The reasons for inducing quadrature error and offset error are analyzed and the expressions of quadrature error and offset error are induced. The open-loop system analysis indicates that, in order to avoid the appeara...The reasons for inducing quadrature error and offset error are analyzed and the expressions of quadrature error and offset error are induced. The open-loop system analysis indicates that, in order to avoid the appearance of harmonic peaks, the frequency difference δf between drive mode and sense mode must be less than 1/（2Qy）. In order to eliminate the effects of the quadrature error and the offset error, as well as the inherent non- linearity in the capacitance-type sensors, a closed-loop feedback control circuit with quadrature correction is designed. The experimental results indicate that the quadrature error and offset error are corrected. By comparing with open-loop detection, the closed-loop feedback control circuit with quadrature correction decreases the non-linearity of the scale factor from 16. 02% to 0. 35 %, widens the maximum rate capability from ± 270 （°）/s to ± 370 （°）/s and increases the stability of zero bias from 155. 2 （°）/h to 60. 6 （°）/h.展开更多
This paper proposes a design of internal model control systems for process with delay by using support vector regression(SVR).The proposed system fully uses the excellent nonlinear estimation performance of SVR with t...This paper proposes a design of internal model control systems for process with delay by using support vector regression(SVR).The proposed system fully uses the excellent nonlinear estimation performance of SVR with the structural risk minimization principle.Closed-system stability and steady error are analyzed for the existence of modeling errors.The simulations show that the proposed control systems have the better control performance than that by neural networks in the cases of the training samples with small size and noises.展开更多
The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
Integral method is employed in this paper to alleviate the error accumulation of differential equation discretization about time variant t in Time Domain Finite Element Method (TDFEM) for electromagnetic simulation. T...Integral method is employed in this paper to alleviate the error accumulation of differential equation discretization about time variant t in Time Domain Finite Element Method (TDFEM) for electromagnetic simulation. The error growth and the stability condition of the presented method and classical central difference scheme are analyzed. The electromagnetic responses of 2D lossless cavities are investigated with TDFEM; high accuracy is validated with numerical results presented.展开更多
Deformation modulus is the important parameter in stability analysis of tunnels, dams and mining struc- tures. In this paper, two predictive models including Mamdani fuzzy system （MFS） and multivariable regression a...Deformation modulus is the important parameter in stability analysis of tunnels, dams and mining struc- tures. In this paper, two predictive models including Mamdani fuzzy system （MFS） and multivariable regression analysis （MVRA） were developed to predict deformation modulus based on data obtained from dilatometer tests carried out in Bakhtiary dam site and additional data collected from longwall coal mines. Models inputs were considered to be rock quality designation, overburden height, weathering, unconfined compressive strength, bedding inclination to core axis, joint roughness coefficient and fill thickness. To control the models performance, calculating indices such as root mean square error （RMSE）, variance account for （VAF） and determination coefficient （R^2） were used. The MFS results show the significant prediction accuracy along with high performance compared to MVRA results. Finally, the sensitivity analysis of MFS results shows that the most and the least effective parameters on deformation modulus are weatherin~ and overburden height, respectively.展开更多
A class of two-level high-order accuracy explicit difference scheme for solving 3-D parabolic P.D.E is constructed. Its truncation error is (Δt2+Δx4) and the stability condition is r=Δt/Δx2=Δt/Δy2=Δt/Δz2≤1/6.
文摘The reasons for inducing quadrature error and offset error are analyzed and the expressions of quadrature error and offset error are induced. The open-loop system analysis indicates that, in order to avoid the appearance of harmonic peaks, the frequency difference δf between drive mode and sense mode must be less than 1/（2Qy）. In order to eliminate the effects of the quadrature error and the offset error, as well as the inherent non- linearity in the capacitance-type sensors, a closed-loop feedback control circuit with quadrature correction is designed. The experimental results indicate that the quadrature error and offset error are corrected. By comparing with open-loop detection, the closed-loop feedback control circuit with quadrature correction decreases the non-linearity of the scale factor from 16. 02% to 0. 35 %, widens the maximum rate capability from ± 270 （°）/s to ± 370 （°）/s and increases the stability of zero bias from 155. 2 （°）/h to 60. 6 （°）/h.
文摘This paper proposes a design of internal model control systems for process with delay by using support vector regression(SVR).The proposed system fully uses the excellent nonlinear estimation performance of SVR with the structural risk minimization principle.Closed-system stability and steady error are analyzed for the existence of modeling errors.The simulations show that the proposed control systems have the better control performance than that by neural networks in the cases of the training samples with small size and noises.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金the National Natural Science Foundation of China (No.60601024).
文摘Integral method is employed in this paper to alleviate the error accumulation of differential equation discretization about time variant t in Time Domain Finite Element Method (TDFEM) for electromagnetic simulation. The error growth and the stability condition of the presented method and classical central difference scheme are analyzed. The electromagnetic responses of 2D lossless cavities are investigated with TDFEM; high accuracy is validated with numerical results presented.
文摘Deformation modulus is the important parameter in stability analysis of tunnels, dams and mining struc- tures. In this paper, two predictive models including Mamdani fuzzy system （MFS） and multivariable regression analysis （MVRA） were developed to predict deformation modulus based on data obtained from dilatometer tests carried out in Bakhtiary dam site and additional data collected from longwall coal mines. Models inputs were considered to be rock quality designation, overburden height, weathering, unconfined compressive strength, bedding inclination to core axis, joint roughness coefficient and fill thickness. To control the models performance, calculating indices such as root mean square error （RMSE）, variance account for （VAF） and determination coefficient （R^2） were used. The MFS results show the significant prediction accuracy along with high performance compared to MVRA results. Finally, the sensitivity analysis of MFS results shows that the most and the least effective parameters on deformation modulus are weatherin~ and overburden height, respectively.
文摘A class of two-level high-order accuracy explicit difference scheme for solving 3-D parabolic P.D.E is constructed. Its truncation error is (Δt2+Δx4) and the stability condition is r=Δt/Δx2=Δt/Δy2=Δt/Δz2≤1/6.
