Adaptive input shaping for single-link flexible manipulators using an algebraic identification

This work proposes an adaptive control scheme applied to single link-flexible manipulators, which combines a feedback controller of the joint angle with an adaptive input shaper updated by an algebraic non-asymptotic identification. The feedback controller is designed to guarantee trajectory tracking of the joint angle, simplifying thus the input shaper, which can be designed for the arm dynamics only. The input shaper is updated by an algebraic identification of the natural frequency corresponding to the first vibration mode of the arm. In addition, the influence of the assumptions adopted to derive the algebraic identification on the performance of the estimation is studied. Finally, the proposed adaptive control strategy is implemented in practice.     

On the impact of FIT policies on renewable energy investment: Based on the solar power support policies in China's power market

In 2013, the feed-in tariff (FIT) policy was issued in China to promote the investment in renewable technology, but then it was revised because this policy brought a heavy financial burden to the government. By considering the intermittence of renewable resources, we model the implemented Chinese FIT policies and analyze their impact on renewable energy investment in the power market. The open-loop model is employed to simulate the China's power market organized with Power Purchase Agreement, and the closed-loop game is used to characterize the spot power market. Meanwhile, the strategic capacity choices of power generators in two games are compared under four different policy schemes: (i) free competition, (ii) FIT via fixed subsidy, (iii) FIT via price premium and (iv) Chinese FIT by cross control (CFCC). The results show that the CFCC policy is a good alternative to well control the investment in renewable technology, as it can be seen as a comprise between free competition and FIT via fixed subsidy policy. Furthermore, compared with the other three policy schemes, the CFCC policy is capable of keeping renewable power generators from deviating the equilibrium, which implies higher robustness in regulating the electricity spot market.     

Performance analysis of an open-loop resonator loaded terahertz microstrip antenna

In this paper, an enhanced electrical performance of the open-loop loaded microstrip patch antenna at terahertz frequency has been investigated. The proposed antenna is designed to radiate at frequencies in the range of 0.5-0.7 THz with high gain and radiation efficiency. The effect of various substrate parameters on the electrical performance of the proposed antenna has been analyzed and simulated. The simulation has been performed using the CST Microwave studio, a commercial simulator based on finite integral technique. The directivity and radiation efficiency of the proposed antenna is 22.58 dBi and 94.50%, respectively, at 600 GHz. Further, the simulated results have been compared with Ansoft HFSS, a commercially available simulator based on the finite element method. We have also compared this proposed analytical result with reported literature with scale down approach.     

Performance of a new decoding method used in open-loop all-optical chaotic communication system

A new decoding method with decoder is used in open-loop all-optical chaotic communi-cation system under strong injection condition. The performance of the new decoding method is nu-merically investigated by comparing it with the common decoding method without decoder. For new decoding method, two cases are analyzed, including whether or not the output of the decoder is ad-justed by its input to receiver. The results indicate the decoding quality can be improved by adjusting for the new decoding method. Meanwhile, the injection strength of decoder can be restricted in a certain range. The adjusted new decoding method with decoder can achieve better decoding quality than decoding method without decoder when the bit rate of message is under 5 Gb/s. However, a stronger injection for receiver is needed. Moreover, the new decoding method can broaden the range of injection strength acceptable for good decoding quality. Different message encryption techniques are tested, and the result is similar to that of the common decoding method, indicative of the fact that the message encoded by using Chaotic Modulation (CM) can be best recovered by the new decoding method owning to the essence of this encryption technique.     

复合控制算法在榴弹螺旋装药中的应用

榴弹螺旋装药的压药压力控制系统中,采用开环补偿控制和闭环控制结合的复合控制.开环补偿控制根据扰动量直接产生相应的补偿,以抵消其影响.而闭环反馈控制则用于克服各种干扰和对控制效果最终检验.其PID控制采用位置算法,并对控制量输出和积分增量限幅.该算法在具体的项目中得到成功的应用.     

Analytical design of an industrial two-term controller for optimal regulatory control of open-loop unstable processes under operational constraints

This paper proposes a novel optimization-based approach for the design of an industrial two-term proportional-integral (PI) controller for the optimal regulatory control of unstable processes subjected to three common operational constraints related to the process variable, manipulated variable and its rate of change. To derive analytical design relations, the constrained optimal control problem in the time domain was transformed into an unconstrained optimization problem in a new parameter space via an effective parameterization. The resulting optimal PI controller has been verified to yield optimal performance and stability of an open-loop unstable first-order process under operational constraints. The proposed analytical design method explicitly takes into account the operational constraints in the controller design stage and also provides useful insights into the optimal controller design. Practical procedures for designing optimal PI parameters and a feasible constraint set exclusive of complex optimization steps are also proposed. The proposed controller was compared with several other PI controllers to illustrate its performance. The robustness of the proposed controller against plant-model mismatch has also been investigated.     

永磁同步电动机的开环步进驱动器的研究

步进电机是增量运动控制系统的主要执行机构。如果采用合适的驱动方式,永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)和步进电机(Stepping Motor)都可以工作在步进模式。主要研究永磁同步电机的开环步进驱动器的理论和方法。通过对永磁同步电机的驱动方式的深入研究发现,在其驱动器中引入一种新型开环脉冲宽度调制(Pulse Width Modulated,PWM)死区时间补偿方法,就可以改善永磁同步电机绕组电流的控制精度,从而也进一步提高了永磁同步电机在步进驱动模式下步距的控制精度。     

地表水源热泵系统的设计

介绍了地表水源热泵系统的2种形式及其特点；研究了湖水传热的方式，并给出了湖水换热器的设计方法，包括循环介质流量、换热器类型、换热器的长度、换热器管径的确定。     

Disturbance Attenuation in Hyperbolic 2D-systems

We consider disturbed linear 2D-systems of Fornasini–Marchesini type in the continuous time case. These systems are also named Goursat-type systems. Conditions for unique solvability of the disturbed optimal control problem with a quadratic cost functional are obtained. The disturbed or worst case optimal control guarantees to minimize the cost functional for any unknown disturbance input. In a second part then we consider a disturbance attenuation by boundary controls, i.e., by using the Goursat-data as control functions. In the 2D-case this results in two control functions acting independently on the system. We study a cooperative and a non-cooperative situation. In the cooperative situation we again obtain a disturbed optimal control problem and get conditions for existence and uniqueness of such a disturbed optimal control problem. If the action of the agents is non-cooperative we assume that it is agreed that they act on an open-loop Nash/worst-case equilibrium strategy. Sufficient conditions for the existence of such an equilibrium are obtained. Published online: April 2006     

基于压电驱动器的微动平台开环精密定位控制研究

针对压电驱动器的非线性和迟滞特性,首先介绍了一种基于迭代学习控制的压电驱动器的快速电压/位移线性化方法,利用此方法所得的线性化数据对二维微动平台进行了开环精密定位控制;然后介绍了采用改进的Preisach模型对压电驱动器的迟滞特性进行建模的方法,并利用此模型也进行了开环精密定位控制研究。试验结果表明,两种方法均能达到亚微米级的开环定位精度,且前者定位精度稍优于后者,但是当控制序列发生转折时,前者必须先回到零电压或者饱和控制电压,才能进行下一次定位控制,而后者可以实现任意序列的连续控制。