Adaptive constraint control for flexible manipulator systems modeled by partial differential equations with dead-zone input

In this article, based on partial differential equations (PDEs), the flexible manipulator system with both dead-zone input and state constraints is studied. The dynamic model of the flexible manipulator system is described by PDEs. The parameters of the dead-zone input are unknown, and the state constraint problem is also considered. An adaptive approach is proposed to offset the effects caused by dead-zone input. Thus, to guarantee that all states remain within their respective constraint regions, the boundary control law based on the barrier Lyapunov function is given, and an adaptive controller is designed. According to the Lyapunov analysis method, the control method is given to ensure that all signals of the closed-loop system are bounded and all states satisfy the constraint conditions. Finally, simulation results show the effectiveness of the proposed control method in this article.     

Extended-state-observer-based dynamic surface control of flexible-joint robot systems with input saturation

This article presents an extended-state-observer-based dynamic surface control approach for flexible-joint robot systems with asymmetric input saturation and large unknown dynamic knowledge. Traditional controllers for flexible-joint robot systems usually use approximation technology to deal with unknown dynamics knowledge. Unlike the traditional control algorithm, this article utilizes an extended state observer to estimate the unknown dynamics. For the closed-loop system, the delay strategy handles the time-scale separation issue, the filtering system overcomes the “explosion of differentiation” caused by the repeated differentiation of auxiliary control signals, and the mean-value-theorem solves the input saturation problem of the actuator. The stability analysis implies that estimation errors of extended state observers (ESOs) and other state variables are semiglobally uniformly ultimately bounded. Compared with fuzzy control algorithms, the novel ESO-based dynamic surface control approach not only omits online learning time but also uses only a few control parameters to obtain satisfactory tracking performance. Finally, a comparison simulation experiment is provided to illustrate the effectiveness of the gained conclusions.     

CO2 sequestration in depleted methane hydrate deposits with excess water

The recent increase in atmospheric CO₂ concentration makes it necessary to investigate new ways to reduce CO₂ emissions. Simultaneously, natural gas hydrate mining technology is developing rapidly. The use of depleted methane hydrate (MH) deposits as potential sites for CO₂ storage is relatively safe and economical. This method can alleviate the shortage of hydrate displacement gas with CO₂. The purpose of this study was to investigate CO₂ hydrate formation characteristics during the seepage process—in reservoirs with excess water—and their effect on CO₂ storage. The experimental process can be divided into 5 parts: MH formation, water injection, MH dissociation, CO₂ hydrate formation, and CO₂ hydrate dissociation. Magnetic resonance imaging was employed to monitor the distribution of liquid water, and the effects of different parameters on the formation and dissociation of CO₂ hydrates were analyzed. It was found that a state of initial water saturation can effectively control hydrate saturation in artificial MH reservoirs for hydrate reservoirs with excess gas. In the process of CO₂ flow, initial water saturation was not the main controlling factor for CO₂ hydrate formation. Increasing the flow pressure and reducing the flow rate were beneficial for CO₂ hydrate formation. This study is of great significance for advancing the science of CO₂ geological storage in the form of deep‐sea hydrates.     

生物氧化预处理中进气量实时预测数学模型研究

精准预测生物氧化预处理中的进气量对提高黄金提取率和节能降耗具有重要意义。以气体管流连续性方程和运动方程为控制方程，采用Preissmann隐格式法作为差分方法。同时，根据集合卡尔曼滤波(Ensemble Kalman filter，EnKF)算法原理，构造进气量、压强的状态空间模型。结果表明，基于气体管流控制方程建立的进气量模型预测结果与实际进气量观测值具有较好的一致性；与传统静态预测方法相比，EnKF同化方法引入实时观测值和模型参数的更新，有效提高了进气量的预测精度，其平均绝对误差、平均相对误差和均方根误差有明显的降低。可见，基于气体管流控制方程建立的预测模型结合EnKF同化方法是提高生物氧化槽进气量预测精度的有效手段。     

用于机床减振的磁流变阻尼器优化设计

以三平动冗余驱动并联机床为研究对象,设计了一种具有位移放大功能的磁流变阻尼器,通过Ansys workbench有限元分析软件,对阻尼器的磁路饱和情况进行模拟仿真和分析,使阻尼器的阻尼出力达到最优。研究结果表明,通过优化使磁场分布更加合理,提高了阻尼器的力学性能,优化方法是可行有效的。     

Improved multi-recessed 4H–SiC MESFETs with double-recessed p-buffer layer

An improved multi-recessed 4H–SiC metal semiconductor field effect transistor (MRD-MESFET) with double-recessed p-buffer layer (DRB-MESFET) is proposed in this paper. By introducing a double-recessed p-buffer layer, the gate depletion layer is further modulated, and higher drain saturation current and DC transconductance are obtained compared with the MRD-MESFET. The simulations show that the drain saturation current of the DRB-MESFET is about 42.4% larger than that of the MRD-MESFET. The DC transconductance of the DRB-MESFET is almost 15% higher than that of the MRD-MESFET and very close to that of double-recessed structure (DR-MESFET) at the bias conditions of V_gs=0 V and V_ds=40 V. The proposed structure has an improvement of 26.1% and 74.2% in the output maximum power density compared with that of the MRD-MESFET and DR-MESFET, respectively. In the meanwhile, the proposed structure possesses smaller gate-source capacitance, which results in better RF characteristics.     

Global stable tracking control of underactuated ships with input saturation

In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.     

Performance investigation of multi-stage saturation cycle with natural working fluids and low GWP working fluids

Improving the efficiency of a vapor compression cycle and using low GWP working fluids have become more important than ever due to the environmental concerns. A saturation cycle consisting of saturation compression and saturation expansion was proposed in order to improve a vapor compression cycle performance by reducing thermodynamic losses associated with single phase gas compression and isenthalpic expansion. The saturation cycle can be approached by multi-stage cycles with two-phase refrigerant injection. In this paper, the performance of saturation cycle was theoretically investigated for low GWP working fluids including natural fluids under ASHRAE standard operating conditions and extreme heating condition. The simulation results indicate that the benefit of using the multi-stage cycle is higher for the cycle with higher pressure ratio. When the saturation cycle technique (four-stage cycle) is applied, the COP improvements of D2Y60 (mixture of R32 and R1234yf), CO₂ and propane are 46.9%, 43.2% and 38.2%, respectively under extreme heating condition.