针对货运列车在长大下坡道空气制动无法恒速且相邻两次空气制动之间需满足缓解再充风约束的特点,以司机实际操纵中普遍采用的50 k Pa小减压量调速制动为依据,根据列车牵引计算原理和能耗分析方法,建立了考虑再生制动能量利用的货运列车...针对货运列车在长大下坡道空气制动无法恒速且相邻两次空气制动之间需满足缓解再充风约束的特点,以司机实际操纵中普遍采用的50 k Pa小减压量调速制动为依据,根据列车牵引计算原理和能耗分析方法,建立了考虑再生制动能量利用的货运列车最优控制模型.首先,研究了货运列车在长大下坡道上的最优操纵策略和站间各子区间运行时间分配;其次,基于极大值原理分析了"全电制-全制-全电制"周期性制动控制策略的最优性,以及列车入坡、出坡应满足的必要条件,提出长大下坡道及其相邻区间列车运行最优控制的数值求解算法;最后,以HXD2型电力机车牵引100节C80重车为例,对提出的列车最优控制模型和数值算法进行仿真验证,并分别与模糊预测控制和实测数据进行比较,研究结果表明:在准点的前提下,所采用的周期性制动策略能实现5.6%和17.9%节能效果.展开更多
An iterative learning model predictive control （ILMPC） technique is applied to a class of continuous/batch processes. Such processes are characterized by the operations of batch processes generating periodic strong ...An iterative learning model predictive control （ILMPC） technique is applied to a class of continuous/batch processes. Such processes are characterized by the operations of batch processes generating periodic strong disturbances to the continuous processes and traditional regulatory controllers are unable to eliminate these periodic disturbances. ILMPC integrates the feature of iterative learning control （ILC） handling repetitive signal and the flexibility of model predictive control （MPC）. By on-line monitoring the operation status of batch processes, an event-driven iterative learning algorithm for batch repetitive disturbances is initiated and the soft constraints are adjusted timely as the feasible region is away from the desired operating zone. The results of an industrial application show that the proposed ILMPC method is effective for a class of continuous/batch processes.展开更多
Based on the Ricatti technique, the methodology for preventing the limit cycle accomplished by adding a control function to the original equation of wing rock motion is presented in this paper. To analyze the state va...Based on the Ricatti technique, the methodology for preventing the limit cycle accomplished by adding a control function to the original equation of wing rock motion is presented in this paper. To analyze the state variables of the system, the complete set of nonlinear equations of motion including an effective linear control function was solved for A-4D and Mig-21 Aircraft. The roll angle responding to the linear control function for both models was estimated when the systems were tested under different damping ratios. The numerical re- suits show that a linear control function including both the roll attitude and the roll rate is sufficient to suppress the wing rock motion with an acceptable error in desired time. A good agreement between the numerical results and the published work is obtained for the limit cycle oscillation existence at different damping ratios.展开更多
Background:Many disease-specific factors such as muscular weakness,increased muscle stiffness,varying postural strategies,and changes in postural reflexes have been shown to lead to postural instability and fall risk ...Background:Many disease-specific factors such as muscular weakness,increased muscle stiffness,varying postural strategies,and changes in postural reflexes have been shown to lead to postural instability and fall risk in people with Parkinson's disease(PD).Recently,analytical techniques,inspired by the dynamical systems perspective on movement control and coordination,have been used to examine the mechanisms underlying the dynamics of postural declines and the emergence of postural instabilities in people with PD.Methods:A wavelet-based technique was used to identify limit cycle oscillations(LCOs) in the anterior–posterior(AP) postural sway of people with mild PD(n = 10) compared to age-matched controls(n = 10).Participants stood on a foam and on a rigid surface while completing a dual task(speaking).Results:There was no significant difference in the root mean square of center of pressure between groups.Three out of 10 participants with PD demonstrated LCOs on the foam surface,while none in the control group demonstrated LCOs.An inverted pendulum model of bipedal stance was used to demonstrate that LCOs occur due to disease-specific changes associated with PD:time-delay and neuromuscular feedback gain.Conclusion:Overall,the LCO analysis and mathematical model appear to capture the subtle postural instabilities associated with mild PD.In addition,these findings provide insights into the mechanisms that lead to the emergence of unstable posture in patients with PD.展开更多
文摘针对货运列车在长大下坡道空气制动无法恒速且相邻两次空气制动之间需满足缓解再充风约束的特点,以司机实际操纵中普遍采用的50 k Pa小减压量调速制动为依据,根据列车牵引计算原理和能耗分析方法,建立了考虑再生制动能量利用的货运列车最优控制模型.首先,研究了货运列车在长大下坡道上的最优操纵策略和站间各子区间运行时间分配;其次,基于极大值原理分析了"全电制-全制-全电制"周期性制动控制策略的最优性,以及列车入坡、出坡应满足的必要条件,提出长大下坡道及其相邻区间列车运行最优控制的数值求解算法;最后,以HXD2型电力机车牵引100节C80重车为例,对提出的列车最优控制模型和数值算法进行仿真验证,并分别与模糊预测控制和实测数据进行比较,研究结果表明:在准点的前提下,所采用的周期性制动策略能实现5.6%和17.9%节能效果.
基金Supported by the National Creative Research Groups Science Foundation of China （60721062） and the National High Technology Research and Development Program of China （2007AA04Z162）.
文摘An iterative learning model predictive control （ILMPC） technique is applied to a class of continuous/batch processes. Such processes are characterized by the operations of batch processes generating periodic strong disturbances to the continuous processes and traditional regulatory controllers are unable to eliminate these periodic disturbances. ILMPC integrates the feature of iterative learning control （ILC） handling repetitive signal and the flexibility of model predictive control （MPC）. By on-line monitoring the operation status of batch processes, an event-driven iterative learning algorithm for batch repetitive disturbances is initiated and the soft constraints are adjusted timely as the feasible region is away from the desired operating zone. The results of an industrial application show that the proposed ILMPC method is effective for a class of continuous/batch processes.
文摘Based on the Ricatti technique, the methodology for preventing the limit cycle accomplished by adding a control function to the original equation of wing rock motion is presented in this paper. To analyze the state variables of the system, the complete set of nonlinear equations of motion including an effective linear control function was solved for A-4D and Mig-21 Aircraft. The roll angle responding to the linear control function for both models was estimated when the systems were tested under different damping ratios. The numerical re- suits show that a linear control function including both the roll attitude and the roll rate is sufficient to suppress the wing rock motion with an acceptable error in desired time. A good agreement between the numerical results and the published work is obtained for the limit cycle oscillation existence at different damping ratios.
基金the National Science Foundation for partial financial support for this project provided through the grant CMMI-1300632Purdue University for partial financial support for this project through a Research Incentive Grant
文摘Background:Many disease-specific factors such as muscular weakness,increased muscle stiffness,varying postural strategies,and changes in postural reflexes have been shown to lead to postural instability and fall risk in people with Parkinson's disease(PD).Recently,analytical techniques,inspired by the dynamical systems perspective on movement control and coordination,have been used to examine the mechanisms underlying the dynamics of postural declines and the emergence of postural instabilities in people with PD.Methods:A wavelet-based technique was used to identify limit cycle oscillations(LCOs) in the anterior–posterior(AP) postural sway of people with mild PD(n = 10) compared to age-matched controls(n = 10).Participants stood on a foam and on a rigid surface while completing a dual task(speaking).Results:There was no significant difference in the root mean square of center of pressure between groups.Three out of 10 participants with PD demonstrated LCOs on the foam surface,while none in the control group demonstrated LCOs.An inverted pendulum model of bipedal stance was used to demonstrate that LCOs occur due to disease-specific changes associated with PD:time-delay and neuromuscular feedback gain.Conclusion:Overall,the LCO analysis and mathematical model appear to capture the subtle postural instabilities associated with mild PD.In addition,these findings provide insights into the mechanisms that lead to the emergence of unstable posture in patients with PD.
