斗轮取料机液压控制系统的故障分析及改进

针对臂式斗轮取料机运行中抖动现象,进行了故障分析和排除,并对其液压原理和元件选型进行了优化及改进,为相关液压系统的故障分析和设计选型提供参考。     

Structural modification of aminoclay for catalytic applications

Abstract

An eco-friendly catalyst system was synthesized using three step reaction. The Cu nanoparticles bridged aminoclay catalyst was analyzed using various analytical techniques. The structure of the catalyst was confirmed by FTIR and XRD. The synthesized catalyst system was used for the reduction of p-nitrophenol (NP), Cr(VI), and fluorescein (Flur) dye individually, as well as in their mixture forms. The k_app value was computed to access the efficiency of the catalyst. The results indicated that the k_app value of the individual system is higher than that of the mixture systems due to the absence of the complex formation reaction. The catalytic performance of the catalyst was also tested for the Schiff base (SB) formation between poly(ethyleneglycol) (PEG) and aniline (ANI) in an oxygen atmosphere. The ¹H-NMR spectroscopy result indicates that the present catalyst system produced 86% yield.     

磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

Integral barrier Lyapunov function-based adaptive fuzzy output feedback control for nonlinear delayed systems with time-varying full-state constraints

In this article, an adaptive fuzzy output feedback control method is presented for nonlinear time-delay systems with time-varying full state constraints and input saturation. To overcome the problem of time-varying constraints, the integral barrier Lyapunov functions (IBLFs) integrating with dynamic surface control (DSC) are applied for the first time to keep the state from violating constraints. The effects of unknown time delays can be removed by using designed Lyapunov-Krasovskii functions (LKFs). An auxiliary design system is introduced to solve the problem of input saturation. The unknown nonlinear functions are approximated by the fuzzy logic systems (FLS), and the unmeasured states are estimated by a designed fuzzy observer. The novel controller can guarantee that all signals remain semiglobally uniformly ultimately bounded and satisfactory tracking performance is achieved. Finally, two simulation examples illustrate the effectiveness of the presented control methods.     

Feedforward control of the transverse strip profile in hot-dip galvanizing lines

Hot-dip galvanizing is a standard technology to produce coated steel strips. The primary objective of the galvanizing process is to establish a homogeneous zinc layer with a defined thickness. One condition to achieve this objective is a uniform transverse distance between the strip and the gas wiping dies, which blow off excessive liquid zinc. Therefore, a flat strip profile at the gas wiping dies is required. However, strips processed in such plants often exhibit residual curvatures which entail unknown flatness defects of the strip. Such flatness defects cause non-uniform air gaps and hence an inhomogeneous zinc coating thickness. Modern hot-dip galvanizing lines often use electromagnets to control the transverse strip profile near the gas wiping dies. Typically, the control algorithms ensure a flat strip profile at the electromagnets because the sensors for the transverse strip displacement are also located at this position and it is unfeasible to mount displacement sensors directly at the gas wiping dies. This brings along that in general a flatness defect remains at the gas wiping dies, which in turn entails a suboptimal coating.In this paper, a model-based method for a feedforward control of the strip profile at the position of the gas wiping dies is developed. This method is based on a plate model of the axially moving strip that takes into account the flatness defects in the strip. First, an estimator of the flatness defects is developed and validated for various test strips and settings of the plant. Using the validated mathematical model, a simulation study is performed to compare the state-of-the-art control approach (flat strip profile at the electromagnets) with the optimization-based feedforward controller (flat strip profile at the gas wiping dies) proposed in this paper. Moreover, the influence of the distance between the gas wiping dies and the electromagnets is investigated in detail.     

Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

A hybrid homogeneously weighted moving average control chart for process monitoring

Several modifications and enhancements to control charts in increasing the performance of small and moderate process shifts have been introduced in the quality control charting techniques. In this paper, a new hybrid control chart for monitoring process location is proposed by combining two homogeneously weighted moving average (HWMA) control charts. The hybrid homogeneously weighted moving average (HHWMA) statistic is derived using two smoothing constants λ₁ and λ₂ . The average run length (ARL) and the standard deviation of the run length (SDRL) values of the HHWMA control chart are obtained and compared with some existing control charts for monitoring small and moderate shifts in the process location. The results of study show that the HHWMA control chart outperforms the existing control charts in many situations. The application of the HHWMA chart is demonstrated using a simulated data.     

芽孢杆菌Bacillus sp.dwc-2对模拟地下水中U(Ⅵ)的还原行为研究

在厌氧条件下研究了西南地区一种典型土壤微生物芽孢杆菌Bacillus sp.dwc-2对模拟地下水中U(Ⅵ)的还原行为，重点考察了时间、无机阴离子、腐殖酸（HA）及富里酸（FA）对还原的影响，并利用TEM、EDS、SAED和XPS对还原后的样品进行了表征。结果表明：在pH=7.0、c_NaHCO3=5 mmol/L和T=303 K条件下，Bacillus sp.dwc-2对U(Ⅵ)的还原率随时间的增加而增加，24 h内最大还原率为12.2%，此后则随时间的增加逐渐降低；HA和FA对U(Ⅵ)的微生物还原行为有一定影响，其中HA和FA浓度为25 mg/L时，U(Ⅵ)的还原在24 h最明显，其还原率分别为14.2%和16.2%，但随着HA和FA浓度的继续增加，因在U(Ⅵ)离子与HA、FA形成的配合物表面形成致密的腐殖层，抑制了电子的转移，阻止了U(Ⅵ)的还原。此外，研究表明HCO₃^-也会抑制U(Ⅵ)的还原。TEM-SAED和XPS分析证实了还原过程中U(Ⅳ)的存在。上述结果可为真实环境中微生物还原U(Ⅵ)提供基础数据和参考。