Bi-criteria optimal fault-tolerable control for SY-II remote operated vehicle

This paper proposed a bi-criteria weighting approach for fault tolerant control(FTC)of SY-II remote operated vehicle(ROV).This approach integrates the minimum kinetic energy(2-norm optimal)approach with the infinity-norm approach through a weighting coefcient,on the basis of SY-II ROV force allocation model.For the realization of fault tolerable control,this approach converts a quadratic programming problem into primaldual neural network.From the motion control simulations and experiments,bi-criteria optimization approach outperforms minimum kinetic energy optimization in FTC,SY-II ROV can realize 2-degree of freedom(DOF)horizontal fault tolerant control with one main thruster and any of horizontal ones.Therefore,this scheme is proved to be of superiority and computational efciency,both the reliability and safety for ROV have been improved.     

H_∞ ROBUST PERFORMANCE DESIGN FOR UNCERTAIN SYSTEMS

11ntroductionIn1981,ZamesformallyintroducedtheHconormasasuitabletoolformultivariablecontroldesignandformulatedtheHcooptimalcontrolproblem['].ThisoriginalformulationoftheHcooptimalcontroltheorywasinaninput-outputsetting.Mostsolutiontechniquesavailableatthattimeinvolvedanalyticfunctions(Nevanlin-na-Pickinterpolation)oroperator-theoreticmethods.Hence,thefrequencydomainmethodswerestronglyadvocated.Anearlierstate-spacesolutionwaspresentedinRef.[2j.AftertheworkofDoyleL'],theresearchinHcocontrol…     

Memory based scheme to monitor non-random small shift patterns in manufacturing process

Consistent high-quality and defect-free production is the demand of the day. The product recall not only increases engineering and manufacturing cost but also affects the quality and the reliability of the product in the eye of users. The monitoring and improvement of a manufacturing process are the strength of statistical process control. In this article we propose a process monitoring memory-based scheme for continuous data under the assumption of normality to detect small non-random shift patterns in any manufacturing or service process.The control limits for the proposed scheme are constructed. The in-control and out-of-control average run length(AVL) expressions have been derived for the performance evaluation of the proposed scheme. Robustness to non-normality has been tested after simulation study of the run length distribution of the proposed scheme, and the comparisons with Shewhart and exponentially weighted moving average(EWMA) schemes are presented for various gamma and t-distributions. The proposed scheme is effective and attractive as it has one design parameter which differentiates it from the traditional schemes. Finally, some suggestions and recommendations are made for the future work.     

Sliding mode control in position control for asymmetrical hydraulic cylinder with chambers connected

In this paper, single, two-position, two-way proportional valve is used to carry out the positon control of asymmetrical hydraulic cylinder with two chambers connected. The system structure and the working princle are introduced. The dynamic model of the asymmetrical hydraulic cylinder system is established with power bond graphs method, and becomes a fundament for analyzing the system. Sliding mode controller is designed, and the stability of the control system is analyzed. The simulation results indicate that the sliding mode controller designed can actualize the position control of asymmetrical hydraulic cylinder system, and controller is superior to traditional PID controller when the load changes in some range.     

A hybrid firefly algorithm for optimizing fractional proportional-integral-derivative controller in ship steering

In this paper, a new algorithm which integrates the powerful firefly algorithm(FA) and the ant colony optimization(ACO) has been used in tracking control of ship steering for optimization of fractional-order proportional-integral-derivative(FOPID) controller gains. Particle swarm optimization(PSO) algorithm is also used to optimize FOPID controllers, and their performances are compared. It is found that FA optimized FOPID controller gives better performance than others. Sensitivity analysis has been carried out to see the robustness of optimum FOPID gains obtained at nominal conditions to wide changes in system parameters, and the optimum FOPID gains need not be reset for wide changes in system parameters.     

Binary decision diagram quantitative analysis method based on fuzzy set theory

A binary decision diagram(BDD) is a data structure that is used to represent a Boolean function.Converting fault tree into BDD can effectively simplify counting processes and improve the accuracy and effectiveness of the results. However, due to various types of uncertainties in reliability data, we cannot obtain precise failure probabilities. In order to accurately quantify the certainties and obtain much more reliable results, we use BDD method based on fuzzy set theory for reliability quantitative analysis. In this regard, we take W-axis feeding system of heavy-duty computer numerical control(CNC) machine as a project example and adopt fuzzy BDD quantitative analysis method to analyze its reliability. The analysis results(aided by computer calculation)illustrate the effectiveness of the method proposed in this paper.     

H_∞ Autopilot Design for Autonomous Underwater Vehicles

The design approach of H∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing H∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respecti...     

Technique of Probability Density Function Shape Control for Nonlinear Stochastic Systems

The shape control of probability density function(PDF) of the system state is an important topic in stochastic systems. In this paper, we propose a control technique for PDF shape of the state variable in nonlinear stochastic systems. Firstly, we derive and prove the form of the controller by investigating the Fokker-PlanckKolmogorov(FPK) equation arising from the stochastic system. Secondly, an approach for getting approximate solution of the FPK equation is provided. A special function including some parameters is taken as the approximate stationary solution of the FPK equation. We use nonlinear least square method to solve the parameters in the function, and capture the approximate solution of the FPK equation. Substituting the approximate solution into the form of the controller, we can acquire the PDF shape controller. Lastly, some example simulations are conducted to verify the algorithm.     

A NOVEL H_∞/LTR SYNTHESIS METHOD

11ntroductionObserver-basedcontrollersarewidelyadop-tedinthesynthesisofmultivariablefeedbackcontrolsystems.Theprocedureofdesigningsuchcontrollersisdividedintotwosteps,inthefirststep,astatefeedbackgainisdesignedsothattheresultingstatefeedbackloopmeetsagivendesignspecification;inthesecondstep,anobserverisdesignedtoreconstructthestate.Thereconstructedstatevectorismultipliedbythestatefeedbackgaintoproducethecontrolin-put.Theresultingcontrollersguaranteeclosed-loopstabilityaswellassatisfactoryperfo…     

Dynamic modeling and active control of a strap-on launch vehicle

Dynamic modeling and active control of a strap-on launch vehicle are studied in this paper. In the dynamic modeling, the double-compatible free-interface modal synthesis method is used to establish dynamic model of the system, and its model precision is compared with those of finite element method(FEM), fixedinterface modal synthesis method and free-interface modal synthesis method. In the active control, the swing angle of rocket motor is used as design variable, and the control law design based on the model of mass center motion is adopted to validate the system. Simulation results indicate that the double-compatible model synthesis method can properly approximate the FEM which is used as the benchmark solution, and the model precision of the double-compatible modal synthesis method is obviously higher than those of the fixed-interface and freeinterface modal synthesis methods. Based on the control law design, the deflection of mass center of the launch vehicle is very small.     

Fault tree analysis of feeding control system for computer numerical control heavy-duty horizontal lathes with multiple common cause failure groups

The lathes are basic machine tools for manufacturing cylindrical parts. In recent years, the DLseries computer numerical control(CNC) heavy-duty horizontal lathes(HDHLs) have been widely used in the transportation, energy and aviation industries. High availability of the CNC heavy-duty lathes is demanded to guarantee the efficiency and benefit of these manufacturing industries. As one of the key subsystems of the HDHLs, the feeding control system is studied in this paper on reliability modeling and reliability analysis. The fault tree analysis(FTA) method is used for reliability modelling of the feeding control system. Considering the multiple common cause failure groups(CCFGs) existing in the system, a modified beta factor parametric model is introduced to model the common cause failure(CCF) in system. The reliability of feeding control system is then obtained and the effect of CCF on the reliability of the whole system is studied as well.     

Design of rail pressure tracking controller for novel fuel injection system

This paper proposes a rail pressure tracking controller based on a novel common rail system. A mathematical model, based on physical equations, is developed and used for feed forward control design. Rail pressure peak sampling mechanism is designed to remove the disturbance of rail pressure due to fuel injection. An enhanced tracking differentiator is designed to get smooth tracking signal and exact differential signal from signal with noise. Double loop control strategy is designed to decouple the system and to improve dynamic performance of the system. Experimental results indicate that fluctuation of rail pressure is within ±1 MPa in steady condition, while within ±3 MPa in transient condition, which verifies the effectiveness of the proposed rail pressure control strategy.     

H ∞ parameter identification and H 2 feedback control synthesizing for inflight aircraft icing

Aircraft icing accident happens frequently. Researchers try to find new ways to solve this problem. The study is facing the direction of intelligent inspection and control system. Previous studies focused on the principle of aircraft icing and its effects on flight performance. The onboard icing detection equipment can only give the qualitative icing information, but cannot effectively describe how serious the consequences would be. If the icing detection equipment fails, it will cause a serious threat to flight safety. This paper reviews the smart icing system and its fundamental principle. Then based on H∞ theory, an aircraft icing parameter identification method is introduced, and its feasibility is verified by simulation results. Moreover, this method can work normally under noise interference and measurement error. Icing parameter identification method can also test part of aircraft’s stability or control derivatives which would be changed obviously after aircraft icing. Classified by neural networks, the stability or control derivatives’ variation can be mapped to ice parameters’ variation that reflects the severity of aircraft icing. Then H2 state feedback control is designed originally to suppress the impact of noise interference, so aircraft can keep steady after it is iced. Seeing from simulation result of the whole system, it is clear that the system can effectively detect icing parameters and by using feedback control system, it can ensure the safety of aircraft in the flight envelope.     

Adaptive robust control for an active heave compensation system

Active heave compensation systems are usually employed in offshore and deep-sea operations to reduce the adverse impact of unexpected vessel’s vertical motion on the response of underwater instruments.This paper presents a control strategy for an active heave compensation system consisting of an electro-hydraulic system driven by a double rod actuator,which is subjected to parametric uncertainties and unmeasured environmental disturbances.Adaptive observer and discontinuous projection type updating law with bounded adaption rate are presented firstly to estimate the uncertain system parameters.Then a similar estimation algorithm is designed by using a multiple delayed version of the system to enhance the performance of parameter observation.A reduced order observer is also introduced to estimate unknown wave disturbances.Using the obtained uncertainty information,the resulting control development and stability analysis are implemented based on the Lyapunov’s direct method and back-stepping technique.The proposed controller guarantees the heave compensation error convergent to a bounded neighborhood around the origin.Simulations illustrate the effectiveness of the proposed control system.     

Research on the H∞ Controller Synthesis for Maglev Suspension System

The performances of a single-magnet model, which is the simplified model of Maglev suspension, are analyzed. The H∞ controller synthesized for the single-magnet model is presented. The synthesis results show that the control performance and robustness performance are satisfactory and the application of the H∞ controller to Maglev suspension is feasible and effective.     

Distributed cooperative coverage of mobile robots with consensus-based connectivity estimation

This paper deals with the discrete-time connected coverage problem with the constraint that only local information can be utilized for each robot. In such distributed framework, globM connectivity characterized by the second smallest eigenvalue of topology Laplacian is estimated through introducing distributed minimal- time consensus algorithm and power iteration algorithm. A self-deployment algorithm is developed to disperse the robots with the precondition that the estimated second smallest eigenvalue is positive at each time-step. Since thus connectivity constraint does not impose to preserve some certain edges, the self-deployment strategy developed in this paper reserves a sufficient degree of freedom for the motion of robots. Theoretical analysis demonstrates that each pair of neighbor robots can finally reach the largest objective distance from each other while the group keeps connected all the time, which is also shown by simulations.     

自动控制电加热水箱

在冬季给汽车加热水对发动机进行预热,能够便于发动机起动、减少发动机机件的磨损.由于采用燃煤(油)锅炉烧热水不仅需要有人值守,而且会造成环境污染,因此,我公司自行研制了一种自动控制的电加热水箱(以下简称电热水箱),用于冬季给车辆提供热水,使用几年来效果较好.现将其工作原理和结构介绍如下,供广大公交同行参考.     

Distributed model predictive control with one-step delay communication for large-scale systems and a case study

A distributed model predictive control（MPC） scheme with one-step delay communication is proposed for on-line optimization and control of large-scale systems in this paper. Cooperation between subsystems is achieved by exchanging information with neighbor-to-neighbor communication and by optimizing the local problem with the improved performance index in the neighborhood. A distributed MPC algorithm with one-step delay communication is developed for the situation that there is a one-step delay in the information available from its neighbors when a subsystem solves the local optimization problem. The nominal stability is employed for the whole system under the distributed MPC algorithm without the inequality constraints. Finally, the case study of the reactor-storage-separator（RSS） system is illustrated to test the practicality of the presented control algorithm.     

马洛替酯缓释片人体药代动力学及生物利用度

目的　研究马洛替酯缓释片单次给药和多次给药的人体药代动力学和生物利用度。方法　 2 0名健康男性志愿受试者随机交叉分别单次及多次口服马洛替酯缓释片与普通片 ,采用高效液相色谱法 (HPLC)测定血浆中马洛替酯的浓度 ,用 3P97程序进行数据处理。结果　单次口服马洛替酯缓释片与普通片 (6 0 0mg)后 ,AUC0～ 2 4分别为 (130 .77± 39.81)和 (135 .4 7± 4 6 .39) μg·h·L-1;AUC0～∞ 分别为 (16 4 .4 9± 5 1.6 9)和 (173.0 3± 6 5 .6 9) μg·h·L-1;Tmax分别为(4.15± 1.73)和 (2 .2 5± 0 .72 )h ;Cmax分别为 (2 4 .2 3± 11.2 3)和 (35 .0 5± 16 .0 2 ) μg·L-1;t1/ 2 分别为 (11.11± 2 .92 )和(10 .5 1± 1.98)h。多次口服马洛替酯缓释片 (每次 30 0mg,每日 2次 )与普通片 (每次 2 0 0mg ,每日 3次 )达稳态后 ,AUCss0～τ分别为 (112 .5 7± 34.37)和 (76 .97± 18.0 9) μg·h·L-1;Tmax分别为 (3.35± 1.2 2 )和 (2 .0 0± 0 .6 5 )h ;Cmax分别为 (2 1.4 6± 7.82 )和 (2 5 .2 8± 7.78) μg·L-1;Cmin分别为 (5 .4 5± 1.2 4 )和 (5 .0 6± 0 .81) μg·L-1;Cav分别为 (9.38± 2 .86 )和 (9.6 2± 2 .2 6 ) μg·L-1;波动度 (DF)分别为 (1.6 9± 0 .4 0 ) %和 (2 .0 8± 0 .6 2 ) %。马?     

海马结构的磁共振体积测量

目的　定量测量正常成年人的海马结构 (HPF)体积 ,确定其正常值范围 ,作为影像学早期诊断Alzheimer病 (AD)及海马硬化 (HS)的参照标准。方法　冠状位MRI定量测量了 2 5 4例1 8～ 76岁年龄段的正常人海马结构体积、颞角宽度及全脑体积 ,并进行相关分析。结果　标准化后的HPF体积无性别及利手差异 ,右侧略大于左侧 (P <0 .0 5 ) ,左右之差为 ( 0 .1 0± 0 .2 6)cm3。HPF体积与年龄、颞角宽度呈负相关 ,与全脑体积呈正相关。HPF体积各年龄段间有差异(P <0 .0 5 ) ,其正常值中青年组 (年龄 <60岁 )为 :左 ( 2 .64± 0 .43)cm3,右 ( 2 .74± 0 .44)cm3;老年组 (≥ 60岁 )为 :左 ( 2 .44± 0 .37)cm3,右 ( 2 .47± 0 .42 )cm3。结论　海马结构体积有左右侧及年龄段间的差异 ,实际工作中应预以重视 ,以免误诊。