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 Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

Influence of heat input on the microhardness and microstructure of the welding interface between nickel-based alloy and low-alloy steel

The evolution of microstructure and local properties near the welding interface is essential for the service safety of dissimilar metal welded joints between nickel-based alloy(NA) and low-alloy steel(LA).In this work,NA filler metal was deposited on LA substrate under different heat inputs by tungsten inert gas(TIG) welding.Microstructural characterization and microhardness tests were carried out near the prepared cladding interfaces.Optical and scanning electron microscopes show the lack of evident hardening transition layer along the welding interface.As the heat input increases,the mean hardness of the deposited layer also increases remarkably due to the rising dilution rate.Microstructural characterization shows a significant composition gradient across the cladding interface,but the diffusion gradient is limited to a small range.Under high heat input,a planar grain zone is generated along the interface due to the large temperature gradient across the interface region.

Influence of heat input on microhardness and microstructure across the welding interface between stainless steel and low alloy steel

The welding interface is crucial to the service safety of dissimilar metal weld(DMW)joints between stainless steel(SS)and low alloy(LA)steel.Different status of welding interfaces was prepared by cladding SS consumables to LA steel substrates with different heat inputs via tungsten inert gas arc welding(TIG),followed by a series of microstructural characterizations and hardness tests.Results showed that a hardening and transition layer(TL)would be generated along the welding interface,and the width and hardening degree of the TL would increase with the heat input.Meanwhile,heavy load hardness tests showed that highly severe inhomogeneous plastic deformation and the microcrack would be generated in the interfacial region and the welding interface respectively in the highest heat input sample(1.03 kJ/mm).These results indicate that the increase in heat input would deteriorate the bonding performance of DMW joints.Further microstructural observations showed that the higher hardening degree of the highest heat input sample was mainly attributed to the stronger grain boundary,solution,and dislocation strengthening effects.

Dynamic Event-Triggered Consensus Control for Input Constrained Multi-Agent Systems With a Designable Minimum Inter-Event Time

This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.

A Hybrid Compensation Scheme for the Input Rate-Dependent Hysteresis of the Piezoelectric Ceramic Actuators

A hybrid compensation scheme for piezoelectric ceramic actuators(PEAs)is proposed.In the hybrid compensation scheme,the input rate-dependent hysteresis characteristics of the PEAs are compensated.The feedforward controller is a novel input rate-dependent neural network hysteresis inverse model,while the feedback controller is a proportion integration differentiation(PID)controller.In the proposed inverse model,an input ratedependent auxiliary inverse operator(RAIO)and output of the hysteresis construct the expanded input space(EIS)of the inverse model which transforms the hysteresis inverse with multi-valued mapping into single-valued mapping,and the wiping-out,rate-dependent and continuous properties of the RAIO are analyzed in theories.Based on the EIS method,a hysteresis neural network inverse model,namely the dynamic back propagation neural network(DBPNN)model,is established.Moreover,a hybrid compensation scheme for the PEAs is designed to compensate for the hysteresis.Finally,the proposed method,the conventional PID controller and the hybrid controller with the modified input rate-dependent Prandtl-Ishlinskii(MRPI)model are all applied in the experimental platform.Experimental results show that the proposed method has obvious superiorities in the performance of the system.

Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.

Friction surfacing of hypereutectic Al-Si alloy on commercially pure aluminum : Effect of consumable rod heat treatment and heat input

This study investigated the effect of pre-friction surfacing heat treatment of consumable rods and heat input during friction surfacing on the microstructure,mechanical properties,and wear resistance of hypereutectic Al-Si alloy deposited on a commercially pure aluminum substrate.The results show that regardless of the consumable rod’s heat treatment conditions,the coating’s efficiency has increased with the increase in heat input,so the coating efficiency increases by 20%and 30%in the solid solution-treated rod and the artificially aged rod,respectively.By increasing the heat input,the average grain size in the coating fabricated by solid solution-treated rod and artificially aged rod increased from 0.1 to 0.9μm and from 0.2 to 1.3μm,respectively.At constant heat input,the average hardness and wear resistance of the coating created in the solid solution-treated rod are lower than those of the artificially aged rod.By decreasing heat input,the wear loss in the coating fabricated by solid solution-treated rod and artificially aged rod decreased by 10%and 20%,respectively,reaching 0.1 and 0.03μg/m.

Exact controllability of rational expectations model with multiplicative noise and input delay

This paper considers the rational expectations model with multiplicative noise and input delay,where the system dynamics rely on the conditional expectations of future states.The main contribution is to obtain a sufficient condition for the exact controllability of the rational expectations model.In particular,we derive a sufficient Gramian matrix condition and a rank condition for the delay-free case.The key is the solvability of the backward stochastic difference equations with input delay which is derived from the forward and backward stochastic system.

Estimating the Input Power of a Power Plant Using the Efficiency of the Inverter

The study focuses on estimating the input power of a power plant from available data, using the theoretical inverter efficiency as the key parameter. The paper addresses the problem of missing data in power generation systems and proposes an approach based on the efficiency formula widely documented in the literature. In the absence of input data, this method makes it possible to estimate the plant’s input power using data extracted from the site, in particular that provided by the Ministry of the Environment. The importance of this study lies in the need to accurately determine the input power in order to assess the overall performance of the energy system.

基于DEA-Tobit的综合档案馆服务效率、影响因素及提升策略

全面分析我国综合档案馆服务效率及影响因素,提升综合档案馆服务水平,促进档案事业可持续发展。以档案利用服务理论、投入产出理论为理论基础,选取最近20年《中国档案年鉴》(2001版—2020版)中的3万余条数据,基于DEA分析法,从时间(年份)和空间(省域)两个维度对我国综合档案馆服务效率进行测算,选取典型案例予以分析。基于内容分析法提出4个影响因素假设:档案开放利用程度、库藏密度、人员业务能力和档案征集能力,通过构建DEA-Tobit回归模型,对4个假设进行验证,根据验证结果,提出有针对性的综合档案馆服务效率提升策略。从基于假设验证视角出发,研究综合档案馆服务效率影响因素,为档案学领域定量研究拓展,以及档案馆服务效率影响因素分析提供了新的研究路径。

基于扰动和输入饱和限制的连续时间系统预见跟踪控制

本文研究一类带有外部干扰和输入饱和的连续时间系统的预见控制问题.为了能成功地构造出连续时间输入饱和系统的误差系统,与以往对系统方程求导不同,本文利用状态平移方法代替状态求导,使得输入饱和连续时间系统的误差系统的构造成为可能.这样原系统的预见饱和控制就转化为误差系统的标准饱和控制问题.另外,针对原系统的误差系统,分别引入状态反馈和静态输出反馈,并改写输入向量以便利用可预见信号的未来信息.利用Lyapunov函数及LMI技巧,导出了闭环系统渐近稳定的充分条件.最后仿真例子表明了本文结果的有效性.

热输入对高锰钢模拟焊接热影响区显微组织和低温韧性的影响

作为一种新型低温用材料,高锰钢具有低成本及优异的低温力学性能等优势,在液化天然气(LNG)储罐等领域具有广阔的应用前景.然而在实际焊接过程中,高锰钢焊接热影响区中距熔合线3 mm处的特定亚区(FL+3亚区)会出现低温韧性恶化的问题.针对这一问题,采用焊接热模拟技术再现了不同热输入下的FL+3亚区,通过扫描电子显微镜、电子探针X射线显微分析仪和透射电子显微镜观察晶界比例、偏析及析出相.结果表明,模拟FL+3亚区具有较好的低温韧性,其冲击断口形貌均为大量的韧窝.然而随着热输入增加,其冲击吸收功降低,10 kJ/cm、15 kJ/cm、30 kJ/cm和45 kJ/cm不同热输入下的-196℃冲击吸收功分别为177 J、172 J、138 J和112J.FL+3亚区的显微组织为单相奥氏体组织,随着热输入增加,晶粒尺寸无明显变化,而小角度晶界比例升高.热输入增加会加剧FL+3亚区的C、Cu晶界偏析和Mn带状偏析,提高偏析区域的层错能以及临界剪切孪晶应力,使得孪生机制难以激活,进而减弱了形变孪晶的韧化作用,降低低温韧性.当热输入增大到15 kJ/cm时,FL+3亚区开始析出尺寸约为200 nm的颗粒状和块状Cr_(23)C_(6)碳化物,且析出相的尺寸和数量随着热输入增加而进一步增加.碳化物析出易引起应力集中而产生裂纹萌生,降低了FL+3亚区的低温韧性.

Effect of welding heat input and post-welded heat treatment on hardness of stir zone for friction stir-welded 2024-T3 aluminum alloy

The microstructure and hardness of the stir zone （SZ） with different welding heat inputs were investigated for friction stir-welded 2024-T3 aluminum by transmission electron microscopy, differential scanning calorimeter and Vickers micro-hardness test. The results show that welding heat input has a significant effect on the hardness of the SZ. Under high welding heat input condition, a higher welding speed is beneficial for improving the hardness of the SZ. However, when the welding heat input is low, the hardness of the SZ elevates with increasing the rotation speed. The hardness of the SZ decreases after post-welded heat treatment due to overaging. The joints welded at 500 r/min and 100 mm/min show a high resistance to overaging. The reduction of hardness in the SZ is only 3.8%, while in other joints, the reduction is more than 10%. The morphology of strengthening precipitates plays important roles for the improvement of hardness.

Effects of Temperature and Nitrogen Input on Nitrogen Mineralization in Alpine Soils on Tibetan Plateau

[Objective] The study aimed to investigate the effects of temperature and nitrogen input on nitrogen mineralization in alpine soils on the Tibetan Plateau.[Method]An incubation experiment in the laboratory was conducted using three alpine soils.These soils were collected from the top 10 cm depth in three grassland types：alpine meadow in Haibei,alpine steppe in Naqu and alpine wetland in Dangxiong.[Result] Temperature significantly affected nitrogen mineralization in alpine soils of three grassland types.The mineralization rate in alpine steppe soil rose with the rise of temperature,while the mineralization rate in the alpine meadow soil and alpine wetland soil decreased with the rise of temperature.Nitrogen input had no significant effect on nitrogen mineralization in the alpine meadow soil,but significantly increased nitrogen mineralization in the alpine steppe soil and the alpine wetland soil.Grassland types significantly affected nitrogen mineralization in alpine grasslands.[Conclusion] The effects of temperature and nitrogen input on nitrogen mineralization in alpine soils on the Tibetan Plateau were significant.And those different effects depended on different types of grassland.

Analysis on Input-Output in Rice Cultivation Based on Cobb-Douglas Production Function

[Objective] To analyze the input and output in rice cultivation based on CD function. [Method] Based on the input factors, Cobb-Douglas production （CD） function was used to do the quantitative analysis on the input-output in rice production with rice growers as the objective. [Result] Considering the substitution effect of labor in- put and capital input, under the same technical conditions, the effect of increasing labor input on the rice production in per 667 m2 was negative, based on which 2 pieces of policy suggestions were put forward to promote the transfer of surplus la- bor force of rice growers and ensure the capital supply for rice production. [Conclusion] This study laid the foundation for the realization of reasonable allocation of rice production resources.

LSMW的Direct Input方法在SAP中的应用

LSMW为系统应用程序和产品的数据处理软件(SAP)提供批量数据导入平台,Direct Input方法是LSMW批量数据导入的方法之一。以上传采购订单为例,介绍了采用LSMW的Direct Input方法上传数据的步骤和方法。将LSMW的Direct Input方法应用于华能集团SAP中,显著提高了SAP启动时海量数据导入的速率,保证了SAP按时上线运行。

The Enlightment on Task-based Teaching Derived from Input Hypothesis

Aiming at gradually developing and perfecting the task-based teaching method, the essay, with enlightment from the Krashen＇s Input Hypothesis, discusses some issues about input, output, activities and teacher＇s role in this method.

An Efficient MMI SOI Splitter with Multimode Input/Output Waveguides

A 1×8 multimode interference power splitter with multimode input/output waveguides in SOI material is designed by the beam propagation method and fabricated by the inductive coupled plasma etching technology for use in fiber optics communication systems.The fabricated device exhibits low loss and good coupling uniformity.The excess loss is lower than 0 8dB,and the uniformity is 0 45dB at the wavelength of 1550nm.Moreover,the polarization dependent loss is lower than 0 7dB at 1550nm.The device size is only 2mm×10mm.

Relationship Between Noise Figure and Equivalent Input Noise Current Spectral Density for Optical Receiver Design

Based on the equivalent circuit model of a two-port optical receiver front-end,the relationship between the equivalent input noise current spectral density and the noise figure is analyzed. The derived relationship has universal validity for determining the equivalent input noise current spectral density for optical receiver designs, as verified by measuring a 155Mb/s high-impedance optical receiver front.end. Good agreement between calculated and simulated results has been achieved.