Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm

This paper introduces a pneumatic finger cylinder servo control system for medical grabbing.First,according to the physical structure of the proportional directional valve and the pneumatic cylinder,the state equation of the gas in the servo system was obtained.The Stribeck friction compensation model of a pneumatic finger cylinder controlled by a proportional valve was established and the experimental platform built.To allow the system output to bet-ter track the change in the input signal,the flow-gain compensation method was adopted.On this basis,a friction compensation control strategy based on a differential evolution algorithm was proposed and applied to the position control system of a pneumatic finger cylinder.Finally,the strategy was compared with the traditional proportional derivative(PD)strategy and that with friction compensation.The experimental results showed that the position accuracy of the finger cylinder position control system can be improved by using the friction compensation strategy based on the differential evolution algorithm to optimize the PD parameters.

Code synchronization based on lumped time-delay compensation scheme with a linearly chirped fiber Bragg grating in all-optical analog-to-digital conversion

We propose a novel lumped time-delay compensation scheme for all-optical analog-to-digital conversion based on soliton self-frequency shift and optical interconnection techniques. A linearly chirped fiber Bragg grating is optimally designed and used to compensate for the entire time-delays of the quantized pulses precisely. Simulation results show that the compensated coding pulses are well synchronized with a time difference less than 3.3 ps, which can support a maximum sampling rate of 151.52 GSa/s. The proposed scheme can efficiently reduce the structure complexity and cost of all-optical analog-to-digital conversion compared to the previous schemes with multiple optical time-delay lines.

Sliding Mode Control for Fractional Differential Systems with State-delay

The problem of sliding mode control for fractional differential systems with statedelay is considered.A novel sliding surface is proposed and a controller is designed correspondingly,such that the state starting from any initial value will move toward the switching surface and reach the sliding surface in finite time and the state variables on the sliding surface will converge to equilibrium point.And the stability of the proposed control design is discussed.

Influence of Phase Compensation Method on Magnetizing Inrush Identification

The effect of different phase compensation methods on second harmonic ratio of magnetizing inrush is investigated. The flux linkage expression of switching on an unload transformer is deduced and influence factors of inrush current are analyzed firstly. Then the difference of two kinds of phase compensation methods, from star to delta and from delta to star connection, is compared. The second harmonic ratio of symmetric inrush is analyzed specially. Using inrush waveform of a real transformer, second harmonic ratio of phase inrush and that of differential current under two kinds of phase compensation methods are calculated respectively. Furthermore, based on the calculation results, the effect of two kinds of phase compensation methods on the inrush current identification is proved. The analysis and calculation results show that the second harmonic ratio of symmetric inrush caused by phase compensation method, from star to delta, is not low. Moreover, the split-phase blocking scheme should not be adopted for differential protection of from delta to star compensation. Using the phase current without compensation to calculate the ratio of second harmonic is inadvisable too.

An Analysis of the Static and Dynamic Behavior of the Hydraulic Compensation System of a Multichannel Valve

Electro-hydraulic proportional valve is the core control valve in many hydraulic systems used in agricultural and engineering machinery.To address the problem related to the large throttling losses and poor stability typically associated with these valves,here,the beneficial effects of a triangular groove structure on the related hydraulic response are studied.A mathematical model of the pressure compensation system based on the power-bond graph method is introduced,and the AMESim software is used to simulate its response.The results show that the triangular groove structure increases the jet angle and effectively compensates for the hydrodynamic force.The steady-state differential pressure at the valve port of the new pressure compensation structure was 0.65 MPa.Furthermore,experimental results show that the pressure difference at the main valve port is 0.73 MPa,and that the response time is less than 0.2 s.It is concluded that the new compensation structure has good pressure compensation response characteristics.

Double Lipschitz Stability for Nonlinearly Perturbed Differential Systems with Multiple Delay

In this paper, firstly a new class of time-delay differential inequality is proved. Then as an application, the nonlinearly perturbed differential systems with multiple delay are considered and it is obtained that the trivial solution of the nonlinear systems with multiple delay has uniform stability and uniform exponential Lipschitz asymptotic stability with respect to partial variables. It is obvious that the above system is a generalization of the traditional differential systems. The aim of this paper is to investigate the double stability of time-delay differential equations, including Uniform stability and Uniform Lipschitz stability. The author uses the method of differential inequalities with time-delay and integral inequalities to establish double stability criteria. As a result, the partial stability of differential equations is widely used both in theory and in practice such as dynamic systems and control systems.

Investigation of Dispersion Compensation in 2.5 Gbit/s OOK Label and 40 Gbit/s RZ-DPSK Payload Optical Label Switching System Based on Optical Carrier Suppression and Separation

Three dispersion compensation schemes of an optical label switching transmission system were investigated, which employs 40 Gbit/s return zero differential phase-shift keying（RZ-DPSK） payload labeled with 2.5 Gbit/s on-off keying（OOK） signal based on the optical carrier suppression and separation（OCSS） techniq ue, In the system, proposed are the receiver sensi ti vity oS payload and label, achieving -- 32. 4 dBm and --38.5 dBm, respectively. Using the optimal dispersion compensation scheme, after transmitted over 160 km and 320 km SMF respectively, the label can be recovered without power penalty, while the payload can be recovered with less than 2 dB and 5 dB penalty, respectively.

智能传感技术在水肥一体系统中的应用研究

以进一步提升水肥一体机系统的作业效率为目标,选取智能传感的监测技术,针对整机的监测控制与信号处理展开应用设计研究。考虑水肥一体机过程作业肥液融合的均匀性及系统各模块之间的协同性功能实现,结合微分补偿的传感数据算法处理方法,进行智能传感的水肥一体机架构布局,并匹配可执行的软件控制程序及硬件实施结构,进行实地传感应用监测与灌施控制作业试验。结果表明:水肥一体机系统的数据监测准确率可达95.25%,系统故障率相对降低3.79%,监测数据准确及时,能够确保系统各环节指令得到有效的调整与反馈,进而保证灌施土壤的含水稳定率相对提升7.87%,对于作物的稳定生长与产量提升有重要的参考价值。

Line-element based nonlinear adaptive piecewise compensating correction for LVDT sensors

In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.

H_∞ control for stochastic systems with time-delay

The H∞-control problem of stochastic systems with time-delay is considered. The sufficient conditions are obtained, under which there are always state-feedback control and dynamic output-feedback control so that the resulting closed-loop system is internaly stable and L2 input-output stable in the sense of expectation. Furthermore, the explicit formulas of both kinds of controls are derived. An example is included to illustrate the correctness of theoretic results.

基于改进麻雀优化PID的波浪补偿控制方法

随着海上风电“十四五”规划的不断推动,在深远海域对兆瓦级大功率海上风机的需求量随之增加,其规模也在不断扩大。但是,在吊运、安装等海上工作过程中,复杂海浪对船舶产生的持续影响导致风机安装的精度和效率大幅下降,甚至会对人员安全以及财产造成重大损失。在深远海域复杂海况下对工程船舶进行有效的波浪补偿,可提供稳定的作业环境以保证精准高效地完成各项工作,因此,本文提出了一种基于改进麻雀优化PID的波浪补偿控制方法并将其应用于Stewart补偿平台。首先,建立波浪补偿平台动力学以及运动学反解模型,并设计正解模型迭代求解算法。随后,使用PID进行波浪补偿控制,并通过麻雀搜索算法优化参数。接着,采用Circle混沌映射对其进行初始化分布,以解决初始化不均匀的问题;并采用动态自适应加权、柯西突变以及反向学习以提升算法全局寻优能力。最后,生成4~6级海况下的某工程船运动数据作为系统输入,利用MATLAB和Simulink软件平台搭建模型进行补偿控制验证,并在Stewart硬件平台上做补偿试验。结果表明,改进麻雀搜索算法具有较快的收敛速度、较高的精度和更好的寻优能力,优化后的PID控制方法更适合用于复杂海况下波浪补偿平台的控制优化,可为大功率海上风机安装的补偿平台控制系统设计提供参考。

基于共享视角的黄河流域综合生态补偿机制

生态补偿机制是打破黄河流域零散化环境保护,应对流域生态环境变化,推动流域高质量发展的重要制度创新。该研究在共享视角下,利用微分博弈模型和最优控制理论,结合黄河流域生态保护具体情况与出台的相关支持政策,引入径流增加量和泥沙治理量两个环境保护衡量指标构建了黄河流域综合生态补偿机制的博弈模型,探讨在完全共享生态补偿机制、不完全共享无横向生态补偿机制以及不完全共享有横向生态补偿机制3类情形下的最优策略,并针对共享效益系数、生态补偿系数等展开了参数影响分析。结果显示:①完全共享生态补偿机制以及不完全共享有横向生态补偿机制均可以提高政府对生态保护的投入,完全共享生态补偿机制是最优机制,不完全共享有横向生态补偿机制更具有实践性和操作性。②区域政府的生态保护投入、环境改善效果以及流域整体的经济利益与生态保护成本系数负相关,与生态保护效果系数正相关,共享效益系数是各区域政府关于环境保护与经济发展博弈后的结果,实现合理的共享效益系数有利于加强长期跨界合作关系的稳定。③在预期收益对生态环境更加敏感的区域,开展综合生态补偿机制有利于形成生态环境改善与预期收益增加相互促进的良性循环。最后通过实证分析验证了结论的有效性,并从发挥中央政府统筹作用、健全流域信息共享机制以及均衡生态保护与经济发展关系3个方面为构建黄河流域综合生态补偿机制提出了对策建议,进一步推动了黄河流域的协同治理,完善了黄河流域生态补偿制度。

基于速度控制的机器人轨迹摩擦补偿控制算法

目前机器人已在工业生产制造中得到广泛的应用,但由于机器人系统中关节摩擦等因素的影响,机器人的轨迹跟踪精度难以满足高精度生产的需求。为减少机械结构中非线性摩擦因素和系统中未建模干扰等因素对机器人运行稳定性和加工精度的影响,文中提出了一种速度模式下的摩擦补偿控制算法。首先,基于傅里叶级数和5次多项式混合的方式设计最优激励轨迹,通过最小二乘法完成动力学参数的预辨识,并利用Levenberg-Marquardt法对预辨识结果进行迭代寻优,从而建立更为精确的机器人动力学模型;然后,基于李雅普诺夫方法设计机器人轨迹跟踪控制算法,将最速离散跟踪微分器中采集的关节角度输入所设计的轨迹跟踪控制算法中,得到实时的关节速度补偿值,将补偿值实时输入机器人中实现摩擦补偿控制;最后,以六自由度串联机器人为实验对象,对所设计的摩擦补偿控制算法进行实验验证。结果表明,相对于摩擦补偿前,机器人的末端轨迹跟踪精度提升约35%,从而验证了文中所提算法在机器人摩擦补偿领域的有效性。

基于ARIMA-TCN混合模型的高速铁路时间同步方法

列控系统作为高速铁路的核心系统,保持其系统的时间同步对于行车安全至关重要。针对现有时间同步方法易受时变上下行传输时延、随机时钟跳变等影响,导致主从时钟偏移估计不准确的问题,提出一种基于差分自回归移动平均-时域卷积神经网络(ARIMA-TCN)混合模型的高速铁路时间同步方法。首先,根据上下行链路传输速率的不对称比,建立高速铁路时钟的数学理论和实际观测模型。然后,使用拉依达准则识别处理跳变异常值,完成实际时间序列的预处理。再次,使用ARIMA模型平滑时间序列中不确定时延带来的噪声抖动,获得平稳的时间序列。最后,通过提出的注意力增强TCN模型进行预测补偿,完成时钟偏移的补偿校正。通过实验仿真,得到基站区间内位置、基站间距以及车速对高速铁路时间同步的影响性分析。实验结果表明:与对比方法相比,所提方法补偿后的均方根误差较最小二乘法减少了75%、较最大似然估计方法误差减少了44.4%,较BP神经网络方法误差减少了16.7%,验证所提方法具有更低的同步误差和更高的同步精度。

基于马克思主义级差地租理论的粮食产销区横向利益补偿机制:理论分析、补偿设计与路径选择

为激励粮食主产区重农抓粮的积极性,加快形成“饭碗一起端,责任一起扛”的粮食安全格局,亟须构建粮食产销区横向利益补偿机制。以级差地租理论为基础,从膳食结构出发,通过计算各省份虚拟耕地净流量和补偿标准,构建特定膳食结构下的粮食产销区横向利益补偿机制。研究发现,在设定的中等膳食标准下,黑龙江、内蒙古、吉林和新疆等20个地区为受偿区域;广东、浙江和北京等11个地区为补偿区域。从受偿标准来看,受偿区的总补偿标准达到117.01亿元。其中,黑龙江、内蒙古、河南和新疆的受偿标准较高,分别为27.98亿、14.62亿、11.96亿和8.98亿元;重庆和贵州的受偿标准相对较低,分别为0.47亿和0.56亿元。从补偿标准来看,广东的补偿标准最高,为12.03亿元;西藏的补偿标准最低,为0.20亿元。从法规与监管体系、利益补偿方式以及补偿资金来源等方面探讨粮食产销区横向利益补偿机制的路径选择,以期为构建和优化粮食产销区横向利益补偿机制提供参考。

微电网对称故障条件下差异性潮流补偿控制策略

独立微电网负荷侧发生故障将导致故障区域功率供需失衡及电压跌落,在具有较高馈线阻感比的微电网中采用传统无功补偿的方法并不能有效解决上述问题。为此,提出一种基于微源馈线阻抗的差异性潮流补偿控制策略,即利用微源冗余功率增加有功功率输出补偿故障区域所需潮流,以改善故障区域功率平衡并抑制电压跌落,同时基于各微源馈线阻抗的差异性计算潮流补偿系数并根据故障区域所需功率动态调整潮流补偿参考值,以优化故障潮流分布并减少馈线损耗。最后,通过仿真和实验验证所提控制策略的有效性。

基于L-SHADE算法的AUV载体磁干扰参数辨识的数值模拟

采用自主水下航行器(Autonomous Underwater Vehicle,AUV)磁测平台可开展海洋地磁场测量、水下磁性目标探测和识别等工作,AUV磁测平台具有广阔的应用前景,但目前AUV载体磁干扰补偿技术研究尚不成熟,制约着水下航行器测磁精度。基于磁测平台抗磁干扰基本原理,提出一种基于线性种群规模缩减和成功历史的参数自适应差分进化(Success History-based Adaptive Differential Evolution with Linear Population Size Reduction,L-SHADE)算法的AUV载体磁干扰参数辨识的数值模拟方法。用磁偶极子和旋转椭球壳混合模型来等效模拟AUV载体磁干扰,通过模拟航行获得多组磁测数据,据此建立磁干扰参数辨识模型,并采用L-SHADE算法求解。通过数值模拟实验定量分析研究磁测平台测磁精度随磁传感器、平台姿态及航向等误差的传播规律。研究结果表明:当磁传感器测量精度为10 nT、姿态测量精度为0.01°、航向测量精度为0.1°时,测磁误差可小于100 nT。设计的AUV磁测平台抗干扰试验表明,地磁场总量最大相对误差为1.07%。

压差式流量计误差自动化修正算法研究

针对在多干扰源扰动下压差式流量计测量结果面临输出不稳、误差较大的问题,提出多源扰动下的压差式流量计误差自动化修正算法。考虑全补偿气体可膨胀性系数、压缩系数、密度系数和流出系数等因素,研究压差式流量计误差自动化修正算法。利用均值滤波滤除信号中的高斯噪声,结合一阶滞后滤波优化卡尔曼滤波算法,修正多源扰动误差。引入自组织算法和Volterra神经网络进一步改进卡尔曼滤波算法,并优化卡尔曼滤波算法的先验模型参数,以实现多源扰动误差的自动化修正。试验结果表明,经该算法控制后:当参考流量为900 m^(3)/h时,示值误差绝对值为0.203%;当参考流量为700 m^(3)/h时,流量计重复性为0.06%。该研究可以有效识别并修正由于多源扰动造成的流量异常值,且流量测量精度较高。

超长海底电缆电流差动保护新方案

海底电缆作为确保海上风电场并网的重要纽带,其分布电容远高于架空线路,产生的电容电流不可忽略。目前的电流差动保护判据由于没有考虑分布电容且受到负荷电流的影响,抗过渡电阻能力较差,在超长海底电缆输电线路上的适用性不高。针对现有保护判据存在的问题,提出一种改进的电流差动保护判据,该改进判据对线路中较大分布电容电流进行了补偿,解决了正常运行以及区外短路时保护误动的问题,并减小了负荷电流对差动保护动作特性的影响,从而提升了抗过渡电阻能力。在PSCAD/EMTDC平台搭建220 kV长距离电缆线路模型,对所提的改进保护方案进行仿真分析,仿真结果表明,所提超长海底电缆电流差动保护新方案在确保区外故障可靠不动作的基础上,显著提高了区内故障的抗过渡电阻能力,是一种比较理想的高压电缆长线路电流差动保护方案。

基于NESO-LFDC的四旋翼无人机滑模姿态控制

针对四旋翼无人机姿态控制中存在空气动力学特性复杂,易受干扰的特性,提出一种基于非线性扩张状态观测器(nonlinear extended state observer,NESO)和低频干扰补偿器(low-frequency disturbance compensator,LFDC)的非奇异快速终端滑模控制方法。该方法内环设计了NESO和LFDC结合,以获得干扰补偿值并补偿总干扰的低频分量。在外环设计了跟踪微分器和可变切换增益的非奇异快速终端滑模控制器,用于补偿虚拟干扰估计值的误差和总干扰的高频分量。仿真结果表明,该控制方法可以更好地估计总干扰的低频和高频分量,减少虚拟干扰估计值的误差对四旋翼无人机姿态控制的影响,并提升响应速度。