Differential flatness-based distributed control of underactuated robot swarms

This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.

Flatness Control Based on Dynamic Effective Matrix for Cold Strip Mills

Steel strips are the main of steel products and flatness is an important quality indicator of steel strips. Flatness control is the key and highly difficult technique of strip mills. The bottle-neck restricting the improvement of flatness control techniques is that the research on flatness theories and control mathematic models is not in accordance with the requirement of technique developments. To build a simple, rapid and accurate explicit formulation control model has become an urgent need for the development of flatness control technique. This paper puts forward the conception of dynamic effective matrix based on the effective matrix method for flatness control proposed by the authors under the consideration of the influence of the change of parameters in roiling processes on the effective matrix, and the concept is validated by industrial productions. Three methods of the effective matrix generation are induced： the calculation method based on the flatness prediction model; the calculation method based on the data excavation in rolling processes and the direct calculation method based on the network model. A fuzzy neural network effective matrix model is built based on the clusters, and then the network structure is optimized and the high-speed-calculation problem of the dynamic effective matrix is solved. The flatness control scheme for cold strip mills is proposed based on the dynamic effective matrix. On stand 5 of the 1 220 mm five-stand 4-high cold strip tandem mill, the industrial experiment with the control methods of tilting roll and bending roll is done by the control scheme of the static effective matrix and the dynamic effective matrix, respectively. The experiment result proves that the control effect of the dynamic effective matrix is much better than that of the static effective matrix. This paper proposes a new idea and method for the dynamic flatness control in the rolling processes of cold strip mills and develops the theory and model of the flatness control effective matrix method.

Modified Two-Degrees-of-Freedom Internal Model Control for Non-Square Systems with Multiple Time Delays

A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.

VCR and ASR technology for profile and flatness control in hot strip mills

The roll contour pattern and variety of work and backup rolls in service and its effect on profile and flatness control performance in 1 700 mm hot strip mill at Wuhan Iron and Steel(Group) Corporation were tested and analyzed by the developed finite element models of different typical roll contours configurations.A rather smooth local work roll contour near strip edges and an increase in rolled length can be obtained by application of long stroke work roll shifting system with conventional work roll contours that is incapable of the crown control.In comparison with the conventional backup and work roll contours configuration,the crown control range by the roll bending force enhances by 12.79% and the roll gap stiffness increases by 25.26% with the developed asymmetry self-compensating work rolls(ASR) and varying contact backup rolls(VCR).A better strip profile and flatness quality,an increase in coil numbers within the rolling campaign and a significant alleviated effect of severe work roll wear contours on performance of edge drop control are achieved by the application of ASR with crown control and wear control ability in downstream stand F5 and VCR in all stands of 1 700 mm hot strip mill.

Flatness intelligent control via improved least squares support vector regression algorithm

To overcome the disadvantage that the standard least squares support vector regression(LS-SVR) algorithm is not suitable to multiple-input multiple-output(MIMO) system modelling directly,an improved LS-SVR algorithm which was defined as multi-output least squares support vector regression(MLSSVR) was put forward by adding samples' absolute errors in objective function and applied to flatness intelligent control.To solve the poor-precision problem of the control scheme based on effective matrix in flatness control,the predictive control was introduced into the control system and the effective matrix-predictive flatness control method was proposed by combining the merits of the two methods.Simulation experiment was conducted on 900HC reversible cold roll.The performance of effective matrix method and the effective matrix-predictive control method were compared,and the results demonstrate the validity of the effective matrix-predictive control method.

Development and application of cold strip rolling flatness control system in Ansteel

In this paper,the flatness control technology AnShaper^(TM) for cold-rolling mill and industry application are introduced.AnShaper^(TM) includes;partitioning piezomagnetic shape meter for flatness measurement for cold-rolling strip;flatness measured signals processing system based on digital signal processing(DSP);flatness feedback control model system based on the control efficiency of flatness control actuators and model adaptive function.The application verifies that strip flatness can meet the need of high quality product by using AnShaperTM.The average flatness quality is about 5Ⅰ-unit and the 0.18 mm ultrathin thickness strip flatness is 10Ⅰ-unit.

新一代高技术宽带钢轧机电工钢高精度板形控制研究进展

自由规程轧制是实现柔性一体化生产组织和追求最大生产效率的必要途径,板形控制一直是制约电工钢自由规程轧制的瓶颈难题。阐述了国际上对新一代高技术宽带钢轧机机型的不断探索与板形控制技术特征及其日趋复杂化的进展研究;基于热模拟与数学模型构建了电工钢完整轧制过程的高温本构关系,建立了电工钢热塑性变形过程集成仿真模型,原创构建了电工钢自由规程轧制完整过程中可同时控制不均匀变形和不均匀磨损的非对称自补偿轧制作用机制、提出了一种由数据与机理融合驱动的电工钢自由规程轧制形性协同的非对称自补偿轧制轧辊辊形、液压窜辊和液压弯辊的高精度融合控制方法。结合生产实际提出了新一代高技术热连轧自由规程轧制过程的全板形融合π机型与板形控制创新技术,突破性实现了高效低成本对新一代高技术宽带钢轧机自由规程轧制的高精度板形控制,为现场工业生产提供了理论基础和创新实现路径。最后展望了宽幅电工钢高精度板形控制的创新发展趋势。

扁平大空间船舶火灾烟气控制试验研究

为有效控制扁平大空间船舶火灾烟气蔓延,研究大尺度火灾过程中的油池质量损失速率、舱室温度分布、隔热效率和烟气控制效果。利用尺寸为30 m×24 m×2.3 m的模拟舱,在0.35、0.55和0.70 m等3种不同挡烟垂壁高度和机械通风条件下开展试验。结果表明:挡烟垂壁高度增加,油池质量损失速率峰值减小;挡烟垂壁高度对舱室上层烟气温度的影响比对下层气体温度的影响更明显,1.4 m以上空间温度峰值明显下降,而1.4 m以下空间温度峰值无明显变化。顶棚平均温度和隔热效率随挡烟垂壁高度增加而下降。随挡烟垂壁高度增加,火源区与非火源区同时控烟模式隔热效率从28.2%提升至50.8%,火源区单独控烟模式隔热效率从29.4%提升至54.7%。

基于微分平坦的板球系统反步滑模控制

为改善板球系统轨迹跟踪控制误差大,控制精度低的问题,提出了一种基于微分平坦的板球系统反步滑模控制方法。首先基于欧拉-拉格朗日方程建立板球系统的运动学模型,通过合理简化得到解耦线性状态空间模型。以X轴方向控制器设计为例,利用微分平坦技术获得系统的目标状态量以及前馈控制量,建立误差系统,进而采用反步法实现对误差系统的滑模控制,利用李雅普诺夫稳定性理论证明了闭环系统的稳定性。算法中使用双曲正切函数抑制滑模的抖动,实现了对板球系统的轨迹高精度跟踪控制。仿真实验结果表明,该方法控制精度高,具有良好的控制效果。

应对风切变的四旋翼轨迹跟踪几何控制方法

针对存在风切变环境的四旋翼轨迹跟踪问题,提出了结合增量非线性动态逆的几何控制方法。首先,建立了基于SO(3)群的风切变扰动四旋翼动力学模型,并建立风场模型,引入风切变效应。其次,利用四旋翼的微分平坦特性将轨迹跟踪问题转换为状态跟踪问题,并依据微分平坦特性推导参考高阶状态量实现前馈控制。在控制器设计部分,姿态控制采用几何控制,使姿态具有全局不存在奇异点的特性。对于风场扰动带来的阻力与气动力矩,使用增量非线性动态逆方法进行补偿,实现线加速度和角加速度的控制。最后,基于Simulink在多种风速场景中对不同航迹进行了仿真实验,仿真结果验证了所提方法相较传统方法在面对风切变干扰情况下的有效性。

基于PLC的物料入库系统设计

本文以自动化生产线中仓储单元的物料入库为例,介绍了物料入库单元伺服控制系统的硬件组成,软件设计及其调试过程,并重点讲述平面九宫格仓库入库的PLC程序设计方法。此伺服控制系统采用西门子S7-1200系列PLC和V90伺服控制器,采用西门子KTP700系列触摸屏对系统进行监控、控制和相关参数的修改,经过软硬件调试,机械手能自动将物料送到指定的九宫格仓库的某一格中。

低速湍流边界层DBD控制机制

介质阻挡放电(DBD)激励器具有重量轻、无运动部件、易用及响应快等优势,在流动控制应用中受到广泛关注。等离子体湍流边界层减阻是DBD流动控制诸多应用之一,但DBD湍流减阻机制还需进一步探究。文章通过试验研究来流速度为10 m/s时DBD激励对平板湍流边界层摩擦阻力的影响。试验使用油膜干涉法测量摩阻的变化,利用热线风速仪和粒子图像测速系统(PIV)得到边界层内速度分布。其结果显示,在等离子体激励的作用下,测得的壁面摩擦因数减小。等离子体激励通过减小边界层缓冲层和对数区的速度,减少雷诺切应力以及湍动能,抑制了相干结构的发展,从而达到减阻的效果。

含微分平坦控制的柔直输电系统稳定性分析

交流系统不对称运行时换流站控制参数不合理的取值会影响柔性直流输电系统稳定运行。为此,首先提出不对称工况下含微分平坦控制的换流站小信号模型,同时结合模块化多电平换流器(modular multilevel converter,MMC)内部特性、环流抑制器以及直流线路等各子部分的动态模型,建立两端柔性直流输电系统全局小信号模型;然后在此基础上,依据微分平坦控制器内、外环控制参数根轨迹的变化情况,分析其对系统稳定性的影响,确定其合理取值范围;最后在PSCAD/EMTDC中搭建含微分平坦控制的两端柔性直流输电测试系统,验证所提小信号模型以及结论的正确性,为实际工程中控制器参数整定提供理论依据。

超薄宽镀锌家电板生产工艺优化

针对超薄宽家电板在生产过程中产生的板形、表面质量和性能等方面问题,通过微中浪控制轧制配合拉矫机两弯两矫,实现板形优化;通过优化气刀工艺参数及气源、辊系轴瓦轴套及辊面材质等措施,改善表面质量;通过成分设计、退火工艺参数控制等,满足性能要求。为超薄宽镀锌家电板的稳定高效生产提供理论依据及实践经验。

基于色散调控氟碲酸盐玻璃光纤的O-U波段平坦光频梳产生

光学频率梳(简称光频梳)作为一种优秀的多波长光源在通信领域具有巨大的应用潜力。通过将光频梳光源与波分复用技术(WDM)、空分复用技术结合(SDM),通信系统可以具有百Tbit/s量级的传输速率,在5G/6G通信、物联网、自动驾驶等方面具有重要的应用价值。目前实现光频梳的方法主要有以下四种,分别为基于锁模激光器产生飞秒光频梳、基于光学微腔产生光频梳、基于电光调制器产生光频梳以及基于行波四波混频产生光频梳。它们各具特点,但均很难同时实现宽光谱、高信噪比、高平坦度、高的单梳齿功率以及梳齿频率间隔大范围可调,这在一定程度上影响了光频梳在光通信领域的应用。本文提出基于受激布里渊激光腔产生种子梳,采用腔外负色散光纤进行脉冲压缩,进一步利用色散调控的高非线性氟碲酸盐光纤进行扩谱,从而实现光频梳产生。数值计算结果表明,通过该系统,我们可以得到重复频率大范围可调、光谱覆盖整个O-U波段且在O-U波段梳齿强度标准差小于5 dB的平坦光频梳,证明了通过基于布里渊激光腔与色散调控高非线性氟碲酸盐光纤的光学系统产生可用于光通信的平坦光频梳的可行性。

水泥混凝土早期开裂预防控制方法研究

针对公路桥梁施工中混凝土易出现早期开裂问题,研究基于矿物掺合料的混凝土早期开裂控制方法。此方法使用平板法,合理混凝土制备时,首先确定最优水胶比,然后分析不同矿物掺合料配比条件下,混凝土早期开裂时间、单位面积中裂缝数量、裂缝宽度均值、开裂面积总值。研究结果表明:按不同比例掺入矿物掺合料制备混凝土,可控制公路桥梁施工中混凝土早期开裂程度,开裂控制最优方案是水胶比0.45、矿物掺合料用量65 kg、矿物掺合料掺量16%、砂率42%、水泥345 kg、中砂734 kg、石灰岩碎石1060 kg、外加剂5 kg。

三态直流升压变换器的微分平坦控制

针对伪连续导电模式下三态Boost变换器在传统控制器作用下瞬态响应速度较慢的问题,提出了一种基于动态参考电流和微分平坦控制的策略。首先,利用状态空间平均法建立三态Boost变换器的数学模型;然后,选定状态变量和输入控制变量,判别系统是否满足微分平坦控制条件;最后,建立了基于动态参考电流和平坦控制方法的控制系统,其中电流环采用动态参考电流方法,电压环采用基于期望前馈输入控制量和误差反馈量的微分平坦控制方法。仿真结果表明,相对于传统PI控制器,该微分平坦控制系统的系统瞬态跟踪时间更短,在受到干扰时有更好的抗干扰能力,提升了系统的鲁棒性。

基于微分平坦的高超声速飞行器跟踪控制方法

针对高超声速飞行器跟踪控制存在控制相对阶较高、过程状态约束强等问题,提出基于微分平坦的高超声速飞行器跟踪控制和外环跟踪控制方法,避免串级自抗扰控制(active disturbance rejection control,ADRC)等控制方法带来的鲁棒性问题,微分平坦将过程状态和控制输入映射为关于平坦输出的函数,在模型线性化的同时实现了轨迹规划的约束降维。针对不确定性较强的姿控内环,搭配ADRC从而避免微分高阶模型推导下的微分爆炸问题,ADRC不依赖于精确模型信息,提升了控制系统鲁棒性。仿真结果表明,微分平坦和ADRC互补对方缺陷,具有良好的控制性能和鲁棒性。

冷轧铜带板形控制系统数字孪生研究

本文以冷轧铜带板形控制的物理系统为基础,采用机理分析与数据智能协同建模方法,应用在线传感、互联网、云服务、大数据、虚拟仿真、机器学习等技术,研发了一套冷轧铜带板形控制数字孪生系统,实现了与物理系统的实时互动,形成了面向板形控制的信息物理系统。该系统实现在600 mm四辊轧机和600 mm六辊轧机上的工业应用。结果表明:冷轧铜带板形控制数字孪生系统不仅可以实时监控和优化轧制过程,提高板形控制水平和质量,而且可以预警轧制故障,提高轧机运行的稳定性和安全性。该系统为研发新一代冷轧带材板形智能控制技术,提供新的思路方法和应用场景。

不平衡电网下双dq坐标变换的M3C微分平坦控制策略

针对目前模块化多电平矩阵变换器(M3C)研究中常用的双αβ坐标变换解耦不彻底、传统PID控制方法效果差、不平衡工况研究少等问题,在分析拓扑结构和数学模型的基础上,采用双dq坐标变换对电气量进行解耦,建立了M3C的输入输出侧数学模型,分别对电压、电流进行正负序分离,并结合微分平坦理论,推导了输入侧、输出侧的微分平坦控制(DFC),最后模拟了两种不平衡工况下的运行情况。仿真结果表明,与线性PID控制相比,非线性的微分平坦控制提高了内环电流的跟踪速度和精度,更适用于非线性的M3C系统。在电网平衡或电网出现不对称故障时,微分平坦控制下M3C系统的动态稳定性与快速性更好,电能质量更高,电流谐波含量最多可以降低1.42%,能够更有效地抑制负序电流。