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.

Robust adaptive precision motion control of tank horizontal stabilizer based on unknown actuator backlash compensation

Backlash nonlinearity inevitably exists in the actuator of tank horizontal stabilizer and has adverse effect on the system control performance,however,how to effectively eliminate its effect remains a pending issue.To solve this problem,a robust adaptive precision motion controller is presented in this paper to address uncertainties and unknown actuator backlash of tank horizontal actuator.The controller handles the modeling uncertainties including parameter uncertainties and unmodeled disturbances by integrating adaptive feedforward compensation and continuous nonlinear robust law.Based on the backstepping method,a smooth backlash inverse model is constructed by combining the adaptive idea.Meanwhile,the unknown backlash parameters of the system can be approximated through the parameter adaptation,and the impact of the actuator backlash nonlinearity is effectively compensated via the inverse operation,which can availably improve the tracking performance.Moreover,the adaptive law can update the disturbance ranges of tank horizontal stabilizer online in real time,which enhances the feasibility in practical engineering applications.Furthermore,the stability analysis based on Lyapunov function shows that with the existence of unmodeled disturbances and unknown actuator backlash,the designed controller guarantees excellent asymptotic output tracking performance.Extensive comparative results verify the effectiveness of the proposed control strategy.

Temperature Control of Proton Exchange Membrane Fuel Cell Based on Linear Active Disturbance Rejection Control

The performance of proton exchange membrane fuel cells is very sensitive to temperature. The electrochemical reaction results directly in temperature variations in the proton exchange membrane fuel cell. Ensuring effective temperature control is crucial to ensure fuel cell reliability and durability. This paper uses active disturbance rejection control in the thermal management system to maintain the operating temperature and the stack inlet and outlet temperature difference at the set value. First, key cooling system modules such as expansion tanks, coolant circulation pumps and radiators based on Simulink were built. Then, physical modeling and simulation of the fuel cell cooling system was carried out. In order to ensure the effectiveness of the control strategy and reduce the parameter tuning workload, an active disturbance rejection control parameter optimization method using an elite genetic algorithm was proposed. When the optimized control strategy responds to input disturbances, the maximum overshoot of the system is only 1.23% and can reach stability again in 30 s, so the fuel cell temperature can be controlled effectively. Simulation results show that the optimized control strategy can effectively control the stack temperature and coolant temperature difference under the influence of stepped charging current without interference or with interference, and has strong robustness and anti-interference capability.

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.

Adaptive robust control for triple avoidance - striking - arrival performance of uncertain tank mechanical systems

This paper puts forward an unprecedented avoidance-striking-arrival problem aiming to address the need for tank's uncertain mechanical systems on the intelligent battlefield.The associated system uncertainties(possibly rapid)are time-varying but bounded(possibly unknown).The goal is to design a controller that enables the tank to aim at and attack the enemy tank while keeping itself(out of the enemy fire zone).The tank maintains this condition until reaching the predefined region.In this paper,an approximate constraint following control method is adopted to solve this problem,and the original constraints are creatively divided into two categories:the avoidance-tracking constraint and the striking-arrival constraint.An adaptive robust control method is proposed and consequently verified through simulation experiments.It is proved that the system fully obeys the avoidance-tracking-constraint and strictly obeys the striking-arrival constraint under the control input.Besides,the control of the tank vehicle running system and tank gun bidirectional stabilization system are unified to deal with the control signal delay caused by complex uncertainties on the battlefield.Overall,this paper reduced the delay of signal transmission in the system while solved the avoidance-striking-arrival problem.

Adaptive robust feedback control of moving target tracking for all-Electrical tank with uncertainty

A moving target tracking control problem for marching tank based on adaptive robust feedback control scheme is addressed.A series of preparations is needed for tank gun before shooting a target,the purpose of this paper is to design a control system to fulfill two requirements in this process:the turretbarrel system of tank needs to be adjusted from off-target position to command position and point to the moving target stably when there are strong uncertainties(modeling error,uncertain disturbance with unknown boundaries and road excitation) in the system.Considering the characteristic of coupled interaction,the first thing we do in this paper is to build a coupled analysis model of turret-barrel system with uncertainty term in state-space form.Second,an adaptive robust feedback control scheme is proposed by adding adaptive law to overcome the uncertainty.Third,multi-body dynamics software is used to establish the mechanical mechanism of the tank,and DC-motor module is established in SIMULINK environment,thus the target information and tracking error of the control system is collected and transferred,the gear-ball screw is derived directly by the output torque of the DC-motor module.Finally,the control system and the 3D model are combined together by means of Recur Dyn/SIMULINK co-simulation,the turret-barrel system of tank can approximately track the moving target in a certain range.With the adaptive robust feedback control,the target action is completely followed when the target location is constantly changing.

Sludge Pollution Control from Crude Oil Tank Cleaning

This study investigated the use of microbial analysis as a bioremediation option for remediating petroleum sludge, which is part of the waste stream generated in the petroleum industry. The aim is to reduce environmental burden caused by the discharge of untreated sludge. Sludge sample was cultured in other to isolate microorganisms for the sludge treatment. The selected strain of the organisms after screening were Aspergillus flavus, Aspergillus niger, Verticillus sp, Penicillum sp, and Microsporium audouinii. Bioreactors (labeled A, B, C, D and O) were designed for the treatment of petroleum sludge. These reactors contain 2.0 × 10-2 m3 of the diluted sludge samples and the isolated organisms for the treatment process. On a weekly basis, the control reactors received 1.5 × 10-3 m3 of fresh and saline water respectively. After 12 weeks of treatment, sludge physicochemical characteristics showed distinct variations. From the result, reactor D was the best in terms of remediating the sludge as compared to other reactors. Friedman non-parametric test was performed to check if the weeks of treatment affected the reduction of the total hydrocarbon content (THC) in the five reactors and also checked for significant differences in the THC after treatments. The drop in the THC of the treated sludge ranged from 56.0% to 67.3%. These results showed the possibility of enhanced biodegradation of petroleum sludge by hydrocarbon utilizing microorganisms (fungi).

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.

TD-CDMA中一种下行TFCS选择算法的设计

TD-CDMA中系统层3通过选择不同的TFCS控制用户的传输速度来达到不同的服务质量。提出一种下行TFCS选择算法,该算法能够根据用户所处的无线环境及传输过程中实时BLER的变化来选择合适的TFCS,从而达到控制用户传输速率的目的,测试结果表明该算法是可行和有效的。

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.

深圳沙河水质净化厂及3#调蓄池工艺设计要点及特点

沙河水质净化厂设计规模为旱季10万m3/d,雨季额外处理10万m3/d初期雨水,3#调蓄池设计规模为15.3万m3。污水及初期雨水处理采用预处理+多段厌氧-好氧(AO)+二沉池+磁混凝高效沉淀池+精密过滤+紫外消毒的工艺,出水水质执行深圳市地方标准《水质净化厂出水水质规范》(DB 4403/T 64—2020)B级标准,其中总氮(TN)≤8 mg/L。污泥处理采用离心浓缩+低温热干化工艺,处理后含水率≤40%。作为国内首个将水质净化厂与初期雨水调蓄池深度融合的全地下式水污染治理综合体,项目采用多段AO耦合“3W法”(Wet-Weather-Wastewater法),并以此为核心提出了一种实现大规模污水及初期雨水高标准协同处理的系统解决方案,且无需大幅度增加污水处理设施体量、投资和运行成本。

基于数据装定的坦克炮毫米波近炸引信炸高控制方法

为满足打击人员、装甲、掩藏等目标需求,坦克炮毫米波近炸引信需要具备多种炸高,实现弹丸毁伤效能最大化。针对坦克炮弹道低伸,毫米波探测器波束较窄、难以满足近炸引信多种炸高的问题,建立基于装定延时的坦克炮毫米波近炸引信炸高控制模型,分析通过增加发火延时的策略实现炸高控制。弹丸发射前根据初速射角等攻击条件解算发火延时,利用武器平台与弹丸的信息交联,向近炸引信装定发火延时从而实现弹丸炸高控制。建立数学模型并仿真分析发火延时与弹丸初速、射角和毫米波探测器波束宽度、探测距离与炸高差之间的关系,总结出发火延时的计算公式,通过实验室静态试验和外场动态试验验证该方法的有效性。

高校宿舍太阳能-空气源热泵复合热水系统设计与应用探讨

在当前积极倡导节能减排的政策要求下,可再生能源利用逐渐普及。以西安建筑科技大学学生宿舍太阳能-空气源热泵复合热水系统为例,阐述了复合热水系统的构成、工作原理,对太阳能集热系统、空气源热泵换热系统、热水供水系统等进行了设计计算,给出了集热器、热泵机组、集热水箱、供热水箱等主要设备的选型结果,提出了系统运行控制方案,并结合实际运行工况下的热性能数据,计算得到系统在不同季节的太阳能保证率、热泵能效比COP值,表明系统具有极大的节能性。

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。

基于智能控制算法液位控制系统的实现

利用西门子S7-1500系列PLC模组和MCGS触摸屏,实现对双容水箱系统的液位恒值控制和水箱液位的实时监控。在不需要建立被控过程的数学模型的前提下,采用了模糊控制和模糊积分控制两种智能控制算法对液位进行控制,并分析了两种智能算法的优缺点。通过现场实验证明了模糊控制算法存在静态误差,而加入积分控制后误差可以被消除。该系统具有可视性强、控制效果好等优点。

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。

半挂液罐车弯道安全车速优化控制

为降低半挂液罐车驶过弯道路段过程中的侧翻事故风险,提出了基于最优控制的半挂液罐车弯道安全车速优化控制方法。该控制方法以侧翻事故防控为优先目标,以高效通行为辅助目标,帮助半挂液罐车在驶向弯道时提前获得无横向失稳隐患的最优车速控制方案,实现“预防式”的车辆主动安全控制。同时为提高控制方案有效性,利用正弦波动方程拟合罐内液体纵向转移过程,结合基于改进准静态法的罐内液体横向偏移规律,构建了具有纵横双维度描述能力的罐内液体晃动模型,提高了最优控制问题成本函数中半挂液罐车横向稳态表征指标的准确性。仿真结果表明:受控半挂液罐车驶过弯道过程中的瞬时横向载荷转移率始终处于[-0.7,0.7]的安全范围内;不同弯道半径下车辆瞬时横向载荷转移率均有下降,且在弯道半径61 m时降幅最大;受控半挂液罐车最大瞬时横向载荷转移率最大降幅达到0.07;车速控制对道路通行效率的负面影响较小。该控制方法帮助半挂液罐车避免侧翻事故,适用于多种不同半径的弯道路段。