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.     

深圳抽水蓄能电站引水系统灌浆质量控制与分析

抽水蓄能电站引水系统灌浆质量控制,决定了水道系统渗水量的大小,关系到电站长期运行的经济指标及水道安全。详细介绍了深圳抽水蓄能电站灌浆参数的设计和灌浆中采取的管理措施与技术措施,分析了灌浆检测成果。电站投入运行以来,引水系统结构稳定,无渗漏。通过总结深圳抽水蓄能电站灌浆过程,对水道引水系统灌浆质量控制提出了几点建议,可供类似工程借鉴。     

Robust adaptive control for unmatched systems with guaranteed parameter estimation convergence

This paper provides a modified model reference adaptive control (MRAC) scheme to achieve better transient control performance for systems with unknown unmatched dynamics, where an adaptive law with guaranteed convergence is introduced. We first revisit the standard MRAC system and analyze the tracking error bound by using L₂‐norm and Cauchy‐Schwartz inequality. Based on this analysis, we suggest a feasible way to compensate the undesired transient dynamics induced by the gradient descent–based adaptive laws subject to sluggish convergence or even parameter drift. Then, a modified adaptive law with an alternative leakage term containing the parameter estimation error is developed. With this adaptive law, the convergence of both the estimation error and tracking error can be proved simultaneously. This enhanced convergence property can contribute to deriving smoother control signal and improved control response. Moreover, this paper provides a simple and numerically feasible approach to online verify the well‐known persistent excitation condition by testing the positive definiteness of an introduced auxiliary matrix. Comparative simulations based on a benchmark 3‐DOF helicopter model are given to validate the effectiveness of the proposed MRAC approach and show the improved performance over several other MRAC schemes.     

Adaptive compensation of persistent actuator failures of nonlinear systems

In this article, adaptive compensation designs are developed for nonlinear systems with uncertainties from the system functions and persistent actuator failures of characterizations that (i) some unknown system inputs are stuck at some unknown fixed or varying values at unknown time instants and (ii) the failure pattern always switches from one to another and the switching does not stop. Such a controlled plant is described by an uncertain time-varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed-loop system stabilization and bounded output tracking for some specific conditions. To improve the tracking performance in the presence of persistent actuator failures, a new adaptive control scheme is developed, using the failure indicator function which contains the failure pattern and failure time in the formulation. Detailed stability and tracking performance are shown. Simulation results are shown to verify the effectiveness of the proposed adaptive actuator failure compensation method.     

Adaptive finite-time tracking control for parameterized nonlinear systems with full state constraints

In this article, the issue of adaptive finite-time dynamic surface control (DSC) is discussed for a class of parameterized nonlinear systems with full state constraints. Using the property of logarithmic function, a one-to-one nonlinear mapping is constructed to transform a constrained system into an unconstrained system with the same structure. The nonlinear filter is constructed to replace the first-order linear filter in the traditional DSC, and the demand on the filter time constant is reduced. Based on finite-time stable theory and using modified DSC, the finite-time controller is designed via DSC. Theoretical analysis shows that all the signals in the closed-loop system are semiglobal practical finite-time stable. Furthermore, none of the states are outside the defined open set. In the end, simulation results are presented to demonstrate the effectiveness of the proposed control schemes with both linear filters and nonlinear filters.     

A machine learning‐based operational control framework for reducing energy consumption of an amine‐based gas sweetening process

This study proposes a data‐driven operational control framework using machine learning‐based predictive modeling with the aim of decreasing the energy consumption of a natural gas sweetening process. This multi‐stage framework is composed of the following steps: (a) a clustering algorithm based on Density‐Based Spatial Clustering of Applications with Noise methodology is implemented to characterize the sampling space of all possible states of the operation and to determine the operational modes of the gas sweetening unit, (b) the lowest steam consumption of each operational mode is selected as a reference for operational control of the gas sweetening process, and (c) a number of high‐accuracy regression models are developed using the Gradient Boosting Machines algorithm for predicting the controlled parameters and output variables. This framework presents an operational control strategy that provides actionable insights about the energy performance of the current operations of the unit and also suggests the potential of energy saving for gas treating plant operators. The ultimate goal is to leverage this data‐driven strategy in order to identify the achievable energy conservation opportunity in such plants. The dataset for this research study consists of 29 817 records that were sampled over the course of 3 years from a gas train in the South Pars Gas Complex. Furthermore, our offline analysis demonstrates that there is a potential of 8% energy saving, equivalent to 5 760 000 Nm³ of natural gas consumption reduction, which can be achieved by mapping the steam consumption states of the unit to the best energy performances predicted by the proposed framework.     

典型废玻璃回收厂区空气颗粒物及噪声分布特征研究

以某典型废玻璃回收厂区作为研究对象, 监测和分析了车间及厂区内部的噪声强度、空气颗粒物(PM_2.5、PM₁₀) 浓度等环境指标, 点位布设涵盖了车间入口、人工分拣、物料筛分、破碎、干法清洗等关键工艺环节; 其次, 解析了空气颗粒物的组分及形貌特征, 并对其在厂区及车间内部的时空分布特征进行了研究; 此外, 利用噪声控制模型模拟并分析了隔声罩对噪声的控制作用。结果表明, 生产车间中工作态的空气颗粒物浓度显著高于非工作态, 其中干法清洗区浓度最高, 其PM_2.5 浓度为3.725 mg/m³, PM₁₀浓度为4.055 mg/m³; 噪声监测结果显示生产车间内噪声强度较高, 达到99.5 dB, 而引入隔声罩后噪声强度可降至67 dB, 结果表明, 隔声罩可有效控制频率为125~1 000 Hz 的噪声。该研究可为废玻璃的绿色、高效回收处置提供理论基础和实践经验。     

Rheokinematics for product development—Formulation screening in rotational rheometers

Product formulations for industrial processes are typically developed at laboratory scale. However, the mixing conditions are not easily mimicked in the laboratory. A rotational device is proposed in this study as a fast laboratory-scale formulation development, which enables mimicking the mixing conditions in the industrial process. The geometrical configurations of the rotational device are from rheometry devices (plate-plate and cone-plate). The main advantages of this method are the small amounts of raw materials and shorter testing times. This methodology is applied to an industrial case study, the reaction injection molding (RIM) process. The mixing length scales evolution in the rotational rheometer were matched to those in RIM machines. The main novelty of this study is the introduction of a protocol that bridges the processing conditions at laboratory using small amounts of raw materials to high throughput continuous flow reactors.     

Effect of ultrasonic waveforms on gas–liquid mass transfer in microreactors

This study aims to investigate the effect of ultrasonic waveforms on the gas–liquid mass transfer process. For a given load power (P), continuous rectangular wave yielded stronger bubble oscillation and higher mass transfer coefficient (k_La) than continuous triangular and sinusoidal wave. For pulsed ultrasound, the k_La decreased monotonically with decreasing duty ratio (D), resulting in weak enhancement at low D (≤33%). For a given average load power (P_A), concentrating the P for a shorter period resulted in a higher k_La due to stronger cavitation behavior. For a given P_A and D, decreasing the pulse period (T) led to an increase in k_La, which reached a constant high level when the T fell below a critical value. By optimizing the D and T, a k_La equivalent to 92% of that under continuous ultrasound was obtained under pulsed ultrasound at a D of 67%, saving 33% in power consumption.