Compound fault-tolerant attitude control for hypersonic vehicle with reaction control systems in reentry phase

In this paper, a novel compound fault-tolerant attitude control (FTC) scheme is proposed for reentry hypersonic vehicles with aerodynamic surfaces and reaction control systems (RCS) in the presence of parameter uncertainties, external disturbances and aerodynamic surfaces faults. Aerodynamic surfaces work as the primary actuators and RCS serve as auxiliary actuators. When aerodynamic surfaces cannot provide the required attitude control torque due to low dynamic pressure or faults, RCS are activated to assist aerodynamic surfaces to generate the residual torque. A nonlinear disturbance observer-based sliding mode controller is designed to calculate the required attitude control torque which can handle the parametric uncertainties and external disturbances together. The quadratic programming method is applied to obtain the optimal aerodynamic surfaces deflections from the required control torque. An innovative fuzzy rule-based decision-making system is design to solve the RCS control allocation problem, which is conceptually easy to understand and computationally efficiently compared with existing approaches. Based on quantized control theory, the closed-loop control system stability is rigorously analyzed. Simulation results are given to demonstrate the effectiveness and efficiency of developed FTC scheme.     

A review on MRAS-type speed estimators for reliable and efficient induction motor drives

Induction machines have recently been very popular in variable-speed drives, because of their robust construction and relatively low manufacturing costs (brushless), maintenance-free and well-matured control methods. However, for high-precision control and efficiency optimization one needs the information on the rotor speed which can be measured using different speed sensors. All sensors require a mounting space and cabling, they also generate extra costs and reduce system reliability. Therefore, many of the recent research efforts have been dedicated to sensorless or encoderless electrical drives offering such considerable advantages as: lower cost, reduced size and hardware complexity of the drive system, elimination of sensor cables, lower maintenance requirements, possible operation in aggressive environment, higher noise immunity, reliable and user friendly operation. In this article all well-known sensorless techniques are shortly addressed, but the main focus is on the solutions based on the Model Reference Adaptive System (MRAS) concept. The mathematical models and schemes of all types of MRAS-type speed estimators known from the literature are gathered in this article. The comparative analysis of these speed estimators is done from the following points of view: the speed adaptation mechanism derivation based on the Lyapunov theory, stability problems near zero speed and in the regenerating operation mode, and the sensitivity of MRAS estimators to induction machine parameter changes.     

Visual detection and tracking with UAVs,following a mobile object

ABSTRACT

Conception and development of an Unmanned Aerial Vehicle (UAV) capable of detecting, tracking and following a moving object with unknown dynamics is presented in this work, considering a human face as a case of study. Object detection is accomplished by a Haar cascade classifier. Once an object is detected, it is tracked with the help of a Kalman Filter (KF), and an estimation of the relative position with respect to the target is obtained. A linear controller is used to validate the proposed vision scheme and for regulating the aerial robot's position in order to keep a constant distance with respect to the mobile target, employing as well the extra available information from the embedded sensors. The proposed system was extensively tested in real-time experiments, through different conditions, using a commercial quadcopter connected via wireless to a ground station running under the Robot Operative System (ROS). The proposed overall strategy shows a good performance even under disadvantageous conditions as outdoor flight, being robust against illumination changes, image noise and the presence of other people in the scene.     

Digital hysteresis sliding mode control for interleaved DC–DC converters

This paper presents a digital constant frequency sliding mode control (SMC) law for interleaved DC–DC converters. Constant switching frequency and interleaving are achieved by dynamically adjusting the hysteresis of the control signals generating comparators. The interleaving method neither imposes constraints on the number of required phases to obtain a specific output voltage nor uses quasi-SMC. Hence, the control scheme achieves high flexibility, robustness, and performance. Furthermore, a sliding mode observer (SMO) for reconstructing the inductor currents is proposed. Experimental results for a two-phase buck converter are reported. The control concept accomplishes an improved dynamic performance in comparison with quasi-SMC.     

转底炉处理赤泥工艺技术

为了综合利用氧化铝冶炼产生的赤泥，探索在转底炉中直接还原赤泥、磨矿磁选获得高品位直接还原铁。通过实验室试验摸索了转底炉还原工艺参数，并在转底炉工业试验线进行了工业试验。实验室结果表明，赤泥还原后的直接还原铁(DRI)金属化率可达88.6%，磁选后的铁品位可达82.1%，磁选后的铁回收率可达88.9%。工业试验中，转底炉还原后，产品金属化率平均为69.2%，将还原后的DRI磁选获得高品位的DRI产品，磁选后DRI的铁品位为72.8%，磁选后铁回收率达到了85.2%,初步打通了在转底炉中还原赤泥、磁选的工艺路径。     

基于PSO-ELM模型的潜油柱塞泵冲次优化方法

为改进油井后期泵效低下、能耗高等缺陷，提出了一种基于PSO-ELM模型的潜油柱塞泵冲次优化方法.采用粒子群（PSO）算法与极限学习机（ELM）相结合的方式来实现动液面软测量建模；根据动液面及潜油柱塞泵工作电流变化，以油井运行经济性最优为目的建立目标函数得到潜油柱塞泵冲次，解决了在油井生产时不能准确调节抽油机冲次问题；最后以目标函数关系建立模糊控制器模型，根据输入参数调整潜油柱塞泵冲次.实验结果表明，建立的软测量模型预测动液面精度高，模糊控制器能够更加合理地调整抽油机冲次，最终达到智能调整冲次大小、提高油井采油率及节能的目的.     

On one boundary problem for nonlinear stationary controlled system

The object of study is nonlinear stationary controlled system of ordinary differential equations with constant disturbance in the right part. The problem of constructing the synthesising control function providing the transfer of this system from the initial state to the origin is considered. The sufficiently simple for numerical implementation algorithm of solution of the above-mentioned problem is obtained. It is shown that for local null controllability of the considered system, it is sufficient that the conditions of the Kalman's type were satisfied. In addition, the estimates restricting the choice of initial conditions and external disturbances under which the transfer is guaranteed are obtained. The main idea of the method of construction of the desired control function consists in reducing the original problem to stabilisation of a special kind linear non-stationary system and solving the Cauchy problem for an auxiliary system of ordinary differential equations closed by stabilising control. The simplicity of the realisation of this algorithm is determined by the construction of the auxiliary system and its stabilisation that could be obtained by analytical methods. The effectiveness of the method is illustrated by solving the problem of crane control and its numerical simulation.     

Thermal hydraulic analysis of supercritical water reactor cooled by TiO2 nanofluid

Heat transfer study of nanofluids as coolant in SCWRs core has been performed at Helwan University. A thermal hydraulic code has been produced to study the effect of TiO₂ nanofluid water based as a coolant with comparison with pure water as a coolant. Various volume fractions of nanoparticles TiO₂ (2, 6 and 10%) were used in order to investigate its effects on reactor thermalhydraulic characteristics. Based on Parameters of a SCW Canadian Deuterium Uranium nuclear reactor (CANDU), the fuel assembly was modeled to study the effect of nanoparticles volume fraction on thermos-physical properties of basic fluid and the temperature distribution of fuel, cladding surface and coolant in axial direction. The theoretical results showed that the density, viscosity and thermal conductivity of the coolant increases with the increase of nanoparticles volume fraction, contrasting to specific heat, which decreases with the increase in nanoparticles volume fraction.     

On the theory of economic MPC: ELOC and approximate infinite horizon EMPC

In recent years, the notion of Economic Model Predictive Control (EMPC) has gained significant interest. Despite a marked improvement in economic performance, it has been shown that this performance will degrade substantially if implemented with a horizon that is not sufficiently large. In the current effort, it is shown that if applied to a particular reaction process, EMPC performance will abruptly collapse at a critical horizon size. To alleviate this issue, we develop an Infinite Horizon EMPC (IH-EMPC) formulation. While this IH-EMPC problem is computationally intractable, it does lead to an approximation of the optimal policy. The resulting Approximate IH-EMPC (AIH-EMPC) is identical to the original finite horizon EMPC, but includes a final cost term that represents the objective function from the finite horizon to infinity. With two example systems, a chemical reactor and a power system with energy storage, it is shown that the AIH-EMPC policy is virtually insensitive to its computational horizon size.     

基于EFEN-SP3方法的pin-by-pin中子动力学计算方法研究

为能直接给出安全分析所需的最热棒功率而不引入组件均匀化近似和精细功率重构近似，本文研究了基于栅元均匀化的pin-by-pin中子动力学计算方法。通过全隐式向后差分对多群时空中子动力学方程组的时间变量进行离散，采用指数函数展开节块-SP₃（EFEN-SP₃）方法求解含裂变介质的多群中子固定源方程组，通过高阶源展开技术消除了中子源分布与缓发中子先驱核分布形状不一致的问题。采用Ks因子、LW外推和粗网再平衡等加速技术提高计算效率。三维pin-by-pin中子动力学问题的数值结果表明：pin-by-pin中子动力学计算能直接给出单棒功率密度分布；高阶源展开技术可有效抑制计算偏差随时间步的累加效应；加速技术可将SP₃动力学计算的求解速度提高134.9倍。