Self-Triggered Set Stabilization of Boolean Control Networks and Its Applications

Set stabilization is one of the essential problems in engineering systems, and self-triggered control(STC) can save the storage space for interactive information, and can be successfully applied in networked control systems with limited communication resources. In this study, the set stabilization problem and STC design of Boolean control networks are investigated via the semi-tensor product technique. On the one hand, the largest control invariant subset is calculated in terms of the strongly connected components of the state transition graph, by which a graph-theoretical condition for set stabilization is derived. On the other hand, a characteristic function is exploited to determine the triggering mechanism and feasible controls. Based on this, the minimum-time and minimum-triggering open-loop, state-feedback and output-feedback STCs for set stabilization are designed,respectively. As classic applications of self-triggered set stabilization, self-triggered synchronization, self-triggered output tracking and self-triggered output regulation are discussed as well. Additionally, several practical examples are given to illustrate the effectiveness of theoretical results.

Self-Triggered Consensus Filtering over Asynchronous Communication Sensor Networks

In this paper,a self-triggered consensus filtering is developed for a class of discrete-time distributed filtering systems.Different from existing event-triggered filtering,the self-triggered one does not require to continuously judge the trigger condition at each sampling instant and can save computational burden while achieving good state estimation.The triggering policy is presented for pre-computing the next execution time for measurements according to the filter’s own data and the latest released data of its neighbors at the current time.However,a challenging problem is that data will be asynchronously transmitted within the filtering network because each node self-triggers independently.Therefore,a co-design of the self-triggered policy and asynchronous distributed filter is developed to ensure consensus of the state estimates.Finally,a numerical example is given to illustrate the effectiveness of the consensus filtering approach.

Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

A low-jitter self-triggered spark-discharge pre-ionization switch: primary research on its breakdown characteristics and working mechanisms

MV pulsed switch plays a key role as the transfer switch in large electromagnetic pulse simulators. To broaden the range of self-triggering time, a novel spark-discharge pre-ionization switch, in which the main gap electric field is superposed at the trigger gap to let the electrons in its spark channel also become initial electrons, is proposed and tested. The design idea is: as electrons in the spark channel of the trigger gap always exist after its breakdown, the injection time of pre-ionization should have a more negligible effect on reducing the switch jitter. The experiment results under pulses with a rise time of ~100 ns support the above assumptions.When the operating voltage is from ~300 to ~800 kV and the self-triggering time is ~45% to~75% of the peak time, the breakdown time delay jitter is less than 2 ns, and the breakdown voltage jitter is smaller than 1.25%. Under specific self-triggering time, the breakdown time delay jitter is less than 1.5 ns, and the breakdown voltage jitter is smaller than 0.8%.

Robust distributed model predictive consensus of discrete-time multi-agent systems:a self-triggered approach

This study investigates the consensus problem of a nonlinear discrete-time multi-agent system(MAS)under bounded additive disturbances.We propose a self-triggered robust distributed model predictive control consensus algorithm.A new cost function is constructed and MAS is coupled through this function.Based on the proposed cost function,a self-triggered mechanism is adopted to reduce the communication load.Furthermore,to overcome additive disturbances,a local minimum-maximum optimization problem under the worst-case scenario is solved iteratively by the model predictive controller of each agent.Sufficient conditions are provided to guarantee the iterative feasibility of the algorithm and the consensus of the closed-loop MAS.For each agent,we provide a concrete form of compatibility constraint and a consensus error terminal region.Numerical examples are provided to illustrate the effectiveness and correctness of the proposed algorithm.

自修复混凝土触发机制设计方法综述

在过去的20年里,自修复技术作为一种提高混凝土材料耐久性和结构韧性的新方法,一经提出就引起了学术界和工程界的广泛关注。通过在混凝土搅拌阶段加入封装的修复单元来实现开裂混凝土的自主修复被证明是一种有效的实施方案。在自修复混凝土的研究中,自修复单元及其触发机制的设计是决定自修复单元工作性能及混凝土整体修复效率的重要因素。本文从被动触发和主动触发两个方面综述了现有自修复混凝土的主要触发机制及相应的修复机理;在解释了每种触发机制的基本概念和优缺点后,对各类自修复触发机制的技术特点和适用范围进行了比较和分析,为合理选择适用的自修复触发机制提供参考;最后,为了规范各种触发机制的评估标准,进而推动自修复技术在混凝土中的实际应用,还从触发效率、应用目的、限制条件三个方面对现有各种触发机制进行了系统评估。

动态自触发通信下多智能体输出反馈包容控制

针对群系统通信网络带宽受限问题,提出一种动态自触发通信下有向高阶非线性多智能体输出反馈包容控制方法。首先,针对群系统通信网络带宽受限问题,提出一种新型动态自触发通信机制。与传统事件触发通信机制相比,所提出的动态自触发通信机制具有更大的触发阈值,且无需连续监测系统状态信息,进一步节省系统通信资源和传感器资源。其次,为所有智能个体设计输出反馈控制协议,驱使所有跟随者收敛到由多个领导者围成的动态凸包中,从而实现网络的多领导者包容控制。最后,以高超声速飞行器群系统为例,验证了控制方法的有效性和理论分析的正确性。

基于级间自触发Marx电路的高压阻尼振荡发生器

为了增大输出电压的同时减小高压阻尼振荡发生器的体积和降低其成本,建立了一种4×4级间自触发Marx结构的阻尼振荡发生器模型。该模型每级的主开关采用基于电容触发方式的串联IGBT模块,只需提供一路隔离信号控制一级放电开关管的导通和关断,通过级间电容实现对相邻级放电管的栅极自动充电和放电,使其导通和关断。该模型提高了Marx单级的工作电压和简化了每级的驱动电路,并且通过加入缓冲电路,解决开关管动态、静态均压问题。基于这种拓扑结构搭建了一台高压阻尼振荡发生器样机,在电感负载上输出16 kV、振荡频率1 MHz的阻尼振荡波形,波形上升时间约为75 ns,重复频率500 Hz。样机体积小巧、工作稳定,验证了该方案的可行性。

动力定位船舶鲁棒自适应异步自触发控制

针对动力定位船舶的通信带宽受限、执行器增益不确定性等问题,本文提出了一种异步自触发动力定位控制策略。该策略设计了一种自触发机制,解决了传统事件触发方法需要对触发条件进行连续监控这一约束,即下一触发时刻仅需要根据当前时刻的相关信息进行计算。对于具有多个执行器的动力定位船舶,每个执行器的自触发机制相互独立互不影响,即其每个控制器-执行器信道中的控制信号均为异步触发式传输。此外,对于每个执行器设计了一个自适应参数对其增益不确定性进行在线估计和补偿。通过仿真实验对上述控制策略进行验证,仿真结果表明:所提出算法具有较高的定位精度与稳定性能,且极大程度上减少了控制信号的传输次数,相较于对比算法减少了100倍传输次数,具有低通信负载的优点,更加符合工程需求。

FDI攻击下移动机器人弹性预测镇定控制研究

提出一种具有自适应预测时域的输入重构弹性自触发模型预测控制(self-triggered model predictive control,ST-MPC)算法,平衡机器人系统网络安全和资源受限之间的矛盾.首先,基于自触发非周期采样特征和虚假数据注入(false data injection,FDI)攻击模型设计输入重构机制,确保机器人系统可快速重构,能削弱FDI攻击影响的可行控制序列.其次,结合输入重构机制设计关键数据选取条件和预测时域调节机制,从实现最大化触发间隔和降低优化问题复杂度两个方面降低资源消耗.然后,基于输入重构和预测时域调节机制设计弹性ST-MPC镇定控制算法,并推导FDI攻击下算法的可行性和闭环系统稳定性条件.最后,通过仿真实验验证所提出算法能够在抵御FDI攻击前提下保持较好的控制性能及资源利用率.

T-S模糊系统的动态自触发有限时间H_(∞)控制

文中研究一类不确定Takagi-Sugeno(T-S)模糊系统的自触发有限时间H_(∞)控制。首先,提出动态自触发方案,构造触发参数的动力学方程,从而使自触发机制能依据触发时刻状态自适应地调整触发参数;同时,基于当前触发时刻的系统状态实时计算触发间隔,预测下一个触发时刻。相较于T-S模糊系统的静态自触发方案,文中所提的动态自触发方案能进一步降低触发频率,节约计算资源。其次,基于有限时间稳定理论,设置系统状态运动轨迹的次临界界限;结合状态轨迹与次临界界限的相对位置关系和动态自触发方案,分析系统的H_(∞)性能;此外,设计依赖模糊规则的H_(∞)状态反馈控制律,保证T-S模糊系统的动力学行为有限时间有界。最后,给出实例仿真验证文中方法的可行性。

T-S模糊系统的自触发有限时间H∞控制

为克服事件触发控制对硬件设备的依赖以及控制策略频繁更新的局限,针对一类不确定Takagi-Sugeno(T-S)模糊系统的有限时间H∞控制问题,引入自触发机制,提出一种基于此机制下只与触发时刻状态有关的模糊控制器设计方法;基于自触发机制并结合有限时间控制的思想,通过设计触发间隔函数、推导并求解线性矩阵不等式(LMI),使得系统在保障稳定性的前提下,系统运动轨迹不会超过一定的界限,并达到所期望H∞性能水平;同时相较于事件触发机制,自触发机制位于系统内部,无需额外硬件设备接收触发信号且只需利用当前的触发状态信息来预测下一触发时刻,在一定程度上进一步降低系统资源成本;此外,利用李亚普诺夫函数对系统稳定性进行了严格分析,并提供一个确保能够防止芝诺现象发生的证明;最后,通过数值仿真、单连杆刚性机器人系统实例仿真两个实验说明所提方法的有效性。

形状记忆辅助自修复材料的研究进展

近年来,随着对长寿命、多功能可持续材料需求的增长,有关形状记忆辅助自修复材料的研究也在日益增多。本文重点探讨了该类材料的形状记忆效应对其自修复功能所提供的贡献,全面总结了形状记忆辅助自修复材料的设计策略以及触发机制。此外,基于该类材料所面临的问题和挑战,对其未来的发展趋势进行了展望。本文有助于该领域的研究人员全面了解形状记忆辅助自修复材料的发展现状,具有借鉴和指导意义。

2~20 GHz宽带二分频器的设计及其工作条件研究

利用GaAs异质结双极晶体管(Heterojunction Bipolar Transistor,HBT)工艺设计一款宽带二分频器。首先,基于发射极耦合逻辑(Emitter Coupled Logic,ECL)结构的锁存器,提出一种能够提高分频器工作频率和带宽的D触发器结构。其次,从分频器的自谐振频率、输入灵敏度曲线、输入信号质量等方面分析分频器的工作条件。最后,进行测试分析。测试结果表明:在电源电压为5 V时,该二分频器电流为75 mA,输入频率为2~20 GHz,在3~17 GHz的输入灵敏度为-10~10 dBm,输出功率为-3 dBm。

触/延手榴弹引信开闭功能测试方法研究

针对性能鉴定试验需要考核测试触/延手榴弹引信第一碰撞信号的时阈和开闭灵敏度的问题,通过研制测试设备以及设计试验方案,实现了对触/延手榴弹引信开闭功能的考核评估。通过分析触/延引信的结构组成和作用机理,确定了引信中碰炸开关可靠闭合的临界条件,结合产品性能指标规定的时阈要求,提出了基于PLC程序控制手榴弹保险握片松开至跌落中硬地面全流程精准管控的设备研制方案,确保了手榴弹的跌落高度和与中硬地面的碰撞时间,有效解决了触/延引信开闭时阈和开闭灵敏度无法考核测试的技术难题。

浅析剩余电流动作断路器试验回路设计

围绕GB/T 16917.1标准试验装置条款,探讨剩余电流动作断路器在应用端使用过程中测试按钮操作潜在的安全风险。分析了常规试验回路的安匝数设计及电阻选型,提出了试验回路双断点结构、触发式试验回路及自检式试验回路的设计方案,从而提高用电安全性。

触发媒对湿铺自粘防水卷材与水泥砂浆剥离强度的影响

探讨了触发媒对湿铺自粘防水卷材与水泥砂浆剥离强度的影响。通过调整触发媒的添加量(0~2.5%),研究了湿铺自粘防水卷材在无处理、热处理、浸水处理三种条件下与水泥砂浆的剥离强度。结果表明:适量添加触发媒能显著提高湿铺自粘防水卷材与水泥砂浆的剥离强度;触发媒对湿铺自粘防水卷材与水泥砂浆剥离强度的提升效果受到热处理和浸水处理的影响,但最终的剥离强度数值仍有明显提升;综合考虑使用成本和性能,触发媒的最佳添加量为1.5%~2.0%。

Edims: an event-driven internal memory synchronized readout prototype ASIC chip developed for HFRS-TPC

HFRS(HIAF FRagment Separator) will be the radioactive secondary beam separation line on High-Intensity heavy-ion Accelerator Facility(HIAF) in China. Several TPC detectors, with high count rates, are planned for particle identification and beam monitoring at HFRS. This paper presents an event-driven internal memory and synchronous readout(EDIMS)prototype ASIC chip. The aim is to provide HFRS-TPC with high-precision time and charge measurements with high count rates and a large dynamic range. The first prototype EDIMS chip integrated 16 channels and is fabricated using a 0.18-μm CMOS process. Each channel consists of a charge-sensitive amplifier, fast shaper, slow shaper, peak detect-and-hold circuit, discriminator with time-walk compensation, analog memory, and FIFO. The token ring is used for clock-synchronous readout. The chip is taped and tested.

煤矿井下原位磁控多向保压取心原理与技术

获取煤岩体原位物理力学参数是煤炭资源开发的首要任务,瓦斯原位参数精准测量是实现煤矿安全开采的基本保障。针对煤矿原位瓦斯参数测不准的技术难题,结合煤矿井下取心的技术特点,创新提出基于磁力控制的多向保压取心技术构想。基于复合磁场特性,自主设计了磁控自触发保压控制器,优化了取心触发及密封结构,关键保压构件实现磁控非接触式自触发及自密封,提升保压触发的容错率。自主研制了多向保压取心性能测试平台,基于该平台验证了保压控制器在不同取心角度的良好触发能力及自密封能力。集成磁控保压模块,形成多向保压取心装备,通过实验室测试验证了该装备可在多个方向实现保压取心,且保压能力可以达到6 MPa,满足煤矿保压取心条件。研究成果为深部煤矿多向保压取心提供了技术支持,为保压控制结构设计提供了全新思路。

纳秒脉冲电压下两种自触发开关的设计与实验研究

降低纳秒脉冲电压下气体开关的抖动对电磁脉冲模拟装置输出稳定性具有重要意义。特别在受条件约束、外触发不便的条件下,自触发开关抖动的降低值得关注。设计了两种自触发开关,包含阴极刻槽开关和预电离开关,并搭建了纳秒脉冲实验平台,分别在40 ns、70 ns与120 ns三种脉冲前沿下测量了两种开关的击穿电压、时延等参数,通过数据统计与处理,获得了两种开关的击穿电压及时间抖动。实验结果表明:通过阴极刻槽控制发射或者阴极预电离注入的方式均可有效降低开关的击穿抖动;在三种前沿的脉冲电压下两种开关的击穿抖动均在1~1.8 ns之间;在40 ns和70 ns前沿脉冲作用下,阴极刻槽的开关击穿抖动更低,可小于1.2 ns,击穿电压分散性小于1.29%;在120 ns前沿脉冲作用下,阴极预电离开关击穿抖动更低,可小于1.6 ns。