The prediction of projectile-target intersection for moving tank based on adaptive robust constraint-following control and interval uncertainty analysis

To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.

Accuracy Assignment Study of Tank Fire Control System Based on Value Analysis Method

A method of accuracy assignment based on value analysis method （VAM） in tank fire control system （TFCS） is proposed. From the analysis of primary error sources and their error transfer relationships, the mathematical model is built on the basis of VAM to solve the accuracy assignment problem. Simulation results show the validation and feasibility of the proposed method. It can help designer of tank fire control system work out an optimal system more efficiently and more economically.

An Expanded Optimal Control Policy for a Coupled Tanks System with Random Disturbance

In this paper, an expanded optimal control policy is proposed to study the coupled tanks system, where the random disturbance is added into the system. Since the dynamics of the coupled tanks system can be formulated as a nonlinear system, determination of the optimal water level in the tanks is useful for the operation decision. On this point of view, the coupled tanks system dynamics is usually linearized to give the steady state operating height. In our approach, a model-based optimal control problem, which is adding with adjusted parameters, is considered to obtain the true operating height of the real coupled tanks system. During the computation procedure, the differences between the real plant and the model used are measured repeatedly, where the optimal solution of the model used is updated. On this basis, system optimization and parameter estimation are integrated. At the end of the iteration, the iterative solution approximates to the correct optimal solution of the original optimal control problem, in spite of model-reality differences. In conclusion, the efficiency of the approach proposed is shown.

Adjusting the Parameters of PI Regulator in All-electrical Tank Gun Control System by Computer Program

Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical drive control systems affect the performance of the control system seriously. Up to now, there is not a simple and practical method for choosing regulator parameters, which are usually determined by repeated and continual readjustment. This method is low efficient, and the parameters got are not always optimal. A method for on-line adjusting the parameters of PI regulator in the electrical drive control system by computer program is introduced in this paper. The function of adjusting PI parameters of the electrical drive control system is realized by PC program written by VC++ and controlling program written by assemble language and by the communication between PC and DSP completed by the control MSCOMM in VC++6.0. The method as mentioned above which is applied for an all-electrical tank gun control system under development is proved very available, a better performance might be obtained for the all-electrical tank gun control system easily.

Sliding Mode Control of Coupled Tank Systems Using Conditional Integrators

For the problem of set point regulation of the liquid level in coupled tank systems, we present a continuous sliding mode control(SMC) with a "conditional integrator", which only provides integral action inside the boundary layer. For a special choice of the controller parameters, our design can be viewed as a PID controller with anti-windup and achieves robust regulation.The proposed controller recovers the transient response performance without control chattering. Both full-state feedback as well as output-feedback designs are presented in this work. Our output-feedback design uses a high-gain observer(HGO) which recovers the performance of a state-feedback design where plant parameters are assumed to be known. We consider both interacting as well as non-interacting tanks and analytical results for stability and transient performance are presented in both the cases. The proposed controller continuous SMC with conditional integrators(CSMCCI) provides superior results in terms of the performance measures as well as performance indices than ideal SMC, continuous SMC(CSMC) and continuous SMC with conventional integrator(CSMCI). Experimental results demonstrate good tracking performance in spite of unmodeled dynamics and disturbances.

Bifurcation of elastic tank-liquid coupled sloshing system

The nonlinear equations of an elastic tank-liquid coupling system subjected to the external excitation are established.By means of the multi-scale method and the singularity theory,the bifurcation behaviors of the system are investigated and analyzed.The various nonlinear dynamical behaviors of the coupling system are obtained,which can further explain the relationship between the physical parameters and the bifurcation solutions.The results provide a theoretical basis to the realization of the parameter optimal control.

Research of refrigeration system for a new type of constant temperature hydraulic tank

Different from the traditional hydraulic oil cooling method,a new type of constant temperature oil tank cooling system based on semiconductor refrigeration technology is designed. This paper studies the principle of semiconductor refrigeration and establishes a heat transfer model. Semiconductor cooler on piping refrigeration is simulated,and influence of the parameters on the outlet temperature,such as pipe pressure difference of inlet and outlet,pipe length,pipe radius,are gotten,and then hydraulic tank semiconductor refrigeration system is proposed. The semiconductor refrigeration system can control temperature at 37 ± 1°C.

基于多参数融合的生物发酵罐系统设计

目的:提高生物发酵罐系统完成发酵品质,并方便实验人员操作。方法:设计一套能够完成不同发酵条件的生物发酵罐系统,选用西门子的S7-1200 PLC为主控制器,昆仑通态触摸屏和智能云端的上位机,实现发酵实验中的温度、pH值、溶氧等多参数指标融合的自动调节和关联完成搅拌速度、多种方式的补料等关键操作。结果:该发酵罐系统能有效提高发酵质量。结论:设备不仅提高了温度、pH值、溶氧等重要指标控制精度和响应速度,设计的远程监测、操作和报警功能,有效减少实验人员的长时间盯守,而且操作方便、界面友好,有效改善生物发酵实验效果。

一类复杂工业过程的数据驱动与PID协调控制

针对一类具有强非线性且难以建立精确数学模型的复杂工业过程,提出了一种基于PID与数据驱动的协调控制策略。在系统初始阶段,采用PID控制方法,不需要建立系统的数学模型,就能获得大量系统输入输出(I/O)数据。在系统稳态阶段,提出了多输入多输出(multiple input multiple output,MIMO)无模型自适应离散终端滑模控制(model-free adaptive discrete terminal sliding mode control,MFA-DTSMC)方法,该方法基于系统的紧格式动态线性化数据模型,且伪Jacobian矩阵(pseudo-Jacobian matrix,PJM)估计算法仅取决于被控对象的I/O测量数据。其次,设计了一种协调控制策略,实现了PID与数据驱动控制器之间的协调控制。以双容水箱液位系统为例进行仿真实验,仿真结果验证了所提控制策略的有效性。

500 kA铝电解槽工艺技术寻优之路

连城分公司的世界首条500 kA电解铝生产线受槽型大、电流密度大及原材物料等方面的影响,投产以来,除主要指标电耗无根本改善外,氧化铝、阳极毛耗等物料消耗达标,且槽寿命达到预期。基于此,工艺技术团队成员对电解槽磁场和流场设计、炉膛尺寸和母线配置、热平衡和散热分布、电解质成分控制、物料平衡及自控系统等方面进行分析研究、不断探索寻优,确保了系统平稳运行。

基于扰动观测器的双容液位系统RBF神经网络滑模控制

针对双容液位系统存在的外部扰动、模型参数不确定等问题,设计了一种基于非线性扰动观测器(nonlinear disturbance observer,NDOB)的径向基函数神经网络滑模控制(radial basis function neural network sliding mode control,RNNSMC)方法。建立双容液位系统数学模型,采用积分型滑模面来提高系统的鲁棒性,在常规积分滑模控制的基础上,通过RBF神经网络(RBF neural network,RNN)对系统的非线性函数进行逼近,并设计非线性扰动观测器估计外部扰动,选用Lyapunov稳定性判据证明了控制策略的闭环稳定性。仿真结果表明,所提控制策略与积分滑模控制(integral sliding mode control,ISMC)方法相比,不需要精确的数学模型,且控制精度更高,抗干扰能力更强。

基于组态王6.55的双容水箱控制系统设计

双容水箱作为调节和控制液位的工具,其规模不断扩大、复杂程度不断提高。传统的控制方法很难达到理想的控制效果。基于组态王6.55软件设计的控制系统,能够控制双容水箱的液位,使其处于安全范围。当液位超出安全范围时,系统进行报警并打印报表,输出当前值。主控画面能直观显示双容水箱液位控制的结果。经验证,该控制系统画面简单、直观,操作便捷,可应用于双容水箱的实际控制。

某化工厂项目配套罐区SIS系统改造实践研究

针对化工厂自建罐区并没有专门安全仪表系统,全部依靠DCS系统实现连锁及保护的问题,从自控水平到罐区安全要求等与现有要求相差甚远的现状,对存在安全缺陷的储罐逐步改造为液位仪表联锁及阀门快速切断控制系统。本次改造实现油品罐区内一二级重大危险源能按照有关规范设置独立SIS系统,建立安全屏障,保障安全生产。

常压储罐氮封系统的设计

氮封流程是储罐工艺设计的常用流程,为防止储罐内物料因与进入的外界气体(空气)接触而被污染变质或与外界进入的气体(空气)发生化学和(或)生物反应,常需设置气封系统。储罐设置氮封系统是降低油品蒸发损耗必不可少的重要措施。在石油、化工等行业,储罐是必不可少的储存设备,对储罐进行氮封可以有效减少油品蒸发损耗,提高储罐的使用寿命,避免环境污染等问题。对于不同性质的物料,氮封系统方案需要根据物料性质进行改进。例如,对于轻质油品储罐,需要增加氮气流量,保持储罐内部压力稳定,防止油品挥发;对于高温易结晶的液硫,需要增加氮气流动速度,防止液硫结晶,影响储罐使用寿命;对于顺酐,需要增加氮气流量,减少顺酐受潮,防止产生燃爆事故。基于此,本文主要针对氮封系统设计展开相关探讨分析。

双容水箱液位DCS控制系统设计

液位参数是化工生产中的一个重要的过程变量。文章以串接双容水箱为被控对象,以水箱液位为被控变量,分析了液位控制的特点并分别设计了水箱液位单回路控制系统和串级控制系统,控制回路参数整定采用PID控制策略,DCS采用浙大中控JX-300XP过程控制系统,实现对水箱液位的监控。通过对比两种方案,串级控制系统的跟随响应比单回路控制稍快,对系统干扰的抑制作用比较明显。

大黑水河流防洪排水体系优化设计方案研究

通过对大黑水河流防洪排水系统的现状进行调研和分析,提出优化设计方案。结果表明,通过合理规划、优化设计和科学管理,可以有效提升大黑水河流防洪排水体系的效能,为当地防洪工作提供有力支持。

ControlLogix在高炉喷煤中的应用

介绍了唐钢2号高炉喷煤的工艺流程,ControlLogix系统的特点以及该系统的硬件组成和软件功能,并对主要控制功能的设计思路进行了较详细的叙述。

U型减摇水舱的流体动力特性分析及控制系统设计

船舶的减摇控制一直是船舶领域的重要研究方向,减摇水舱利用水舱液体的重力产生抗摇动力,提高船舶的稳定性。常见的减摇水舱包括主动式减摇水舱和被动式减摇水舱2种,被动式减摇水舱没有控制系统,只能借助舱内水体的惯性进行减摇;主动式减摇水舱具备舱内水泵控制系统,可根据外界环境特征,控制舱内水体的运动,具有更好的减摇效果。主动式减摇和被动式减摇水舱的结构以U型结构为主,本文研究主动式U型水舱的流体动力学性能和控制系统,详细介绍了控制系统构成和仿真过程。

一种新型三水箱太阳能热水系统及控制策略

在传统集中式双水箱太阳能热水系统的基础上,提出一种引入补水加热水箱的新型三水箱太阳能热水系统,并进一步开发了相应控制策略,以在太阳辐射量较低和较高情况下均可充分利用该水箱蓄存太阳能并对补水进行加热,从而实现系统太阳能保证率的提升和辅助热源运行时间的减少.为探究所提系统的运行性能,建立了TRNSYS仿真模型并通过实验对其进行了验证.在该模型的基础上,对该系统运行性能及相应影响因素进行了分析.研究结果表明,与传统系统相比,所提系统全年太阳能保证率的相对提升率为22.42%;单纯增大补水加热水箱体积并不会使得系统全年太阳能保证率不断提升,因此实际应用中应综合考虑系统全年太阳能保证率与初投资以合理选择补水加热水箱体积;在不同用水行为模式下所提系统与传统系统相比均可更为充分地利用太阳能.此外,针对长沙地区某居住建筑的经济性分析显示,与传统系统相比,采用所提系统后年运行费用降低了18.31%,相应投资回收期为0.66年.

LNG接收站BOG处理系统工艺及控制研究

分析了液化天然气(LNG)接收站蒸发气(BOG)的来源,对BOG需处理量进行了计算,得出:在卸船工况及非卸船工况下的BOG需处理量分别为15.837 t/h和2.863 t/h。研究了BOG处理系统的组成和再冷凝工艺,通过提高再冷凝换热效率、将低压BOG直接外输、控制储罐压力等方式,对再冷凝工艺及BOG处理系统进行了优化。分析了进入再冷凝器的BOG所需的LNG量、再冷凝器液位、再冷凝器顶部及底部压力等参数。利用调节器调整进入再冷凝器的LNG流量;通过调节阀门PV02A/B的开度控制再冷凝器底部压力;通过调节BOG压缩机负荷调整再冷凝器液位,实现液位控制的优化。