Disturbances rejection optimization based on improved two-degree-of-freedom LADRC for permanent magnet synchronous motor systems

Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.

Determining the effective elastic thickness through cross-correlation between isostatic disturbances

The elastic thickness parameter was estimated using the mobile correlation technique between the observed isostatic disturbance and the gravity disturbance calculated through direct gravimetric modeling. We computed the vertical flexure value of the crust for a specific elastic thickness using a given topographic dataset. The gravity disturbance due to the topography was determined after the calculation. A grid of values for the elastic thickness parameter was generated. Then, a moving correlation was performed between the observed gravity data(representing actual surface data) and the calculated data from the forward modeling. The optimum elastic thickness of the particular point corresponded to the highest correlation coefficient. The methodology was tested on synthetic data and showed that the synthetic depth closely matched the original depth, including the elastic thickness value. To validate the results, the described procedure was applied to a real dataset from the Barreirinhas Basin, situated in the northeastern region of Brazil. The results show that the obtained crustal depth is highly correlated with the depth from known models. Additionally, we noted that the elastic thickness behaves as expected, decreasing from the continent towards the ocean. Based on the results, this method has the potential to be employed as a direct estimate of crustal depth and elastic thickness for any region.

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.

Distributed Nash Equilibrium Seeking for General Networked Games With Bounded Disturbances

This paper is concerned with anti-disturbance Nash equilibrium seeking for games with partial information.First,reduced-order disturbance observer-based algorithms are proposed to achieve Nash equilibrium seeking for games with firstorder and second-order players,respectively.In the developed algorithms,the observed disturbance values are included in control signals to eliminate the influence of disturbances,based on which a gradient-like optimization method is implemented for each player.Second,a signum function based distributed algorithm is proposed to attenuate disturbances for games with secondorder integrator-type players.To be more specific,a signum function is involved in the proposed seeking strategy to dominate disturbances,based on which the feedback of the velocity-like states and the gradients of the functions associated with players achieves stabilization of system dynamics and optimization of players'objective functions.Through Lyapunov stability analysis,it is proven that the players'actions can approach a small region around the Nash equilibrium by utilizing disturbance observerbased strategies with appropriate control gains.Moreover,exponential(asymptotic)convergence can be achieved when the signum function based control strategy(with an adaptive control gain)is employed.The performance of the proposed algorithms is tested by utilizing an integrated simulation platform of virtual robot experimentation platform(V-REP)and MATLAB.

A testing system to understand rock fracturing processes induced by different dynamic disturbances under true triaxial compression

In this context,a testing system to understand rock fracturing processes induced by different dynamic disturbances under true triaxial compression was developed.The system is mainly composed of a static loading subsystem,a dynamic loading subsystem,a specimen box subsystem,and a data measurement subsystem.The static loading subsystem uses low stiffness loss frame structure technology,which greatly improves the frame stiffness in the three principal stress directions(up to 20 GN/m)and ensures the demand of the disturbance experiment in both the prepeak and postpeak stages.The disturbance loads with frequency of 0e20 Hz and stress level of 0e30 MPa were applied using large flow parallel oil source technology characterized with high heat dissipation efficiency.For the disturbance loads with frequency of 100e500 Hz and stress level of 0e30 MPa,they were realized by using high-frequency and centimeter-per-second-scale low-speed disturbance rod technology.Three rigid self-stabilizing specimen boxes were utilized to provide support for the specimen and deformation sensors,ensuring the stability and accuracy of the data obtained.To verify the performance of the true triaxial test system,disturbance experiments were conducted on granite specimens.The results show that the experimental device satisfies the requirements of original design,with an excellent repeatability and reliable testing results.

Subspace Identification for Closed-Loop Systems With Unknown Deterministic Disturbances

This paper presents a subspace identification method for closed-loop systems with unknown deterministic disturbances.To deal with the unknown deterministic disturbances,two strategies are implemented to construct the row space that can be used to approximately represent the unknown deterministic disturbances using the trigonometric functions or Bernstein polynomials depending on whether the disturbance frequencies are known.For closed-loop identification,CCF-N4SID is extended to the case with unknown deterministic disturbances using the oblique projection.In addition,a proper Bernstein polynomial order can be determined using the Akaike information criterion(AIC)or the Bayesian information criterion(BIC).Numerical simulation results demonstrate the effectiveness of the proposed identification method for both periodic and aperiodic deterministic disturbances.

Disturbance observer-based fuzzy fault-tolerant control for high-speed trains with multiple disturbances

The fault-tolerant control problem is investigated for high-speed trains with actuator faults and multiple disturbances.Based on the novel train model resulting from the Takagi–Sugeno fuzzy theory, a sliding-mode fault-tolerant control strategy is proposed. The norm bounded disturbances which are composed of interactive forces among adjacent carriages and basis running resistances are rearranged by the fuzzy linearity technique. The modeled disturbances described as an exogenous system are compensated for by a disturbance observer. Moreover, a sliding mode surface is constructed, which can transform the stabilization problem of position and velocity into the stabilization problem of position errors and velocity errors, i.e., the tracking problem of position and velocity. Based on the parallel distributed compensation method and the disturbance observer, the fault-tolerant controller is solved. The Lyapunov theory is used to prove the stability of the closed-loop system. The feasibility and effectiveness of the proposed fault-tolerant control strategy are illustrated by simulation results.

Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters With Partial State Constraints and Disturbances

In this paper, a disturbance observer-based safe tracking control scheme is proposed for a medium-scale unmanned helicopter with rotor flapping dynamics in the presence of partial state constraints and unknown external disturbances. A safety protection algorithm is proposed to keep the constrained states within the given safe-set. A second-order disturbance observer technique is utilized to estimate the external disturbances. It is shown that the desired tracking performance of the controlled unmanned helicopter can be achieved with the application of the backstepping approach, dynamic surface control technique, and Lyapunov method. Finally, the availability of the proposed control scheme has been shown by simulation results.

A Review on Intelligent Detection and Classification of Power Quality Disturbances:Trends,Methodologies,and Prospects

With increasing global concerns about clean energy in smart grids,the detection of power quality disturbances(PQDs)caused by energy instability is becoming more and more prominent.It is well acknowledged that the PQD effects on power grid equipment are destructive and hazardous,which causes irreversible damage to underlying electrical/electronic equipment of the concerned intelligent grids.In order to ensure safe and reliable equipment implementation,appropriate PQDdetection technologiesmust be adopted to avoid such adverse effects.This paper summarizes the newly proposed and traditional PQD detection techniques in order to give a quick start to new researchers in the related field,where specific scenarios and events for which each technique is applicable are also clearly presented.Finally,comments on the future evolution of PQD detection techniques are given.Unlike the published review articles,this paper focuses on the new techniques from the last five years while providing a brief recap on traditional PQD detection techniques so as to supply researchers with a systematic and state-of-the-art review for PQD detection.

Recognition of Hybrid PQ Disturbances Based on Multi-Resolution S-Transform and Decision Tree

Aiming at the problems of multiple types of power quality composite disturbances,strong feature correlation and high recognition error rate,a method of power quality composite disturbances identification based on multiresolution S-transform and decision tree was proposed.Firstly,according to IEEE standard,the signal models of seven single power quality disturbances and 17 combined power quality disturbances are given,and the disturbance waveform samples are generated in batches.Then,in order to improve the recognition accuracy,the adjustment factor is introduced to obtain the controllable time-frequency resolution through multi-resolution S-transform time-frequency domain analysis.On this basis,five disturbance time-frequency domain features are extracted,which quantitatively reflect the characteristics of the analyzed power quality disturbance signal,which is less than the traditional method based on S-transform.Finally,three classifiers such as K-nearest neighbor,support vector machine and decision tree algorithm are used to effectively complete the identification of power quality composite disturbances.Simulation results showthat the classification accuracy of decision tree algorithmis higher than that of K-nearest neighbor and support vector machine.Finally,the proposed method is compared with other commonly used recognition algorithms.Experimental results show that the proposedmethod is effective in terms of detection accuracy,especially for combined PQ interference.

Erroneous presentation of respiratory-hemodynamic disturbances and postsurgical inflammatory responses in patients having undergone abdominal cavity cancer surgery

In this letter to the editor,the authors discuss the findings and shortcomings of a published retrospective study,including 120 patients undergoing surgery for gastric or colon cancer under general anesthesia.The study focused on perioperative dynamic respiratory and hemodynamic disturbances and early postsurgical inflammatory responses.

Error reachable set based stabilization of switched linear systems with bounded peak disturbances

This paper investigates the error reachable set based stabilization problem for a class of discrete-time switched linear systems with bounded peak disturbances under persistent dwell-time(PDT)constraint.A double-clockdependent control scheme is presented that can split the disturbed switched system into a nominal system and an error system,and assign to each system a controller scheduled by a clock.A necessary and sufficient convex stability criterion is presented for the nominal system,and is further extended to the stabilization controller design with a nominal clock.In the presence of bounded peak disturbances,another stabilization controller with an error clock is developed for the error system,with the purpose of‘‘minimizing’’the reachable set of the error system by the ellipsoidal techniques.It is demonstrated that the disturbed system is also globally exponentially stable in the sense of converging to an over approximation of the reachable set of the error system,i.e.,a union of a family of bounding ellipsoids,that can also be regarded as the cross section of a tube containing the trajectories of the disturbed system.Two numerical examples are provided to verify the effectiveness of the developed results.

Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints

In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is studied.First,an augmented system is constructed by the tracking error system and reference system.This transformation aims to convert the tracking control prob-lem into a stabilization control problem.Then,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty items.Based on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is developed.Finally,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal controller.The proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety constraints.The performance of the algorithm is evaluated by the numerical simulation.

深松铲对砖红壤扰动行为影响的仿真与试验

针对香蕉地深松作业相关研究较少,深松铲-土壤耦合机理尚未明确等问题,结合海南热区香蕉地砖红壤土的物理特性,利用离散元虚拟仿真试验,堆积生成了耕作层、犁底层和心土层3层土壤模型,建立了滑切深松铲-土壤耕作模型,并通过对比虚拟仿真试验,研究了滑式深松铲和国标深松铲对海南香蕉地土壤的扰动情况。结果表明:在相同的作业条件下,滑式深松铲作用下的土壤颗粒在x、y和z方向的最大运动速度均明显大于国标深松铲对土壤颗粒的作用,且滑式深松铲的扰动轮廓要明显大于国标深松铲作业的扰动轮廓,同时滑式深松铲作用下土壤蓬松度和土壤扰动系数均大于国标深松铲作用产生的深松效果,进一步验证了所设计的滑式深松铲更适用于海南香蕉地的深松作业。

基于DeST的超低能耗建筑负荷特性研究

为实现节能减排,进一步降低建筑的能耗,通过DeST软件对严寒地区SJZU超低能耗示范中心建筑的负荷进行模拟计算,对比超低能耗建筑和不同节能水平的建筑负荷特性,分析新风量和内扰对建筑负荷的影响规律,利用数学分析方法研究内扰因素对建筑负荷的显著性。结果表明:典型超低能耗建筑的全年最大热负荷为14.74 kW,全年最大冷负荷为13.23 kW;全年累计负荷较不同节能水平下的节能建筑显著降低;人均新风量增加5 m^(3)/(h·人),全年累计热负荷平均增幅为4.73%,而全年累计冷负荷几乎不变;超低能耗建筑全年累计负荷的影响最显著的内扰因素是人员密度。

并网逆变器非线性特性建模及稳定性研究综述

并网逆变器作为连接新能源分布式发电和电网之间的关键接口,发挥着将电能高效、高质量馈入电网的重要作用。随着新能源渗透率的持续提高,并网点处电网存在诸如高电网阻抗、丰富的低频谐波、电压幅值/频率波动甚至故障等复杂状况。鉴于并网逆变器本质上是一个多输入、强耦合的非线性系统,沿用传统的线性建模与分析方法已难以解释工程中的复杂谐波振荡现象,并网逆变器的稳定性分析及其稳定运行受到巨大挑战。为此,该文首先具体阐述了线性与非线性和系统受扰大小之间的关系,指出大干扰稳定性分析更依赖于非线性建模及分析方法的应用。在此基础上,对已见诸报道的并网逆变器稳定性分析方法进行了归纳和对比。然后,详细阐述了稳定性分析方法在并网逆变器特定非线性环节中的应用。最后,总结并讨论了现有研究的不足,以期进一步促进“双高”背景下并网装置非线性建模和稳定性分析的研究。

掏土孔应力扰动法下的塑性区范围研究

针对普通浅层掏土法下倾斜建筑回倾速度慢、沉降不均匀的问题,提出掏土孔应力扰动法。在岩石力学的弹性圈和塑性圈应力解中引入修正系数,得到掏土孔应力扰动法下的塑性区半径计算公式。在进行现场掏土孔周应力扰动试验时,采用地锚反压的形式模拟上部建筑荷载,利用长钉在掏土孔周围进行深度为50 mm的螺旋扰动,通过测量应力扰动前后的孔周土体应力并结合有限元模拟结果,得到实际塑性区范围,验证了塑性区半径公式的正确性。结果表明:当掏土孔半径为100 mm,应力扰动范围为孔径的1/2时,塑性区范围扩大30%~40%,掏土孔应力扰动法对于扩大塑性区范围、加快建筑纠倾速度具有工程应用价值。

带宽化调节下的抗扰PID退饱和控制方法

比例–积分–微分(PID)控制的抗饱和设计是一类经典非线性控制问题,理论研究丰富,但工程中广泛使用的仍是积分退饱和这类简易策略.究其原因,现有理论方法过于依赖系统模型和状态空间理论,稳定性条件与调参机制之间关系复杂.本文基于经典退饱和控制结构,首次阐述了“退饱和带宽”概念及退饱和参数调节机理,在此基础上讨论了两类低阶退饱和补偿器的带宽化设计方法.在抗扰PID反馈控制下,结合小增益定理得到退饱和控制的稳定性条件,给出控制参数与退饱和带宽之间的调节关系,实现退饱和控制的带宽化整定.最后,通过数值仿真验证了所提方法的有效性.

多学科团队模式干预对老年帕金森病患者情绪睡眠及生活质量的影响

目的探讨多学科团队模式干预对老年帕金森病患者负性情绪、睡眠障碍及生活质量的影响。方法以86例老年帕金森病患者为研究对象,按入院顺序分为对照组和观察组各43例。两组患者均接受常规诊疗,观察组患者在常规诊疗基础上接受多学科团队模式干预。比较两组患者干预前后汉密顿焦虑量表(HAMA)、汉密顿抑郁量表(HAMD)、帕金森睡眠量表(PDSS)和帕金森病患者生活质量问卷(PDQ-39)的评分。结果干预后两组患者HAMD评分、HAMA评分、PDQ-39评分均较干预前降低,且观察组低于对照组(P<0.05或0.01);干预后两组患者PDSS评分均较干预前升高,且观察组高于对照组(P<0.05或0.01)。结论对老年帕金森病患者应用多学科团队模式干预可以缓解负性情绪、改善睡眠、提高生活质量。

低成本手持式稠密点云采集系统

针对现有室内外场景无法使用低成本便携式LiDAR很好地采集高稠密度点云数据的问题,本文研究设计了一种对低成本LiDAR和IMU传感器在硬件层面进行组合的低成本手持式稠密点云采集系统。采用简化残差计算量后的Faster-LIO当作里程计,通过传感器紧耦合的方式,将LiDAR和IMU之间的外参矩阵作为优化量,在采集的过程中进行实时优化以获得准确的相对位姿,从而得到满足精度要求的稠密点云。本文方法与经典的基于LOAM特征的LiDAR里程计及RTK里程计进行对比,试验结果表明,本文方法是有效的,手持式旋转激光雷达扩增了LiDAR的视野,而且对采用的里程计算法进行了改进,在减少算力要求降低成本的同时,大幅度降低了LiDAR和IMU等设备安装时无法避免的相互扰动问题,能较好地完成对场景稠密点云的采集及初步重建。