Persistently exciting model predictive control

Model predictive control (MPC) is a well‐known and widely used advanced control technique, which is model‐based and capable of handling both input and state/output constraints via receding horizon optimization methods. Fundamentally, MPC is a nondynamic or memoryless state feedback control. Because of its use of a model, MPC should be amenable to adaptive implementation and to on‐line tuning of the model. Such an approach requires guaranteeing signal properties, known as ‘persistent excitation’, to ensure uniform identifiability of the model, often expressed in terms of spectral content or ‘sufficient richness’ of a periodic input. We propose an approach to augment the input constraint set of MPC to provide this guarantee. This, in turn, requires equipping the controller with its own state to capture the control signal history. The feasibility of periodic signals for this condition is established. A computational example is presented illustrating the technique and its properties. Copyright © 2013 John Wiley & Sons, Ltd.     

咔唑生产技术浅谈

对蒸馏-溶剂法、溶剂-蒸馏法和双溶剂法生产咔唑的3种实用工艺进行了评述。结果表明,双溶剂法工艺的咔唑得率高、劳动强度小、投资少,可以充分利用煤焦油中的咔唑资源。该工艺适用于50万t/a以下的煤焦油加工厂,经济效益好。     

Dual-quaternion based fault-tolerant control for spacecraft formation flying with finite-time convergence

Study results of developing control system for spacecraft formation proximity operations between a target and a chaser are presented. In particular, a coupled model using dual quaternion is employed to describe the proximity problem of spacecraft formation, and a nonlinear adaptive fault-tolerant feedback control law is developed to enable the chaser spacecraft to track the position and attitude of the target even though its actuator occurs fault. Multiple-task capability of the proposed control system is further demonstrated in the presence of disturbances and parametric uncertainties as well. In addition, the practical finite-time stability feature of the closed-loop system is guaranteed theoretically under the designed control law. Numerical simulation of the proposed method is presented to demonstrate the advantages with respect to interference suppression, fast tracking, fault tolerant and practical finite-time stability.     

含2个S副间隙6-SPS机构奇异性分析

6-SPS机构位姿矩阵采用四元数法描述,并将该矩阵和矢量坐标扩展为4维形式,推导出无间隙机构的运动方程,得到了机构运动的新型雅克比矩阵J_A和J_B;在此基础上,利用连续接触模型得到了两个含间隙S副共连杆和异杆时机构的运动系数矩阵。分别把各个运动系数的行列式展开,得到含间隙机构第一类奇异和第二类奇异的轨迹方程,利用MATLAB得到了机构在给定位置时的第一类位姿奇异轨迹和第二类位姿奇异三维轨迹曲面;通过将两类含间隙机构奇异轨迹曲面的比较,发现机构间隙对第二类奇异的影响大于对第一类奇异的影响;在两类奇异轨迹中,当S副异杆时,机构间隙的影响均大于S副共连杆时的影响。以无间隙机构奇异轨迹曲面上奇异点作为参考点,通过含间隙机构奇异轨迹曲面上与参考点相对应奇异点的相互比较,发现存在一个关于参考点的奇异域。     

Combustion analysis of the diesel–biogas dual fuel direct injection diesel engine – the gas diesel engine

In this investigation, biogas (BG) was used as an alternative fuel in a single-cylinder, four-stroke, air-cooled, direct injection (DI) diesel engine that was operated on a dual fuel mode. Biogas was produced from a non-edible seed de-oiled cake-pongamia pinnata (Karanja), which was collected from the biodiesel industries. The BG was inducted along with the air in suction of the engine at four different flow rates varying from 0.3?kg/h to 1.2?kg/h in steps of 0.3?kg/h. The investigation results revealed that BG inducted at a flow rate of 0.9?kg/h gives better combustion characteristics of engine behaviour than those of other flows throughout the engine operation. The ignition delay (ID) and combustion duration of the engine run by dual fuel operation at a BG flow rate of 0.9?kg/h were found to be longer by about 2 °CA and 2.9 °CA, respectively, in comparison with diesel at full load. The cylinder peak pressure was found to be overall higher by about 11?bar than that of diesel at full load.     

Factors Influencing Dual Phase Steel Flanging Limit Punching

Based on pre punching to hot rolled martensitic and bainitic dual phase steels with similar elongation and work hardening index （n）, as well as similar thickness and hole expansion test using taper die, analysis of the hole expansion rate indicated significant difference in their flanging performance. The results indicated that mechanical property was not the only major factor that influenced flanging. Further analysis of the hole border microstructure, work hardening condition, and fracture property showed that the fracture property of sheets was the major factor that influenced flanging performance.     

Dynamics of a Dual Power-split Transmission Based on Loaded Tooth Contact Analysis

In order to implement the dynamic characteristic of a dual power-split transmission,a dynamic mechanics model is built. Firstly,according to the method of theoretical analysis of the tooth contact analysis ( TCA) and loaded tooth contact analysis ( LTCA) ,the actual meshing process of each gear pairs is simulated, and the time-varying mesh stiffness excitations are obtained,which can improve the numerical precision. Secondly,by using the lumped mass method,the bending-torsional coupling three dimensional dynamic model of the dual power-split transmission is established,and the identical dimensionless equations are deduced by eliminating the effect of rigid displacement and the method of dimensional normalization. Finally,by the method of the fourth order Runge-Kutta algorithm with variable step lengths,the responses of this system in a frequency domain and time domain are obtained,and the dynamic load change characteristics of each gear pairs are analyzed. The results show that the establishment,solution and analysis of the system dynamics model could provide a basis for the dynamic design,and have an important significance for the dynamic efficiency analysis and dynamic performance optimization design of the dual power-split transmission.     

双重信息编码遗传算法在选址模型中的应用

在分析了一类配送中心选址问题的基础上,建立了该配送中心选址问题的数学模型。提出一种具有双重信息的遗传算法编码方案,并结合相应的遗传操作进行求寻优求解,最后通过实验证明了该方法的可行性和有效性。     

无线双模数字对讲机的设计与实现

传统模拟对讲机由于频谱利用率低、抗干扰性能差、频道开放、不具有保密性等原因已经很难满足需求。文章介绍的无线双模对讲机用于改善传统模拟对讲机抗干扰及保密性差的缺点,所提双模对讲机设计方案综合了集群和无中心两种工作模式功能,具有灵活设置与抗干扰性强的优点。文中重点设计了对讲机的软硬件结构,还对音频编解码进行了讨论分析。     

Performance of microwave synthesized dual solvent dope solution and lithium bromide additives on poly(ethersulfone) membranes

BACKGROUND: Generally the fabrication of polymeric membranes is a complicated and expensive process since it involves several steps. The preliminary preparation steps involve polymer drying and dissolution and is very time consuming and expensive. Currently, conventional electrothermal heating (CEH) is used to dissolve polyethersulfone in an aprotic solvent for membrane fabrication. Usually CEH requires 6 to 8 h at temperatures of 80 to 95 °C. This paper reports the fabrication and characterization of polyethersulfone (PES) asymmetric ultrafiltration membrane made from microwave (MW) synthesis casting solution consisting of various compositions of double solvents and lithium bromide (LiBr) additive. RESULTS: Homogeneous dual solvent dope solutions prepared via microware irradiation took only 1 h instead of the 7 h when prepared using CEH. The results also revealed that the membrane permeation and rejection rates, pore size and porosity were dependent on the ratio of LiBr to acetone. Membranes with LiBr kept at 2 and 3 wt% exhibited both high rejection and permeation rates with minimum pore sizes of 1.067 and 1.214 nm respectively. The presence of LiBr and the occurrence of chain scission were elucidated using Fourier transform infrared (FTIR) spectroscopy while its hydrophilic property was confirmed by water absorption and contact angle measurements. CONCLUSIONS: It was concluded that the microwave technique is capable of producing 1 L membrane solutions in less than 1 h. The membranes prepared from the microwave solutions show good rejection and permeation rates. Copyright © 2011 Society of Chemical Industry