轨道式垃圾回收机器人设计与分析

针对高速公路高峰期拥挤产生的垃圾等问题,设计一种轨道式垃圾回收机器人,由光伏发电装置、机器人壳体、末端手爪、关节臂以及控制系统等组成,主体结构采用双臂三关节结构,采用西门子PLC控制系统,通过控制关节臂的旋转以及偏转、末端手爪的旋转及开合等动作来实现工作的目的。结合外场作业的特殊性,采用光伏能源装置,对其结构及控制系统进行设计,通过对机器人进行三维建模、运动和控制仿真分析,验证系统的可行性及有效性。     

Filtered adaptive constrained sampled-data control for uncertain multivariable nonlinear systems

A filtered adaptive constrained sampled-data controller for uncertain multivariable nonlinear systems in the presence of various constraints is synthesized in this paper. A piecewise constant adaptive law drives that estimation error dynamics to zero at each sampling time instant yields adaptive parameters. The filtered control scheme consists of two components. Based on an estimation/cancellation strategy, a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low-pass filters, whereas a constraint violation avoidance control law is designed to solve an online constrained optimization problem. Although a reduced sampling time helps to minimize the estimation error caused by the neglect of unknowns, the resulting aggressive signals put more restrictions on the control law. Greater sacrifice of tracking performance is required to satisfy the constraints. The constraints violation avoidance control law is in favor of a larger sampling time. Sufficient conditions are given to guarantee the stability of the closed-loop system with the sampled-data controller, where the input/output signals are held constant over the sampling period. Numerical examples are provided to validate the theoretical results, comparisons between the constrained sampled-data controller and unconstrained adaptive controller with the implementation of different sampling times are carried out.     

煤巷过断层破碎带施工工艺与支护技术实践

W1313回风顺槽在里程332 m处揭露正断层,对此采取了调整巷道顶板锚网索支护参数,采用圆木大板棚复合支护等措施,并加强了顶板、通风、掘锚机破岩、爆破作业和作业人员的安全管理,确保工作面过断层破碎带时的安全施工。     

NH2-MCM-41的改性及其pH响应性释药的研究

采用正硅酸乙酯（TEOS）和3-氨丙基三乙氧基硅烷（APTES）通过共缩聚法合成介孔二氧化硅（MCM-41）。首先对其氨基修饰，再通过有机合成接枝—R基团（—R：—CHO、—OH、—CH₃、—COOH），制备得到Me-Ph-NH-MCM-41、OHC-Ph-NH-MCM-41、HO-Ph-NH-MCM-41、HOOC-Ph-NH-MCM-41四种不同的药物载体。利用FT-IR、Zeta电位、XRD和SEM对其结构和形貌表征，结果表明NH₂-MCM-41改性成功。以罗丹明B（RhB）为模型进行载药性能测试，并考察了此释药系统在模拟不同pH的体液下的敏感释药行为，同时探究了不同—R基团对释药的影响。结果显示，四种载体在中性条件下几乎不发生药物释放，通过改变环境体系pH可以有效控制药物释放，其释药行为可以用Korsmeyer-Peppas动力学模型来描述。实验表明，释药量：RhB@HOOC-Ph-NH-MCM-41>RhB@OHC-Ph-NH-MCM-41>RhB@HO-Ph-NH-MCM-41>RhB@Me-Ph-NH-MCM-41，不同—R基团的药物载体的pH响应性不同，其中RhB@HOOC-Ph-NH-MCM-41释药量在pH=1.2时可达57.87%，在用于药物智能控释材料方面具有一定的应用潜力。     

Three-phase four-wire shunt active power filter based on the SOGI filter and Lyapunov function for DC bus control

The three-phase four-wire shunt active power filter (SAPF) was developed to suppress the harmonic currents generated by nonlinear loads, and for the compensation of unbalanced nonlinear load currents, reactive power, and the harmonic neutral current. In this work, we consider instantaneous reactive power theory (PQ theory) for reference current identification based on the following two algorithms: the classic low-pass filter (LPF) and the second-order generalized integrator (SOGI) filter. Furthermore, since an important process in SAPF control is the regulation of the DC bus voltage at the capacitor, a new controller based on the Lyapunov function is also proposed. A complete simulation of the resultant active filtering system confirms its validity, which uses the SOGI filter to extract the reference currents from the distorted line currents, compared with the traditional PQ theory based on LPF. In addition, the simulation performed also demonstrates the superiority of the proposed approach, for DC bus voltage control based on the Lyapunov function, compared with the traditional proportional-integral (PI) controller. Both novel approaches contribute towards an improvement in the overall performance of the system, which consists of a small rise and settling time, a very low or nonexistent overshoot, and the minimization of the total harmonic distortion (THD).     

物理化学课程的创新教学模式研究及其效果分析

物理化学课程创新教学模式是以学生学习为中心,吐故纳新,优化精选,以新颖或变化的教学方式进行教学。调查表明创新教学模式受到绝大多数学生的肯定和认可,有效地调动学生的积极性,提高了学生对物理化学的学习和探究兴趣,学生提问问题的广度和难度发生显著变化。该教学模式能够逐步提升学生的创新意识和创新能力。     

Robust Control of Permanent Magnet Synchronous Motors

In this paper, permanent magnet synchronous motors (PMSMs) are investigated. According to the feature of PMSMs, a novel state equation of PMSMs is obtained by choosing suitable state variables. Based on the state equation, robust controllers are designed via interval matrix and PI control idea. In terms of bilinear matrix inequations, sufficient conditions for the existence of the robust controller are derived. In order to reduce the conservation and the dependence on parameter, the control inputs of PMSMs are divided into two parts, a feedforward control input and a feedback control input, and relevant sufficient conditions for the existence of the controller are obtained. Because of the suitable choice of state variables, the proposed control strategies can cope with the load uncertainty and have robustness for disturbance. Finally, simulations are carried out via Matlab/Simulink soft to verify the effectiveness of the proposed control strategies. The performance of the proposed control strategies are demonstrated by the simulation results.      

Protection of power transformer using multi criteria decision-making

Power transformers are protected by different relays that operate independently. Malfunction of each relay has a major role in reducing the reliability of the protection system. In order to mitigate the main drawbacks of the power transformer relays, an overall protection scheme is presented in this paper. This scheme proposes a novel multi criterion algorithm using decision-making based on fuzzy logic. In this paper the outputs of restricted earth fault relay and a directional check unit, are combined with the output of the differential protection relay. Therefore, problems that are pertaining to independent operation of each relay have been mitigated and the relays cover protection blind spots of each other. The improved power transformer protection (IPTP) scheme enhances the sensitivity and reliability of the power transformer protection. Extensive simulations are used to measure the effectiveness and merit of the proposed IPTP relay. The above efforts result in a multi criteria approach for protection of power transformers.     

回采巷道过断层施工技术

受断层影响,巷道过断层期间掘进速度缓慢,影响采掘接替和矿井生产效率。为了更好地促进矿井生产,以23上04轨顺掘进为研究对象,采用FLAC 3D软件模拟巷道过断层时巷道围岩变形量和塑性区范围,并将围岩划分为正常围岩、过渡带和破碎带3部分。根据模拟结果可知,围岩变形量和塑性区范围都在过渡带开始增大,在破碎带达到最大值。巷道采用后退卧底法过断层,并对断层破碎带及时采用锚网索、注浆、U型钢棚进行支护,通过联合支护相互配合,可以共同提高巷道支护强度,增强巷道顶帮抗变形能力。     

Study on maximum power point tracking of photovoltaic array in irregular shadow

Traditional maximum power point tracking (MPPT) methods can hardly find global maximum power point (MPP) because output characteristics curve of photovoltaic (PV) array may have multi local maximum power points in irregular shadow, and thus easily fall into the local maximum power point. To address this drawback, Considering that sliding mode variable structure (SMVS) control strategy have such advantages as simple structure, fast response and strong robustness, and P&O method have the advantages of simple principle and convenient implementation, so a new algorithm combining SMVS control method and P&O method is proposed, besides, PI controller is applied to reduce system chattering caused by switching sliding surface. It is applied to MPPT control of PV array in irregular shadow to solve the problem of multi-peak optimization in partial shadow. In order to verity the rationality of the proposed algorithm, the experimental circuit is built, which achieves MPPT control by means of the proposed algorithm and P&O method. The experimental results show that compared with the traditional P&O algorithm, the proposed algorithm can fast track the global MPP, tracking speed increases by 60% and the relative error decreased by 20%. Moreover, the system becomes more stable near the MPP, the fluctuations of output power is greatly reduced, and thus make full use of solar energy.