Characteristic Model-based Discrete-time Sliding Mode Control for Spacecraft with Variable Tilt of Flexible Structures

In this paper, the finite-time attitude tracking control problem for the spacecrafts with variable tilt of flexible appendages in the conditions of exogenous disturbances and inertia uncertainties is addressed. First the characteristic modeling method is applied to the problem of the spacecraft modeling.Second, a novel adaptive sliding mode surface is designed based on the characteristic model. Furthermore, a discrete-time sliding mode control(DTSMC) law, which makes the tracking error converge into a predefined bound in finite time, is proposed by employing the parameters of characteristic model associated with the sliding mode surface to provide better performances,robustness, faster response, and higher control precision. The designed DTSMC includes the adaptive control architecture and is chattering-free. Finally, digital simulations of a sun synchronous orbit satellite(SSOS) are presented to illustrate effectiveness of the control strategies as well as to verify the practical feasibility of the rapid maneuver mission.

Trajectory tracking control of characteristic model for nonplanar hex-rotor UAV

The nonplanar hex-rotor unmanned aerial vehicle(UAV)has much higher driving property,greater payload capacity and damage tolerance than quad-rotor UAV.It is difficult to design a highperformance controller of easy engineering implementation for strongly coupled nonlinear hex-rotorUAV system.In response to this practical problem,an adaptive trajectory tracking control based oncharacteristic model for nonplanar hex-rotor is studied.Firstly,the dynamic model for the hex-rotorUAV is devised.Secondly,according to dynamic characteristics,environmental characteristics andcontrol performance requirements,the characteristic model of the hex-rotor UAV is constructed.Then,based on the characteristic model,a golden section adaptive controller is designed to realizetrajectory tracking.Furthermore,the stability analysis of the closed loop hex-rotor system is given.Finally,the validity of the proposed trajectory tracking control method adopted in the nonplanar hex-rotor UAV is demonstrated via numerical simulations and hex-rotor prototype experiments.

Unified numerical predictor-corrector guidance based on characteristic model

Aerocapture is one of the key technologies for low-cost transportation,with high demands of autonomy,accuracy,and robustness of guidance and control,due to its high reliability requirements for only one chance of trying.A unified numerical predictor-corrector guidance method based on characteristic models for aerocapture is proposed.The numerical predictor-corrector guidance method is used to achieve autonomy and high accuracy,and the characteristic model control method is introduced to achieve robustness.At the same time,by transforming path constraints,characteristic model equations including apogee deviation and altitude differentiation are established.Based on the characteristic model equations,a unified guidance law which can satisfy path constraints and guidance objectives simultaneously is designed.In guidance problems,guidance deviation is not directly obtained from the output of the dynamics at present,but is calculated through integral and algebraic equations.Therefore,the method of directly discretizing differential equations cannot be used to establish characteristic models,which brings great difficulty to characteristic modeling.A method for characteristic modeling of guidance problems is proposed,and convergence analysis of the proposed guidance law is also provided.Finally,a joint numerical simulation of guidance and control considering navigation deviation and various uncertainties is conducted to verify the effectiveness of the proposed method.The proposed unified method can be extended to general aerodynamic entry guidance designs,providing theoretical and methodological support for them.

Trajectory-tracking control of an unmanned surface vehicle based on characteristic modelling approach:Implementation and field testing

In this study,a practical adaptive control scheme is proposed for the trajectory tracking of an unmanned surface vehicle via the characteristic modelling approach.Therefore,accurate tracking control can be achieved in the presence of unknown time‐varying model parameters and environmental disturbances.The control scheme comprises a trajectory guidance module based on the virtual target approach and a tracking control module designed by characteristic modelling theory.Firstly,the ideal control commands of the yaw speed and surge speed are generated using the position errors between the vehicle and the virtual target.Then,a second‐order characteristic model for the heading and surge speed channel is developed.The parameters of the model are updated by a real‐time parameter identification algorithm.Based on this model,an integrated adaptive control law is designed which consists of golden‐section control,feed‐forward control and integral control.Finally,the development processes of the vehicle platform and the control algorithms are described,and the results of simulation and field experiments are presented and discussed.

Control of a flexible rotor active magnetic bearing test rig: a characteristic model based all-coefficient adaptive control approach

Active magnetic bearings （AMBs） have found a wide range of applications in high-speed rotating machinery industry. The instability and nonlinearity of AMBs make controller designs difficult, and when AMBs are coupled with a flexible rotor, the resulting complex dynamics make the problems of stabilization and disturbance rejection, which are critical for a stable and smooth operation of the rotor AMB system, even more difficult. Proportional-integral-derivative （PID） control dominates the current AMB applications in the field. Even though PID controllers are easy to implement, there are critical performance limitations associated with them that prevent the more advanced applications of AMBs, which usually require stronger robustness and performance offered by modern control methods such as H-infinity control and if-synthesis. However, these advanced control designs rely heavily on the relatively accurate plant models and uncertainty characterizations, which are sometimes difficult to obtain. In this paper, we explore and report on the use of the characteristic model based all-coefficient adaptive control method to stabilize a flexible rotor AMB test rig. In spite of the simple structure of such a characteristic model based all-coefficient adaptive controller, both simulation and experimental results show its strong performance.

Characteristic modeling and the control of flexible structure

Appropriate modeling for a controlled plant has been a remarkable problem in the control field. A new modeling theory, i.e. characteristic modeling, is roundly demonstrated. It is deduced in detail that a general linear constant high-order system can be equivalently described with a two-order time-varying difference equation. The application of the characteristic modeling method to the control of flexible structure is also introduced. Especially, as an example, the Hubble Space Telescope is used to illustrate the application of the characteristic modeling and adaptive control method proposed in this paper.

Adaptive guidance law design based on characteristic model for reentry vehicles

In this paper an adaptive guidance law based on the characteristic model is designed to track a reference drag acceleration for reentry vehicles like the Shuttle. The characteristic modeling method of linear constant systems is extended for single-input and single-output （SlSO） linear time-varying systems so that the characteristic model can be established for reentry vehicles. A new nonlinear differential golden-section adaptive control law is presented. When the coefficients belong to a bounded closed convex set and their rate of change meets some constraints, the uniformly asymptotic stability of the nonlinear differential golden-section adaptive control system is proved. The tracking control law, the nonlinear differential golden-section control law, and the revised logical integral control law are integrated to design an adaptive guidance law based on the characteristic model. This guidance law overcomes the disadvantage of the feedback linearization method which needs the precise model. Simulation results show that the proposed method has better performance of tracking the reference drag acceleration than the feedback linearizaUon one.

Intelligent control based on intelligent characteristic model and its application

This paper presents a new intelligent control method based on intelligent characteristic model for a kind of complicated plant with nonlinearities and uncertainties, whose controlled output variables cannot be measured on line continuously. The basic idea of this method is to utilize intelligent techniques to form the characteristic model of the controlled plant according to the principle of combining the characteristics of the plant with the control requirements, and then to present a new design method of intelligent controller based on this characteristic model. First, the modeling principles and expression of the intelligent characteristic model are presented. Then based on description of the intelligent characteristic model, the design principles and methods of the intelligent controller composed of several open-loops and closed-loops sub controllers with qualitative and quantitative information are given. Finally, the application of this method in alumina concentration control in the real aluminum electrolytic process is introduced. It is proved in practice that the above methods not only are easy to implement in engineering design but also avoid the trial-and-error of general intelligent controllers. It has taken better effect in the following application: achieving long-term stable control of low alumina concentration and increasing the controlled ratio of anode effect greatly from 60% to 80%.

A characteristic modeling method of error-free compression for nonlinear systems

The existence of error when compressing nonlinear functions into the coefficients of the characteristic model is known to be a key issue in existing characteristic modeling approaches,which is solved in this work by an error-free compression method.We first define a key concept of relevant states with corresponding compressing methods into their coefficients,where the coefficients are continuous and bounded and the compression is error-free.Then,we give the conditions for decoupling characteristic modeling for MIMO systems,and sequentially,we establish characteristic models for nonlinear systems with minimum phase and relative order two as well as the flexible spacecrafts,realizing the equivalence in the characteristic model theory.Finally,we explicitly explain the reasons for normalization in the characteristic model theory.

Sedimentary Characteristics and Models of Paleo-salt Lake During Paleocene and Eocene in the Jiangling Depression of Central China

1 Sedimentary Characteristics of Paleo-salt Lake In early sedimentary stages of Shashi formation,because of drought climate and the concentration of lake,a set of salt strata of hundreds of meters is developed in the tension

The Geochemical Characteristics and Minerogenic Model for the Amo Hypothermal Tin Deposit in Ximeng County, Yunnan Province

Through studies on the element geochemistry, alteration of country rocks, ore-forming fluids and isotopegeochemistry of the Arno tin deposit in the metamorphic rocks of the Upper Proterozoic Ximeng Group, theauthors consider that the concentration of the B-F-Li-Rb-Cs-Sn association is related to acidic magmatism inthe study area. The Fe-Mg-Li tourmaline in the ore is the replaced product of the country rocks byhypothermal fluid. The δ^(18)O values of mineral separates are +2.01- +13.16‰ and their δ^(34)S values, +2.6-+7.2‰. The ore-forming materials were derived from hydrothermal fluid of granitic magma. For themineralization, the temperature is 450°-350℃, the pressure, 450-1000×10~5 Pa, and the age, Himalayan(21.5 Ma). According to the geochemical characteristics, a minerogenic model is established: the deposit is ahypothermal cassiterite-quartz vein type tin deposit controlled by the hidden Himalayan granites.

Analysis of Frequency Characteristics and Sensitivity of Compliant Mechanisms

Based on a modified pseudo-rigid-body model,the frequency characteristics and sensitivity of the large-deformation compliant mechanism are studied.Firstly,the pseudo-rigid-body model under the static and kinetic conditions is modified to enable the modified pseudo-rigid-body model to be more suitable for the dynamic analysis of the compliant mechanism.Subsequently,based on the modified pseudo-rigid-body model,the dynamic equations of the ordinary compliant four-bar mechanism are established using the analytical mechanics.Finally,in combination with the finite element analysis software ANSYS,the frequency characteristics and sensitivity of the compliant mechanism are analyzed by taking the compliant parallel-guiding mechanism and the compliant bistable mechanism as examples.From the simulation results,the dynamic characteristics of compliant mechanism are relatively sensitive to the structure size,section parameter,and characteristic parameter of material on mechanisms.The results could provide great theoretical significance and application values for the structural optimization of compliant mechanisms,the improvement of their dynamic properties and the expansion of their application range.

Uniformity evaluation and optimization of fluid flow characteristics in a seven-strand tundish

The effect of flow control devices（FCDs） on the uniformity of flow characteristics in a seven-strand symmetrical trapezoidal tundish was studied using both an experimental 1：2.5 hydraulic model and a numerical simulation of a 1：1 geometric model.The variation coefficient（CV） was defined to evaluate the flow uniformity of the seven-strand tundish.An optimized FCD configuration was proposed on the basis of the evaluation of experimental results.It is concluded that a turbulence inhibitor（TI） and U-type dam are essential to improve the uniformity of fluid flow in the seven-strand tundish.In addition,the configuration of inclination T-type dams with a height of 200 mm between the second and third strands and with a height of 300 mm between the third and fourth strands can minimize the proportion of dead zone.After optimizing the configuration of FCDs,the variation coefficient reduces below 20%of the mean value,and the average proportion of dead zone is just 14.6%;in addition,the temperature fluctuation between the strands could be controlled within 0.6 K.In summary,the uniformity of flow and temperature in the seven-strand tundish is greatly improved.

SNCDM: Spinal Tumor Detection from MRI Images Using Optimized Super-Pixel Segmentation

Conferring to the American Association of Neurological Surgeons(AANS)survey,85%to 99%of people are affected by spinal cord tumors.The symptoms are varied depending on the tumor’s location and size.Up-to-the-min-ute,back pain is one of the essential symptoms,but it does not have a specific symptom to recognize at the earlier stage.Numerous significant research studies have been conducted to improve spine tumor recognition accuracy.Nevertheless,the traditional systems are consuming high time to extract the specific region and features.Improper identification of the tumor region affects the predictive tumor rate and causes the maximum error-classification problem.Consequently,in this work,Super-pixel analytics Numerical Characteristics Disintegration Model(SNCDM)is used to segment the tumor affected region.Estimating the super-pix-els of the affected region by this method reduces the variance between the iden-tified pixels.Further,the super-pixels are selected according to the optimized convolution network that effectively extracts the vertebral super-pixels features.Derived super-pixels improve the network learning and training process,which minimizes the maximum error classification problem also the efficiency of the system was evaluated using experimental results and analysis.

佛山市旧村改造的做法及启示——以佛山市石头村改造为例

为破解佛山市"自下而上"高速发展的同时带来的土地资源配置低效问题,佛山市开展了"三旧"改造。作为旧村改造典范的佛山市石头村因地制宜,创新旧村改造模式,走出了一条以改造促调整推转变的特色之路。基于对石头村的实地调研,从旧村改造背景与项目概况、方案推导与实施、改造方案效益评析三个方面进行探讨分析,总结其改造特色,以期为广东省旧村改造提供引导借鉴。

Computational fluid dynamic modeling of gas flow characteristics of the high-power CW CO_2 laser

To increase the photoelectronic conversion efficiency of the single discharge tube and to meet the requirements of the laser cutting system, optimization of the discharge tube structure and gas flow field is necessary. We present a computational fluid dynamic model to predict the gas flow characteristics of high-power fast-axial flow CO2 laser. A set of differential equations is used to describe the operation of the laser. Gas flow characteristics, are calculated. The effects of gas velocity and turbulence intensity on discharge stability are studied. Computational results are compared with experimental values, and a good agreement is observed. The method presented and the results obtained can make the design process more efficient.

Modelling the bed characteristics in fluidised-beds for top-spray coating processes

A particle sub-model describing the bed characteristics of a bubbling fluidised bed is presented. Atomisation air, applied at high pressures via a nozzle positioned above the bed for spray formation, is incorporated in the model since its presence has a profound influence on the bed characteristics, though the spray itself is not yet considered. A particle sub-model is developed using well-known empirical relations for particle drag force, bubble growth and velocity and particle distribution above the fluidised-bed surface. Simple but effective assumptions and abstractions were made concerning bubble distribution, particle ejection at the bed surface and the behaviour of atomisation air flow upon impacting the surface of a bubbling fluidised bed, The model was shown to be capable of predicting the fluidised bed characteristics in terms of bed heights, voidage distributions and solids volume fractions with good accuracy in less than 5 min of calculation time on a regular desktop PC. It is therefore suitable for incorporation into general process control models aimed at dynamic control for process efficiency and product quality in top-spray fluidised bed coating processes.

CHARACTERISTIC DISTRIBUTION OF SLOPE SCATTERED RADIATION WITH ITS CALCULATION MODEL

Detailed analysis is made of anisotropy of slope scattered radiation(SSR)in terms of the data obtained by a pyranometer mounted on a theodolite,indicating the change of SSR as a function of orientation and slope. And also reviewed are the models for SSR calculation developed by earlier researchers through the tests with the data.On this basis a new model for SSR flux density is proposed which is of higher applicability and has advantage over the analogues abroad both in physical implication and accuracy of the calculations.