The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is propo...The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.展开更多
In this paper, the behavior of a bubble near a rigid cylinder is studied experimentally as the positions of bubble induction change, and several cylinders with different diam- eters are used in the experiment. The mai...In this paper, the behavior of a bubble near a rigid cylinder is studied experimentally as the positions of bubble induction change, and several cylinders with different diam- eters are used in the experiment. The main results are as follows. The behavior of a bubble near a rigid cylinder is distinct from that near a rigid plate. When the cylinders are laid in deep water, there will occur three kinds of typical bubble shapes as the distance between bubble and cylinder increases. And the bubble shapes are different as the diam- eter of cylinder varies. When the cylinders are laid near a free surface, the behaviors of bubble near cylinders with dif- ferent diameters are similar. For a certain distance between bubble and free surface, as the distance between bubble and cylinder increases, ＂double jet＂, ＂inclined jet＂ and ＂down- ward jet＂ will take place successively.展开更多
The vessel heave motion caused by wave action increases the difficulty of installing offshore wind equipment.On-board wave heave compensation devices have therefore become increasingly critical in ensuring the stabili...The vessel heave motion caused by wave action increases the difficulty of installing offshore wind equipment.On-board wave heave compensation devices have therefore become increasingly critical in ensuring the stability and safety of the gangway and working platform.This study accordingly improves the compensation effect of such devices by developing a wave heave compensation model and designing an optimized backstepping control method.First,a model of the compensation system including the servo motor and electric cylinder is established by using the mechanism method.Second,a backstepping control method is designed to track the vessel heave motion,and particle swarm optimization is applied to optimize the control parameters.Finally,MATLAB/Simulink is used to simulate the application of the optimized backstepping controller,then regular and irregular heave motions are applied as input to a Stewart platform to evaluate the effectiveness of the control method.The experimental results show that the compensation efficiency provided by the proposed optimized backstepping control method is larger than 75.0%.展开更多
文摘The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.
基金supported by the Outstanding Youth Fund of China(51222904)the State Key Program of National Natural Science Foundation of China(50939002)the National Security Major Basic Research Program of China(613157)
文摘In this paper, the behavior of a bubble near a rigid cylinder is studied experimentally as the positions of bubble induction change, and several cylinders with different diam- eters are used in the experiment. The main results are as follows. The behavior of a bubble near a rigid cylinder is distinct from that near a rigid plate. When the cylinders are laid in deep water, there will occur three kinds of typical bubble shapes as the distance between bubble and cylinder increases. And the bubble shapes are different as the diam- eter of cylinder varies. When the cylinders are laid near a free surface, the behaviors of bubble near cylinders with dif- ferent diameters are similar. For a certain distance between bubble and free surface, as the distance between bubble and cylinder increases, ＂double jet＂, ＂inclined jet＂ and ＂down- ward jet＂ will take place successively.
基金supported by the National Natural Science Foundation of China(Grant No.62073213).
文摘The vessel heave motion caused by wave action increases the difficulty of installing offshore wind equipment.On-board wave heave compensation devices have therefore become increasingly critical in ensuring the stability and safety of the gangway and working platform.This study accordingly improves the compensation effect of such devices by developing a wave heave compensation model and designing an optimized backstepping control method.First,a model of the compensation system including the servo motor and electric cylinder is established by using the mechanism method.Second,a backstepping control method is designed to track the vessel heave motion,and particle swarm optimization is applied to optimize the control parameters.Finally,MATLAB/Simulink is used to simulate the application of the optimized backstepping controller,then regular and irregular heave motions are applied as input to a Stewart platform to evaluate the effectiveness of the control method.The experimental results show that the compensation efficiency provided by the proposed optimized backstepping control method is larger than 75.0%.
