Effect of Cone Angle on the Hydraulic Characteristics of Globe Control Valve

Globe control valve is widely used in chemical, petroleum and hydraulic industries, and its throttling feature is achieved by the adopting of valve plug. However, very limited information is available in literature regarding the influence of valve plug on the internal and external features in globe control valves. Thus the effect of valve plug is studied by CFD and experiment in this paper. It is obtained from external features that the pressure drop between upstream and downstream pressure-sampling position increases exponentially with flow rate. And for small valve opening, the increment of pressure drop decreases with the increase of cone angle（β）. However, with the increase of valve opening, the effect of cone angle diminishes significantly. It is also found that the cone angle has little effect on flow coefficient（Cv） when the valve opening is larger than 70%. But for the cases less than 70%, Cv curve varies from an arc to a straight line. The variation of valve performance is caused by the change of internal flow. The results of internal flow show that cone angle has negligible effect on flow properties for the cases of valve opening larger than 70%. However, when valve opening is smaller than 70%, the pressure drop of orifice decreases with the increase of β, making the reduction in value and scope of the high speed zone around the conical surface of valve plug, and then results in a decreasing intensity of adjacent downstream vortex. Meanwhile, it is concluded from the results that the increase of cone angle will be beneficial for the anti-cavitation and anti-erosion of globe control valve. This paper focuses on the internal and external features of globe control valve that caused by the variation of cone angle, arriving at some results beneficial for the design and usage of globe control valve.

Sliding-Mode-Based Attitude Tracking Control of Spacecraft Under Reaction Wheel Uncertainties

The attitude tracking operations of an on-orbit spacecraft with degraded performance exhibited by potential actuator uncertainties(including failures and misalignments) can be extraordinarily challenging. Thus, the control law development for the attitude tracking task of spacecraft subject to actuator(namely reaction wheel) uncertainties is addressed in this paper. More specially, the attitude dynamics model of the spacecraft is firstly established under actuator failures and misalignment(without a small angle approximation operation). Then, a new non-singular sliding manifold with fixed time convergence and anti-unwinding properties is proposed, and an adaptive sliding mode control(SMC) strategy is introduced to handle actuator uncertainties, model uncertainties and external disturbances simultaneously. Among this, an explicit misalignment angles range that could be treated herein is offered. Lyapunov-based stability analyses are employed to verify that the reaching phase of the sliding manifold is completed in finite time, and the attitude tracking errors are ensured to converge to a small region of the closest equilibrium point in fixed time once the sliding manifold enters the reaching phase. Finally, the beneficial features of the designed controller are manifested via detailed numerical simulation tests.

Application of Monte Carlo method in rudder control precision

After the trajectory simulation model of rudder control rocket with six degrees of freedom is established by Matlab/ Simulink, the simulated targeting of rudder control rocket with rudder angle error and starting control moment error is carried out respectively by means of Monte Carlo method and the distribution of impact points of rudder control rocket is counted from all the successful subsamples. In the case of adding interference errors associated with rudder angle error and starting time error, the simulation analysis of impact point dispersion is done and its lateral and longitudinal correction abilities at different targeting angles are simulated to identify the effects of these factors on characteristics and control precision of the rudder control rocket, which provides the relevant reference for high-precision design of rudder control system.

Rock burst mechanism analysis in an advanced segment of gob-side entry under different dip angles of the seam and prevention technology

In order to investigate the frequent occurrences of rock burst in gob-side entry during the mining process of the mining zone No. 7, the mechanical model of main roof of fully-mechanized caving mining before breaking was established by the Winkler foundation beam theory, and the stress evolution law of surrounding rock with different dip angles of the seam during the mining process was analyzed by using FLAC3 D. The results show that: with the dip angle changing from 45° to 0°, the solid-coal side of gobside entry begins to form an L-shaped stress concentration zone at a dip angle of 30°, and the stress concentration degree goes to higher and higher levels. However, the stress concentration degree of the coalpillar side goes to lower and lower levels; the influence range and peak stress of the abutment at the lateral strata of adjacent gob increase with dip angle decreasing and reach a maximum value at a dip angle of 0°, but the tailgate is not affected; the abutment pressure superposition of two adjacent gobs leads to stress concentration further enhancing in both sides of gob-side entry. With the influence of strong mining disturbance, rock burst is easily induced by dynamic and static combined load in the advanced segment of gob-side entry. To achieve stability control similar to that in the roadway, the key control strategy is to reinforce surrounding rock and unload both sides. Accordingly, the large-diameter drilling and high-pressure water injection combined unloading and reinforced support cooperative control technology was proposed and applied in field test. The results of Electromagnetic Emission(EME) and field observation showed that unloading and surrounding rock control effect was obvious.

ASYMMETRIC VORTICES FLOW OVER SLENDER BODY AND ITS ACTIVE CONTROL AT HIGH ANGLE OF ATTACK

The studies of asymmetric vortices flow over slender body and its active control at high angles of attack have significant importance for both academic field and engineering area.This paper attempts to provide an update state of art to the investigations on the fields of forebody asymmetric vortices.This review emphasizes the correlation between micro-perturbation on the model nose and its response and evolution behaviors of the asymmetric vortices.The critical issues are discussed, which include the formation and evolution mechanism of asymmetric multi-vortices;main behaviors of asymmetric vortices flow including its deterministic feature and vortices flow structure;the evolution and development of asymmetric vortices under the perturbation on the model nose;forebody vortex active control especially discussed micro-perturbation active control concept and technique in more detail.However present understanding in this area is still very limited and this paper tries to identify the key unknown problems in the concluding remarks.

Control of Asymmetric Flow Fields of Slender Bodies at High Angle of Attack

The wind tunnel experiments is conducted to get inspiration for understanding the mechanism of the asymmetric flow pattern and developing an innovative flow control technique for a slender body at high angle of attack. The bi-stable situation of the side forces is observed, which could be easily switched by a tiny disturbances either from coming flow or from artificial disturbances at nose tip （including manufacturing defect）. In turbulent flows the side forces switched randomly between positive and negative. There exists a hysteresis loop of side force with the rolling angle. A rod in front of the slender body is used to change the vortex pattern, which could be kept even the rod is moved out from the stream. A miniature strake attached to the nose tip of the model can be moved to different circumferential position. When the strake is stationary, the hysteresis loop disappears and the side force does not change with the turbulent fluctuation of coming flow. The results from dynamic measurements of section side force indicates that when the strake swung at lower frequency the side force can follow the cadence of the swinging strake. With increasing frequency, the magnitude of the side force decreases. At still high frequency, the side force diminishes to zero. If the strake is swinging, while the middle position can be changed to different circumferential angle Фs on either left or right side, the side forces can be changed proportionally with the angle Фs. On the basis of the experimental results, the mechanism of the asymmetry is discussed.

Design and Comparison of H∞/H2 Controllers for Frigate Rudder Roll Stabilization

Roll motion of ships can be distinguished in two parts:an unavoidable part due to their natural movement while turning and an unwanted and avoidable part that is due to encounter with waves and rough seas in general.For the attenuation of the unwanted part of roll motion,ways have been developed such as addition of controllable fins and changes in shape.This paper investigates the effectiveness of augmenting the rudder used for rejecting part of the unwanted roll,while maintaining steering and course changing ability.For this purpose,a controller is designed,which acts through intentional superposition of fast,compared with course change,movements of rudder,in order to attenuate the high-frequency roll effects from encountering rough seas.The results obtained by simulation to exogenous disturbance support the conclusion that the roll stabilization for displacement can be effective at least when displacement hull vessels are considered.Moreover,robust stability and performance is verified for the proposed control scheme over the entire operating range of interest.

Energy Optimization of the Fin/Rudder Roll Stabilization System Based on the Multi-objective Genetic Algorithm （MOGA）

Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder roll stabilization can be established. This paper analyzes energy consumption caused by overcoming the resistance and the yaw, which is added to the fin/rudder roll stabilization system as new performance index. In order to achieve the purpose of the roll reduction, ship course keeping and energy optimization, the self-tuning PID controller based on the multi-objective genetic algorithm （MOGA） method is used to optimize performance index. In addition, random weight coefficient is adopted to build a multi-objective genetic algorithm optimization model. The objective function is improved so that the objective function can be normalized to a constant level. Simulation results showed that the control method based on MOGA, compared with the traditional control method, not only improves the efficiency of roll stabilization and yaw control precision, but also optimizes the energy of the system. The proposed methodology can get a better performance at different sea states.

Application of H~∞ control in rudder/flap vector robust control of a ship's course

Given the uncertainty of parameters and the random nature of disturbances that effect a ships course, a robust course controller should be designed on the basis of rudder/flap vector control. This paper analyzes system uncertainty, and the choice of weighting functions is also discussed. When sea waves operate on a ship, the energy-concentrating frequency varies with the angle of encounter. For different angles of encounter, different weighting functions are designed. For the pole of a nominal model existing in an imaginary axis, the bilinear-transform method is used. The "2-Riccati" equation is adopted to solve the H∞ controller. A system simulation is given, and the results show that, compared with a PID controller, this system has higher course precision and more robust performance. This research has significant engineering value.

Calculation of One-Valued Control Limits by Control Chart of Angles

The data we use to express angle or direction are entitled directional data. In a plan right angled coordinate system the traditional control chart can’t solve the quality control problem which the characteristic value is angle. This paper analyses and calculates the one valued control limits by control chart of angles.

Hydraulic support stability control of fully mechanized top coal caving face with steep coal seams based on instable critical angle

Analyzed the support instable mode of sliding,tripping,and so on,and believed the key point of the support stability control of fully mechanized coal caving face with steep coal seams was to maintain that the seam true angle was less than the hydraulic support instability critical angle.Through the layout of oblique face,the improvement of support setting load,the control of mining height and nonskid platform,the group support system of end face,the advance optimization of conveyor and support,and the other control tech- nical measures,the true angle of the seam is reduced and the instable critical angle of the support is increased,the hydraulic support stability of fully mechanized coal caving face with steep coal seams is effectively controlled.

A wide-angle wave control method of reducing torque ripple for brushless DC motor

In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with the traditional control scheme, by using phase voltage as a control objective and making waveform of phase current approximately quasi-sinusoidal, torque ripple of BLDC motor is reduced from the original 14% to 3.4%, while toque is increased by 3.8%. Furthermore, by detecting zero-crossings of back electromotive force （BEMF） with non-conducting phases, sensorless control is realized. The new control strategy is simple. It can minimize torque ripple, increase torque, and realize sensorless control for BLDC motor. Simulation and experiments show good performance of BLDC motor by using the new control method.

FPGA Based Speed Control of SRM with Optimized Switching Angles by Self Tuning

The electromagnetic torque and speed in Switched Reluctance Motor (SRM) greatly depend on the excitation parametersi.e. turn-on angle, turn-off angle, dwell angle and magnitude of the phase currents of its phases. At lower speeds, a change in the current contributes the torque requirement which can be achieved either by voltage control (pulse width modulation) or instantaneous current control techniques. At high speeds, due to high back EMF, the regulation of current is crucial and achieved with the control of switching angles of phases. This type of control is referred as average torque control, where the torque is averaged over one stroke (2π/Nr). With constant dwell angle, advancing the phase angle influences the current into the phase winding at minimum inductance position. It has more time to get the current out of the phase winding before the rotor reaches the negative inductance slope. To maintain the speed of the motor at different load conditions, the turn-on and turn-off angles are adaptively varied. The change in dwell angle may be required where the turn-on and turn-off angle may not be sufficient to reach the required speed. In this paper, a new algorithm is proposed for self tuning of switching parameters of SRM. The proposed algorithm is simulated in MATLAB-Simulink and experimentally validated with Field Programmable Gated Array (FPGA) using MATLAB- system generator environment.

Intelligent PID Control of Pneumatic Rotary Actuator Angle Servo-System

In order to solve the problems that make the orientation of pneumatic rotary actuator inaccurate, a newly intelligent PID control algorithm is proposed. Pneumatic rotary actuator angle servo-system uses electropneumatic proportional valve as control device, which changes the pressure of cavity and then pushes the actuator to revolve to the expected position. Using intelligent PID control algorithm, several special methods were put forward to overcome the connatural shortcomings of pneumatic system and make the rotary actuator track the expected value timely and accurately. Experimental results have shown that by using this intelligent algorithm, the performance index of system was improved greatly.

Control for Underactuated Reentry Aircraft in Small Angle of Attack

The control problem for under-actuated reentry vehicle like HTV-2 is considered with small angle of attack.The control strategy for an aircraft with positive lateral control departure parameter relies on strong lateral stability,which declines with the decrease of the angle of attack.Thus,to control the lateral-directional motion in a stable state is hard and even impossible in some scenarios where the under-actuated reentry vehicle,like HTV-2,flies in a low angle of attack.To address this problem,the lateral-directional open-loop motion characteristics are analyzed.The results show that in an uncontrolled state,the lateral-directional motion can automatically converge to stabilization thanks to the aerodynamic damping effect.Therefore,a method of turning-off the lateral-directional control and inviting aerodynamic damping to control can achieve stability.The six-degree-of-freedom simulation show that the lateral-directional motion can be stabilized by the aerodynamic damping,and the lateral position error caused by the bank angle deviation is limited near the zero-rise angle of attack.The control strategy is effective.

Research on characteristics of integrated type hydraulic transformer's control angle

In order to realize remote control of hydraulic transformers and improve the control precision of the pressure ratio,an integrated type electric hydraulic servo hydraulic transformer is proposed in this paper,a mathematical model is built and simulation of electro-hydraulic servo integrated hydraulic transformer's control angle is carried out,the principle prototype of the transformer is designed and manufactured,and experimental study is carried out on the experimental bench. The experimental results verify the correctness of the mathematical model. The results show that electro hydraulic servo control can improve the accuracy and dynamic response speed of control angle,which provides a reference for the further research of the hydraulic transformers.

Development of Instrument Control System Using Biosignals Created by the Change of Eyes Movement Sequence

A new biosi gn al control system that offers the disables the opportunities to control electric appliances is proposed.The four types of signals created by the eyes movements in four directions(up,down,left,and right),which are taken as four basic signals , are detected at the forehead.Permutation of 2 signals out of them creates 16 d ifferent signals.Permutation of 3 signals out of them creates 64 signals.They al l amounts to 84 control signals.They are thought to be applicable for the operat ion of some instruments.Furthermore,the dynamic biosignals created by the slow e yes movement is speculated to be applicable for the more convenient control of t hem.

Studies on the Seizure of Rudder on the Flight Safety of an Aircraft

The demands of aircraft quality design criterion on main control system failure and subsequently instantaneous response were analyzed.According to the simulation,the flight characteristics of an aircraft were studied in different angle of rudder seizure.It demonstrated that when rudder seizure with high angle and pilot could not take action immediately,the flight parameters would change sharply.The yaw angle increased 50 degrees in 5 minutes,side velocity could attain 40 meters per-second,the angle of attack and sideslip would surpass 30 degrees,roll rate would reach -20 degrees per second,side load would arrive 0.6g.Simultaneity the angle of attack exceeded the limited angle,the aircraft would stall.If control wasn't working,the disaster would happen.These phenomena supply the sufficient information of the rudder malfunction. The validity of correcting yaw moment by asymmetry thrust was testified,the simulation results showed that even rudder seizure in most serious conditions,adopting asymmetry thrust can correct yaw moment caused by the rudder seizure.The judgment standards of flight safety level for the state of malfunction were given.The safety level was assessed caused by the rudder seizure.For an aircraft with two engines on one side,the pilots need to adjust the 4 engines to balance the asymmetric moment,the work load is increased enormously.According the flight safety standards,the safety level is level Ⅲ.

Mineralization and Ore-controlling Implications of Low-angle Faults

Abstract Low-angle faults include those occurring in thrust-nappe structures in a compressive setting and the detachment of metamorphic core complexes in an extensional setting. All low-angle faults have their own particularities. The low-angle fault plays an important role in controlling over some endogenetic metallic ore deposits. Based on studies of the Xiaoban gold deposit, Xinzhou gold deposit, and Longfengchang polymetallic ore deposit, and comparisons with other mines, the authors conclude the ore-controlling implications of low-angle faults as follows. (1) Because of high temperature and high pressure, as well as strong ductile deformation, the internal energy of the elements rises in the large-scale deep ductile low-angle faults, which causes the elements to activate and differentiate from the source rocks, forming ore-bearing hydrothermal solution, and bring mineralization to happen. (2) When rising from depths and flowing along the low-angle faults, the ore-bearing hydrothermal solution will alter and replace the tectonites in the fault zone. The rocks of the hanging side and the heading side differ in lithology, texture and structure, which results in changes or dissimilarities of the physical-chemical conditions. This destroys the balance of the hydrothermal solution system and causes the dissolved ore-forming elements to precipitate; as a result, a deposit is formed. Therefore, the meso-shallow ductile-brittle low-angle faults play the role of a geochemical interface in the process of mineralization. (3) Low-angle faults are often one of the important host structures.