Let H be a Hopf algebra and HYD the Yetter- Drinfeld category over H. First, the enveloping algebra of generalized H-Hom-Lie algebra L, i.e., Hom-Lie algebra L H in the category HYD, is constructed. Secondly, it is o...Let H be a Hopf algebra and HYD the Yetter- Drinfeld category over H. First, the enveloping algebra of generalized H-Hom-Lie algebra L, i.e., Hom-Lie algebra L H in the category HYD, is constructed. Secondly, it is obtained that U（L） = T（ L）/L where I is the Hom-ideal of T（L） generated by {ll＇-l_（（-1））·l＇l_0-[l,l＇]｜l,l＇∈L}, and u： L,T（L）/I is the canonical map. Finally, as the applications of the result, the enveloping algebras of generalized H-Lie algebras, i.e., the Lie algebras in the category MyDn and the Hom-Lie algebras in the category of left H-comodules are presented, respectively.展开更多
In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a...In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.展开更多
基金The National Natural Science Foundation of China(No.11371088)the Excellent Young Talents Fund of Anhui Province(No.2013SQRL092ZD)+2 种基金the Natural Science Foundation of Higher Education Institutions of Anhui Province(No.KJ2015A294)China Postdoctoral Science Foundation(No.2015M571725)the Excellent Young Talents Fund of Chuzhou University(No.2013RC001)
文摘Let H be a Hopf algebra and HYD the Yetter- Drinfeld category over H. First, the enveloping algebra of generalized H-Hom-Lie algebra L, i.e., Hom-Lie algebra L H in the category HYD, is constructed. Secondly, it is obtained that U（L） = T（ L）/L where I is the Hom-ideal of T（L） generated by {ll＇-l_（（-1））·l＇l_0-[l,l＇]｜l,l＇∈L}, and u： L,T（L）/I is the canonical map. Finally, as the applications of the result, the enveloping algebras of generalized H-Lie algebras, i.e., the Lie algebras in the category MyDn and the Hom-Lie algebras in the category of left H-comodules are presented, respectively.
基金supported by the National Natural Science Foundation of China(No.52077100)the Aviation Science Foundation(No.201958052001)
文摘In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.
