Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems

With regard to precision/ultra-precision motion systems,it is important to achieve excellent tracking performance for various trajectory tracking tasks even under uncertain external disturbances.In this paper,to overcome the limitation of robustness to trajectory variations and external disturbances in offline feedforward compensation strategies such as iterative learning control(ILC),a novel real-time iterative compensation(RIC)control framework is proposed for precision motion systems without changing the inner closed-loop controller.Specifically,the RIC method can be divided into two parts,i.e.,accurate model prediction and real-time iterative compensation.An accurate prediction model considering lumped disturbances is firstly established to predict tracking errors at future sampling times.In light of predicted errors,a feedforward compensation term is developed to modify the following reference trajectory by real-time iterative calculation.Both the prediction and compen-sation processes are finished in a real-time motion control sampling period.The stability and convergence of the entire control system after real-time iterative compensation is analyzed for different conditions.Various simulation results consistently demonstrate that the proposed RIC framework possesses satisfactory dynamic regulation capability,which contributes to high tracking accuracy comparable to ILC or even better and strong robustness.

TIME-SPACE CONCEPT FOR PRECISION MEASUREMENT

The transformation between time and space is discussed. To improve real-time response speed of intelligent measuring system, the concept of exchanging program execution time with more circuitry is presented working in cycle mode. Displacement measuring by magnification is achieved with period measurement by magnification. To change the condition that traditional precision measurement depends on machining precision greatly, the concept of measuring space with time and theory of time-space coordinate transformation are proposed. Guided by the idea of measuring space with time, differential frequency measurement system and time grating displacement sensor are developed based on the proposed novel methods. And high-precision measurement is achieved without high-precision manufacture, which embeds the remarkable characteristics of low cost but high precision to the devices. Experiment and test results conform the validity of the proposed time-space concept.

Positioning-control Based on Trapezoidal Velocity Curve for High-precision Basis Weight Control Valve

Traditionally, basis weight control valve is driven by a constant frequency pulse signal. Therefore, it is difficult for the valve to match the control precision of basis weight. Dynamic simulation research using Matlab/Simulink indicates that there is much more overshoot and fluctuating during the valve-positioning process. In order to improve the valve-positioning precision, the control method of trapezoidal velocity curve was studied. The simulation result showed that the positioning steady-state error was less than 0.0056%, whereas the peak error was less than 0.016% by using trapezoidal velocity curve at 10 positioning steps. A valve-positioning precision experimental device for the stepper motor of basis weight control valve was developed. The experiment results showed that the error ratio of 1/10000 positioning steps was 4% by using trapezoidal velocity curve. Furthermore, the error ratio of 10/10000 positioning steps was 0.5%. It proved that the valve-positioning precision of trapezoidal velocity curve was much higher than that of the constant frequency pulse signal control strategy. The new control method of trapezoidal velocity curve can satisfy the precision requirement of 10000 steps.

Method of Precision Control of 3-D Solid Discretization Based on the Second-Order Osculating Surface

A discretization precision control method based on the second order osculating surface is proposed. The discretization precision of 3 D solid is controlled according to the error between the discrete solid surface and its second order osculating surface. The global maximal error has been gotten after analyzing all the extremums of the error function. It can be used in controlling and optimizing the discretization precision of 3 D solid in computer 3 D modeling and NC milling path generation.

A precision control method for plasma electron density and Faraday rotation angle measurement on HL-2A

The precision of plasma electron density and Faraday rotation angle measurement is a key indicator for far-infrared laser interferometer/polarimeter plasma diagnosis. To improve the precision, a new multi-channel high signal-to-noise ratio HCOOH interferometer/polarimeter has been developed on the HL-2A tokamak. It has a higher level requirement for phase demodulation precision. This paper introduces an improved real-time fast Fourier transform algorithm based on the field programmable gate array, which significantly improves the precision. We also apply a real-time error monitoring module （REMM） and a stable error inhibiting module （SEIM） for precision control to deal with the weak signal. We test the interferometer/polarimeter system with this improved precision control method in plasma discharge experiments and simulation experiments. The experimental results confirm that the plasma electron density precision is better than 1/3600 fringe and the Faraday rotation angle measurement precision is better than 1/900 fringe, while the temporal resolution is 80 ns. This performance can fully meet the requirements of HL-2A.

Precision motion control for electro-hydraulic axis systems under unknown time-variant parameters and disturbances

This article focuses on asymptotic precision motion control for electro-hydraulic axis systems under unknown time-variant parameters,mismatched and matched disturbances.Different from the traditional adaptive results that are applied to dispose of unknown constant parameters only,the unique feature is that an adaptive-gain nonlinear term is introduced into the control design to handle unknown time-variant parameters.Concurrently both mismatched and matched disturbances existing in electro-hydraulic axis systems can also be addressed in this way.With skillful integration of the backstepping technique and the adaptive control,a synthesized controller framework is successfully developed for electro-hydraulic axis systems,in which the coupled interaction between parameter estimation and disturbance estimation is avoided.Accordingly,this designed controller has the capacity of low-computation costs and simpler parameter tuning when compared to the other ones that integrate the adaptive control and observer/estimator-based technique to dividually handle parameter uncertainties and disturbances.Also,a nonlinear filter is designed to eliminate the“explosion of complexity”issue existing in the classical back-stepping technique.The stability analysis uncovers that all the closed-loop signals are bounded and the asymptotic tracking performance is also assured.Finally,contrastive experiment results validate the superiority of the developed method as well.

上海市应对新型冠状病毒肺炎疫情综合防控策略

面对新型冠状病毒肺炎疫情,上海市坚决贯彻中央部署要求,采取了最严格、最全面、最积极的防控措施,在短时间内有效地遏制疫情蔓延势头。在疫情防控过程中,准确把握疫情形势变化,因时因势调整防控策略和措施,在严防境外疫情输入、有效处置本土疫情、统筹推动疫情防控和经济社会发展方面形成了行之有效的防控举措,构建起超大城市科学精准防控工作模式。

Recent insights for the emerging COVID-19:Drug discovery,therapeutic options and vaccine development

SARS-CoV-2 has been marked as a highly pathogenic coronavirus of COVID-19 disease into the human population,causing over 5.5 million confirmed cases worldwide.As COVID-19 has posed a global threat with significant human casualties and severe economic losses,there is a pressing demand to further understand the current situation and develop rational strategies to contain the drastic spread of the virus.Although there are no specific antiviral therapies that have proven effective in randomized clinical trials,currently,the rapid detection technology along with several promising therapeutics for COVID-19 have mitigated its drastic transmission.Besides,global institutions and corporations have commenced to parse out effective vaccines for the prevention of COVID-19.Herein,the present review will give exhaustive details of extensive researches concerning the drug discovery and therapeutic options for COVID-19 as well as some insightful discussions of the status of COVID-19.

A Newly Proposed Temperature Control Methods of Fuel Gas Shuttle Kiln

A program control was applied in the fuel gas shuttle kiln,and its principle and disadvantge were analyzed.An advanced set point control method,in which the change rate of temperature is the controlled variable,is also described,and the new control system makes the control precision of temperature improved.

Experimental Research of the Radiator Thermal Performance Test Equipment and Its Application in Heating System

Radiator thermal performance test equipment plays a key role in the processing of developing a new type of heat radiator and its application products.The precise of temperature controlling,temperature measuring andflow measuring are the vital factors for a radiator thermal performance test equipment.Based on the above back-ground,this paper improves the measurement and control system of radiator thermal performance test equip-ment,which improves the accuracy of the radiator thermal performance test equipment.This paper also optimizes the software and hardware system simultaneously so as to improve the precision of the auto-test system of test equipment.Theflow rate ranges from 175 kg/h to 178 kg/h under different conditions.The average is 176.5 kg/h and the deviation rates are from 1.62%to 1.97%.The heat produced under various conditions is different.The maximum is 4.3 kW and the minimum is 4.2 kW for condition 1,the maximum is 3.3 kW and the minimum is 3.2 kW for condition 2 and the maximum is 1.95 kW and the minimum is 1.89 kW for condition 3.However,the deviation rate is about 2.9%,which shows that the device has high stability and high precision.This paper studies a new electronic heat cost allocate meter test method by radiator thermal performance test equipment at the same time.This paper tests temperature changes through four measures points and gets a result appeared as a heat backup which should be avoided when using in the test of electronic heat cost allocate meter.Some experiences and references could be gained for further research in the heating system from this test and research.

Optimization and perfection of the roughing model for ferritic SUS430

Based on the characteristics of ferritic SUS430 heating and deformation,and combined with the features of the 1780 mm hot-rolling mill,a roughing model was introduced in two aspects:optimizing the rough rolling passes and improving the width control precision.Through reducing the rough rolling passes,the rough rolling time can be shortened,the precision rolling startup temperature can be raised and the yield of the hot-rolled products can be increased.Moreover,on the premise that the slab width fluctuation was great,the precision of the width control can be improved through optimizing the parameters of the hot-rolling width control model.The result shows that the optimization and perfection of the original rolling process of the stainless steel 430 series further improved its capacity and product quality.

Progress on the use of satellite technology for gravity exploration

In this paper, the technological progress on Chinese gravity exploration satellites is presented. Novel features such as ultra-stable structure, high accurate thermal control, drag-free and attitude control, micro-thrusters, aerodynamic configuration, the ability to perform micro-vibration analyses, microwave ranging system and mass center trimmer are described.

Emerging low-nuclearity supported metal catalysts with atomic level precision for efficient heterogeneous catalysis

Supported atomically dispersed metal catalysts(ADMCs)have received enormous attention due to their high atom utilization efficiency,mass activity and excellent selectivity.Single-atom site catalysts(SACs)with monometal-center as the quintessential ADMCs have been extensively studied in the catalysis-related fields.Beyond SACs,novel atomically dispersed metal catalysts(NADMCs)with flexible active sites featuring two or more catalytically centers including dual-atom and triple-atom catalysts have drawn ever-increasing attention recently.Owing to the presence of multiple neighboring active sites,NADMCs could exhibit much higher activity and selectivity compared with SACs,especially in those complicated reactions with multi-step intermediates.This review comprehensively outlines the recent exciting advances on the NADMCs with emphasis on the deeper understanding of the synergistic interactions among multiple metal atoms and underlying structure-performance relationships.It starts with the systematical introduction of principal synthetic approaches for NADMCs highlighting the key issues of each fabrication method including the atomically precise control in the design of metal nuclearity,and then the state-of-the-art characterizations for identifying and monitoring the atomic structure of NADMCs are explored.Thereafter,the recent development of NADMCs in energy-related applications is systematically discussed.Finally,we provide some new insights into the remaining challenges and opportunities for the development of NADMCs.

Data-driven Nonparametric Model Adaptive Precision Control for Linear Servo Systems

Nowadays, high-precision motion controls are needed in modern manufacturing industry. A data-driven nonparametric model adaptive control(NMAC) method is proposed in this paper to control the position of a linear servo system. The controller design requires no information about the structure of linear servo system, and it is based on the estimation and forecasting of the pseudo-partial derivatives(PPD) which are estimated according to the voltage input and position output of the linear motor. The characteristics and operational mechanism of the permanent magnet synchronous linear motor(PMSLM) are introduced, and the proposed nonparametric model control strategy has been compared with the classic proportional-integral-derivative(PID) control algorithm. Several real-time experiments on the motion control system incorporating a permanent magnet synchronous linear motor showed that the nonparametric model adaptive control method improved the system s response to disturbances and its position-tracking precision, even for a nonlinear system with incompletely known dynamic characteristics.

A precision ADC sampling system design

Introduction The high-energy photon source,which has been built in Huairou,Beijing,has high requirements on magnetic field dithering.Magnetic field dithering is mainly determined by the stability of the output current of the power supply.In order to ensure the stability of the output current of quadrupole magnet power supply,the power supply sampling control loop needs to be precisely designed.In this paper,a precision ADC sampling system based on internal temperature control is designed to carry out precise control of the sampling ADC.Materials In this design,precise ADC chip is used to complete the precise sampling of the system.The precise sampling system contains a DAC system for high-speed settings.Methods In order to verify the design of the system,high-precision quadrupolemagnet power supply is used for measurement.Conclusion The experimental results show that the temperature variation range of precision temperature control ADC system is±0.1°C.By using the precise temperature controlADCsystem,the output current stability of the high-precision quadrupole magnet power supply is effectively improved.

Precise output loads control of load-diffusion components with topology optimization

The purpose of this paper is to present a novel topology optimization approach to control precisely the output loads under static loads and harmonic excitations.We introduce the Artificial Bar Element(ABE)at the designated output positions,where the output loads are equivalently measured and constrained with the nodal displacements of ABE.Optimization model is then formulated considering the output load constraints as well as the minimization of strain energy and dynamic displacement responses respectively under the static and dynamic conditions.The influences of the ABEs stiffness,different material usages of the design domain,widths of the output loads constraint intervals and variation ratios of output loads are discussed in detail.The proposed method is verified with several numerical examples with clear and reasonable load transfer paths.

Optimization method for accurate positioning seeding based on sowing decision

Variable seeding by sowing decision can improve the utilization rate of resources.In order to achieve more accurate position control and sowing rate control,precision sowing decision control system was developed,and the integral separation Proportional Integral Derivative(PID)control algorithm of metering disc speed and grid based dead reckoning method were proposed.In order to test the performance of the system,the experiment of the influence of integral switching on step response and the experiment of seeding response based on simulated sowing decision were carried out.The results showed that average lag distance based on dead reckoning was 72.2 cm less than that of non-dead reckoning;system response distance of integral separation PID control algorithm was 43.1 cm shorter than that of ordinary PID control algorithm.The field experiment showed that the error of the monitoring sowing rate relative to the actual sowing rate was 3.5%,the average transition distance within the speed range of 3-9 km/h was 139.5 cm,and the standard deviation was 12.8 cm.The developed seeding control system improves the accuracy of seeding based on sowing decision,and provides a technical reference for low-cost sowing decision based control system in China.

Ultralow-noise single-photon detection based on precise temperature controlled photomultiplier with enhanced electromagnetic shielding

We demonstrate an ultralow-noise single-photon detection system based on a sensitive photomultiplier tube（PMT） with precise temperature control, which can capture fast single photons with intervals around 10 ns.By improvement of the electromagnetic shielding and introduction of the self-differencing method, the dark counts（DCs） are cut down to ~1%. We further develop an ultra-stable PMT cooling subsystem and observe that the DC goes down by a factor of 3.9 each time the temperature drops 10°C. At -20°C it is reduced 400 times with respect to the room temperature（25°C）, that is, it becomes only 2 counts per second, which is on par with the superconducting nanowire detectors. Meanwhile, despite a 50% loss, the detection efficiency is still 13%. Our detector is available for ultra-precise single-photon detection in environments with strong electromagnetic disturbances.

A sulfur-substituted hemicyanine for cancer photothermal therapy without influence of intracellular viscosity

Although photothermal therapy(PTT) has emerged as an appealing strategy for cancer treatment, the development of photothermal agents capable of precisely controlling temperature remains a challenge. In this paper, we present a novel synthetic photosensitizer based on a sulfur-substituted hemicyanine. It was discovered that replacing an oxygen atom in a hemicyanine derivative with a sulfur atom significantly enhances photothermal efficiency and enables lysosome targeting in cancer cells.More importantly, because of the rigid planer structure of the sulfur-substituted hemicyanine, which differs from traditional photothermal agents(PTAs) based on twisted intramolecular charge transfer(TICT) or group rotation mechanisms, the efficiency of photothermal conversion is not affected by intracellular viscosity, allowing precise temperature control during PTT.Further modifying the agent with a glutathione-responsive moiety allows the PTAs to be activated only in cancer cells. The newly proposed PTA achieves efficient PTT in a tumor-bearing mouse model while having negligible toxic side effects on healthy tissues.