-Ⅱ progressively hybrid censoring, this paper discusses statistical inference and optimal design on stepstress partially accelerated life test for hybrid system in presence of masked data. It is assumed that the lifetime of the component in hybrid systems follows independent and identical modified Weibull distributions. The maximum likelihood estimations(MLEs)of the unknown parameters, acceleration factor and reliability indexes are derived by using the Newton-Raphson algorithm. The asymptotic variance-covariance matrix and the approximate confidence intervals are obtained based on normal approximation to the asymptotic distribution of MLEs of model parameters. Moreover,two bootstrap confidence intervals are constructed by using the parametric bootstrap method. The optimal time of changing stress levels is determined under D-optimality and A-optimality criteria.Finally, the Monte Carlo simulation study is carried out to illustrate the proposed procedures.

Adaptive explicit Magnus numerical method for nonlinear dynamical systems

Based on the new explicit Magnus expansion developed for nonlinear equations defined on a matrix Lie group, an efficient numerical method is proposed for nonlinear dynamical systems. To improve computational efficiency, the integration step size can be adaptively controlled. Validity and effectiveness of the method are shown by application to several nonlinear dynamical systems including the Duffing system, the van der Pol system with strong stiffness, and the nonlinear Hamiltonian pendulum system.

Criteria for Response Monotonicity Preserving in Approximation of Fractional Order Systems

In approximation of fractional order systems,a significant objective is to preserve the important properties of the original system.The monotonicity of time/frequency responses is one of these properties whose preservation is of great importance in approximation process.Considering this importance,the issues of monotonicity preservation of the step response and monotonicity preservation of the magnitude-frequency response are independently investigated in this paper.In these investigations,some conditions on approximating filters of fractional operators are found to guarantee the preservation of step/magnitude-frequency response monotonicity in approximation process.These conditions are also simplified in some special cases.In addition,numerical simulation results are presented to show the usefulness of the obtained conditions.

Sliding state stepping algorithm for solving impact problems of multi-rigid-body system with joint friction

Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.

Robust output-feedback stabilization of a class of nonlinear systems with the nonlinearities of varied form

The back-stepping designs based on confine functions are suggested for the robust output-feedback global stabilization of a class of nonlinear continuous systems; the proposed stabilizer is efficient for the nonlinear continuous systems confined by a bound function, the nonlinearities of the systems may be of varied forms or uncertain; the designed stabilizer is robust means that a class of nonlinear continuous systems can be stabilized by the same output feedback stabilization schemes; numerical simulation examples are given.

Chaos control of gear system with elastomeric web based on multi-parameter multi-step method

This paper employs a multi-parameter multi-step chaos control method, which is built up on the OGY method, to stabilize desirable UPOs of a gear system with elastomeric web as a high-dimensional and non-hyperbolic chaotic system, and the analyses are carried out. Three types of relations between components of a certain control parameter combination are defined in a certain control process. Special emphasis is put on the comparison of control efficiencies of the multi-parameter multi-step method and single-parameter multi-step method. The numerical experiments show the ability to switch between different orbits and the method can be a good chaos control alternative since it provides a more effective UPOs stabilization of high-dimensional and non-hyperbolic chaotic systems than the single-parameter chaos control, and according to the relation between components of each parameter combination, the best combination for chaos control in a certain UPO stabilization process are obtained.

Characteristic fractional step finite difference method for nonlinear section coupled system

For the section coupled system of multilayer dynamics of fluids in porous media, a parallel scheme modified by the characteristic finite difference fractional steps is proposed for a complete point set consisting of coarse and fine partitions. Some tech- niques, such as calculus of variations, energy method, twofold-quadratic interpolation of product type, multiplicative commutation law of difference operators, decomposition of high order difference operators, and prior estimates, are used in theoretical analysis. Optimal order estimates in 12 norm are derived to show accuracy of the second order approximation solutions. These methods have been used to simulate the problems of migration-accumulation of oil resources.

Resources Allocation and Failures in Step Topology under Distributed Computing System

In the past years, distributed computing is gaining the popularity due to reduction in execution time and low cost involvement. On the basis of this, Mobile Adhoc Network (MANET) is also increasing worldwide with major advantage that it has no involvement of wire and transfer of data can be done by the virtual paths if the existing path is congested. In the present work, MANET is considered in the form of step topology which consists of heterogeneous collection of the devices. The work demonstrates the resources allocation for execution of tasks and it consists of selection of right path if the link failures and by pass link failures. It also consists of the resource management over the new proposed step topology. Entire work is modeled with the help of well known modeling language known as Unified Modeling Language (UML) and model demonstrates the resources allocation for execution of the tasks.

Francis Turbine and Governor Improved Models Considering Step Closing Law of Guide Vanes for Power System Stability Analysis

The Francis turbine governing system models in PSD-BPA can’t precisely reflect the actual characteristics. Endeavor was done in this paper to solve the problem. An improved model of actuating mechanism was developed, which could reflect the step closing characteristic of hydro guide vanes. The effect of the inflection point value of actuating mechanism on load rejection was analyzed based on simulation. The non-linear Francis turbine model with power versus gate position module was researched in this paper. Based on field test, comparisons of simulation results with measured data were presented. The analysis demonstrates that the improved models of Francis turbine and governor proposed in this paper are more realistic than the models of BPA, and can be applied in power system simulation analysis better.

基于季节性碳交易机制的园区综合能源系统低碳经济调度

为有效提高碳排放配额分配的合理性,并且避免年度结算时碳排放量超标导致环境污染加剧问题,提出基于奖惩因子的季节性碳交易机制,以园区综合能源系统(park integrated energy system,PIES)为对象进行低碳经济调度。首先,构建包含能量层–碳流层–管理层的综合能源系统(integrated energy system,IES)运行框架,建立电气热多能流供需动态一致性模型;其次,分析系统内“日–季节–年度”碳排放特性,打破传统应用指标法的配额分配方法,采用灰色关联分析法建立碳排放配额分配模型,并基于奖惩阶梯碳价制定季节性碳交易机制;最后,以系统内全寿命周期运行成本及碳交易成本最小为目标,对执行季节性碳交易机制的PIES进行低碳经济调度,分析长时间尺度下季节性储能参与调度的减碳量。搭建IEEE 33节点电网5节点气网7节点热网的PIES,并基于多场景进行算例分析,验证此调度方法能够实现零碳经济运行,保证系统供能可靠性,为建立零碳园区奠定理论基础。

Research on simulation system of virtual three-phase stepping motor

To change the current phenomenon of ＂Being an armchair strategist＂ in the research of a stepping motor, the virtual simu- lation system of stepping motor was developed using virtual reality technique. The basic principle of stepping motor was expounded. The development strategy of the simulation software is introduced. Some key problems and their solutions, including coordinate transformation of rotor and order of on-off electricity for stator, were put forward in system development. Finally, there are three virtual simulation examples of the on-off electricity way in this paper. This work provides a valuable auxiliary tool for the study of the stepping motor.