济南市泉群喷涌的控制性参数计算及供水保泉宏观调控措施研究

济南市泉群喷涌经历了自流期、自流 -季节断流期、季节性断流或长年断流期、人工调控期等几个历史阶段。本文在分析济南市四大泉群喷涌历史演变的基础上 ,利用统计资料 ,首先建立泉群年平均喷涌量与年最低地下水位之间的定量方程 ,得出四大泉群喷涌的底限水位与最低景观流量的对应关系 ,然后 ,计算泉域内地下水的入渗补给量 ,再得出保证泉涌的地下水最大允许开采量的控制性参数。最后 ,结合保泉供水的实际需求 ,提出扩大地表水供应量、开辟新水源、实施多种形式的人工回灌以及调整供用水结构、实施分质供水等宏观调控措施。

基于控制性参数的大件车过桥快速评估方法

为优化大件车过桥评估过程,在不影响桥梁正常运营的前提下,提出一种以结构承载能力安全储备为基础的控制性参数,尽可能地挖掘桥梁承载潜力,实现大件车过桥的快速评估。随后根据陕西省大件车行驶路线,选取该路段三座典型桥梁,运用有限元分析程序建立模型,对常见大件车过桥情况进行安全储备分析以及控制性参数验证。结果表明,该控制性参数可用于陕西省在役混凝土桥梁的大件车过桥的快速评估。

钢框架结构中设有钢筋混凝土剪力墙的设计浅析

高层钢框架结构局部区域设置钢筋混凝土剪力墙以代替部分钢支撑,钢筋混凝土剪力墙刚度较大,剪力墙需要开洞减小刚度,并通过调整模型中剪力墙洞口的大小,来调整模型的整体控制参数,使剪力墙和钢支撑作为钢框架的抗侧力构件共同发挥作用,抵抗侧向力。对于工业建筑中楼面设置钢格栅,无混凝土板对钢梁提供侧向刚度,需要设置水平支撑,保证楼面满足整体变形要求。

Disturbance observer based position tracking of electro-hydraulic actuator

A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.

A New Tuning Method for Two-Degree-of-Freedom Internal Model Control under Parametric Uncertainty

Internal model control （IMC） yields very good performance for set point tracking, but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC （2DOF-IMC） has been developed to overcome the weakness. However, the setting of parameter becomes a complicated matter if there is an uncertainty model. The present study proposes a new tuning method for the controller. The proposed tuning method consists of three steps. Firstly, the worst case of the model uncertainty is determined. Secondly, the parameter of set point con- troller using maximum peak （Mp） criteria is specified, and finally, the parameter of the disturbance rejection con- troller using gain margin （GM） criteria is obtained. The proposed method is denoted as Mp-GM tuning method. The effectiveness of Mp-GM tuning method has evaluated and compared with IMC-controller tuning program （IMCTUNE） as bench mark. The evaluation and comparison have been done through the simulation on a number of first order plus dead time （FOPDT） and higher order processes. The FOPDT process tested includes processes with controllability ratio in the range 0.7 to 2.5. The higher processes include second order with underdarnped and third order with nonminimum phase processes. Although the two of higher order processes are considered as difficult processes, the proposed Mp-GM tuning method are able to obtain the good controller parameter even under process uncertainties.

Adaptive neural network based sliding mode altitude control for a quadrotor UAV

Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the controller design for these quadrotors is considered the challenging issue of the day.In this work,an adaptive sliding mode controller based on neural network is proposed to control the altitude of a quadrotor.The error and error derivative of the altitude of a quadrotor are the inputs of neural network and altitude sliding surface variable is its output.Neural network estimates the sliding surface variable adaptively according to the conditions of quadrotor and sets the altitude of a quadrotor equal to the desired value.The proposed controller stability has been proven by Lyapunov theory and it is shown that all system states reach to sliding surface and are remaining in it.The superiority of the proposed control method has been proven by comparison and simulation results.

Direct adaptive control for lane keeping in intelligent vehicle systems

In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slid angle are fast.

Performance-based passive control analysis of adjacent structures:Optimization of Maxwell dampers

The performance-based passive control analysis of the Maxwell dampers between one 10-story and one 6-story adjacent RC frames is conducted in this work.Not only the optimal parameters but also the optimal arrangements of the Maxwell dampers are proposed based on the optimal target of making the total exceeding probability of the adjacent structures to be minimal.The applicability of the analytical expressions of the Maxwell damper damping parameters under different seismic performance targets are firstly examined and then the preferable damping parameters of the Maxwell dampers are proposed through the extensive parametric studies.Furthermore,the optimal arranging positions and optimal arranging numbers of the Maxwell dampers between the adjacent buildings are derived based on a large number of seismic fragility analyses,as well.The general arranging laws of the Maxwell dampers between the adjacent buildings are generated based on the discussion of the theoretical method through the simplified plane model.The optimal parameters and optimal arrangement of the Maxwell dampers presented make both the adjacent structures have preferable controlled effects under each seismic performance target which can satisfy the requirements of multi-performance seismic resistance of the modern seismic codes.

IMC-PID tuning method based on sensitivity specification for process with time-delay

To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.

Nonlinear adaptive optimal control for vehicle handling improvement through steer-by-wire system

A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.

A Note on the Controllability of Distribution Parameter Control System

This paper gives the relation between the precise controllabilities of two distrib-ution parameter systems.

Adaptive robust output force tracking control of pneumatic cylinder while maximizing/minimizing its stiffness

The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.

Modified Projective Synchronization of a New Hyperchaotic System with Known or Unknown Parameters

This work presents two different methods-nonlinear control method and adaptive control approach to achieve the modified projective synchronization of a new hyperchaotic system with known or unknown parameters.Based on Lyapunov stability theory,nonlinear control method is adopted when the parameters of driving and response systems are known beforehand;when the parameters are fully unknown,adaptive controllers and parameters update laws are proposed to synchronize two different hyperchaotic system and identify the unknown parameters.Moreover,the rate of synchronization can be regulated by adjusting the control gains designed in the controllers.The corresponding simulations are exploited to demonstrate the effectiveness of the proposed two methods.

Passive control of Permanent Magnet Synchronous Motor chaotic systems

Permanent Magnet Synchronous Motor model can exhibit a variety of chaotic phenomena under some choices of system parameters and external input. Based on the property of passive system, the essential conditions were studied, by which Permanent Magnet Synchronous Motor chaotic system could be equivalent to passive system. Using Lyapunov stability theory, the convergence condition deciding the system's characters was discussed. In the convergence condition area, the equivalent passive system could be globally asymptotically stabilized by smooth state feedback.

Robust H_∞ directional control for a sampled-data autonomous airship

A robust H∞ directional controller for a sampled-data autonomous airship with polytopic parameter uncertainties was proposed. By input delay approach, the linearized airship model was transformed into a continuous-time system with time-varying delay. Sufficient conditions were then established based on the constructed Lyapunov-Krasovskii functional, which guarantee that the system is mean-square exponentially stable with H∞ performance. The desired controller can be obtained by solving the obtained conditions. Simulation results show that guaranteed minimum H∞ performance γ=1.4037 and fast response of attitude for sampled-data autonomous airship are achieved in spite of the existence of parameter uncertainties.

Robust Non-fragile PID Controller Design for the Stroke Regulation of Metering Pumps

This job focuses on the stroke regulation of a class of high-precision metering pumps.A parametertuning method of robust non-fragile PID（proportional-integral-derivative）controllers is proposed with the assumption that a PID controller has additive gain perturbations.An H-infinite robust PID controller can be obtained by solving a linear matrix inequality.This approach can guarantee that the closed-loop control systems is asymptotically stable and the H-infinite norm of the transfer function from the disturbance to the output of a controlled system is less than a given constant to attenuate disturbances.The simulation case shows that the control performance of the proposed strategy is significantly better than the traditional PID approach in the situation with perturbations of controller parameters.

A measurement system of magnetism parameters for motion control

Magnetism parameters vary with the position and the speed of electromagnetic actuator's motion parts.The measurement unit presented in the paper can be applied to get the position and the speed feedback information from the measurement of electromagnetism parameters,and can constitute the untouched feedback sensing unit in the closed-loop motion control,and it adapts to the diversified feedback control of electromagnetic actuator.The digital miniaturization meter,based on MSP430 single chip processor,which can do the multi-purpose measurement of Φ & B through the menu selection,can be used for the electromagnetic actuator's performance evaluation and improvement,and also the online quality control in production process.Both real-time data graph and data table can be displayed in the meter.The paper presents the system's structure,describes the principle,discusses the working modes,and shows the software flowchart and the measuring results.

Consistency and Asymptotic Property of a Weighted Least Squares Method for Networked Control Systems

In this paper, we study the problems related to parameter estimation of a single-input and single-output networked control system, which contains possible network-induced delays and packet dropout in both of sensor-to-controller path and controller-to-actuator path. A weighted least squares(WLS) method is designed to estimate the parameters of plant, which could overcome the data uncertainty problem caused by delays and dropout. This WLS method is proved to be consistent and has a good asymptotic property. Simulation examples are given to validate the results.

Dependences of spin polarization on the control parameters in the spin-polarized injection through the magnetic p-n junction

Effective spin-polarized injection from magnetic semiconductor （MS） to nonmagnetic semiconductor （NMS） has been highlighted in recent years. In this paper we study theoretically the dependence of nonequilibrium spin polarization （NESP） in NMS during spin-polarized injection through the magnetic p-n junction. Based on the theory in semiconductor physics, a model is established and the boundary conditions are determined in the case of no external spin-polarized injection and low bias. The control parameters that may influence the NESP in NMS are indicated by calculating the distribution of spin polarization. They are the doping concentrations, the equilibrium spin polarization in MS and the bias. The effective spin-polarized injection can be realized more easily by optimizing the above parameters.

Vibration transmissibility characteristics of smart spring vibration isolation system

The objective of this work was to study the vibration transmissibility characteristics of the undamped and damped smart spring systems. The frequency response characteristics of them were analyzed by using the equivalent linearization technique, and the possible types of the system motion were distinguished by using the starting and ending frequencies. The influences of system parameters on the vibration transmissibility characteristics were discussed. The following conclusions may be drawn from the analysis results. The undamped smart spring system may simultaneously have one starting frequency and one ending frequency or only have one starting frequency, and the damped system may simultaneously have two starting frequencies and one ending frequency. There is an optimal control parameter to make the peak value of the vibration transmissibility curve of the system be minimum. When the mass ratio is far away from the stiffness ratio, the vibration transmissibility is small. The effect of the damping ratio on the system vibration transmissibility is significant while the control parameter is less than its optimal value. But the influence of the relative damping ratio on the vibration transmissibility is small.