Terminal sliding mode control for coordinated motion of a space rigid manipulator with external disturbance

The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.

Coordinated Control of Sliding Mode and Hamiltonian for PWM Rectifier

Aiming at the PWM rectifier control strategy of sliding mode control, steady state performance weak Hamiltonian control dynamic tracking performance is poor, the coordinated compound control is proposed, the feedback linearization controller and sliding mode controller Hamiltonian system is obtained, and the design of a coordinated control strategy. In order to verify the accuracy of this method, MATLAB/Simulink is used for simulation analysis. The simulation results show that the composite control can achieve the coordinated dynamic rapid tracking and constant DC output and unit power factor operation, and satisfy the control requirements of the rectifier, effectively reducing the disturbance effect on the system. Compared with Hamiltonian control, the proposed method combines the advantages of the two methods, which have the fast tracking performance and excellent steady-state characteristics, and the research prospect is broad.

Dual sliding mode coordinated control of manipulator grasping system with visual assistance

The operation efficiency of the manipulator is placed in the primary position in automatic production. This paper proposes a coordinated control strategy for joint servo and visual servo to enable timely transfer and accurate gripping in the working area. Aiming at the issues of chattering and slow convergence of traditional sliding mode controller, a fast variable power reaching rate on the basis of the non-singular fast terminal sliding mode controller is proposed, which can effectively reduce the convergence time and chattering. For the purpose of addressing the problem that the traditional visual servo control method is sensitive to the environment, a visual servo controller based on integral sliding mode is proposed, to ensure the favorable positioning accuracy of the manipulator. Based on the two proposed controllers mentioned above, a coordinated control strategy is used to implement the control of the manipulator. Finally, the upper computer software is developed using the C# programming language to monitor the workstation. The feasibility of the above-mentioned method is verified through multiple simulations and experiments.

Temperature-controlled Hydrothermal Synthesis of Copper(Ⅰ or Ⅱ) Coordination Polymers via a Variety of Copper Coordination Modes

Two 1D coordination polymers Cu2I（C6N3H4）2（1） and CuⅡ（C6N3H4）2·H2O（2） based on benzotriazole（Bta） were hydrothermally synthesized by controlling the crystallization temperature.Single-crystal X-ray diffraction（XRD） analyses reveal that compound 1 is a 1D tubular structure constructed from two types of 1D chains {―Cu―N=N―N―} n,where the Cu（I） ions adopt linear,triangular,and tetrahedral coordination modes to connect two types of Bta ligands via π-π interaction inside the tubular-like chain.For compound 2,the Cu（Ⅱ） ions assume a quadrilateral coordination mode linking to the Bta ligands to give 1D straight chains,which stacks through π-π interactions to construct a 2D layer structure.Further characterizations including elemental analyses,infrared IR spectra,thermogravimetric（TG） analyses and luminescence properties have been done.

Vertical Coordination Development Mode and Influential Factors of Agricultural Products

In China,the vertical coordination development mode of agricultural products can be divided into traditional market-oriented transaction mode with fluctuation according to market conditions,made-to-order on the basis of farmer organization,company leading cooperative mode,share or shareholding cooperative mode,and vertical integration mode. There are differences in coordination characteristics,advantages and disadvantages,and adaptability between different modes. Traditional vertical coordination mode is transforming and upgrading to close and high-efficient mode. In this process,it is influenced by factors such as cost-benefit balance between farmers and agricultural product processing enterprises,special use of agricultural product processing,structure of agricultural product industry chain,and action of local government.

Isomerism and coordination mode effects on two-photon absorption of tris(picolyl)amine-based fluorescent probes for zinc ions

One-photon absorption and two-photon absorption（TPA） properties of three tris（picolyl）amine-based zinc ion sensors are investigated by employing the density functional response theory in combination with the polarizable continuum model.The different isomer and coordination geometry of each probe are taken into account. Special emphasis is placed on the effects of isomerism and the coordination mode on the optical properties. The intra-molecular charge transfer（ICT）properties are specified by natural bond orbital charge analysis. It is shown that the isomerism has non-negligible effects on TPA properties of free ligands. It is found that both the TPA wavelength and the cross section are highly dependent on the coordination mode. When the zinc ion connects with the picolyl unit in the middle of a ligand, the zinc complex has a large TPA intensity in a long wavelength range due to the increased ICT mechanism.

Synthesis, Structure and Decarboxylative Behavior of a Nitro-coordinated Potassium Compound

A novel nitro-coordinated potassium compound [K(Htdc)(H_2O)]_n(tdc = 3-nitro-thiophene-2,5-dicarboxylate), has been synthesized and characterized. The complex with a two-dimensional(2D) layer structure contains an infinite K-O ladder-shaped chain, which is connected through carboxyl and unusual nitro-coordination of Htdc– anion. Then the 2D layers are further extended by intermolecular hydrogen-bonding to form a three-dimensional(3D) supramoleculalr network. Variable temperature powder X-ray diffractions, thermogravimetric analysis and nuclear magnetic resonance studies exhibit that the compound has a thermal-induced decarboxylative behavior.

Two-mode intelligent coordinating control of position for the welding positioner

A new intelligent control method for welding positioner is proposed. Applying an improved fuzzy controller and a variable PID controller, a two-mode intelligent coordinating controller ( TMICC ) is designed on basis of fuzzy logic and rules. The simulation and experimental results show that this control system can obtain better dynamic and static characteristics.

Responsive mechanism and coordination mode effect of a bipyridine-based two-photon fluorescent probe for zinc ion

The properties of one-photon absorption(OPA),emission and two-photon absorption(TPA)of a bipyridine-based zinc ion probe are investigated employing the density functional theory in combination with response functions.The responsive mechanism and coordination mode effect are explored.The structural fluctuation is illustrated by molecular dynamics simulation.The calculated OPA and emission wavelengths of the probe are consistent with the experimental data.It is found that the red-shift of OPA wavelength and the enhancement of TPA intensity are induced by the increased intra-molecular charge transfer mechanism upon metal binding.The structural fluctuation could result in the blue-shift of TPA wavelength and the decrease of the TPA cross section.The TPA properties are quite different among the zinc complexes with different coordination modes.The TPA wavelength of the complexes with two ligands is close to that of the probe,which is in agreement with the experimental observation.

Coordinating optimization-based sliding mode variable structure control for electro-hydraulic servo system

A sliding mode variable structure control （SMVSC） based on a coordinating optimization algorithm has been developed. Steady state error and control switching frequency are used to constitute the system performance indexes in the coordinating optimization, while the tuning rate of boundary layer width （BLW） is employed as the optimization parameter. Based on the mathematical relationship between the BLW and steady-state error, an optimized BLW tuning rate is added to the nonlinear control term of SMVSC. Simulation experiment results applied to the positioning control of an electro-hydraulic servo system show the comprehensive superiority in dynamical and static state performance by using the proposed controller is better than that by using SMVSC without optimized BLW tuning rate. This succeeds in coordinately considering both chattering reduction and high-precision control realization in SMVSC.

Coordinate-Dependent Two-Mode Squeezing Transformations and the Corresponding Squeezed States

我们介绍并列依赖者的二模式的压榨转变并且讨论相应二模式的挤压的状态的性质。

考虑电动汽车充放电的输配协同能量-灵活性市场出清机制

为应对输电网对灵活性资源的迫切需求,挖掘配电网分布式资源的灵活性支撑潜力,首先,构建市场环境下电动汽车的车-网互动响应模型,分析不同充放电方式下电动汽车的需求响应能力,为电动汽车参与市场环境下电网调度控制提供模型基础;然后,计及配电网运营商对需求侧灵活性资源的聚合作用,以购买电力和灵活性资源总成本最低为目标,构建考虑电动汽车充放电方式的输配协同能量-灵活性市场出清模型,通过协调控制输配电网中各类灵活性资源来满足输电网的灵活性需求;最后,通过修改的IEEE 33节点输电网与2个IEEE 33节点配电网耦合的测试系统对所提输配协同能量-灵活性市场出清方法的有效性进行分析与验证。结果表明,所提方法可提升电力系统的运行经济性和灵活性。

基于凸包算法的极端运行方式提取方法

在电力系统规划与运行的安全稳定计算中,一般选择对安全稳定最不利的运行方式进行校验,但随着新能源渗透率的增加,电网越发复杂多变,人工选择场景主观性较强,针对此问题,提出了一种基于快速凸包算法的极端运行方式提取,从而满足场景选取进行安全校核需求。从电源规划、发输电协调规划两个角度,考虑发电充裕性、火电爬坡需求、网络传输安全3个方面,分析影响规划的极端运行方式;基于凸包算法分别从上述3个方面构建坐标系进行极端运行方式提取;采用中国西北地区电网为算例进行极端运行方式提取,并与基于K-means算法的极端场景提取做对比,结果表明:所提方法能为场景选取提供有效数据支撑,满足电网规划要求。

基于干扰观测器的多航天器固定时间姿态协同跟踪控制

针对受扰动下的多航天器系统姿态一致性跟踪问题,提出一种基于干扰观测器与固定时间理论的分布式姿态协同控制策略。多航天器系统在空间中易受太阳光压、重力梯度与地磁力等外部干扰影响而导致控制精度下降,此外航天器内部惯量不确定性带来的影响也不可忽视,因此设计一种基于二阶积分滑模的干扰观测器对复合干扰进行快速精确估计,且该观测器无需任何干扰先验信息。利用观测器获得的估计值,结合领导跟随法,提出一种分布式固定时间姿态协同控制器,实现系统固定时间收敛,收敛时间可通过控制参数进行调节。利用Lyapunov函数证明了系统的固定时间稳定性。仿真与对比试验结果表明,干扰观测器能在较快时间内实现对复合干扰准确估计,协同控制器能在固定时间内实现对期望姿态鲁棒跟踪,与自适应有限时间方法相比,该控制策略精度更高、收敛速度更快和燃油消耗更少。

vbICA方法用于GNSS坐标序列共模误差提取研究

全球导航卫星系统(global navigation satellite system,GNSS)坐标序列精度主要受共模误差(common mode error,CME)影响。为提高GNSS坐标序列精度,采用变分贝叶斯独立分量分析方法(variational Bayesian independent component analysis,vbICA)提取实验区20个GNSS测站坐标序列的CME,并对比分析vbICA与主成分分析(principal component analysis,PCA)和独立分量分析(independent component analysis,ICA)的滤波性能。结果表明,vbICA滤波效果优于PCA和ICA;经vbICA滤波后,E、N、U方向坐标残差序列均方根(RMS)平均降低36.57%、31.63%、10.97%,距离相关系数平均降低60.53%、56.84%、25.80%;扣除CME后,GNSS速度场估计更加可靠和精确,可有效提高GNSS坐标序列精度,为地球动力学研究提供可靠的数据支撑。

新一代低压直流供用电系统多工作模式下能量协调控制策略

新一代低压直流供用电系统(low voltage direct current supply and utilization system,LVDCSUS)强调了可再生能源的消纳以及直流用户侧电能产–销–储–用之间的协调统一,为推动直流用户侧灵活参与电力系统运行提供了全新思路。开展LVDCSUS用户侧电能的使用与生产相结合的研究,可有效挖掘直流用户侧的多元化电能资源灵活供给能力,为此该文首先依据LVDCSUS系统能量平衡关系将系统划分为全直流运行、余电上网运行、交流支撑运行3种运行模式;进而给出各模式下满足直流母线电压稳定、储能荷电状态均衡、灵活性电力资源利用三方面整体要求的协调策略;最后建立了多运行模式切换规则,实现通过切换多种运行模式改变能量协调控制策略,使LVDCSUS在稳定运行状态下主动参与电力系统能量互动。仿真结果验证了LVDCSUS多运行模式控制策略的有效性和可靠性。

不同硬度地面对功能性踝关节不稳患者步态协调性的影响

目的 探索不同硬度地面对功能性踝关节不稳(FAI)患者步态协调性的影响。方法 2023年5月至7月,采用Qualisys红外光学运动捕捉系统对南京师范大学15例右侧FAI患者协调性和变异性进行测试。采集并截取步态周期数据,运用Matlab计算耦合角和耦合角标准差,比较在不同硬度地面上的差异。结果 在冠状面,髋-踝关节耦合角在支撑中期和支撑后期硬地面大于软地面,其他步态阶段以及髋-膝关节、膝-踝关节各步态阶段均小于软地面(P <0.05);在矢状面,髋-踝关节和膝-踝关节耦合角在支撑中期和支撑后期硬地面小于软地面,其他步态阶段以及髋-膝关节各步态阶段均大于软地面(P <0.01);在水平面,髋-膝关节耦合角在支撑后期硬地面小于软地面,摆动前期和髋-踝关节承重期均大于软地面(P <0.05)。与硬地面相比,软地面上耦合角标准差仅在矢状面髋-膝关节承重期小于硬地面,其余均大于硬地面(P <0.05)。结论 FAI患者在三维面内各步态阶段在软地面上表现出更多的远端主导,即踝关节内翻跖屈优势增加,髋关节优势减少;协调变异性普遍高于硬地面。表明FAI患者在软地面上步行时会增加复发性外踝扭伤风险。

基于谱压缩的大斜视TOPS BP图像自聚焦算法

在机动平台大斜视TOPS模式SAR成像时,通过使用地平面直角坐标系BP成像算法,能够在短时间内获取地距平面无畸变的宽幅SAR图像,但实际应用中如何对BP图像快速完成运动误差补偿与旁瓣抑制仍是一个难点。针对此问题,提出了一种改进的谱压缩方法,基于此能够快速实现机动平台大斜视TOPS模式地平面BP图像自聚焦等后续操作。首先,考虑到传统BP谱压缩方法仅适用于聚束成像模式,结合大斜视TOPS SAR虚拟旋转中心理论与波数谱分析,推导出了改进的精确谱压缩函数,能够通过全孔径压缩获得无模糊的地平面TOPS模式BP图像频谱。在此基础上,利用相位梯度自聚焦(PGA)能够快速完成全孔径运动误差估计与补偿。此外,基于提出的改进谱压缩方法得到的无模糊对齐BP图像频谱,可以在方位频域统一加窗实现图像旁瓣抑制。最后,通过仿真数据处理验证了所提算法的有效性。