Vibration Control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.

A Flux DC Bias Suppression Scheme of Single-stage Full-bridge PFC Converters Based on Dead Zone Adjustment

由于单级桥式功率因数校正（power factor correction,PFC）AC/DC变换技术电路的特点,导致高频变压器存在偏磁现象,影响了系统正常工作。传统方式通过增加变压器气隙或使用隔直电容来防止变压器出现偏磁,但是该类方案影响了系统性能,并增加了电路的复杂程度。结合有源钳位单级PFC变换器工作特点,提出一种基于死区调节的偏磁抑制策略,通过改变系统的开关时序,能够有效抑制偏磁,具有不增加主电路复杂程度、不影响系统性能、数字控制和模拟控制都能够实现等优点。在提出抑制策略的基础上,设计实现电路,给出死区设计方法及影响规律,最后进行实验研究。理论分析及实验结果表明,该策略能够在不影响系统性能的基础上,有效抑制单级桥式PFC变换器的高频变压器偏磁。

Adaptive Fuzzy Control for a Class of MIMO Nonlinear Systems with Unknown Dead-zones

A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the signs of the control gains and the upper bounds and lower bounds of dead-zone parameters to be known a priori. By introducing the integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound of the optimal approximation error and the dead-zone disturbance, the closed-loop control system is proved to be semi-globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero.

Modelling of ultrasonic motor with dead-zone based on Hammerstein model structure

The ultrasonic motor (USM) possesses heavy nonlinearities which vary with driving conditions and load-dependent characteristics such as the dead-zone. In this paper, an identification method for the rotary travelling-wave type ultrasonic motor (RTWUSM) with dead-zone is proposed based on a modified Hammerstein model structure. The driving voltage contributing effect on the nonlinearities of the RTWUSM was transformed to the change of dynamic parameters against the driving voltage. The dead-zone of the RTWUSM is identified based upon the above transformation. Experiment results showed good agreement be- tween the output of the proposed model and actual measured output.

Adaptive Variable Structure Control of MIMO Nonlinear Systems with Time-varying Delays and Unknown Dead-zones

In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output （MIMO） nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.

ADAPTIVE CONTROL OF FLEXIBLE BEAM WITH UNKNOWN DEAD-ZONE IN THE DRIVING MOTOR

Adaptive control of a flexible beam system preceded by an unknown dead-zonein the driving motor is investigated in state space form. By introducing an important lemma forsimplifying error equation between the flexible beam model and the matching reference model, arobust adaptive control scheme is developed by involving the dead-zone inverse terms. The newadaptive control law ensures global stability of the entire system and achieves desired trackingprecision even when the slopes of the dead-zone are not equal. Simulations performed on a typicalflexible beam system illustrate and clarify the validity of this approach.

Design of Observer-based Adaptive Controller for Nonlinear Systems with Unmodeled Dynamics and Actuator Dead-zone

This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality （LMI）.Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.

Adaptive variable structure control for large-scale time-delayed systems with unknown nonlinear dead-zone

The problem of adaptive fuzzy control for a class of large-scale, time-delayed systems with unknown nonlinear dead-zone is discussed here. Based on the principle of variable structure control, a design scheme of adaptive, decentralized, variable structure control is proposed. The approach removes the conditions that the dead-zone slopes and boundaries are equal and symmetric, respectively. In addition, it does not require that the assumptions that all parameters of the nonlinear dead-zone model and the lumped uncertainty are known constants. The adaptive compensation terms of the approximation errors axe adopted to minimize the influence of modeling errors and parameter estimation errors. By theoretical analysis, the closed-loop control system is proved to be semiglobally uniformly ultimately bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.

Parameter estimation for dual-rate sampled Hammerstein systems with dead-zone nonlinearity

The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by using the dual-rate sampled data.Firstly,the auxiliary model identification principle is used to estimate the unmeasurable variables,and the recursive estimation algorithm is proposed to identify the parameters of the static nonlinear model with the dead-zone function and the parameters of the dynamic linear system model.Then,the convergence of the proposed identification algorithm is analyzed by using the martingale convergence theorem.It is proved theoretically that the estimated parameters can converge to the real values under the condition of continuous excitation.Finally,the validity of the proposed algorithm is proved by the identification of the dual-rate sampled nonlinear systems.

New Dead⁃zone Compensation Approach for Proportional Flow Valve

To solve the dead⁃zone in the output flow curve of the proportional flow valve without displacement sensor,a dead⁃zone compensation approach is proposed in this paper.Instead of detection and feedback of the valve spool position,the proposed approach adopted the pressure drop across the valve metering orifice to accomplish the dead⁃zone compensation.The first step was to test and get the_(max)imum output flow,Q_(max),at a preset reference pressure drop,such asΔP_(0).The next step was to construct the target compensation flow curve,which is a line through(0,0)and(ΔP_(0),Q_(max)).Then a compensation law was designed to approach the target curve.However,the research results show that the above strategy caused over⁃compensation once the actual pressure drop deviated fromΔP_(0).Thus a correction coefficient,β,was presented to correct the initial compensation law as the pressure drop deviated fromΔP_(0).For example,the test results indicate that the corrected compensation approach could reduce the dead⁃zone from 53.9%to 3.5%at a pressure drop of 1 MPa;as the pressure drop was increased to 5 MPa,the dead⁃zone was reduced from 51.7%to 3.5%.Therefore,the following conclusions can be drawn:the proposed compensation approach is feasible,which can effectively reduce the dead⁃zone and improve the output flow static performance of the proportional flow valve without spool displacement feedback.

地层动态测试器流量死区补偿方法

地层动态测试器在石油资源勘探领域中承担重要角色,其核心功能为通过预测试室测量地层渗透率。随着勘探任务逐渐走向超深井化,受井下高温影响,地层动态测试器预测试室模块的电液系统存在明显流量死区现象。因此,通过数值仿真定量分析其性能缺陷具有重要意义。首先介绍地层动态测试器预测试室模块的电液系统组成及特性;其次建立Simulink-AMESim联合仿真模型,结合数学模型对流量死区进行分析;接着结合实际工况确定动态性能补偿方案,并进行仿真验证。结果表明,提出的方案可以有效减轻高温导致的性能缺陷,有利于提升地层动态测试器作业的稳定性。

一种添加振荡抑制的移动机器人避障算法

针对室内移动机器人动态避障算法易出现局部死区问题,提出一种改进VFH动态避障算法。首先,针对传统VFH类算法,在候选波谷评价函数中引入波谷宽度和路径长度评价指标以降低移动机器人陷入局部死区的概率,提高路径平滑性;其次,针对局部避障算法受限于局部环境易在障碍物附近发生来回振荡的问题,引入振荡评价函数,通过计算移动机器人位姿到起始点和终点的加权欧氏距离绘制振荡评价曲线,利用自动峰值检测和一阶前向差分曲线获取振荡位置,并添加振荡抑制,使移动机器人逃离局部死区。仿真验证表明,在100组仿真场景中,改进算法陷入局部死区的场景减少约70组,平均规划迭代次数降低约32.3次,平均路径长度降低约26.2%,平均累计转折角度降低约79.6%。该算法有效降低了局部避障的代价,提高路径平滑度的同时降低在局部特殊环境下陷入死区的概率。

含有调速器多死区环节的风水火系统频率稳定分析

“双高”背景下新型电力系统面临着非线性机理复杂的稳定问题,传统机组调速器与风电控制器中死区非线性组合间的相互作用,在一定程度上影响了系统的频率稳定性。为此,在奈氏定理的基础上探究不同死区非线性组合下系统频率振荡的影响规律,主要针对死区类型、死区大小和死区顺序3个方面进行研究,涉及单死区系统和多死区系统。理论分析了其非线性系统的稳定性,并根据稳定极限环条件求解系统的临界振幅和振荡频率。通过改变死区类型及顺序,影响机组对系统频率的支撑能力,指出了系统频率稳定与临界振幅的关系,并在Matlab/Simulink中对上述理论分析进行了仿真验证。结果表明机组死区大小和类型均会改变系统的临界振幅和振荡频率,为机组配置死区提供了一定的参考依据。

对大初速舰炮炮弹跟踪能力需求分析

新型舰炮武器炮弹发射能量可调且初速大、对观测设备的跟踪能力提出了很高要求。建立了观测设备对炮弹方位、高低跟踪死区模型。通过理论计算与仿真分析,明确方向跟踪死区、高低跟踪死区与初始观测距离、炮弹高度和速度,以及观测设备跟踪角速度之间的关系,并用于计算在一定炮弹初速和水平观测距离条件下,在本舰或协同平台进行观测时,对炮弹实现有效跟踪所需的初始观测距离或预置观测点,对保障大初速舰炮炮弹的有效跟踪具有重要意义。

机械搅拌驱动下固液混沌混合特性数值模拟

混沌搅拌对于理解复杂系统行为、改善混合过程的效率和质量以及推动科学和技术的发展具有重要意义。通过数值模拟计算,从搅拌迹线和流场揭示了混沌搅拌的搅拌效果优于普通匀速搅拌。通过流场迹线分析,得出混沌搅拌强化搅拌效果的根本原因是混沌搅拌打破了搅拌的隔离死区。同时混沌搅拌所产生的整个流场的紊乱程度要远远大于普通匀速搅拌。

瓦斯隧道多工作面施工通风死区控制方法研究

针对瓦斯隧道多工作面作业时,易形成施工通风死区这一安全问题,以阳宗公路瓦斯隧道为依托工程,对压入式通风方案中风管最优布设方式进行研究,并在此基础上确定射流风机的最佳布设距离,进而探究多作业面通风系统中的射流风机最佳布设方案。研究结果显示:在满足最低需风量的压入式通风方案中,不同的风管布设方案会使隧道内通风死区体积变化较大,为控制并消除通风死区,风管出口应尽可能靠近掌子面且风管直径不宜过大;随着隧道掘进距离的增加,在掌子面前方会形成固定范围的非通风死区,此时为布设射流风机的最佳距离;射流风机的布设能有效地消除通风死区,但其作用范围有限,当隧道距离过长时,应有序间隔布设射流风机。

挺水植被影响下滞水区滞留时间预测模型

对于河道修复工程,为了增加河流地貌多样性,常会沿岸布置一些丁坝形成回流区(也称作滞水区)。滞水区的低速环流特点有利于泥沙落淤、营养质积累,为水生植物提供了适宜的生长环境,同时影响着河道内的物质输移扩散过程,对河流生态系统有着重要意义。采用量纲分析与遗传算法研究了挺水植被影响下滞水区滞留时间特性。对于植被化滞水区,影响水体滞留时间的因素可以归纳为三类,包括混合层流动特性、滞水区形貌特征以及植被拖曳作用。首先在前人工作基础上,应用π定理引入了能够反映植被阻滞效应的参数1+C_(D)ad_(c),对于无植被情形1+C_(D)ad_(c)=1,表明物质交换不受该因素影响,而对于有植被情形1+C_(D)ad_(c)>1,表明交换活动会受到影响。其次通过分析比较,筛选了其他影响滞留时间的主控因素,包括体现来流强度的主流傅汝德数Fr,以及体现滞水区形貌特征的三维形状因子(Wdc)0.5/L和宽长比W/L。然后以上述四种因素为自变量,构建了植被化滞水区滞留时间的一般性预测模型(即幂函数乘积模型)。最后基于收集的85组试验数据,采用遗传程序Eureqa对该幂函数乘积模型进行训练,拟合了植被化滞水区的滞留时间预测公式。对判定系数R2与平均绝对误差MAE的评价表明该公式具有较好的预测能力;对各因素变化区间的分析表明该公式具有较宽广的适用范围。此外,通过比较这4种因素对模型结果的作用程度,发现宽长比W/L是影响滞水区水体滞留特性的关键参数,在开展相关工程设计时应予以重点考虑。

牵引级联变流器低次谐波分析与抑制策略优化

以级联H桥变流器为前级拓扑的电力电子变压器是未来列车牵引的重要发展方向,降低牵引级联变流器的低次谐波对提高电力电子变压器的控制性能具有重要意义。然而,引起级联H桥变流器低次谐波的影响因素与常规四象限变流器存在差异,其机理分析和抑制策略尚未得到深入研究。对此,文章详细探究了电力牵引网侧级联H桥变流器低次电流谐波产生机理,揭示了除直流电压波动、器件死区和管压降外,其低次谐波还与H桥级联的模块数及拓扑结构有关。在此基础上,设计一种兼顾直流电压波动和电路拓扑特性的低次谐波抑制算法。同时,结合功率器件的死区效应与管压降影响,提出级联H桥变流器低次电流谐波综合抑制策略。最后,搭建小功率试验平台进行测试,试验结果验证了理论分析的正确性和优化抑制方案的有效性。

外肢体机器人驱动单元低速死区自适应补偿方法

为提高外肢体机器人高功率密度驱动单元的控制精度,提出一种低速死区自适应补偿方法。首先基于最小二乘系统辨识与阻尼辨识方法建立驱动单元模型,然后提出驱动单元的计算力矩控制方法,最后提出驱动单元的低速死区自适应补偿方法,并进行了实验验证。研究结果表明,与传统PID控制方法相比,采用计算力矩控制方法后驱动单元最大角度跟踪误差减小了约53%,平均角度跟踪误差减小了约38%;在计算力矩控制方法的基础上,采用低速死区自适应补偿方法后,驱动单元最大角度跟踪误差减小了约45%,平均角度跟踪误差减小了约60%,驱动单元的控制精度得到了显著提高。