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一类高阶非线性系统的无模型预测控制
田野 苏佰丽
(曲阜师范大学 工学院,山东 日照 276826)
摘要:
针对一类模型未知的高阶离散非线性系统,提出一种无模型预测控制算法。首先,利用改进的投影算法来逼近被控非线性系统,给出一个估计模型。然后,基于估计模型,通过求解有限时域滚动优化二次函数,设计预测控制器,得到控制器的显式解析解。同时保证了闭环系统的稳定性。仿真结果表明,该控制策略具有良好的稳定性和鲁棒性,且与无模型滑模控制相比,该控制策略具有更快的收敛速度和更稳定的动态特性。
关键词:非线性系统;紧格式动态线性化;模型预测控制;无模型控制;改进的投影算法
相似文献3.
混凝土超声层析成像仪作为现今混凝土质量检测的主流仪器,其数据采集系统的性能好坏决定了该仪器检测结果的可信度。选用ANALOG DEVICES公司的16 bit、最大采样频率25 MHz的模数转换芯片LTC2203作为该系统的核心元件。放大调理电路由可调增益放大器AD603和差分芯片THS4521组成。将超声波探头采集到的信号进行放大并差分输出给LTC2203。考虑到数据传输的可靠性和传输速度,在FPGA内,用FIFO对数据进行缓冲并通过DMA搬运至SDRAM中。通过串口将数据传输给PC端的MFC程序,对采集到的数据进行处理。实现了对频率范围至少在1 kHz^500 kHz内的超声波探头的匹配,且等效输入噪声在57.4μV左右。经测试,该数据采集系统能较好的还原被测数据,提高了混凝土超声层析成像仪的可靠性。 相似文献
4.
实验以有机废水为阳极底物,以活性污泥中的混合菌为阳极接种微生物,以含铜废水为阴极液,构建双室MFC,探讨电极对MFC同时处理有机废水和含铜重金属废水产电性能的影响。结果表明:MFC对阳极有机废水COD的去除率最高为79.1%,对阴极液中Cu2+的去除率最高为95.6%。活性炭/石墨棒电极MFC产电性能最优,开路电压最高为800mV,是石墨棒电极MFC的1.25倍,是活性炭/碳纸电极MFC的1.3倍,是碳纸电极MFC的1.5倍。当电极距离为2cm时,MFC开路电压580mV,内阻为181?,产电性能最优。电极表面积为75cm2时,MFC的开路电压470mV,是电极表面积为50cm2的MFC的1.1倍,是电极表面积为30cm2的MFC的2.1倍。当AAn/Acat=0.4时MFC产能最佳,MFC的开路电压最高为600mV,最大功率密度48.2mW/m2。 相似文献
5.
《International Journal of Hydrogen Energy》2019,44(4):2372-2379
The application of microalgal biomass for fermentation has been highlighted as a means of producing a range of value-added biofuels and chemicals. On the other hand, the microalgal residue from the fermentation process still contains as much as 50% organic contaminants, which can be a valuable substrate for further bioenergy recovery. In this study, a microbial fuel cell and automatic external load control by maximum power point tracking (MPPT) were implemented to harvest the electrical energy from waste fermented microalgal residue (FMR). The MFC with MPPT produced the highest amount of energy (1.82 kJ/L) compared to the other MFCs with fixed resistances: 0.98 (1000 Ω), 1.16 (500 Ω), and 1.17 kJ/L (300 Ω). The MFC with MPPT also showed the highest maximum power density (88.6 mW/m2) and COD removal efficiency (620.0 mg COD/L removal with 85% removal efficiency). The implementation of MPPT gained an approximate 12.9% energy yield compared to the previous fermentation stage. These results suggest that FMR can be an appropriate feedstock for electrical energy recovery using MFCs, and the combined fermentation and MFC system improves significantly the energy recovery and treatment efficiency from FMR. 相似文献
6.
微生物燃料电池(MFC)在近些年得到了迅猛了发展,尤其是MFC具有产电且同时处理废水的效果,引起了世界各国科学家的高度关注。如何提高MFC产电效率的问题一直是MFC的研究重点,其中温度是影响微生物活性的一个重要因素,进而影响MFC的产电效率。为了能够更好地了解温度场与MFC的产电效率的关系,本文采用准分布式光纤Bragg光栅(FBG)阵列,对MFC阳极室内温度场分布进行实时测量。实验表明:该方法能够测量MFC运行阶段阳极室内温度场分布,反应前后温度差3-4℃,该方法为研究MFC内温度与产电效率的关系提供一种新的手段。 相似文献
7.
随着社会的发展,移动存储设备的使用不断向普遍化发展,而与之相伴发生的便是普遍发生的移动存储设备遗失现象。为了避免用户在公共计算机上使用移动存储设备后由于遗忘而造成丢失的普遍现象,基于MFC利用VC++6.0开发平台设计实现了可移动存储设备防遗忘提醒系统。该系统通过捕捉用户习惯性动作而给出相关提醒,以达到从根源上避免遗失情况的发生的目的。当移动存储设备与计算机保持连接状态时,该系统捕捉到计算机关闭程序、关机等“习惯性动作”,或检测到计算机长时间无操作时,会通过弹出对话框、发出提醒语音等方式提醒用户取回自己的移动存储设备。 相似文献
8.
《International Journal of Hydrogen Energy》2021,46(57):29529-29540
This study presents research results on electricity production from waste activated sludge using MFCs during stabilization process. Different MFC configurations equipped with various electrodes were used. Voltage measurements were continuously done during 35 days of MFC operation. Experimental results showed that bioelectricity generation was linked to volatile solids (VS) and protein reductions as a fraction of extracellular polymeric substances (EPS). Double chamber MFC reactor equipped with graphite electrodes had better power and current densities as 312.98 mW/m2 and 39.07 μA/cm2 while single chamber MFC equipped with titanium electrodes revealed better power and current densities as 97.60 mW/m2 and 17.63 μA/cm2, respectively. Molecular results indicated that power outputs of MFCs effected by diverse microbial communities in anode biofilms. Although organic matter degradation is reported as 35%–55% VS reduction for digesters, this research provided a promising approach for sludge stabilization with enhanced degrading of organic matters up to 75% by using MFCs. 相似文献
9.
柔性结构与周围流体的耦合作用机制广泛应用于仿生机器人、水下航行器、精密仪器及生命医疗等领域。具有驱动变形大、防水性好且柔韧性好的压电宏纤维(Macro fiber composite,MFC)致动器是水下柔性结构变形控制的首选。建立MFC内部致动弯矩和水动力载荷共同作用下柔性结构的流固耦合动力学模型。对粘贴MFC致动器的柔性结构特征截面进行计算流体动力学(Computational fluid dynamics,CFD)分析,得到不同振动特征频率下柔性结构周围流场、压力分布及所受水动力载荷,分别拟合得到MFC致动柔性结构水动力函数的实部和虚部表达式。结果表明柔性结构水动力载荷的附加质量和阻尼效应都随着振动频率的增加而减小。在等振动特征频率下,MFC致动梁结构水动力函数的实部大于匀质等截面梁的实部;在高振动频率下其水动力函数虚部同样大于匀质等截面梁。试验测试了MFC致动柔性结构的水下振动特性,试验所得MFC激励下柔性结构末端稳定振动的幅频特性和相频特性与建立的耦合动力模型相吻合,证实了所建立MFC致动柔性结构的水动力函数及流固耦合振动模型的有效性。 相似文献
10.
《International Journal of Hydrogen Energy》2022,47(49):21231-21240
To explore the feasibility and related mechanism of MFC biosensor for wastewater detection under the action of combined heavy metals. Cyclic voltammetry (CV) and scanning electrochemical impedance spectroscopy (EIS) were used to explore the related bioelectrochemical process. The response of the reactor to single/combined heavy metals, low/high heavy metal concentrations, and the differences in ohmic resistance (Rs) and charge transfer resistance (Rct) were investigated using Ni as the core heavy metal and the combined action of Cd, Cu and Zn. The results indicated that there was a linear relationship between the concentration and output voltage of the MFC biosensor under the action of combined heavy metals (R2 = 0.8803–0.973). However, the internal resistance (Rint) of the MFC biosensor under the action of single heavy metal was far less than that of the combined heavy metal group, and the power density (19.849 W m?3) was 4 times that of the combined heavy metal group (3.109–4.589 W m?3). The Rs of the biosensors in the combined heavy metal group were 0.868Ω and 0.860, which were higher than 0.768Ω of the single heavy metal sensor. With the increase of the concentration of heavy metals in the influent, the increase of Rct was more obvious in the combined group, while the Rs in the single group significantly increased (P < 0.05). The results imply that it is possible for MFC biosensors to be used in the detection of actual water polluted by various heavy metals, but the biosensor performance is mainly limited by Rct, which needs to be further improved. 相似文献