谐波驱动系统Back-stepping滑模控制研究

针对谐波传动系统动力学模型中存在的柔性变形、摩擦和运动误差等非线性因素。为了提高系统的传动精度,针对系统非线性刚度和静态误差因素进行了建模,并提出了一种Back-stepping滑模控制方法。利用Lyapunov稳定性理论,证明了闭环系统的误差是一致有界的。仿真结果表明,与PID控制相比,采用Back-stepping滑模控制,系统传动误差曲线峰峰值减小66.63%;负载端角速率误差曲线峰峰值减小77.35%。Back-stepping滑模控制能有效地补偿系统传动误差,抑制其负载端的速度波动,提高了系统的传动精度。

Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller

Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances.These unfavorable factors adversely affect the control performance of the hydraulic actuator.Although various control methods have been employed to improve the tracking precision of the dynamic system,optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains elusive.This study presents an adaptive back-stepping sliding mode controller(ABSMC)to enhance the trajectory tracking precision,where the virtual control law is constructed to replace the position error.The adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying disturbances.Based on Lyapunov theory,the finite-time convergence of the position tracking errors is proved.Furthermore,the effectiveness of the developed control scheme is conducted via extensive comparative experiments.

Insight Into the Separation-of-Variable Methods for the Closed-Form Solutions of Free Vibration of Rectangular Thin Plates

The separation-of-variable(SOV)methods,such as the improved SOV method,the variational SOV method,and the extended SOV method,have been proposed by the present authors and coworkers to obtain the closed-form analytical solutions for free vibration and eigenbuckling of rectangular plates and circular cylindrical shells.By taking the free vibration of rectangular thin plates as an example,this work presents the theoretical framework of the SOV methods in an instructive way,and the bisection–based solution procedures for a group of nonlinear eigenvalue equations.Besides,the explicit equations of nodal lines of the SOV methods are presented,and the relations of nodal line patterns and frequency orders are investigated.It is concluded that the highly accurate SOV methods have the same accuracy for all frequencies,the mode shapes about repeated frequencies can also be precisely captured,and the SOV methods do not have the problem of missing roots as well.

Estimation of Chloride Diffusivity in Hydrated Tricalcium Silicate Using a Hydration-Diffusion Integrated Method

This study aims to develop a chloride diffusion simulation method that considers the hydration microstructure and pore solution properties during the hydration of tricalcium silicate(C3S).The method combines the hydration simulation,thermodynamic calculation,and finite element analysis to examine the effects of pore solution,including effect of electrochemical potential,effect of chemical activity,and effect of mechanical interactions between ions,on the chloride effective diffusion coefficient of hydrated C3S paste.The results indicate that the effect of electrochemical potential on chloride diffusion becomes stronger with increasing hydration age due to the increase in the content of hydrated calcium silicate;as the hydration age increases,the effect of chemical activity on chloride diffusion weakens when the number of diffusible elements decreases;the effect of mechanical interactions between ions on chloride diffusion decreases with the increase of hydration age.

Structural Modal Parameter Recognition and Related Damage Identification Methods under Environmental Excitations: A Review

Modal parameters can accurately characterize the structural dynamic properties and assess the physical state of the structure.Therefore,it is particularly significant to identify the structural modal parameters according to the monitoring data information in the structural health monitoring(SHM)system,so as to provide a scientific basis for structural damage identification and dynamic model modification.In view of this,this paper reviews methods for identifying structural modal parameters under environmental excitation and briefly describes how to identify structural damages based on the derived modal parameters.The paper primarily introduces data-driven modal parameter recognition methods(e.g.,time-domain,frequency-domain,and time-frequency-domain methods,etc.),briefly describes damage identification methods based on the variations of modal parameters(e.g.,natural frequency,modal shapes,and curvature modal shapes,etc.)and modal validation methods(e.g.,Stability Diagram and Modal Assurance Criterion,etc.).The current status of the application of artificial intelligence(AI)methods in the direction of modal parameter recognition and damage identification is further discussed.Based on the pre-vious analysis,the main development trends of structural modal parameter recognition and damage identification methods are given to provide scientific references for the optimized design and functional upgrading of SHM systems.

Effects of spatial heterogeneity on pseudo-static stability of coal mine overburden dump slope,using random limit equilibrium and random finite element methods:A comparative study

Sudden and unforeseen seismic failures of coal mine overburden(OB)dump slopes interrupt mining operations,cause loss of lives and delay the production of coal.Consideration of the spatial heterogeneity of OB dump materials is imperative for an adequate evaluation of the seismic stability of OB dump slopes.In this study,pseudo-static seismic stability analyses are carried out for an OB dump slope by considering the material parameters obtained from an insitu field investigation.Spatial heterogeneity is simulated through use of the random finite element method(RFEM)and the random limit equilibrium method(RLEM)and a comparative study is presented.Combinations of horizontal and vertical spatial correlation lengths were considered for simulating isotropic and anisotropic random fields within the OB dump slope.Seismic performances of the slope have been reported through the probability of failure and reliability index.It was observed that the RLEM approach overestimates failure probability(P_(f))by considering seismic stability with spatial heterogeneity.The P_(f)was observed to increase with an increase in the coefficient of variation of friction angle of the dump materials.Further,it was inferred that the RLEM approach may not be adequately applicable for assessing the seismic stability of an OB dump slope for a horizontal seismic coefficient that is more than or equal to 0.1.

Design of Voltage Equalization Circuit and Control Method for Lithium-ion Battery Packs

The active equalization of lithium-ion batteries involves transferring energy from high-voltage cells to low-voltage cells,ensuring consistent voltage levels across the battery pack and maintaining safety.This paper presents a voltage balancing circuit and control method.First,a single capacitor method is used to design the circuit topology for energy transfer.Next,real-time voltage detection and control are employed to balance energy between cells.Finally,simulation and experimental results demonstrate the effectiveness of the proposed method,achieving balanced voltages of 3.97 V from initial voltages of 4.10,3.97,and 3.90 V.The proposed circuit is simple,reliable,and effectively prevents overcharge and overdischarge.

An Improved Local RBF Collocation Method for 3D Excavation Deformation Based on Direct Method and Mapping Technique

Since the plasticity of soil and the irregular shape of the excavation,the efficiency and stability of the traditional local radial basis function(RBF)collocation method(LRBFCM)are inadequate for analyzing three-dimensional(3D)deformation of deep excavation.In this work,the technique known as the direct method,where the local influence nodes are collocated on a straight line,is introduced to optimize the LRBFCM.The direct method can improve the accuracy of the partial derivative,reduce the size effect caused by the large length-width ratio,and weaken the influence of the shape parameters on the LRBFCM.The mapping technique is adopted to transform the physical coordinates of a quadratic-type block to normalized coordinates,in which the deformation problem can easily be solved using the direct method.The stability of the LRBFCM is further modified by considering the irregular shape of 3D excavation,which is divided into several quadratic-type blocks.The soil’s plasticity is described by the Drucker-Prager(D-P)model.The improved LRBFCM is integrated with the incremental method to analyze the plasticity.Five different examples,including strip excavations and circular excavations,are presented to validate the proposed approach’s efficiency.

Assessment of leachate-contaminated clays using experimental and artificial methods

The investigation of leachate-contaminated clay(LCC)is essential for landfill engineering assessment and achievement of sustainable development goals.Several static and dynamic laboratory tests,including unconfined compressive strength(UCS),California bearing ratio(CBR),and cyclic simple shear,are conducted.Cyclic simple shear experiments on LCCs were performed to evaluate the damping and shear modulus.The investigated factors are vertical load(VL),leachate content(LC),frequency(F),and shear strain(ShS)for LCC.Forensic-based investigation optimization(FBIO)and equilibrium optimizer algorithm(EOA)were utilized in addition to multiple types of ensemble models,including adaptive boosting(ADB),gradient boosting regression tree(GBRT),extreme gradient boosting(XGB) and random forest(RF).The comparison of the methods showed that GBRT-FBIO and XGB-EOA models outperformed other models for shear modulus and damping of LCC.The p-value less than 0.0001 shows the significance of the used models in the response surface methodology(RSM)method.

Hollow cerium nanoparticles synthesized by one-step method for multienzyme activity to reduce colitis in mice

BACKGROUND Inflammatory bowel disease(IBD)is a common chronic intestinal inflammatory disease.High oxidative stress is a treatment target for IBD.Cerium oxide(CeO2)nanomaterials as nanozymes with antioxidant activity are potential drugs for the treatment of colitis.AIM To synthesize hollow cerium(H-CeO2)nanoparticles by one-step method and to validate the therapeutic efficacy of H-CeO2 in IBD.METHODS H-CeO2 was synthesized by one-step method and examined its characterization and nanoenzymatic activity.Subsequently,we constructed dextran sulfate so-dium(DSS)-induced colitis in mice to observe the effects of H-CeO2 on colonic inflammation.The effects of H-CeO2 on colon inflammation and reactive oxygen species(ROS)levels in IBD mice were detected by hematoxylin and eosin staining and dichlorofluorescein diacetate staining,respectively.Finally,the biological sa-fety of H-CeO2 on mice was evaluated by hematoxylin and eosin staining,blood routine,and blood biochemistry.RESULTS H-CeO2 nanoparticles prepared by the one-step method were uniform,monodi-sperse and hollow.H-CeO2 had a good ability to scavenge ROS,∙OH and∙OOH.H-CeO2 reduced DSS-induced decreases in body weight and colon length,colonic epithelial damage,inflammatory infiltration,and ROS accumulation.H-CeO2 administration reduced the disease activity index of DSS-induced animals from about 8 to 5.H-CeO2 had no significant effect on body weight,total platelet count,hemoglobin,white blood cell,and red blood cell counts in healthy mice.No significant damage to major organs was observed in healthy mice following H-CeO2 administration.CONCLUSION The one-step synthesis of H-CeO2 nanomaterials had good antioxidant activity,biosafety,and inhibited deve-lopment of DSS-induced IBD in mice by scavenging ROS.

Retrospective comparative study of different surgical methods for gastric ulcer perforation:Efficacy and postoperative complications

BACKGROUND Gastric ulcer perforation is a critical condition that can lead to significant morbidity and mortality if not promptly addressed.It is often the result of chronic peptic ulcer disease,which is characterized by a breach in the gastric wall due to ulceration.Surgical intervention is essential for managing this life-threatening complication.However,the optimal surgical technique remains debatable among clinicians.Various methods have been employed,including simple closure,omental patch repair,and partial gastrectomy,each with distinct advantages and disadvantages.Understanding the comparative efficacy and postoperative outcomes of these techniques is crucial for improving patient care and surgical decision-making.This study addresses the need for a comprehensive analysis in this area.AIM To compare the efficacy and postoperative complications of different surgical methods for the treatment of gastric ulcer perforation.METHODS A retrospective analysis was conducted on 120 patients who underwent surgery for gastric ulcer perforation between September 2020 and June 2023.The patients were divided into three groups based on the surgical method:Simple closure,omental patch repair,and partial gastrectomy.The primary outcomes were the operative success rate and incidence of postoperative complications.Secondary outcomes included the length of hospital stay,recovery time,and long-term quality of life.RESULTS The operative success rates for simple closure,omental patch repair,and partial gastrectomy were 92.5%,95%,and 97.5%,respectively.Postoperative complications occurred in 20%,15%,and 17.5%of patients in each group,respectively.The partial gastrectomy group showed a significantly longer operative time(P<0.001)but the lowest rate of ulcer recurrence(2.5%,P<0.05).The omental patch repair group demonstrated the shortest hospital stay(mean 7.2 days,P<0.05)and fastest recovery time.CONCLUSION While all three surgical methods showed high success rates,omental patch repair demonstrated the best overall outcomes,with a balance of high efficacy,low complication rates,and shorter recovery time.However,the choice of the surgical method should be tailored to individual patient factors and the surgeon’s expertise.

Towards a blank design method for manufacturing big-tapered profiled ring disk by spinning-rolling process

The big-tapered profiled ring disk is a key component of engines for rockets and missiles.A new forming technology,as called spinning-rolling process,has been proposed previously for the high performance,high efficiency and low-cost manufacturing of the component.Blank design is the key part of plastic forming process design.For spinning-rolling process,the shape and size of the blank play a crucial role in process stability,deformation behavior and dimensional accuracy.So this work proposes a blank design method to determine the geometry structure and sizes of the blank.The mathematical model for calculating the blank size has been deduced based on volume conservation and neutral layer length invariance principle.The FE simulation and corresponding trial production of an actual big-tapered profiled ring disk show that the proposed blank design method is applicative.In order to obtain a preferred blank,the influence rules of blank size determined by different deformation degrees(rolling ratio k)on the spinning-rolling process are revealed by comprehensive FE simulations.Overall considering the process stability,circularity of the deformed ring disk and forming forces,a reasonable range of deformation degree(rolling ratio k)is recommended for the blank design of the new spinning-rolling process.

Sensitivity Analysis of Structural Dynamic Behavior Based on the Sparse Polynomial Chaos Expansion and Material Point Method

This paper presents a framework for constructing surrogate models for sensitivity analysis of structural dynamics behavior.Physical models involving deformation,such as collisions,vibrations,and penetration,are devel-oped using the material point method.To reduce the computational cost of Monte Carlo simulations,response surface models are created as surrogate models for the material point system to approximate its dynamic behavior.An adaptive randomized greedy algorithm is employed to construct a sparse polynomial chaos expansion model with a fixed order,effectively balancing the accuracy and computational efficiency of the surrogate model.Based on the sparse polynomial chaos expansion,sensitivity analysis is conducted using the global finite difference and Sobol methods.Several examples of structural dynamics are provided to demonstrate the effectiveness of the proposed method in addressing structural dynamics problems.

A Back-stepping Based Trajectory Tracking Controller for a Non-chained Nonholonomic Spherical Robot

Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.

汽车电子节气门Back-stepping滑模控制器设计

建立包含黏滞摩擦模型、复位弹簧模型及齿轮间隙模型的电子节气门系统的数学模型,并针对节气门系统的非线性特性设计了基于非线性终端滑模面的Back-steeping滑模控制器,可以提高系统收敛速度,降低系统误差并消除系统抖动。同时,针对控制系统中不确定扰动及电子节气门阀板角速度和电机电流不可测量变量设计了非线性扩张状态观测器,实现了系统不可测量变量和不确定扰动准确估计。通过搭建ds PACE快速控制原型环境,并针对电子节气门的实际应用工况对设计的控制器进行了实验验证。实验结果表明所设计Back-stepping滑模控制器对目标角度跟踪精度高,收敛速度快且无超调,可以满足电子节气门的控制要求。

基于Back-stepping的轮式机器人轨迹跟踪

轮式机器人属于一种典型的非完整约束系统。为了解决它的全局轨迹跟踪控制,提出了一种Back-stepping算法设计:先将非线性系统分解成若干个子系统,然后对这些子系统分步构造李亚普诺夫函数和中间虚拟控制量,并一直"反推"至整个系统控制律基于Back-stepping的轮式机器人轨迹跟踪控制设计的完成,算法具有结构简单、参数少、易于编程实现及全局收敛性等优点。基于机器人运动学模型采用Back-stepping算法设计控制器,有效解决了轮式机器人轨迹跟踪问题。数值仿真结果表明,所述方法正确有效。

基于新型Back-stepping方法的电力系统励磁控制器设计

为了解决励磁系统的不确定性影响互联电力系统的稳定控制问题,提出一种新型的鲁棒自适应控制器递推设计方法.与传统的Back-stepping设计方法相比,新方法减少了对被控对象的严格要求,所设计的控制器避免了过度参数化和复杂化问题,能够保证闭环系统对不确定参数的自适应性以及对建模误差和有界外部干扰的鲁棒性.采用该方法设计的电力系统新型励磁控制器在华东电网上进行数值仿真,结果表明,所设计的控制器能够有效提高互联系统的暂态稳定性.

Back-Stepping Control for Flexible Air-Breathing Hypersonic Vehicles Based on Uncertainty and Disturbance Estimator

A theoretical framework of nonlinear flight control for a flexible air-breathing hypersonic vehicle(FAHV)is proposed in this paper.In order to suppress the system uncertainty and external disturbance,an uncertainty and disturbance estimator(UDE)based back-stepping control strategy is designed for a dynamic state-feedback controller to provide stable velocity and altitude tracking.Firstly,the longitudinal dynamics of FAHV is simplified into a closure loop form with lumped uncertainty and disturbance.Then the UDE is applied to estimate the lumped uncertainty and disturbance for the purpose of control input compensation.While a nonlinear tracking differentiator is introduced to solve the problem of“explosion of term”in the back-stepping control.The stability of the UDE-based control strategy is proved by using Lyapunov stability theorem.Finally,simulation results are presented to demonstrate the capacity of the proposed control strategy.

A Review on Sources,Extractions and Analysis Methods of a Sustainable Biomaterial:Tannins

Condensed and hydrolysable tannins are non-toxic natural polyphenols that are a commercial commodity industrialized for tanning hides to obtain leather and for a growing number of other industrial applications mainly to substitute petroleum-based products.They are a definite class of sustainable materials of the forestry industry.They have been in operation for hundreds of years to manufacture leather and now for a growing number of applications in a variety of other industries,such as wood adhesives,metal coating,pharmaceutical/medical applications and several others.This review presents the main sources,either already or potentially commercial of this forestry by-materials,their industrial and laboratory extraction systems,their systems of analysis with their advantages and drawbacks,be these methods so simple to even appear primitive but nonetheless of proven effectiveness,or very modern and instrumental.It constitutes a basic but essential summary of what is necessary to know of these sustainable materials.In doing so,the review highlights some of the main challenges that remain to be addressed to deliver the quality and economics of tannin supply necessary to fulfill the industrial production requirements for some materials-based uses.

Drilling-based measuring method for the c-φ parameter of rock and its field application

The technology of drilling tests makes it possible to obtain the strength parameter of rock accurately in situ. In this paper, a new rock cutting analysis model that considers the influence of the rock crushing zone(RCZ) is built. The formula for an ultimate cutting force is established based on the limit equilibrium principle. The relationship between digital drilling parameters(DDP) and the c-φ parameter(DDP-cφ formula, where c refers to the cohesion and φ refers to the internal friction angle) is derived, and the response of drilling parameters and cutting ratio to the strength parameters is analyzed. The drillingbased measuring method for the c-φ parameter of rock is constructed. The laboratory verification test is then completed, and the difference in results between the drilling test and the compression test is less than 6%. On this basis, in-situ rock drilling tests in a traffic tunnel and a coal mine roadway are carried out, and the strength parameters of the surrounding rock are effectively tested. The average difference ratio of the results is less than 11%, which verifies the effectiveness of the proposed method for obtaining the strength parameters based on digital drilling. This study provides methodological support for field testing of rock strength parameters.