A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precisio...A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.展开更多
Objective： To study the biomechanical mechanism of head injuries beaten with sticks, which is common in the battery or assaultive cases.Methods： In this study, the Hybrid-III anthropomorphic test device and finite e...Objective： To study the biomechanical mechanism of head injuries beaten with sticks, which is common in the battery or assaultive cases.Methods： In this study, the Hybrid-III anthropomorphic test device and finite element model （FEM） of the total human model for safety （THUMS） head were used to determine the biomechanical response of head while being beaten with different sticks. Total eight Hybrid-III tests and four finite element simulations were conducted. The contact force, resultant acceleration of head center of gravity, intracranial pressure and von Mises stress were calculated to determine the different biomechanical behavior of head with beaten by different sticks.Results： In Hybrid-III tests, the stick in each group demonstrated the similar kinematic behavior under the same loading condition. The peak values of the resultant acceleration for thick iron stick group, thin iron stick group, thick wooden stick group and thin wooden stick group were 203.4 g, 221.1 g, 170.5 g and 122.2 g respectively. In finite element simulations, positive intracranial pressure was initially observed in the frontal comparing with negative intracranial pressure in the contra-coup site. Subsequently the intracranial pressure in the coup site was decreasing toward negative value while the contra-coup intracranial pressure increasing toward positive values.Conclusions： The results illustrated that the stiffer and larger the stick was, the higher the von Mises stress, contact force and intracranial pressure were. We believed that the results in the Hybrid-III tests and THUMS head simulations for brain injury beaten with sticks could be reliable and useful for better understanding the injury mechanism.展开更多
文摘A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.
基金National Natural Science Foundation of China （No. 31200709 and 31170908）, and Academician Funds （No. cstc2012jjys0004）.
文摘Objective： To study the biomechanical mechanism of head injuries beaten with sticks, which is common in the battery or assaultive cases.Methods： In this study, the Hybrid-III anthropomorphic test device and finite element model （FEM） of the total human model for safety （THUMS） head were used to determine the biomechanical response of head while being beaten with different sticks. Total eight Hybrid-III tests and four finite element simulations were conducted. The contact force, resultant acceleration of head center of gravity, intracranial pressure and von Mises stress were calculated to determine the different biomechanical behavior of head with beaten by different sticks.Results： In Hybrid-III tests, the stick in each group demonstrated the similar kinematic behavior under the same loading condition. The peak values of the resultant acceleration for thick iron stick group, thin iron stick group, thick wooden stick group and thin wooden stick group were 203.4 g, 221.1 g, 170.5 g and 122.2 g respectively. In finite element simulations, positive intracranial pressure was initially observed in the frontal comparing with negative intracranial pressure in the contra-coup site. Subsequently the intracranial pressure in the coup site was decreasing toward negative value while the contra-coup intracranial pressure increasing toward positive values.Conclusions： The results illustrated that the stiffer and larger the stick was, the higher the von Mises stress, contact force and intracranial pressure were. We believed that the results in the Hybrid-III tests and THUMS head simulations for brain injury beaten with sticks could be reliable and useful for better understanding the injury mechanism.
