Impact dynamics analysis of free-floating space manipulator capturing satellite on orbit and robust adaptive compound control algorithm design for suppressing motion

The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.

Robust controller design for compound control missile with fixed bounded convergence time

A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller.

Compound control allocation strategy of dual aero/jet vane control missile

To solve the control allocation problem of dual aero/jet vane control missile, dynamics e- quations in longitudinal plane are derived, and the structure of compound control loop is designed based on attitude autopilot. Four brief compound control allocation strategies are researched and an- alyzed. Furthermore, a new strategy called chain combination variable proportional coefficient strat- egy based on rudder effect is presented. By simulation of initial climb trajectory, the characteristics of all the strategies are researched, and the results illustrate that the new strategy can meet the re- quirement well.

Precise Compound Control of Loading Force for Electric Load Simulator of Electric Power Steering Test Bench

Electric load simulator(ELS) systems are employed for electric power steering(EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator’s acceleration.

ELECTRO-HYDRAULIC COMPOUND CONTROL METHOD AND CHARACTERISTIC OF CONTROL FOR TENSION SYSTEM WITH HIGH INERTIA LOADS

Based on the pressure regulation circuit adopting electro-hydraulic proportional relief valve to control tension, a new type of electro-hydraulic compound control circuit with throttle control unit is presented, which can obtain optimal dynamic damping ratio through real-time altering pressure-flow gain of the throttle control unit, improve the dynamic characteristic of tension follow-up control for the tension system with high inertia loads. Moreover, the characteristic when the cable linear velocity variation causes change of tension is investigated, and a compound control strategy is proposed. The theoretical analysis and experimental results show that the electro-hydraulic compound control circuit is effective and the characteristic of the compound control strategy is satisfactory.

Compound control for speed and tension multivariable coupling system of reversible cold strip mill

To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invariance principle was used to realize static decoupling between the speed and tension of reversible cold strip mill. Then, considering the influence caused by the time variation of steel coil radius and rotational inertia of the left and right coilers, as well as the uncertainties, a CC strategy that is composed of extended state observer(ESO) and global sliding mode control(GSMC) with backstepping adaptive was proposed,which further realized dynamic decoupling and coordination control for the speed and tension system. Theoretical analysis shows that the resulting closed-loop system is global bounded stable. Finally, the simulation was carried out on the speed and tension system of a 1422 mm reversible cold strip mill by using the actual data, and through the comparison of the other control strategies, validity of the proposed CC strategy was shown by the results.

Research of Compound Controller for Flight Simulator with Disturbance Observer

A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer （DOB） is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.

Release Characteristics of Different N Forms in an Uncoated Slow/Controlled Release Compound Fertilizer

This study examined the release characteristics of different N forms in an uncoated slow/controlled-release compound fertilizer （UCRF） and the N uptake and N-use efficiency by rice plants. Water dissolution, soil leaching, and pot experiments were employed. The dynamics of N release from the UCRF could be quantitatively described by three equations： the first-order kinetics equation [N1=N0 （1-e^-kt）], Elovich equation （N1=a ＋ blnt）, and parabola equation （N1=a ＋ bt^0.5）, with the best fitting by the first-order kinetics equation for different N （r= 0.9569^＊＊-0.9999^＊＊）. The release potentials （No values estimated by the first-order kinetics equation） of different N in the UCRF decreased in the order of total N 〉 DON 〉 urea-N 〉 NH4^＋-N 〉 NO3^-N in water, and total N 〉 NH4^＋-N 〉 DON 〉 urea-N 〉 NO3^--N in soil, respectively, being in accordance with cumulative amounts of N release. The constants of N release rate （k values and b values） for different N forms were in decreasing order of total N 〉 DON 〉 NH4^＋-N 〉 NO3^--N in water, whereas the k values were urea- N 〉DON 〉 NH4^＋-N 〉 total N 〉 NO3^--N, and the b values were total N 〉 NH4^＋-N 〉 DON 〉 NO3^--N 〉 urea-N in soil. Compared with a common compound fertilizer, the N-use efficiency, N-agronomy efficiency, and N-physiological efficiency of the UCRF were increased by 11.4%, 8.32 kg kg^-1, and 5.17 kg kg^-1, respectively. The ratios of different N to total N in the UCRF showed significant correlation with N uptake by rice plants. The findings showed that the first-order kinetics equation [Nt=N0 （l-e^kt）] could be used to describe the release characteristics of different N forms in the fertilizer. The UCRF containing different N forms was more effective in facilitating N uptake by rice compared with the common compound fertilizer containing single urea-N form.

Research into stope roof control of compound roof by solid backfilling mining

Based on the analysis of the failure characteristics and backfilling effect of the compound roof at 1801 backfilling workface in Taiyuan coal mine,China,we propose a method of controlling the presubsidence of a compound roof by using pre-stressed bolts to improve the backfilling ratio of the workface so as to maintain the global stability of the stope roof.In addition,PHASE simulation software was employed to analyze the influence law of pre-stressing force,length,and interval on roof subsidence at the workface.On the basis of the numerical simulation results,a model for calculating the pre-stressing force and length of the bolts,the interval between the bolts,as well as roof subsidence at the workface,was established by using SPSS regression analysis software.Moreover,the research results were applied successfully to the 1801 filling workface.According to the monitoring data of roof closure,it was found that the final subsidence value for the goaf roof was 350 mm and the filling ratio at the workface was 86%,which could fully meet the demand for safety production at the workface.The safe and effective control of the stope roof was therefore realized,which achieves the goal of safe and efficient backfilling mining under a compound roof.

Study on quality control method for compound Shanzha Granules

Objective:To establish the quality standard of Compound Shanzha Granules.Methods:Crataegi Fructus and Cassiae Semen were identified by TLC.The contents of Autrantio-obtusin and Chrysophanol in Cassiae Semen were determined by HPLC.Results:The relevant spots on TLC plates were clear by the blank reference.The contents showed good linearitis in the range of 0.0357~0.3570μg for Autrantio-obtusin and 0.0520~0.5200μg for Chrysophanol.Conclusions:The method are simple,accurate and reproducible.

Iron Fertilization with Enhanced Phytoplankton Productivity under Minimal Sulfur Compounds and Grazing Control Analysis in HNLC Region

The present study investigated quantitatively the significance of HNLC (high-nutrient low-chlorophyll) regions and its grazing control with the improved iron fertilization for climate change. The limitation of iron (Fe) for phytoplankton growth in HNLC regions was confirmed by sulfur compounds (S) such as volcanic ash and hydrogen sulfide (H2S) in batch cultures, whose chemical sediment of Fe3S4 showed 4.06 wt%. The technologies developed for iron fertilization since 1993 till now were not practical to provide sufficient amounts of bioavailable iron due to sedimentary iron sulfides induced by undersea volcanic sulfur compounds. The proposed technology for iron fertilization was improved to enhance the bioavailable iron to phytoplankton by keeping minimal sulfur compounds in HNLC regions. The low productivity of phytoplankton by grazing control in HNLC regions was 6% diatoms whose 52% was grazed by copepods and 42% by krill on the basis of data analysis in 2000 EisenEx Experiment at boundary of Antarctic and African tectonic plates. All of the previous iron fertilization experiments were conducted at volcanic sulfur compounds enriched HNLC regions. The present study revealed that the enhanced phytoplankton productivity in batch culture without sedimentary iron sulfides can be possible only if sulfur compounds are minimal, as is in Shag Rocks (53°S, 42°W) of South Georgia in Scotia Sea in the Southern Ocean.

Experimental study of the movement of control fluid in compound perforation

The interaction between the high pressure gas and the control fluid and the movement mechanism of the control fluid in compound perforation were studied by a series of large-scale experiments, where the movement behavior of the control fluid was observed. The curves of measured pressure were analyzed, a mathematical model for the rigid movement of the control fluid was established, and the movement velocity of control fluid was analyzed. Moreover, the velocity from experimental results and velocity from an analytical solution were contrasted. The movement of the control fluid in the initial stage was similar to the rigid movement; however, the propagation of the pressure wave in the control fluid should be taken into account. Experimental results are significant for research on the movement mechanism of control fluid in compound perforation.

新型混合式贯通牵引供电系统及其复合控制策略

电分相与负序等电能质量问题是制约电气化铁路向高速化、重载化发展的桎梏。贯通牵引供电系统为消弭上述问题提供了契机,但既有贯通方案依然存在所需器件数目多、改造成本高、可靠性差等弊端。为此,在充分利用既有牵引变压器基础上,该文设计一种新型混合式贯通牵引供电装置。该装置通过共直流侧与功率均分手段有效抵消输入侧纹波功率,降低有源/无源器件数目与电容容量。同时,针对直流侧二次纹波与负荷功率冲击,提出一种输入端口复合控制策略,有效解决纹波传递与冲击波动问题。最后通过仿真与实验验证所提装置及其控制策略的可行性与可靠性。

虑及控制机构运动关联的柱塞泵动态特性研究

针对柱塞泵建模过程中因函数简化控制机构及其运动关系而造成的误差大、不精准问题,提出基于控制机构运动关联的非简化建模方法。结合柱塞泵的控制原理,利用AMESim搭建功率-压力-电比例复合控制的柱塞泵仿真模型。通过对压力、电流和转速的组合控制,对柱塞泵的控制特性进行仿真测试,得到与理论研究相吻合的动态特性曲线。进一步通过台架试验对柱塞泵进行测试,试验结果表明:柱塞泵在实际工作中存在响应时间,系统流量在液压系统开启和闭合瞬间存在冲击振荡。对比两种建模思想的仿真结果,非简化模型最大相对误差分别为3.51%和5.08%,平均相对误差分别为1.74%和1.98%,均小于简化模型。柱塞泵建模准确,为实现产品性能优化和系统数字孪生提供了模型支撑。

基层疾病预防控制机构复合型人才评价指标体系构建

目的 构建基层疾病预防控制机构复合型人才评价指标体系,为基层疾控机构评价复合型人才提供参考。方法 根据冰山模型理论、德尔菲法和层次分析法,对甄选的专家进行咨询和问卷调查,计算各评价指标的权重并排序,建立基层疾控机构复合型人才评价指标体系。结果 共进行两轮专家咨询,协调系数分别为0.633和0.743,建立7个一级指标、17个二级指标在内的基层疾控机构复合型人才评价指标体系,符合一致性检验要求。一级指标分别为人员基本情况、学识水平、专业知识与技能、学习与创新能力、组织力与执行力、沟通协作能力、抗压能力与特殊成就,权重分别为0.083 01、0.089 03、0.093 79、0.125 30、0.223 08、0.205 30和0.180 49。其中二级指标位列前3位为处理疫情及重大事件能力、团队意识及协作能力、现任岗位工作能力。结论 基层疾控机构复合型人才评价工作中评价权重应向组织力与执行力指标倾斜,沟通协作能力指标也应给予重视;研究指标具有一定的科学性和实用性,为基层疾病预防控制机构选拔人才提供参考。

氯虫苯甲酰胺与杀虫单复配处理水稻种子对稻纵卷叶螟的防效及持效机理

稻纵卷叶螟Cnaphalocrocis medinalis是水稻生产上重要的迁飞性害虫,为开发出适用于种子处理且可长效防控稻纵卷叶螟的复配药剂,通过室内内吸活性测定、田间防效验证及植株中药剂含量检测,研究了氯虫苯甲酰胺和杀虫单复配的最适比例及对稻纵卷叶螟的田间防治效果,初步明确了复配剂的持效机理。内吸活性测定结果表明,氯虫苯甲酰胺和杀虫单质量浓度比为2:3时,共毒系数最高,内吸能力最强。按照该配比制备的25%氯虫·杀虫单种子处理悬浮剂(FS,分别含10%氯虫苯甲酰胺和15%杀虫单)在7.5~15 g/kg (种子,以下同)剂量范围内进行拌种处理,对水稻发芽和出苗安全。田间试验表明,采用25%氯虫·杀虫单FS按7.5~15 g/kg剂量拌种处理,对田间稻纵卷叶螟具有较好的控制作用,且持效期长,播种后94 d仍有70%左右的保叶效果。植株中药剂含量检测结果表明,25%氯虫·杀虫单FS对稻纵卷叶螟的持效控害能力主要与叶片中氯虫苯甲酰胺的残留含量有关,复配剂中的杀虫单虽然降解较快,但其在苗期可提高水稻根部对氯虫苯甲酰胺的吸收率。本研究结果可为开发防治稻纵卷叶螟的种子处理药剂提供理论依据及技术参考。

上海城市土壤理化性质空间分布及其对土壤污染物风险控制值的影响

为考察土壤理化性质的差异对土壤中污染物的风险控制值计算结果的影响,以上海为研究区采集296个土样进行土壤理化性质参数分析,参考《建设用地土壤污染风险评估技术导则》(HJ 25.3—2019)中的方法计算不同污染物的土壤风险控制值,并与《土壤环境质量建设用地土壤污染风险管控标准(试行)》(GB 36600—2018)中的风险筛选值进行比较。结果表明,研究区土壤为典型的黏性土壤特性,其土壤理化性质参数与HJ 25.3—2019推荐值有明显差异;土壤理化参数的取值主要影响挥发性有机污染物的风险计算结果;以研究区实测的土壤理化参数背景值来计算25种挥发性有机污染物在第一、二类用地的土壤风险控制值,结果与GB 36600—2018的风险筛选值相比存在不同程度的差异。采用Crystal Ball模型计算土壤容重(ρ_(b))、包气带土层孔隙水体积比(θ_(ws))、包气带土层孔隙空气体积比(θ_(as))和土壤有机碳质量分数(f_(oc))对土壤风险控制值的敏感性,4个参数敏感性排序为ρ_(b)>f_(oc)>θ_(ws)>θ_(as);污染物物理性质会影响土壤理化性质对土壤风险控制值计算的敏感性;研究区域土壤θ_(as)、θ_(ws)与HJ 25.3—2019推荐值差异较大,是造成土壤风险控制值计算结果与GB 36600—2018的风险筛选值存在差异的主要因素。

ORP阶段性控制提高葡萄酒中链脂肪酸乙酯和高级醇含量研究

氧化还原电位(Oxidation-reduction potential,ORP)反映了发酵系统的氧化还原状态,与酵母代谢以及香气化合物合成密切相关,其水平在各酒精发酵阶段存在差异。为了实现ORP在不同发酵阶段的科学控制,通过气相色谱-质谱(Gas chromatography-mass spectrometry,GC-MS)和感官量化分析法在葡萄酒酒精发酵的不同阶段控制不同水平的ORP,观察酵母生长、香气化合物合成以及感官品质的变化。结果表明,在0~48 h阶段ORP的变化对酵母活菌数和香气化合物含量的影响远高于其他阶段。提高此阶段ORP有利于酵母生长和糖消耗,而较低ORP有利于香气化合物合成。与对照相比,0 mV(0~48 h)-自然条件(48~96 h)-自然条件(96 h至发酵结束)处理组可显著提高中链脂肪酸乙酯中的己酸乙酯、癸酸乙酯含量;0 mV-0 mV-60 mV处理组可显著提高乙酸酯含量;60 mV-0 mV-60 mV处理组可显著提高高级醇含量。0 mV-自然条件-自然条件处理增强了赤霞珠葡萄酒中红色水果香气和爱格丽葡萄酒花果类香气,并减弱了爱格丽葡萄酒的动物类气味。ORP的阶段性控制为葡萄酒发酵过程的精准调控提供了依据,为提高葡萄酒香气化合物含量以改善葡萄酒的香气质量提供了基础。

基于复合模糊PID的植保无人机变量喷雾系统设计

为提升现有植保无人机喷雾流量随飞行速度变化自适应调整的精准性,降低施药偏差,设计了一种基于复合模糊PID控制算法的植保无人机变量喷雾系统,可根据无人机飞行速度,以基于复合模糊PID控制算法的PWM调制实时调整喷雾流量。通过测试平台分别对比了此控制算法与PID、模糊PID的响应情况,并进行了无人机喷雾流量随飞行速度变化的响应测试。结果表明:基于复合模糊PID控制的系统响应较PID超调量降低63.64%,较模糊PID调节时间缩减23.08%,复合模糊PID与模糊PID的稳态误差控制在3.125%内,小于PID的4.688%;基于PID、模糊PID、复合模糊PID的喷雾系统喷雾流量平均偏差分别为2.67%、3.85%、1.90%;基于复合模糊PID算法的喷雾系统跟随飞速变化自适应调整喷雾流量的最大偏差为6.29%,满足植保无人机施药作业要求,可为农业航空精准变量喷雾系统设计提供参考。

小型模块化反应堆控制方法综述

小型模块化核反应堆具有建造周期短、安全性高、运维成本低、适应性强、应用领域广等显著优势,广受世界各国关注,也是我国的战略性需求.发展具有自适应、强鲁棒、高可控和高可信特性的新型控制方法,有效降低甚至消除对控制人员值守的依赖,是小型模块化核反应堆的一个重要发展趋势.智能化、自动化的反应堆控制系统通过高效的控制动作来实时跟踪负荷需求,进而有效提高反应堆的稳定性、可靠性和安全性.本文对小型模块化核反应堆控制方法的研究现状进行了综述.本文首先回顾了基于经典控制理论的传统PID控制方法的原理及其优缺点,然后总结了当前应用于反应堆控制系统的一些高精度、高效率智能控制方法,如模糊控制、神经网络控制、智能优化控制、复合控制方法等的主要特点.最后,针对当前小型模块化反应堆控制系统的应用需求和技术难点,本文对智能控制方法的可能发展方向进行了展望.