Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy.     

Model recovery anti-windup for output saturated SISO linear closed loops

We define model recovery anti-windup for SISO linear control systems with output saturation. We address the problem by relying on a hybrid modification of the linear closed loop which employs a suitable logic variable to activate/deactivate various components of a control scheme. The scheme relies on a finite-time observation law, an open-loop observer and an open-loop input generator which is capable of driving the plant output within the saturation limits. Then the control scheme is based on suitable (hybrid) resetting laws allowing the controller to operate on the artificial output signal generated by the open-loop observer when the actual plant output is outside the saturation limits. Unlike existing results, not only we prove uniform global asymptotic stability of the closed loop, but we also prove the local preservation and global recovery properties, typical of model recovery anti-windup paradigms. We also illustrate the proposed technique on an example study.     

Adaptive nonlinear control of three-phase shunt active power filters with magnetic saturation

The problem of controlling three-phase shunt active power filters (SAPF) is addressed in presence of nonlinear loads. Previous works generally design control for SAPF based on standard models that assume the involved magnetic coil to be linear. In reality, the magnetic characteristics of these components are nonlinear (especially in the presence of large magnetic flux density in the ferromagnetic core). In this paper, a new oriented control model for SAPF-load system, taking into account for the nonlinearity of coil characteristics, is developed. The control objective is twofold: (i) compensating for the current harmonics and the reactive power absorbed by the nonlinear load; (ii) regulating the inverter DC capacitor voltage. To this end, based on the new model, a nonlinear controller is developed, using the backstepping technical design. It is therefore able to ensure good performances over a wide range of variation of the load current. Moreover, the controller is made adaptive for compensating the uncertainty on the switching loss power. The performances of the proposed adaptive controller are formally analyzed using tools from the Lyapunov stability and the averaging theory. The supremacy of the proposed controller with respect to standard control solutions is illustrated through simulation.     

A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs

In this work, a generalized adaptive scheme for the global motion control of robot manipulators with constrained inputs is proposed. It gives rise to various families of bounded adaptive controllers defined through a general class of saturation functions. Compared with adaptive tracking control algorithms previously developed in a bounded input context, the proposed adaptive approach guarantees the motion control objective for any initial condition, avoiding discontinuities throughout the scheme, preventing the inputs to reach their natural saturation bounds, and permitting innovation on the saturating structure through its generalized form, giving a wide range of possibilities for performance improvement. Experimental results corroborate the efficiency of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd.     

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.     

PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.      

亲油型聚结滤芯饱和度预测模型研究

纤维聚结滤芯广泛用于压缩空气净化、发动机曲轴箱通风、加工和切割等一系列工艺过程中，用于除去气流中的液体气溶胶颗粒。由于聚结滤芯饱和度对于过滤效率及阻力具有重要影响，因此建立饱和度与滤材参数及操作条件之间的关系将有助于优化滤芯结构并提高过滤性能。目前实际工业用聚结滤芯通常由多层微米级玻璃纤维材料组成，然而现有计算模型无法用于此类滤芯的饱和度预测。因此，本文基于多种常用亲油型聚结滤芯压降及饱和度实验测试结果，根据“跳跃-通道”模型及毛细管理论建立了新的饱和度预测模型。通过与大量已发表文献数据对比发现，当饱和值大于0.2时，预测值与实验结果吻合度较好，相对偏差≤20%。随着饱和度的降低，滤芯润湿区域和非润湿区域之间界限逐渐明显，此时无需对毛细管半径进行修正。然而，新模型仍然要依靠压降测量值进行计算，这一问题需在后续工作中加以解决。     

Predicting Tensile Properties of Friction-Stir-Welded 6063 Aluminum with Experimentally Measured Welding Heat Input

This work aims to develop a reliable method to predict mechanical properties of friction-stir-welded 6 xxx-series alloys with experimentally measured welding heat input. A calorimetrical method was utilized to experimentally measure the welding heat input in the friction stir welded of aluminum alloy 6063-T5. Good correlations between the input variables, i.e., welding parameters and physical properties of the materials, and the welding heat inputs obtained with experimental measurements were discovered. The welding heat input can be predicted using the empirical equation derived based on these correlations. Moreover, the results suggested that the thermal conductivities of the welded alloys affected the welding heat input significantly. Mechanical properties, including hardness and tensile properties, of friction-stir-welded aluminum alloy 6063 were in good correlation to the heat input obtained with experimental measurement. These correlations were explained by the evolution of the strengthening precipitates during welding. This work proposed a reliable new route to predict these mechanical responses through the estimation of heat input.     

焊接热输入对2219薄板铝合金焊接接头性能的影响

针对2219薄板铝合金,采用不同焊接热输入的TIG焊开展了对比试验,分析了焊接接头的力学性能、组织形貌和断裂特征。研究结果表明,单道焊比双道焊的接头抗拉强度的平均值提高了19.6%,断后伸长率基本相同;双道焊的接头在熔合线附近,焊缝区形成柱状枝晶,组织大小不一、形状不规则,热影响区晶粒粗化,几何形态变化,组织形态不均匀,接头在焊接温度升高时,晶粒粗化,强度降低,断口呈现了沿晶界撕裂扩展的痕迹,局部呈“河流花样”特征;单道焊的接头在熔合线附近,焊缝区等轴晶分布较多,组织均匀一致,晶粒细小,接头在经历了加热、快速冷却、常温放置后,强化相溶于固溶体,Cu原子扩散、聚集,产生点阵畸变,晶粒得到细化,强度升高,断口呈现了典型的塑形断裂痕迹,韧窝形态明显。     

Observer‐based fuzzy adaptive quantized control for uncertain nonlinear multiagent systems

This paper focuses on consensus quantized control design problem for uncertain nonlinear multiagent systems with unmeasured states. Every follower can be denoted through a system with unmeasurable states, hysteretic quantized input, and unknown nonlinearities. Fuzzy state observer and Fuzzy logic systems are employed to estimate unmeasured states and approximate unknown nonlinear functions, respectively. The hysteretic quantized input can be split into two bounded nonlinear functions to avoid chattering problem. By combining adaptive backstepping and first‐order filter signals, an observer‐based fuzzy adaptive quantized control scheme is designed for each follower. All signals exist in closed‐loop systems are semiglobally uniformly ultimately bounded, and all followers can accomplish a desired consensus results. Finally, a numerical example is employed to elaborate the effectiveness of proposed control strategy.