Transfigured Loop Shaping Controller and its Application to Underwater Vehicle

A kind of transfigured loop shaping controller is presented in this paper. A transfigured loop shaping system puts a controller K in a feedback loop, while putting the dc gain of the controller K on the reference signal line. It is shown through frequency domain analysis and simulation that a transfigured controller can improve the dynamic behavior of a system. The transfigured loop shaping controller method is simple and effective and corresponds to the mixed sensitivity method of robust control theory, which improves the behavior of a system by iterative tuning of weighting functions. Satisfactory control results are obtained when it is applied to the design of an underwater vehicle. Keywords Loop shaping controller - underwater vehicle - transfiguration Zhang Xianku graduated from Beijing Institute of Clothing Technology, China, in 1990. He received the M. S. degree from Dalian Maritime University (DMU), China, in 1993 and the Ph.D. degree from DMU, in 1998. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include ship motion control and robust control.Jin Yicheng graduated from Zhejiang University, China, in 1967. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include simulating system of ship steering and visual control.

H_∞Loop Shaping Control for Plasma Vertical Position Instability on QUEST

QUEST has a divertor configuration with a high and a negative n-index, and the problem of plasma vertical position instability control in QUEST is still under extensive study for achieving high efficiency plasma. The instability we considered is that the toroidal plasma moves either up or down in the vacuum chamber until it meets the vessel wall and is extinguished. The actively controlled coils （HCU and HCL） outside the vacuum vessel are serially connected in feedback with a measurement of the plasma vertical position to provide stabilizing control. In this work, a robust controller is employed by using the loop synthesis method, and provides robust stability over a wide range of n-index. Moreover, the gain of the robust controller is lower than that of a typical proportional derivative （PD） controller in the operational frequency range; it indicates that the robust controller needs less power consumption than the PD controller does.

Loop-Shaping Based Control for Switch Mode DC-DC Power Converters

Renewable energy sources require switching regulators as an interface to a load with high efficiency, small size, proper output regulation, and fast transient response. Moreover, due to the nonlinear behavior and switching nature of DC-DC power electronic converters, there is a need for high-performance control strategies. This work summarized the dynamic behavior for the three basic switch-mode DC-DC power converters operating in continuous conduction mode, i.e. buck, boost, and buck-boost. A controller was designed using loop-shaping based on current-mode control that consists of two feedback loops. A high-gain compensator with wide bandwidth was used in the inner current loop for fast transient response. A proportional-integral controller was used in the outer voltage loop for regulation purposes. A procedure was proposed for the parameters of the controller that ensures closed-loop stability and output voltage regulation. The design-oriented analysis was applied to the three basic switch-mode DC-DC power converters. Experimental results were obtained for a switching regulator with a boost converter of 150 W, which exhibits non-minimum phase behavior. The performance of the controller was tested for voltage regulation by applying large load changes.

基于非线性修饰和零阶保持器的船舶航向保持控制

[目的]为了解决船舶在海上航行时控制器舵角输出大、打舵频率高、控制速度较慢以及控制精度较低的问题,利用三阶闭环增益成形算法设计鲁棒控制器。[方法]首先,利用三阶闭环增益成形算法设计出线性鲁棒控制器,然后,在控制策略中加入双曲正切非线性修饰以及零阶保持器,在不同海况下对该控制器的性能进行仿真实验。[结果]仿真结果表明,相比于基于非线性修饰的传统PID控制器,在一般海况下,所提控制器在延迟时间、控制精度以及能量输出上分别改进了36%,14%和32%;在恶劣海况下,分别改进了27%,7%和16%。此外,不同海况下该控制器的仿真结果都具有稳定的舵角输出,并可以较快地稳定在临界值附近,证明了其具有较好的鲁棒性。[结论]改进的控制器符合工程实践,对于智能船舶的控制具有较好的应用参考价值。

Robust control of isopropyl benzene production process using H_(∞) loop shaping control scheme

This paper discusses robust control strategy for isopropyl benzene production process using the method of loop shaping H_(∞) technology.This cumene production process is a part of phenol plant in HOCL,Kochi.H_(∞) control of the propylene concentration is done here.The H_(∞) controller is derived from the linearised model of the reactor.The optimal H_(∞) controller is obtained by simplifying two algebraic Riccati equations.The proposed PID-like H_(∞) controller provides a single tuning parameter which makes the controller design more accurate.The proposed controller has been compared with other robust controllers like H_(2) and LQR.The H_(∞) controller is found to be superior in a wide frequency range and has a feature of low distortion and good regulating performance.The reactor model has been developed in COMSOL Multiphysics with the parameters obtained from HOCL plant,Kochi.The model extracted is reduced using model order reduction for the controller design.

形状可调的Loop细分曲面渐进插值方法

针对Loop细分无法调整形状与不能插值的问题,提出了一种形状可调的Loop细分曲面渐进插值方法。首先给出了一个既能对细分网格顶点统一调整又便于引入权因子实现细分曲面形状可调的等价Loop细分模板。其次,通过渐进迭代调整初始控制网格顶点生成新网格,运用本文的两步Loop细分方法对新网格进行细分,得到插值于初始控制顶点的形状可调的Loop细分曲面。最后,证明了该方法的收敛性,并给出实例验证了该方法的有效性。

基于仿生树形相变循环散热技术研究及变频空调应用

伴随环境温度升高,空调制冷量需求也会逐步增高,从而引发变功率模块发热严重,导致其内部芯片无法良好散热。通常采用压缩机降频工作方法保证电控板安全,但该方法的缺点是温度越高,空调制冷能力越差。针对该缺点,提出一种仿生树形的单向相变循环传热方法,开发了一款单向循环相变风冷散热器,通过焓差室测试,实现了散热器进风口温度62℃时,变频功率模块温度可以降低8℃以上,防止压缩机强制降频造成制冷量衰减。

Noise behaviors of a closed-loop micro-electromechanical system capacitive accelerometer

The noise of closed loop micro-electromechanical systems(MEMS) capacitive accelerometer is treated as one of the significant performance specifications.Traditional optimization of noise performance often focuses on designing large capacitive sensitivity accelerometer and applying closed loop structure to shape total noise,but different noise sources in closed loop and their behaviors at low frequencies are seldom carefully studied,especially their behaviors with different electronic parameters.In this work,a thorough noise analysis is established focusing on the four noise sources transfer functions near 0 Hz with simplified electronic parameters in closed loop,and it is found that the total electronic noise equivalent acceleration varies differently at different frequency points,such that the noise spectrum shape at low frequencies can be altered from 1/f noise-like shape to flat spectrum shape.The bias instability changes as a consequence.With appropriate parameters settings,the 670 Hz resonant frequency accelerometer can reach resolution of 2.6 μg/(Hz)1/2 at 2 Hz and 6 μg bias instability,and 1300 Hz accelerometer can achieve 5μg/(Hz)1/2 at 2 Hz and 31 μg bias instability.Both accelerometers have flat spectrum profile from 2 Hz to 15 Hz.

装配式混凝土U型钢筋环扣的连接长度

为研究装配式混凝土U型钢筋环扣连接的搭接长度,制作了1个现浇梁柱节点试件和3个不同搭接长度的U型钢筋环扣连接节点对比试件,进行低周反复拟静力试验,观察各试件的破坏模式,研究其滞回性能、承载力、变形能力及钢筋的应力发展过程,分析装配式混凝土U型钢筋环扣连接的合理搭接长度。结果表明:装配式节点试件承载力高于现浇节点试件;不同搭接长度试件的延性及耗能能力有所不同,搭接长度的增长有利于试件承载力、延性和耗能能力等抗震性能的提升;基于试验结果,拟合回归了U型钢筋环扣连接的合理搭接长度,对装配式混凝土U型钢筋环扣连接节点的优化设计提出了建议。

Voltage Generation by Rotating an Arbitrary-Shaped Metal Loop around Arbitrary Axis in the Presence of an Axial Current Distribution

A thin metallic wire loop of arbitrary curvature is rotated with respect to an arbitrary axis of its plane. The device is excited by an electric dipole of infinite length and constant current. The resistance of the loop is computed rigorously as function of the position of the source. In this way, the induced voltage along the wire, under any kind of axial excitation, is given in the form of a superposition integral. The measured response is represented for various shapes of the coil, with respect to the time, the rotation angle and the position of the source. These diagrams lead to several technically applicable conclusions which are presented, discussed and justified.

Triple Notched Band Characteristics UWB Antenna Using C-Shaped Slots and Slot-Type Capacitively-Loaded Loop (CLL)

Ultra wide bands antennas with notched bands characteristics have recently been considered for efficient communication between devices. In this paper, a compact ultra-wideband antenna (UWB) for UWB applications with triple bandnotched characteristics is presented. The proposed antenna consists of a square patch with four truncated corners and a partial ground plane with a rectangular slit. The operation bandwidth of the designed antenna is from 2.66 GHz to more than 13.5 GHz. Band-notched characteristics of antenna to reject the frequency band of 3.18 - 3.59 GHz and 4.70 - 5.88 GHz, is realized by inserting two C-shaped slots in the patch, the third band of 9.54 - 12.22 GHz is achieved by slottype capacitively-loaded loop (CLL) inserted in the patch near the feed line. Details of the proposed antenna design and simulated results are presented and discussed.

超弹性NiTi合金夹芯体的冲击性能分析

基于机械形状记忆合金(SMAs)模型的有限元分析方法,分析了一定位移载荷下的NiTi合金夹芯体单元,得到夹芯体结构的应力和腹板数关系曲线、应力和应变曲线、马氏体的体积分数分布图、功和能时程关系、冲击力时程曲线等。结果表明:腹板不同的结构应力相差1178 MPa,当结构的腹板长宽比10≤l/b≤60时,结构的安全性和经济性分别提高5倍和降低40%,此外,材料的马氏体转变和主应力有直接关系,结构的应力-应变曲线耗能迟滞环面积为5.9(位移70 mm载荷),且随变形增加耗能迟滞环增大到10.3(位移100 mm载荷),产生的较大非线性变形可以完全自动恢复。结构具有至少8%可恢复应变的超弹性、抗冲击性和耗能能力。

U型井取热不取水地热开采潜力及影响因素分析

取热不取水井筒闭循环采热工艺是开采地热水低产区、地热尾水回灌难地区地热资源的有效方式。为了研究U型井式闭循环地热系统对中低温砂岩地热资源的可持续开采能力,文章以河北任县已有的地热地质数据和短期供暖数据为基础,使用井-储耦合模拟程序T2WELL对U型井采热能力进行数值分析,探究U型井式闭循环地热系统对该研究区地热供暖的可持续潜力。此外,定量分析了不同关键工程参数对U型井提热能力的影响,以指导设计合理的U型井取热不取水地热开采方案。结果表明:U型井地热开采系统的产流温度和提热功率在同一个供暖季内随时间降低,在连续多个供暖季内也随时间降低,其变化趋势为先快后慢。基于文章模型研究,确定U型井式闭循环地热系统最适合的注采流量、回灌温度、水平井长度分别为60 m^(3)/h,10℃和400 m。

文物图像的超分辨率重建算法研究

文物的数字化保护与分类识别是当前图像处理研究的热点之一.针对常规超分辨率算法不能充分描述现实世界中文物图像复杂纹理结构的问题,本文提出一种基于回归环金字塔型生成对抗网络的文物图像超分辨率算法(Closed-loop Pyramid Information Generative Adversarial Network,CPIGAN).考虑文物图像的噪声等不定因素,本文采用不同的降采样方式构建了两种文物数据集且探索了一种改进信息块提取策略,提高了原始高分辨率文物图像中高频信息的利用率.本文进一步设计了一种金字塔型生成对抗网络并融入回归环结构,增强了网络从低分辨率图像到高分辨率图像映射的能力.基于自建文物图像数据集,本文算法与多种算法进行了实验对比分析,多个客观指标均有所提升且重建图像主观上更符合人类视觉标准.

基于H∞回路成形的变循环发动机多变量控制

为了进一步提升变循环发动机的性能,针对3输入3输出变循环发动机模型,利用相对增益矩阵(RGA)分析了发动机内部的耦合性;采用基于目标函数的2自由度H∞回路成形法设计了多变量控制器,并与传统单变量PI方法做了对比。仿真结果表明:多变量控制系统具有良好的扰动抑制能力和跟踪性能,且能够顺利实现模态转换;与单变量方法相比,在同等的穿越频率及相位裕度约束下,n1回路阶跃响应的超调量减小了95.3%、调节时间缩短了51.5%;πe回路的最大偏移量减小了89.69%、调节时间缩短了27.4%。表明多变量方法可以对变循环发动机进行有效控制且在跟踪控制过程中的性能更优,可以显著提升变循环发动机的性能。

涡轴发动机时延鲁棒串级PI控制器设计

针对涡轴发动机分布式控制系统中存在时延导致系统性能退化的问题,利用线性矩阵不等式(LMI)方法设计了时延鲁棒串级PI控制器。先利用内模控制(IMC)方法得到涡轴发动机串级控制器内、外环的PI控制器结构;再利用频域回路成形的方法给出保证系统具有期望性能的LMI形式约束条件;利用梯度近似的方法通过劳斯-赫尔维茨判据得到保证系统稳定的控制器参数约束条件;最后,在基于TrueTime的涡轴发动机分布式非线性仿真平台上进行数字仿真。仿真结果表明:在0.04 s时延条件下,当功率需求下降5%时,系统的调节时间小于5 s,功率涡轮转速超调不超过0.5%,且其最大燃油变化率只有传统串级PI控制系统的67%;设计的控制器能有效应对涡轴发动机分布式控制系统中存在的时延问题,同时能够以更小的代价保证系统具有期望的性能。

瞬变电磁不规则发射线框测量研究

目前国内常见的磁源瞬变电磁测量均采取布设规则形状发射线框的方式采集框内数据,之后利用处理软件制作成图解释。近年来,规则发射线框结合框外测量的方式已在生产中得到应用,但利用不规则发射线框结合框外测量的方式在生产中还难以见到。如果能利用不规则发射线框测量框外数据,对于提高瞬变电磁应用范围和工作效率都具有重要意义。通过模拟规则和不规则发射线框场源,对比两种不同发射线框框外实测数据,认为不规则发射线框框外测量数据真实可靠,可以带入软件计算,之后通过建模可确定地下构造的基本情况,表明采用不规则发射线框加框外测量的方式可以获得较好的探测结果,为瞬变电磁减少地形影响、提高测量效率和扩大方法应用范围提供了新的思路,具有良好的应用前景。

基于IPS和C#的喷涂机器人雾化器测试平台

针对喷涂机器人采用的雾化器结构复杂、维护繁琐的问题,为方便有效地分析雾化器设备故障,并确认雾化器维护保养效果,本文从雾化器的设备原理出发,阐述了基于集成工艺系统和控制器局域网络总线通信设计的雾化器测试平台;介绍了雾化器测试平台的系统组成,以及雾化器整形空气、旋杯转速、空气马达磨损、内部阀组泄漏等检测功能,并基于面向对象的编程语言C#开发了便捷的用户界面。该测试平台有效地提高了涂装产线雾化器保养维护及测试的效率。

冷轧带钢在线板形信号补偿技术及工业应用

综合考虑冷带钢轧机现场实际工况条件,根据板形仪在线板形检测原理、受力条件和几何关系,研究带钢横向温差、带钢卷形、边部覆盖,检测辊包角、挠度、安装几何误差和磨损量等因素对在线板形检测精度的影响,与生产实际相结合,建立一套满足工业应用的在线板形信号综合补偿模型。依托该模型开发的在线板形信号综合补偿技术,成功应用于鞍钢1 250 mm六辊冷带钢轧机上,使板形仪在线检测板形信号准确反映冷轧带钢真实板形状况,兼顾后续深加工工艺要求,根据不同轧制条件和产品规格制定动态板形标准曲线,为板形闭环控制提供可靠板形数据,显著提高冷轧带钢产品的板形指标和质量稳定性。总张力计算值与实测值误差在3%以内,板形闭环控制投入后,稳态时板形指标在6 I以内。

倒立摆系统的一种H_∞优化控制

在运用H∞环路成形设计方法时权函数的选择一般是凭经验试凑,不能保证所得控制器综合指标最优;且控制器阶次较高,不便于工程实现和参数调整.鉴于以上问题,提出了基于遗传算法的权函数选取方法,在遗传算法的目标函数里加入对鲁棒性能和时域性能指标的约束,从而得到使控制器综合性能指标最优的权函数,避免了凭经验试凑权函数的盲目性;然后,给出一种用多变量PID控制器逼近此控制器的方法,使所得控制器便于实际运用.最后用此方法对小车倒立摆系统进行仿真,结果表明了该方法的有效性.