H_∞ ROBUST PERFORMANCE DESIGN FOR UNCERTAIN SYSTEMS

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

μ—Syntheses of Suspension Systems for EMS and EDS Maglev Vehicles

Introduction　　Currently ,therearetwokindsoftechnologiesforMaglevvehiclesoftenused .Oneiselectromagneticsystem (EMS) ,inwhichthevehicleislevitatedthroughtheattractiveforcesproducedbyelectromagnets.Anotheriselectrodynamicssystem (EDS) ,inwhichthevehicleis…     

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.     

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.     

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 ∞ 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.     

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.     

A novel reconfigurable data-flow architecture for real time video processing

This paper describes a dynamically reconfigurable data-flow hardware architecture optimized for the computation of image and video. It is a scalable hierarchically organized parallel architecture that consists of data-flow clusters and finite-state machine (FSM) controllers. Each cluster contains various kinds of cells that are optimized for video processing. Furthermore, to facilitate the design process, we provide a C-like language for design specification and associated design tools. Some video applications have been implemented in the architecture to demonstrate the applicability and flexibility of the architecture. Experimental results show that the architecture, along with its video applications, can be used in many real-time video processing.     

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.     

Asymptotic calculation of wave period statistics in non-Gaussian mixed sea

This article concerns the calculation of the wave period probability densities in non-Gaussian mixed sea states.The calculations are carried out by incorporating a second order nonlinear wave model into an asymptotic analysis method which is a novel approach to the calculation of wave period probability densities.Since all of the calculations are performed in the probability domain,the approach avoids long time-domain simulations.The accuracy and efficiency of the asymptotic analysis method for calculating the wave period probability densities are validated by comparing the results predicted using the method with those predicted by using the Monte-Carlo simulation(MCS) method.     

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.     

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...     

Direct algorithms for steady-state solution of long slender marine structures

The steady state solution of long slender marine structures simply indicates the steady motion response to the excitation at top of the structure.It is very crucial especially for deep towing systems to find out how the towed body and towing cable work under certain towing speed.This paper has presented a direct algorithm using Runge-Kutta method for steady-state solution of long slender cylindrical structures and compared to the time iteration calculation;the direct algorithm spends much less time than the time-iteration scheme.Therefore, the direct algorithm proposed in this paper is quite efficient in providing credible reference for marine engineering applications.     

气体燃料发动机空燃比的H∞控制

为了抑制外部扰动,改善空燃比控制精度,将H∞控制理论应用于气体燃料发动机空燃比控制系统中,通过对发动机空燃比控制系统的数学建模,进行H∞空燃比控制器的设计,然后对所设计出的H∞控制器进行仿真比较与实验测试。仿真与实验结果表明:H∞控制器能有效地提高系统的跟踪性、鲁棒稳定性与抗干扰能力,能改善稳定工况与过渡工况时发动机空燃比的控制精度。     

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.     

Analytical solution to steady-state temperature field of two freezing pipes with different temperatures

The existing analytical formulas to calculate the temperature field distribution of artificial frozen soil walls are all based on the conditions that the surface temperatures of all freezing pipes are equivalent. In this paper, analytical solution of steady state temperature field of two freezing pipes with different temperatures is deduced based on thermal potential superposition method. The correctness of the analytical formulas is verified by comparing the temperature field distributions of the analytical formulas and those of the numerical simulations in the same conditions. And discussions are made to analyze the influence of some parameters on temperature field distribution of this condition.     

SYNTHESIS AND CHARACTERIZATION OF THE LAMELLAR MICROCRYSTALLINE ZINC PHOSPHATE α-Zn_3(PO_4)_2·4H_2O

It's well knownthat redlead and zinc chromateare extensively used as anticorrosive pigment in thefor mulation of protective paints due totheir anticor-rosive efficiency.However,their applications havebeen gradually discouraged since1990because theyare hazardous and high toxic.Among several non-toxic anticorrosive pigments developed so far,zincphosphate is a desired alternative to the toxic pig-ments for its superior perfor mance.Unfortunately,zinc phosphate still cannot completelyreplacelead o…     

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.