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煤电高增速背后电力供求分析研究
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作者 刘德健 《中国煤炭》 北大核心 2024年第6期26-34,共9页
近年来国内煤电增速同比加快,2023年以不到40%的装机容量,实现了近60%的发电量。阐述了煤电的作用、地位及其相关政策变化;从制造业电力消费增长、社会电力消费量提高、长期电力需求空间大,以及短期内新能源无法满足电力需求、煤电可缓... 近年来国内煤电增速同比加快,2023年以不到40%的装机容量,实现了近60%的发电量。阐述了煤电的作用、地位及其相关政策变化;从制造业电力消费增长、社会电力消费量提高、长期电力需求空间大,以及短期内新能源无法满足电力需求、煤电可缓解高负荷压力、电力系统调节能力仍待完善、煤电用能成本相对较低等电力需求侧和供给侧两方面,深入分析了煤电高增速背后的主要原因。研究认为,未来国内能源需求随产业升级和人均能耗提高仍将大幅增加,煤电的电力主体作用短期内不会动摇;同时,认为目前增补煤电势在必行。提出煤电应加快向“调节器”作用转型、继续推动燃煤清洁发电、加快与新能源耦合发展等具体建议。 展开更多
关键词 煤电 电力需求侧 电力供给侧 用能成本 电力“调节器”作用
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Theoretical Study of Double Cost Function Linear Quadratic Regulator(LQR)
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作者 姜澜 王信义 永井正夫 《Journal of Beijing Institute of Technology》 EI CAS 2000年第1期80-86,共7页
Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, anothe... Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, another free form cost function was introduced to express the physical need plainly and optimize weights of LQ cost function using the search algorithms. As an instance, DLQR was applied in determining the control input in the front steering angle compensation control (FSAC) model for heavy duty vehicles. The brief simulations show that DLQR is powerful enough to specify the engineering requirements correctly and balance many factors effectively. The concept and applicable field of LQR are expanded by DLQR to optimize the system with a free form cost function. 展开更多
关键词 optimal control linear quadratic regulator (LQR) search algorithm front steering angle compensation control
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浅谈养老保险管理工作 被引量:2
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作者 韩巧平 《陕西煤炭》 2010年第3期144-145,共2页
养老保险工作是社会保障工作的重要组成部分,关系到企业职工的切身利益,关系到企业经济发展和社会稳定。就做好养老保险的基础、关键、核心及手段作了简要阐述。
关键词 养老保险 “稳定器” “减震器” “调节器” 创新管理
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Design of 10 Gbit/s burst-mode transimpedance preamplifier for PON systems
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作者 顾皋蔚 朱恩 林叶 《Journal of Southeast University(English Edition)》 EI CAS 2012年第4期398-403,共6页
A 10 Gbit/s burst-mode preamplifier is designed for passive optical networks (PONs). To achieve a high dynamic range and fast response, the circuit is DC coupled, and a feed-back type peak detector is designed to pe... A 10 Gbit/s burst-mode preamplifier is designed for passive optical networks (PONs). To achieve a high dynamic range and fast response, the circuit is DC coupled, and a feed-back type peak detector is designed to perform auto-gaincontrol and threshold extraction. Regulated cascade (RGC) architecture is exploited as the input stage to reduce the input impedance of the circuit and isolate the large parasitic capacitance including the photodiode capacitance from the determination pole, thus increasing the bandwidth. This preamplifier is implemented using the low-cost 0. 13 ixm CMOS technology. The die area is 425 μm × 475 μm and the total power dissipation is 23.4 mW. The test results indicate that the preamplifier can work at a speed from 1.25 to 10.312 5 Gbit/s, providing a high transimpedance gain of 64.0 dBΩ and a low gain of 54. 6 dBl2 with a dynamic input range of over 22.9 dB. The equivalent input noise current is 23. 4 pA/ Hz1/2. The proposed burst amplifier satisfies related specifications defined in 10G-EPON and XG-PON standards. 展开更多
关键词 BURST-MODE passive optical network (PON) transimpedance preamplifier regulated cascade (RGC) peak detector auto-gain-control threshold extraction
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Molecular mechanism underlying the functional loss of cyclindependent kinase inhibitors p16 and p27 in hepatocellular carcinoma 被引量:20
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作者 Yasunobu Matsuda 《World Journal of Gastroenterology》 SCIE CAS CSCD 2008年第11期1734-1740,共7页
Hepatocellular carcinoma (HCC) is one of the most common human cancers, and its incidence is still increasing in many countries. The prognosis of HCC patients remains poor, and identification of useful molecular pro... Hepatocellular carcinoma (HCC) is one of the most common human cancers, and its incidence is still increasing in many countries. The prognosis of HCC patients remains poor, and identification of useful molecular prognostic markers is required. Many recent studies have shown that functional alterations of cellcycle regulators can be observed in HCC. Among the various types of cell-cycle regulators, p16 and p27 are frequently inactivated in HCC and are considered to be potent tumor suppressors, p16, a G1-specific cell-cycle inhibitor that prevents the association of cyclindependent kinase (CDK) 4 and CDK6 with cyclin DI, is frequently inactivated in HCC via CpG methylation of its promoter region, p16 may be involved in the early steps of hepatocarcinogenesis, since p16 gene methylation has been detected in subsets of pre-neoplastic liver cirrhosis patients, p27, a negative regulator of the G1-S phase transition through inhibition of the kinase activities of Cdk2/cyclin A and Cdk2/cyclin E complexes, is now considered to be an adverse prognostic factor in HCC. In some cases of HCC with increased cell proliferation, p27 is overexpressed but inactivated by sequestration into cyclin D1-CDK4-containing complexes. Since loss of p16 is closely related to functional inactivation of p27 in HCC, investigating both p16 and p27 may be useful for precise prognostic predictions in individuals with HCC. 展开更多
关键词 Hepatocellular carcinoma Cell-cycle regulator Cyclin-dependent kinase inhibitor DNA methylation DNA methyltransferase P16 P27 FoxM1b
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Characteristics of a Supersonic Swirling Dehydration System of Natural Gas 被引量:24
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作者 刘恒伟 刘中良 +2 位作者 冯永训 顾克宇 颜廷敏 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2005年第1期9-12,共4页
A new type of dehydration unit for natural gas was briefly described and its basic structure and working principles were presented. An indoor test rig for testing the unit performance was set up and the experimental r... A new type of dehydration unit for natural gas was briefly described and its basic structure and working principles were presented. An indoor test rig for testing the unit performance was set up and the experimental results were given. The results showed that the unit could attain a maximum dew point depression of about 20℃ without any need of external mechanical power and chemicals. The pressure loss ratio, shock wave and the flow rate had great influence on the dehydration characteristics. From the systematic analysis of the factors that affect the dehydration efficiency of the unit, the suggestions for improving the unit are put forward. 展开更多
关键词 supersonic swirling separator DEHYDRATION natural gas
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Actuator Fault Detection for Sampled-Data Systems in H_∞ Setting 被引量:4
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作者 杨晓军 翁正新 田作华 《Journal of Shanghai Jiaotong university(Science)》 EI 2005年第2期131-134,共4页
Actuator fault detection for sampled-data systems was investigated from the viewpoint of jump systems. With the aid of a prior frequency information on fault, such a problem is converted to an augmented H_∞ filtering... Actuator fault detection for sampled-data systems was investigated from the viewpoint of jump systems. With the aid of a prior frequency information on fault, such a problem is converted to an augmented H_∞ filtering problem. A simple state-space approach is then proposed to deal with sampled-data actuator fault detection problem. Compared with the existed approaches, the proposed approach allows parameters of the sampled-data system being time-varying with consideration of measurement noise. 展开更多
关键词 sampled-data systems fault detection ACTUATOR Riccati equation
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Design of an optimal active stabilizer mechanism for enhancing vehicle rolling resistance 被引量:6
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作者 Yaghoub Pourasad Mehdi Mahmoodi-k Majid Oveisi 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第5期1142-1151,共10页
Improving rollover and stability of the vehicles is the indispensable part of automotive research to prevent vehicle rollover and crashes.The main objective of this work is to develop active control mechanism based on... Improving rollover and stability of the vehicles is the indispensable part of automotive research to prevent vehicle rollover and crashes.The main objective of this work is to develop active control mechanism based on fuzzy logic controller(FLC) and linear quadratic regulator(LQR) for improving vehicle path following,roll and handling performances simultaneously.3-DOF vehicle model including yaw rate,lateral velocity(lateral dynamic) and roll angle(roll dynamic) were developed.The controller produces optimal moment to increase stability and roll margin of vehicle by receiving the steering angle as an input and vehicle variables as a feedback signal.The effectiveness of proposed controller and vehicle model were evaluated during fishhook and single lane-change maneuvers.Simulation results demonstrate that in both cases(FLC and LQR controllers) by reducing roll angle,lateral acceleration and side slip angles remain under 0.6g and 4° during maneuver,which ensures vehicle stability and handling properties.Finally,the sensitivity and robustness analysis of developed controller for varying longitudinal speeds were investigated. 展开更多
关键词 vehicle dynamics ROLLOVER HANDLING FLC LQR
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Proximal gastric motility in critically ill patients with type 2 diabetes mellitus 被引量:3
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作者 Nam Q Nguyen Robert J Fraser +2 位作者 Laura K Bryant Marianne Chapman Richard H Holloway 《World Journal of Gastroenterology》 SCIE CAS CSCD 2007年第2期270-275,共6页
AIM: To investigate the proximal gastric motor response to duodenal nutrients in critically ill patients with longstanding type 2 diabetes mellitus.METHODS: Proximal gastric motility was assessed (using a barostat... AIM: To investigate the proximal gastric motor response to duodenal nutrients in critically ill patients with longstanding type 2 diabetes mellitus.METHODS: Proximal gastric motility was assessed (using a barostat) in 10 critically ill patients with type 2 diabetes mellitus (59±3 years) during two 60-min duodenal infusions of Ensure (1 and 2 kcal/min), in random order, separated by 2h fasting. Data were compared with 15 non-diabetic critically ill patients (48 ± 5 years) and 10 healthy volunteers (28 ±3 years). RESULTS: Baseline proximal gastric volumes were similar between the three groups. In diabetic patients, proximal gastric relaxation during I kcal/min nutrient infusion was similar to non-diabetic patients and healthy controls. In contrast, relaxation during 2 kcal/ min infusion was initially reduced in diabetic patients (P 〈 0.05) but increased to a level similar to healthy humans, unlike non-diabetic patients where relaxation was impaired throughout the infusion. Duodenal nutrient stimulation reduced the fundic wave frequency in a dose-dependent fashion in both the critically ill diabetic patients and healthy subjects, but not in critically ill patients without diabetes. Fundic wave frequency in diabetic patients and healthy subjects was greater than in non-diabetic patients.CONCLUSION: In patients with diabetes mellitus, proximal gastric motility is less disturbed than nondiabetic patients during critical illness, suggesting that these patients may not be at greater risk of delayed gastric emptying. 展开更多
关键词 Proximal gastric function Diabetes mellitus type 2 Critical illness Enteral nutrition
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RRAS:A key regulator and an important prognostic biomarker in biliary atresia 被引量:3
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作者 Rui Zhao Hao Li Chun Shen Shan Zheng 《World Journal of Gastroenterology》 SCIE CAS CSCD 2011年第6期796-803,共8页
AIM:To characterize the differentially expressed gene profiles in livers from biliary atresia (BA) patients including,ascertain genes,functional categories and pathways that play a central role in the pathogenesis of ... AIM:To characterize the differentially expressed gene profiles in livers from biliary atresia (BA) patients including,ascertain genes,functional categories and pathways that play a central role in the pathogenesis of BA,and identify the novel prognostic markers for BA.METHODS:Liver tissue samples from control patients,neonatal cholestasis patients,and BA patients at the age of < 60 d,60-90 d,and > 90 d were pooled for DNA microarray analysis.Bioinformatics analysis was performed using,series test cluster of gene ontology,and Pathway-Finder software.Reverse-transcription polymerase chain reaction was performed to confirm changes in selected genes.Relation between RRAS gene expression and prognosis of 40 BA patients was analyzed in a 2-year follow-up study.RESULTS:The 4 identified significant gene expression profiles could confidently separate BA liver tissue from normal and other diseased liver tissues.The included genes were mainly involved in inflammation response and reconstruction of cellular matrix.The significant pathways associated with BA were primarily involved in autoimmune response,activation of T lymphocytes and its related cytokines.The RRAS,POMC,SLC26A6 and STX3 genes were important regulatory modules in pathogenesis of BA.The expression of RRAS was negatively correlated with the elimination rate of jaundice and positively correlated with the occurrence rate of cholangitis.CONCLUSION:Autoimmune response mediated by T lymphocytes may play a vital role in the pathogenesis of BA.The RRAS gene is an important regulatory module in the pathogenesis of BA,which may serve as a novel prognostic marker for BA. 展开更多
关键词 Biliary atresia DNA microarray BIOINFORMATICS RRAS Prognostic biomarker
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Attitude controller for reentry vehicles using state-dependent Riccati equation method 被引量:3
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作者 谢道成 王中伟 张为华 《Journal of Central South University》 SCIE EI CAS 2013年第7期1861-1867,共7页
To get better tracking performance of attitude command over the reentry phase of vehicles, the use of state-dependent Riccati equation (SDRE) method for attitude controller design of reentry vehicles was investigated.... To get better tracking performance of attitude command over the reentry phase of vehicles, the use of state-dependent Riccati equation (SDRE) method for attitude controller design of reentry vehicles was investigated. Guidance commands are generated based on optimal guidance law. SDRE control method employs factorization of the nonlinear dynamics into a state vector and state dependent matrix valued function. State-dependent coefficients are derived based on reentry motion equations in pitch and yaw channels. Unlike constant weighting matrix Q, elements of Q are set as the functions of state error so as to get satisfactory feedback and eliminate state error rapidly, then formulation of SDRE is realized. Riccati equation is solved real-timely with Schur algorithm. State feedback control law u(x) is derived with linear quadratic regulator (LQR) method. Simulation results show that SDRE controller steadily tracks attitude command, and impact point error of reentry vehicle is acceptable. Compared with PID controller, tracking performance of attitude command using SDRE controller is better with smaller control surface deflection. The attitude tracking error with SDRE controller is within 5°, and the control deflection is within 30°. 展开更多
关键词 reentry vehicle attitude controller nonlinear control state-dependent Riccati equation Schur algorithm trackingperformance
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Application of hybrid robust three-axis attitude control approach to overactuated spacecraft——A quaternion based model 被引量:2
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作者 A.H.Mazinan 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第7期1740-1753,共14页
A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that th... A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks. 展开更多
关键词 three-axis angular rates and rotations sliding mode finite-time control approach proportional derivative based linearquadratic regulator approach dynamics and kinematics of overactuated spacecraft
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Vector control of induction motor based on fractional-order intelligent-integral speed controller 被引量:2
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作者 MIAO Zhong-cui HAN Tian-liang +1 位作者 DANG Jian-wu JU Mei 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2018年第2期125-133,共9页
To improve dynamic and static performances and robustness of the induction motor speed control system based on vector control,an improved fractional-order intelligent proportional integral(IPIλ)controller was applied... To improve dynamic and static performances and robustness of the induction motor speed control system based on vector control,an improved fractional-order intelligent proportional integral(IPIλ)controller was applied to the speed controller of the vector control system,which combined the intelligent fractional integral with the proportion according to the variation of deviation.Compared with proportional integral(PI)and fractional-order proportional integral(FOPI)controllers,the IPIλcontroller achieved better control performance.The stimulation results indicate that the IPIλcontroller can not only track the given speed quickly and accurately,but also have better anti-interference and robustness for load and parameters variations. 展开更多
关键词 fractional-order intelligent-integral induction motor speed controller
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Predictive Functional Controller with a Similar Proportional Integral Optimal Regulator Structure:Comparison with Traditional Predic-tive Functional Controller and Application to Heavy Oil Coking Equipment 被引量:1
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作者 张日东 王树青 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2007年第2期247-253,共7页
By extending the system's state variables,a novel predictive functional controller has been developed.The structure of this controller is similar to that of classical proportional integral(PI)optimal controller an... By extending the system's state variables,a novel predictive functional controller has been developed.The structure of this controller is similar to that of classical proportional integral(PI)optimal controller and in-cludes a control block that can perform a feed-forward control of future P-step set points.It considers both the state variables and the output errors in its cost function,which results in enhanced control performance compared with traditional state space predictive functional control(TSSPFC)methods that consider only the predictive output er-rors.The predictive functional controller(PFC)has been compared with TSSPFC in terms of tracking ability,dis-turbance rejection,and also based on its application to heavy oil coking equipment.The results obtained show the effectiveness of the controller. 展开更多
关键词 state space model PI optimal regulator predictive functional control
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Optimization design of an electroabsorption modulator integrated with spot-size converter 被引量:1
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作者 HOU Lian-ping WANG Wei ZHU Hong-liang 《Optoelectronics Letters》 EI 2005年第2期83-87,共5页
A novel 1.55 μm spot-size converter integrated with electroabsorption modulator is designed and fabricated with conventional photolithography and chemical wet etching process.For the modulator,we employed a deeply-et... A novel 1.55 μm spot-size converter integrated with electroabsorption modulator is designed and fabricated with conventional photolithography and chemical wet etching process.For the modulator,we employed a deeply-etched ridge waveguide structure with polyimide on each side of its walls.For the spot-size converter,we employed a buried double-core structure in which a ridge-based passive waveguide is incorporated.The wide and thin passive waveguide is optically combined with a laterally tapered active waveguide to control the mode size.By simulation,the figure of merit is 4.17(dB/V/(100 μm)) and the beam divergence angles in the horizontal and vertical directions are as small as 11.2°×13.0°,respectively. 展开更多
关键词 优化设计 电吸收调节器 EAM 变流气 波导
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Analysis of nonlinearities and effects in direct drive electro-hydraulic position servo system 被引量:2
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作者 王洪杰 季天晶 +1 位作者 毛新涛 刘全忠 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2005年第1期6-10,共5页
The direct drive electro-hydraulic servo system is a new approach hydraulic system. It is much smaller and easier controlled than traditional systems and is a perfect energy saver. This paper will briefly introduce th... The direct drive electro-hydraulic servo system is a new approach hydraulic system. It is much smaller and easier controlled than traditional systems and is a perfect energy saver. This paper will briefly introduce the popular nonlinearities in the electro-hydraulic system and analyse the effect of nonlinearities in direct drive electro-hydraulic position servo system by means of simulation research. Some valuable conclusions are given. 展开更多
关键词 direct drive electro-hydraulic system NONLINEARITIES EFFECT
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A novel suspension-floating-circulating fluidized combustion technology for coal slurry 被引量:3
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作者 Yi Wang Maoyong Cao +2 位作者 Zenghui Wang Lu Wei Shuping Zhao 《International Journal of Coal Science & Technology》 EI 2016年第1期35-46,共12页
A novel suspension-floating-circulating fluidized combustion technology is proposed for burning coal slurry fuel in traditional circulating ftuidized bed boilers (CFBB). This technology can solve some existing probl... A novel suspension-floating-circulating fluidized combustion technology is proposed for burning coal slurry fuel in traditional circulating ftuidized bed boilers (CFBB). This technology can solve some existing problems in large- capacity CFBB burning coal slurry. The principles of the suspension-floating-circulating fluidized combustion technology were introduced in detail in this paper. A 130 t/h CFBB was retrofitted based on the technology, and the retrofitted system mainly includes a long-distance transport sub-system, a bed-material conveying sub-system with a wind-seal device invented by the authors, a superheater thermoregulation device using a novel temperature regulator, a return loop flu- idization facility, and a pneumatic ash conveying sub-system with sealed pump. The achieved performance of the retro- fitted CFBB shows that the thermal efficiency is 89.83 %, the combustion efficiency is 96.24 %, and the blending proportion of slurry is 94 %. 展开更多
关键词 Suspension-floating-circulating fluidized Coal slurry . Combustion technology - CFBB
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Theoretical research on aggregative dynamic pressure damper 被引量:1
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作者 胡军华 《Journal of Chongqing University》 CAS 2009年第3期188-194,共7页
To broaden the frequency width and increase the damping coefficient of a dynamic pressure damper, we designed an aggregative dynamic pressure damper (ADPD). Combined with the advantages of traditional dynamic pressure... To broaden the frequency width and increase the damping coefficient of a dynamic pressure damper, we designed an aggregative dynamic pressure damper (ADPD). Combined with the advantages of traditional dynamic pressure dampers (TDPD), ADPD can not only increase the damping coefficient in wide frequency range for valve control system, but also absorb partial pressure pulsations and impacts in the low and high frequency fields. Based on the theoretical research and the analysis compared with TDPD, we concluded that the ADPD was superior to the TDPD in the middle high frequency field, and the main parameters influencing the performance of the damper were the damping stiffness, orifice flow coefficient, pre-charge pressure, and the volume of the damper accumulator. 展开更多
关键词 aggregative dynamic pressure damper damping coefficient pressure pulsation
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Scheme for Teleportation of an Unknown Frequency State by Using an Acousto-optical Modulator 被引量:1
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作者 XIANG Shao-hua, YANG Xiong, SONG Ke-hui(Dept.of Phys.,Huaihua College, Huaihua 418008, CHN) 《Semiconductor Photonics and Technology》 CAS 2003年第2期116-118,共3页
A very simple scheme is presented for teleporting an unknown frequency state with the successful probability of 50%. Two acoustic-optical modulators and four narrow band photodetectors in the proposed scheme are used.... A very simple scheme is presented for teleporting an unknown frequency state with the successful probability of 50%. Two acoustic-optical modulators and four narrow band photodetectors in the proposed scheme are used. One advantage of our scheme is that no Bell-state measurement is need and no any unitary transformation is performed. 展开更多
关键词 quantum teleportation frequency entanglement acousto optical modulator
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Using Adaptive Gain Scheduling LQR Method Control of Arm Driven Inverted Pendulum System Based on PIC18F4431 被引量:1
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作者 Huu Chan Thanh Nguyen An-Wen Shen 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2013年第4期85-92,共8页
The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum wit... The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position. 展开更多
关键词 Arm Driven Inverted Pendulum (ADIP) adaptive gain scheduling LQR control LQR control swing up pendlum
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