Feedback linearization and equivalent-disturbance compensation control strategy for piezoelectric stage

Piezoelectric stages use piezoelectric actuators and flexure hinges as driving and amplifying mechanisms,respectively.These systems have high positioning accuracy and high-frequency responses,and they are widely used in various precision/ultra-precision positioning fields.However,the main challenge with these devices is the inherent hysteresis nonlinearity of piezoelectric actuators,which seriously affects the tracking accuracy of a piezoelectric stage.Inspired by this challenge,in this work,we developed a Hammerstein model to describe the hysteresis nonlinearity of a piezoelectric stage.In particular,in our proposed scheme,a feedback-linearization algorithm is used to eliminate the static hysteresis nonlinearity.In addition,a composite controller based on equivalent-disturbance compensation was designed to counteract model uncertainties and external disturbances.An analysis of the stability of a closed-loop system based on this feedback-linearization algorithm and composite controller was performed,and this was followed by extensive comparative experiments using a piezoelectric stage developed in the laboratory.The experimental results confirmed that the feedback-linearization algorithm and the composite controller offer improved linearization and trajectory-tracking performance.

Tailoring-compensated ferrimagnetic state and anomalous Hall effect in quaternary Mn–Ru–V–Ga Heusler compounds

Cubic Mn_(2)Ru_(x)Ga Heusler compound is a typical example of compensated ferrimagnet with attractive potential for high-density,ultrafast,and low-power spintronic applications.In the form of epitaxial thin films,Mn_(2)Ru_(x)Ga exhibits high spin polarization and high tunability of compensation temperature by freely changing the Ru content x in a broad range(0.3<x<1.0).Herein Mn-Ru-Ga-based polycrystalline bulk buttons prepared by arc melting are systematically studied and it is found that in equilibrium bulk form,the cubic structure is unstable when x<0.75.To overcome this limitation,Mn-Ru-Ga is alloyed with a fourth element V.By adjusting the content of V in the By adjusting the content of V in the Mn_(2)Ru_(0.75)V_(y)Ga and Mn_(2.25-y)Ru_(0.75)V_(y)Ga quaternary systems the magnetic compensation temperature is tuned.Compensation is achieved near 300 K which is confirmed by both the magnetic measurement and anomalous Hall effect measurement.The analyses of the anomalous Hall effect scaling in quaternary Mn-Ru-V-Ga alloy reveal the dominant role of skew scattering,notably that contributed caused by the thermally excited phonons,in contrast to the dominant intrinsic mechanism found in many other 3d ferromagnets and Heusler compounds.It is further shown that the Ga antisites and V content can simultaneously control the residual resistivity ratio(RRR)as well as the relative contribution of phonon and defect to the anomalous Hall effect a"/a0'in Mn-Ru-V-Ga,resulting in a scaling relation a"/a0'∝RRR^(1.8).

Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Case study on the mechanics of NPR anchor cable compensation for large deformation tunnel in soft rock in the Transverse Mountain area,China

A study was conducted to analyze the deformation mechanism of strongly weathered quartz schist in the Daliangshan Tunnel,located in the western Transverse Mountain area.A large deformation problem was experienced during the tunnel construction.To mitigate this problem,a support system was designed incorporating negative Poisson ratio(NPR)anchor cables with negative Poisson ratio effect.Physical model experiments,field experiments,and numerical simulation experiments were conducted to investigate the compensation mechanical behavior of NPR anchor cables.The large deformations of soft rocks in the Daliangshan Tunnel are caused by a high ground stress,a high degree of joint fracture development,and a high degree of surrounding rock fragmentation.A compensation mechanics support system combining long and short NPR anchor cables was suggested to provide sufficient counter-support force(approximately 350 kN)for the surrounding rock inside the tunnel.Comparing the NPR anchor cable support system with the original support system used in the Daliangshan tunnel showed that an NPR anchor cable support system,combining cables of 6.3 m and 10.3 m in length,effectively prevented convergence of surrounding rock deformation,and the integrated settlement convergence value remained below 300 mm.This study provides an effective scientific basis for resolving large deformation problems in deeply buried soft rocks in western transverse mountain areas.

Application of excavation compensation method for enhancing stability and efficiency in shallow large-span rock tunnels

Engineering shallow,large-span rock tunnels challenges deformation control and escalates construction costs.This study investigates the excavation compensation method(ECM)and its associated technologies to address these issues.Utilizing five key technologies,the ECM effectively modulates radial stress post-excavation,redistributes stress in the surrounding rock,and eliminates tensile stress at the excavation face.Pre-tensioning measures further enhance the rock’s residual strength,establishing a new stability equilibrium.Field tests corroborate the method’s effectiveness,demonstrating a crown settlement reduction of 3–8 mm,a nearly 50%decrease compared to conventional construction approaches.Additionally,material consumption and construction duration were reduced by approximately 30%–35%and 1.75 months per 100 m,respectively.Thus,the ECM represents a significant innovation in enhancing the stability and construction efficiency of large-span rock tunnels,marking a novel contribution to the engineering field.

Microstructure and properties of 35 kg large aluminum alloy flywheel housing components formed by squeeze casting with local pressure compensation

The squeeze casting method with local pressure compensation was proposed to form a flywheel housing component with a weight of 35 kg.The numerical simulation,microstructure observation and phase characterization were performed,and the influence of local pressure compensation on feeding of thick-wall position,microstructure and mechanical properties of the formed components were discussed.Results show that the molten metal keeps a good fluidity and the filling is complete during the filling process.Although the solidification at thick-wall positions of the mounting ports is slow,the local pressure compensation effectively realizes the local forced feeding,significantly eliminating the shrinkage cavity defects.In the microstructure of AlSi9Mg alloy,α-Al primarily consists of fragmented dendrites and rosette grains,while eutectic Si predominantly comprises needles and short rods.The impact of local pressure compensation on strength is relatively minimal,yet its influence on elongation is considerable.Following local pressure compensation,the average elongation at the compensated areas is 9.18%,which represents a 44.90%higher than that before compensation.The average tensile strength is 209.1 MPa,and the average yield strength is 100.6 MPa.The local pressure compensation can significantly reduce or even eliminate the internal defects in the 35 kg large-weight components formed by squeeze casting.

Ultrahigh spatiotemporal resolution beam signal reconstruction with bunch phase compensation

Various electromagnetic signals are excited by the beam in the acceleration and beam-diagnostic elements of a particle accelerator.It is important to obtain time-domain waveforms of these signals with high temporal resolution for research,such as the study of beam–cavity interactions and bunch-by-bunch parameter measurements.Therefore,a signal reconstruction algorithm with ultrahigh spatiotemporal resolution and bunch phase compensation based on equivalent sampling is proposed in this paper.Compared with traditional equivalent sampling,the use of phase compensation and setting the bunch signal zero-crossing point as the time reference can construct a more accurate reconstructed signal.The basic principles of the method,simulation,and experimental comparison are also introduced.Based on the beam test platform of the Shanghai Synchrotron Radiation Facility(SSRF)and the method of experimental verification,the factors that affect the reconstructed signal quality are analyzed and discussed,including the depth of the sampled data,quantization noise of analog-to-digital converter,beam transverse oscillation,and longitudinal oscillation.The results of the beam experiments show that under the user operation conditions of the SSRF,a beam excitation signal with an amplitude uncertainty of 2%can be reconstructed.

Excavation compensation and bolt support for a deep mine drift

To overcome large deformation of deep phosphate rock roadways and pillar damage,a new type of constant-resistance large-deformation negative Poisson’s ratio(NPR)bolt that can withstand a high prestress of at least 130 KN was developed.In the conducted tests,the amount of deformation was 200-2000 mm,the breaking force reached 350 KN,and a high constant-resistance pre-stress was maintained during the deformation process.A stress compensation theory of phosphate rock excavation based on NPR bolts is proposed together with a balance system for bolt compensation of the time-space effect and high NPR pre-stress.Traditional split-set rock bolts are unable to maintain the stability of roadway roofs and pillars.To verify the support effect of the proposed bolt,field tests were conducted using both the proposed NPR bolts and split-set rock bolts as support systems on the same mining face.In addition,the stress compensation mechanism of roadway mining was simulated using the particle flow code in three dimensions(PFC^(3D))-fast Lagrangian analysis of continua(FLAC^(3D))particle-flow coupling numerical model.On-site monitoring and numerical simulations showed that the NPR excavation compensation support scheme effectively improves the stress state of the bolts and reduces the deformation of the surrounding rock.Compared to the original support scheme,the final deformation of the surrounding rock was reduced by approximately 70%.These results significantly contribute to domestic and foreign research on phosphate-rock NPR compensation support technology,theoretical systems,and engineering practices,and further promote technological innovation in the phosphate rock mining industry.

Research on Anti-Fluctuation Control of Winding Tension System Based on Feedforward Compensation

In the fiber winding process,strong disturbance,uncertainty,strong coupling,and fiber friction complicate the winding constant tension control.In order to effectively reduce the influence of these problems on the tension output,this paper proposed a tension fluctuation rejection strategy based on feedforward compensation.In addition to the bias harmonic curve of the unknown state,the tension fluctuation also contains the influence of bounded noise.A tension fluctuation observer(TFO)is designed to cancel the uncertain periodic signal,in which the frequency generator is used to estimate the critical parameter information.Then,the fluctuation signal is reconstructed by a third-order auxiliary filter.The estimated signal feedforward compensates for the actual tension fluctuation.Furthermore,a time-varying parameters fractional-order PID controller(TPFOPID)is realized to attenuate the bounded noise in the fluctuation.Finally,TPFOPID is enhanced by TFO and applied to control a tension control system considering multi-source disturbances.The stability of the method is analyzed by using the Lyapunov theorem.Finally,numerical simulations verify that the proposed scheme improves the tracking ability and robustness of the system in response to tension fluctuations.

Study on thermal decomposition kinetics of azobenzene-4,4′-dicarboxylic acid by using compensation parameter method and nonlinear fitting evaluation

Recently,azobenzene-4,4'-dicarboxylic acid(ADCA)has been produced gradually for use as an organic synthesis or pharmaceutical intermediate due to its eminent performance.With large quantities put into application in the future,the thermal stability of this substance during storage,transportation,and use will become quite important.Thus,in this work,the thermal decomposition behavior,thermal decomposition kinetics,and thermal hazard of ADCA were investigated.Experiments were conducted by using a SENSYS evo DSC device.A combination of differential iso-conversion method,compensation parameter method,and nonlinear fitting evaluation were also used to analyze thermal kinetics and mechanism of ADCA decomposition.The results show that when conversion rate α increases,the activation energies of ADCA's first and main decomposition peaks fall.The amount of heat released during decomposition varies between 182.46 and 231.16 J·g^(-1).The proposed kinetic equation is based on the Avrami-Erofeev model,which is consistent with the decomposition progress.Applying the Frank-Kamenetskii model,a calculated self-accelerating decomposition temperature of 287.0℃is obtained.

A frequency domain estimation and compensation method for system synchronization parameters of distributed-HFSWR

To analyze the influence of time synchronization error,phase synchronization error,frequency synchronization error,internal delay of the transceiver system,and range error and angle error between the unit radars on the target detection performance,firstly,a spatial detection model of distributed high-frequency surface wave radar(distributed-HFSWR)is established in this paper.In this model,a method for accurate extraction of direct wave spectrum based on curve fitting is proposed to obtain accurate system internal delay and frequency synchronization error under complex electromagnetic environment background and low signal to noise ratio(SNR),and to compensate for the shift of range and Doppler frequency caused by time-frequency synchronization error.The direct wave component is extracted from the spectrum,the range estimation error and Doppler estimation error are reduced by the method of curve fitting,and the fitting accuracy of the parameters is improved.Then,the influence of frequency synchronization error on target range and radial Doppler velocity is quantitatively analyzed.The relationship between frequency synchronization error and radial Doppler velocity shift and range shift is given.Finally,the system synchronization parameters of the trial distributed-HFSWR are obtained by the proposed spectrum extraction method based on curve fitting,the experimental data is compensated to correct the shift of the target,and finally the correct target parameter information is obtained.Simulations and experimental results demonstrate the superiority and correctness of the proposed method,theoretical derivation and detection model proposed in this paper.

Low level of hepatitis B viremia is associated with increased risk of hepatocellular carcinoma in compensated cirrhotic patients

BACKGROUND Whether patients with compensated cirrhosis and low-level viremia(LLV)of hepatitis B should receive antiviral therapy(AVT)is still controversial,and published results are inconsistent.AIM To investigate the link between LLV in compensated cirrhosis and prognosis concerning hepatocellular carcinoma(HCC),decompensation,and liver-related events.METHODS The PubMed,EMBASE,and Cochrane Library databases were searched up to March 5,2023.Outcomes of interest were assessed by pooled hazard ratios(HRs).The study was registered with PROSPERO(CRD42023405345).RESULTS Six cohort studies representing 3155 patients were included.Compared with patients with undetectable HBV DNA,patients with LLV was associated with increased risk of HCC(HR:2.06,95%CI:1.36-3.13;Q-statistic-P=0.07,I^(2)=51%)regardless of receiving AVT or not(AVT group:HR:3.14;95%CI:1.73-5.69;Qstatistic-P=0.60,I2=0%;un-AVT group:HR:1.73,95%CI:1.09-2.76;Q-statistic-P=0.11,I2=50%).The pooled results showed no statistical association between LLV and decompensation of cirrhosis(HR:2.06,95%CI:0.89-4.76;Q-statistic-P=0.04,I2=69%),and liver-related events(HR:1.84,95%CI:0.92-3.67;Q-statistic-P=0.03,I2=72%),respectively.Grading of Recommendations Assessment,Development and Evaluation assessment indicated moderate certainty for HCC,very low certainty for decompensation of cirrhosis and liver-related clinical events.CONCLUSION LLV in compensated cirrhotic patients is associated with increased risk of HCC,higher tendency for hepatic decompensation and liver-related events.Closer screening of HCC should be conducted in this population.

Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

The Rights to Claim for Industrial Injury Compensation and Tort Compensation are Applicable to the Law:Taking Fu and Li v.a Passenger Transport Company as an Example

In the case of third-party tort,due to the lack of clear and detailed provisions on the treatment of employee’s industrial injury insurance payment and tort damage compensation,the judicial theory and practice have brought many disputes.Through combing the current relevant laws and regulations,it can be found that the application of the two systems will lead to the overlapping of industrial injury compensation.This paper analyzes the problems arising from the concurrence of industrial injury compensation and tort compensation using the case of Fu and Li v.a passenger transport company,and puts forward some ideas and suggestions on how to improve the settlement measures of such cases.

Problems and Countermeasures to Improve Clinical Trial Participants’Compensation Rights in China

Objective To discuss the problems existing in the compensation of Chinese clinical trial participants and propose some suggestions for improving their rights.Methods The literature related to the participants’right to compensation at home and abroad was searched to study the inadequacy of the compensation right for clinical trial participants in China from four aspects:insurance system,principle of attribution,legal relationship and compensation regulations.Then,some suggestions to improve the participants’right to compensation were proposed.Results and Conclusion China lacks clear legal norms for participants’right to compensation.There are problems such as unclear insurance rules and compensation rules,unclear contractual relationships between parties to clinical trials,and no laws and regulations to rely on for attribution and compensation.China should issue regulatory guidelines related to the right to compensation of participants in clinical trials,so that all parties in clinical trials can have rules to follow if there is the occurrence of injury,which can better protect the rights and interests of the participants.

The Translation of Chinese Literature under the Theory of Translation Compensation

In order to promote the exchange of Chinese culture with foreign countries,translators bear an important mission in the process of cross-cultural communication.Although there are cultural differences,we can achieve cultural dissemination and exchange through continuous cultural dialogue.As an important way for foreign scholars to understand the history of the Shang and Zhou Dynasties in China,the translation of historical texts is crucial.Multiple typical cases are selected under the guidance of the translation theory of compensation to use relevant methods or techniques from the three levels of language,culture,and aesthetics to compensate for the loss of Li Xueqin’s The Origin of Ancient Chinese Civilization in English translation proofreading.

Salvia Polyphenolates Combined with Doxophylline in the Treatment of Patients with Chronic Pulmonary Heart Disease in the Compensated Stage

Objective:To statistically determine the effect of salvia polyphenolates combined with doxophylline treatment in patients with chronic pulmonary heart disease in the compensated stage.Methods:From January 2023 to January 2024,76 patients with chronic pulmonary heart disease in the compensated stage were selected as research subjects.The patients were divided into a research group and a reference group using a randomized numerical table method.The research group was treated with salvia polyphenolates combined with doxophylline,while the reference group received conventional therapy.The treatment effects of the two groups were compared.Results:The patients in the research group,treated with salvia polyphenolates combined with doxophylline,showed maximal ventilation of 73.26±4.83 L/min,left ventricular ejection fraction of 56.14±1.98%,and total effective treatment rate of 94.74%.These results were better than those of the reference group.The differences between the data of the research group and the reference group were statistically significant(P<0.05).Conclusion:For patients with chronic pulmonary heart disease in the compensated stage,treatment with salvia polyphenolates combined with doxophylline significantly improves maximum ventilation and left ventricular ejection fraction,and also results in a higher total effective treatment rate.

Design of Cold-Junction Compensation and Disconnection Detection Circuits of Various Thermocouples and Implementation of Multi-Channel Interfaces Using Them-A Secondary Publication

Cold-junction compensation(CJC)and disconnection detection circuit design of various thermocouples(TC)and multi-channel TC interface circuits were designed.The CJC and disconnection detection circuit consists of a CJC semiconductor device,an instrumentation amplifier(IA),two resistors,and a diode for disconnection detection.Based on the basic circuit,a multi-channel interface circuit was also implemented.The CJC was implemented using compensation semiconductor and IA,and disconnection detection was detected by using two resistors and a diode so that IA input voltage became-0.42 V.As a result of the experiment using R-type TC,the error of the designed circuit was reduced from 0.14 mV to 3μV after CJC in the temperature range of 0°C to 1400°C.In addition,it was confirmed that the output voltage of IA was saturated from 88 mV to-14.2 V when TC was disconnected from normal.The output voltage of the designed circuit was 0 V to 10 V in the temperature range of 0°C to 1400°C.The results of the 4-channel interface experiment using R-type TC were almost identical to the CJC and disconnection detection results for each channel.The implemented multi-channel interface has a feature that can be applied equally to E,J,K,T,R,and S-type TCs by changing the terminals of CJC semiconductor devices and adjusting the IA gain.

Novel disturbance compensating dynamic positioning of dredgers based on adaptive backstepping

In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments,an adaptive backstepping method is proposed.Disturbances are estimated and compensated for by the adaptive method without extra sensors on dredging equipment,and the control mechanism is simplified.Adaptive control is used to compensate for the reaction and environmental disturbances on the dredger,so the dredger can maintain the desired position with a minimum error and shock.The proposed adaptive robust controller guarantees the global asymptotic stability of the closed-loop system and rapid position tracking of the dredger.The simulation results show that the proposed controller has superior performance in position tracking and robustness to large disturbances.

Doppler estimating and compensating method based on phase

According to the Doppler sensitive of the phase coded pulse compression signal, a Doppler estimating and compensating method based on phase is put forward to restrain the Doppler sidelobes, raise the signal-to-noise ratio and improve measuring resolution. The compensation method is used to decompose the echo to amplitude and phase, and then compose the new compensated echo by the amplitude and the nonlinear component of the phase. Furthermore the linear component of the phase can be used to estimate the Doppler frequency shift. The computer simulation and the real data processing show that the method has accurately estimated the Doppler frequency shift, successfully restrained the energy leakage on spectrum, greatly increased the echo signal-to-noise ratio and improved the detection performance of the radio system in both time domain and frequency domain.