A New Kind of Pilot Controlled Proportional Direction Valve with Internal Flow Feedback

Proportional direction valve is one of the most fundamental elements in electronic-hydraulic control technique. Its function is to control the operating speed, direction, position, and strength of output force of the hydraulic actuator continuously. Considering the different application and the cost, the existing technique mainly includes the internal feedback valve used in open loop system, and the electronic closed loop controlled valve used in closed loop system. Because of their different mechanical structure and the gre at different in performance, it brings inconvenience for customer to select, also inconvenience for enterprise to produce. Aiming at this problem, the idea of combining the above two kinds of valves into one body is proposed first, and then the new valve＇s structure to realize this target is designed. The idea intends to apply the displacement pilot flow feedback control principle in present 2-position 2-way valve system to the proportional direction valve of 3-position 4-way system. Newly designed feed forward controller can decouple the interference between the internal feedback and the electronic closed loop. Redundant conversion is designed to electronic switch mode. Experiment on dynamic and static characteristic of new proportional direction valve in internal feedback control mode and electronic closed loop control mode is discussed to prove the new theory is correct. Although the new valve is of excellent dynamic response characteristic, its steady control characteristic in open loop control mode needs to be improved further. The research results prepare one new fundamental element for electronic-hydraulic control technology.

Hopf bifurcation analysis of Chen circuit with direct time delay feedback

Direct time delay feedback can make non-chaotic Chen circuit chaotic. The chaotic Chen circuit with direct time delay feedback possesses rich and complex dynamical behaviours. To reach a deep and clear understanding of the dynamics of such circuits described by delay differential equations, Hopf bifurcation in the circuit is analysed using the Hopf bifurcation theory and the central manifold theorem in this paper. Bifurcation points and bifurcation directions are derived in detail, which prove to be consistent with the previous bifurcation diagram. Numerical simulations and experimental results are given to verify the theoretical analysis. Hopf bifurcation analysis can explain and predict the periodical orbit （oscillation） in Chen circuit with direct time delay feedback. Bifurcation boundaries are derived using the Hopf bifurcation analysis, which will be helpful for determining the parameters in the stabilisation of the originally chaotic circuit.

Collaborative beamforming based on directional perturbation using one bit feedback

A novel collaborative beamforming algorithm is proposed in a wireless communication system with multiple transmitters and one receiver. All transmitters take part in the collaboration and the weighted message is transmitted simultaneously. In order to maximize the beamforming gain, the transmitters use one bit feedback information to adjust the phase offset. It tracks the direction in which the signal strength at the receiver can increase. The directional search and perturbation theory is used to achieve the phase alignment. The feasibility of the proposed algorithm is proved both experimentally and theoretically. Simulation results show that the proposed algorithm can improve the convergent speed of the phase alignment.

Output-feedback Adaptive Control for a Class of Nonlinear Systems with Unknown Control Directions

在这份报纸，产量反馈适应稳定与未知控制方向为非线性的系统的一个班被调查。首先通过线性州的转变，未知控制系数在一起是 lumped，原来的系统被转变到控制设计为变得可行的一个新系统。在为状态和参数估计的一个观察员和一个评估者的介绍以后，分别地，然后，一个建设性的设计过程为产量反馈被给使用综合者 backstepping 并且调节功能技术的适应稳定控制器。而所有另外的靠近环的系统状态被围住，设计的控制器保证状态集成到起源的原来的系统，这被显示出而所有另外的靠近环的系统状态被围住。模拟结果被说明显示出建议途径的有效性。

A Study on Direct Feedback and Indirect Feedback in Graduate Students' Writing

Feedback plays a central role in writing development. However correcting students' writing is one of the most timeconsuming tasks for our senior English teachers. By conducting a survey of direct feedback and indirect feedback in students writing the author tries to test the influence of direct feedback and indirect feedback in graduates' writing.

Feedback arcs and node hierarchy in directed networks

Directed networks such as gene regulation networks and neural networks are connected by arcs（directed links）. The nodes in a directed network are often strongly interwound by a huge number of directed cycles, which leads to complex information-processing dynamics in the network and makes it highly challenging to infer the intrinsic direction of information flow. In this theoretical paper, based on the principle of minimum-feedback, we explore the node hierarchy of directed networks and distinguish feedforward and feedback arcs. Nearly optimal node hierarchy solutions, which minimize the number of feedback arcs from lower-level nodes to higher-level nodes, are constructed by belief-propagation and simulated-annealing methods. For real-world networks, we quantify the extent of feedback scarcity by comparison with the ensemble of direction-randomized networks and identify the most important feedback arcs. Our methods are also useful for visualizing directed networks.

Direct Adaptive Fuzzy Based Backstepping Control of Semi Strict Feedback Nonlinear Systems

In this paper, a direct adaptive fuzzy tracking control is proposed for a class of uncertain single-input single-output nonlinear semi-strict feedback systems. Based on Takagi-Sugeno type fuzzy systems, a direct adaptive fuzzy tracking controller is developed by using the backstepping approach. The main advantage of the developed method is that for an n-th order system, only one parameter is needed to be adjusted online. It is proven that, under the appropriate assumptions, the developed scheme can achieve that the output system converges to a small neighborhood of the reference signal and all the signals in the closed-loop system remain bounded. The efficacy of the proposed algorithm is investigated by an illustrative simulation example of one link robot.

红外探测器中一种电容式反馈跨阻放大器的设计

放大器电路对提高红外成像技术中红外探测器的读出精度,是至关重要的。针对电容式反馈跨阻放大器的设计进行了研究,提出了一种在反馈回路中用晶体管代替反馈电阻的新的拓扑结构。对于所提出的拓扑结构,提出并分析了与系统稳定性相关的诸如截止频率和衰减比等的总体频率响应和设计参数,从而获得高直流输入动态范围。此外,还讨论了在直流反馈回路中加入额外的电容以确保系统的稳定性。分析、仿真和实验结果的良好一致性验证了所提出的CF-TIA方案的有效性,而且所提出的电路设计在正常或低直流输入下的整体噪声性能方面相比于传统的CF-TIA方案更具优势。尽管本文中的电路采用分立元件实现,但提出的频率响应模型和稳定性分析适用于所有CF-TIA应用和CMOS芯片设计。

n比特随机量子系统实时状态估计及其反馈控制

研究了n比特随机量子系统实时状态估计及其反馈控制的问题.对于连续弱测量(Continuous weak measurement, CWM)过程存在高斯噪声的情况,基于在线交替方向乘子法(Online alternating direction multiplier method,OADM)推导出一种适用于n比特随机量子系统的实时量子状态估计算法,即QSE-OADM (Quantum state estimation based on OADM).运用李雅普诺夫方法设计控制律,实现基于实时量子状态估计的反馈控制,并证明所提控制律的收敛性.以2比特随机量子系统为例进行数值仿真实验,通过与基于QST-OADM (Quantum state tomography based on OADM)算法和OPG-ADMM (Online proximal gradient-based alternating direction method of multipliers)算法的量子反馈控制方案的性能对比,验证了所提控制方案的优越性.

基于LESO的DFIG-GSC反馈线性化直接功率控制

为了提高双馈风力发电机网侧变换器(DFIG-GSC)这个强耦合非线性系统的性能,提出了一种反馈线性化直接功率控制策略。首先在αβ坐标系下建立以有功功率、无功功率为变量的DFIG-GSC的数学模型,针对模型中的强耦合项采用反馈线性化进行解耦,得到其线性模型,再结合滑模控制理论设计出功率内环的控制律。由于功率内环控制律中未建模部分和不确定因素会对控制效果产生影响,采用线性扩张状态观测器对其进行观测并对其控制量进行修正。同时电压外环采用滑模控制来提高直流侧电压的响应速度。最后搭建仿真模型与传统PI控制以及直接功率控制进行比较,验证了所提控制策略的合理性和有效性。

基于LESO的MMC-RPC反馈线性化直接功率控制

模块化多电平铁路功率调节器作为一个耦合的多变量非线性系统,传统PI控制的直接功率控制难以实现对系统的精确解耦.本文提出了一种基于线性扩张状态观测器的反馈线性化直接功率控制方法,根据Lie导数构建了模块化多电平铁路功率调节器(MMC-RPC)两输入/两输出功率仿射模型,设计了精确反馈线性化功率解耦控制器.针对不确定因素等扰动对精确反馈线性化控制效果的影响,设计了线性扩张状态观测器对扰动进行观测和补偿,实现了功率的精确跟踪控制.最后,通过MATLAB/Simulink平台搭建仿真模型对所提控制方法进行了验证.

数字孪生建造——探索信息时代数字建造的新范式

数字孪生建造融合了新一代信息技术和数字建造技术,实现了数字模型与物理建造交互共融的需求,是促进建筑产业升级的重要推手。文章总结了数字孪生建造的起源、内涵和优势,分析了国内外的学术研究现状和发展趋势,并通过代表性案例介绍了数字孪生建造的方法和关键技术。最后以近年来笔者团队进行的两个建造实践为例,具体阐述了数字孪生建造虚实交互的运行机制和实时优化的工作流。以期能够给从事数字化设计与建造的建筑师提供一定的参考和借鉴。

永磁直驱地铁列车能耗分析及验证

[目的]地铁列车的永磁直驱技术作为一种新型的牵引方案,在节能、降噪等方面具有一定的优势,特对其节能效果进行研究。[方法]通过理论分析,探讨了永磁直驱地铁列车相对传统的异步牵引电机齿轮传动地铁列车在能耗方面的优势,并以徐州1号线永磁直驱列车为例,介绍了永磁直驱地铁列车的设计方案;结合实际线路情况,计算了永磁直驱地铁列车相对传统异步牵引电机齿轮箱传动地铁列车的节能效果;最后通过试验验证了其优势。[结果及结论]在节能方面,永磁直驱牵引系统相比传统异步牵引电机齿轮箱传动系统具有较高的优势。

混合级联直流输电系统整流/逆变不同控制回路动态交互作用与稳定性研究

为了研究混合级联直流输电系统整流侧和逆变侧各换流器控制系统间的交互作用,文中首先建立混合级联直流输电系统的状态空间模型,并推导得到系统的多输入多输出传递函数模型。然后针对不同的研究目标,根据单通道分析设计理论建立等效单输入单输出反馈控制模型;在此基础上,分离出不同控制回路的耦合控制通道,定量评估系统强度、逆变侧交流联络线与控制参数等对控制回路间交互作用的影响。理论分析表明,当整流侧或逆变侧交流系统强度降低时,两侧控制回路间交互作用增强;当交流联络线长度缩短时,逆变侧电网换相换流器(line commutated converter,LCC)和模块化多电平变换器(multilevel modular converter,MMC)控制回路间的动态交互增强,各控制环节参数之间存在相互制约关系。最后,在PSCAD/EMTDC上搭建混合级联直流输电系统的电磁暂态详细仿真模型,验证所建立单输入单输出反馈控制模型及上述理论分析结果的正确性。

基于直接转速控制的风电机组最大功率点跟踪策略研究

通过分析各风速下风轮气动转矩特性及发电机在各最大功率跟踪点转矩-转速运行轨迹,依据风电机组在最大功率点上风轮气动转矩与发电机转矩平衡的原理,提出基于发电机电磁转矩的动态最优转速的计算方法,然后以该最优转速为控制目标,设计基于转速偏差的反馈控制器,并做恒转速区与变转速区的控制效果分析。仿真与现场测试表明,该直接转速控制策略可实现最大功率点跟踪,在恒转速区与变转速区具有统一的控制方式,控制逻辑简单实用,有望在风电行业推广,有较好的应用前景。

位移-流量反馈式比例阀先导液阻匹配策略研究

高水基比例阀先导液阻桥路直接影响主阀的控制特性,多功能、多类型液阻构成的复杂先导液阻网络成为比例阀设计的关键。采用数学建模、流场仿真以及试验研究相结合的方式分析位移-流量反馈式高水基比例方向阀先导液阻桥路的液阻特性,考虑了主阀进液阀芯和阀套之间环形间隙的流量泄漏。结果表明:当环形间隙面积一定时,位移反馈槽宽度越大,位移反馈节流控制线性度越好,然而,位移反馈槽宽度越大,先导液桥流量需求越大,高速开关阀组匹配设计难度越大;回液液阻对液桥起背压作用,回液液阻尺寸越小,背压效果越好,位移反馈槽节流控制线性度越差。根据流场仿真结果,综合匹配设计高速开关阀组及进液液阻,通过试验验证了先导液阻网络各液阻尺寸匹配策略的正确性。

双向质量反馈护理模式在慢性阻塞性肺疾病中的应用效果

目的 探讨在慢性阻塞性肺疾病护理中双向质量反馈护理模式的应用效果。方法 从本院收治的患者中抽选112例慢性阻塞性肺疾病患者为对象,收治时间为2022年7月至2023年7月,所有患者进行随机数字表法分组,各56例。对照组实施常规化护理措施,而试验组实施双向质量反馈护理,比较各组的护理效果。结果 护理前两组各项肺功能指标差异无统计学意义(P> 0.05);护理后,试验组患者FVC、FEV_1、FEV_1/FVC均高于对照组(P <0.05)。试验组护理总依从率高于对照组(P <0.05)。试验组患者自护能力各项指标评分、生活质量评分高于对照组(P <0.05)。结论 在慢性阻塞性肺疾病护理过程中,双向质量反馈护理模式的应用有助于提高患者的自护能力、依从性,有效改善患者的肺功能和生活质量。

Direct Yaw Moment Control for Distributed Drive Electric Vehicle Handling Performance Improvement

For a distributed drive electric vehicle（DDEV） driven by four in-wheel motors, advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently, quickly and precisely. And direct yaw-moment control（DYC） has been widely studied and applied to vehicle stability control. Good vehicle handling performance： quick yaw rate transient response, small overshoot, high steady yaw rate gain, etc, is required by drivers under normal conditions, which is less concerned, however. Based on the hierarchical control methodology, a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed. The upper-loop control system consists of two parts： a state feedback controller, which aims to realize the ideal transient response of yaw rate, with a vehicle sideslip angle observer; and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain. Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors, the integrated time and absolute error（ITAE） function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix. Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method： yaw rate rising time is reduced, steady yaw rate gain is increased, vehicle steering characteristic is close to neutral steer and drivers burdens are also reduced. The control system improves vehicle handling performance under normal conditions in both transient and steady response. State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to drivers is relieved.

Multiple Unmanned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturbances Under Switching Directed Topologies

A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.

稳定身体平衡--基于临床前庭检查技术视角的学习

本文讨论了如何通过学习临床前庭医学技术稳定身体平衡,特别是针对受前庭系统损害影响的人群。前庭康复训练的方法包括平衡器操纵、目标定向运动、机械振动和视觉反馈等,这些策略旨在刺激并促进前庭系统的重新适应。通过训练,可以帮助受影响的人群提高平衡能力,恢复日常生活功能,提升生活质量,更好地应对日常活动和工作的需求。因此,学习和掌握如何稳定身体平衡是一项非常重要的技能。