An adaptive sliding mode observer based near-optimal OER tracking control approach for PEMFC under dynamic operation condition

Tracking control of oxygen excess ratio (OER) is crucial for dynamic performance and operating efficiency of the proton exchange membrane fuel cell (PEMFC). OER tracking errors and overshoots under dynamic load limit the PEMFC output power performance, and also could lead oxygen starvation which seriously affect the life of PEMFC. To solve this problem, an adaptive sliding mode observer based near-optimal OER tracking control approach is proposed in this paper. According to real time load demand, a dynamic OER optimization strategy is designed to obtain an optimal OER. A nonlinear system model based near-optimal controller is designed to minimize the OER tracking error under variable operation condition of PEMFC. An adaptive sliding mode observer is utilized to estimate the uncertain parameters of the PEMFC air supply system and update parameters in near-optimal controller. The proposed control approach is implemented in OER tracking experiments based on air supply system of a 5 kW PEMFC test platform. The experiment results are analyzed and demonstrate the efficacy of the proposed control approach under load changes, external disturbances and parameter uncertainties of PEFMC system.     

Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

Φ177mm PQF无缝管连轧机前横移系统改进

对鞍钢股份无缝钢管厂连轧机前毛管坯横移装置存在的设计缺陷进行了分析,并提出改进方案,将原横移装置由高架轨道横移机构及上下升降链传动装置,改进为地面轨道横移系统及同步旋转臂实现取管、放管过程。实施后消除了生产故障,缩短了轧制周期,降低生产成本。     

基于滑模的运载器主动段俯仰通道姿控系统设计

与传统比例-积分-微分（PID）控制方法相比，滑模控制（SMC）方法可以比较容易地将不确定性纳入控制器设计中，从而增强系统的鲁棒性。探索了SMC技术在运载器主动段姿态控制中的工程应用，首先通过分析基于趋近律的SMC系统，提出了降低不连续切换项系数的需求，然后研究了基于干扰上界的SMC方法。三通道小偏差仿真结果验证了两种方法的控制效果，表明第2种控制器的鲁棒性更好，稳态误差小，同时发动机喷管摆角需求较小。     

Influence of geosynthetic reinforcement on the stability of an embankment with rigid columns embedded in an inclined underlying stratum

Incompressible dipping substrata are commonly encountered in engineering practice. Compared to horizontal underlying strata, the inclined underlying stratum increase the risk of collapse of embankments reinforced with columns because it weakens the restraint of the column base. The objective of this study is to investigate the effectiveness of geosynthetics on improving the embankment stability when the underlying stratum is inclined. The influence of geosynthetic tensile stiffness on the ultimate surcharge and failure mechanism is studied. A deep-seated failure with column tilting occurs when the geosynthetic tensile stiffness is low, whereas a lateral sliding occurs when the geosynthetic tensile stiffness is high. To illustrate the contribution of geosynthetics, the distribution of the lateral pressures acting on the columns is analyzed.     

PETROLEUM POTENTIAL, THERMAL MATURITY AND THE OIL WINDOW OF OIL SHALES AND COALS IN CENOZOIC RIFT BASINS, CENTRAL AND NORTHERN THAILAND

Oil shales and coals occur in Cenozoic rift basins in central and northern Thailand. Thermally immature outcrops of these rocks may constitute analogues for source rocks which have generated oil in several of these rift basins. A total of 56 oil shale and coal samples were collected from eight different basins and analysed in detail in this study. The samples were analysed for their content of total organic carbon (TOC) and elemental composition. Source rock quality was determined by Rock‐Eval pyrolysis. Reflected light microscopy was used to analyse the organic matter (maceral) composition of the rocks, and the thermal maturity was determined by vitrinite reflectance (VR) measurements. In addition to the 56 samples, VR measurements were carried out in three wells from two oil‐producing basins and VR gradients were constructed. Rock‐Eval screening data from one of the wells is also presented. The oil shales were deposited in freshwater (to brackish) lakes with a high preservation potential (TOC contents up to 44.18 wt%). They contain abundant lamalginite and principally algal‐derived fluorescing amorphous organic matter followed by liptodetrinite and telalginite (Botryococcus‐type). Huminite may be present in subordinate amounts. The coals are completely dominated by huminite and were formed in freshwater mires. VR values from 0.38 to 0.47%R_o show that the exposed coals are thermally immature. VR values from the associated oil shales are suppressed by 0.11 to 0.28%R_o. The oil shales have H/C ratios >1.43, and Hydrogen Index (HI) values are generally >400 mg HC/g TOC and may reach 704 mg HC/ gTOC. In general, the coals have H/C ratios between about 0.80 and 0.90, and the HI values vary considerably from approximately 50 to 300 mg HC/gTOC. The HI_max of the coals, which represent the true source rock potential, range from ～160 to 310 mg HC/g TOC indicating a potential for oil/gas and oil generation. The steep VR curves from the oil‐producing basins reflect high geothermal gradients of ～62°C/km and ～92°C/km. The depth to the top oil window for the oil shales at a VR of ～0.70%R_o is determined to be between ～1100 m and 1800 m depending on the geothermal gradient. The kerogen composition of the oil shales and the high geothermal gradients result in narrow oil windows, possibly spanning only ～300 to 400 m in the warmest basins. The effective oil window of the coals is estimated to start from ～0.82 to 0.98%R_o and burial depths of ～1300 to 1400 m (～92°C/km) and ～2100 to 2300 m (～62°C/km) are necessary for efficient oil expulsion to occur.     

大体积抗渗混凝土工程施工技术

简述了浇筑混凝土的施工准备工作，从滑动层的增设、配合比的配制、混凝土的浇筑及养护、后浇带的处理等方面介绍了大体积抗渗混凝土工程的施工质量控制措施，以保证混凝土的各项指标达到规范及设计要求。     

语音信号的线性预测分析在DSP上的优化实现

语音信号的线性预测分析是语音压缩中的一个重要环节，占据语音压缩计算中的大部分时间，为提高语音压缩的速度，在C54x系列DSP上用汇编语言实现了语音信号的线性预测分析，并对其进行优化。最终可以使代码的运行时间减少到原来的5％左右。     

中国石化集团钻井技术现状及展望

随着勘探领域的不断扩大和剩余储量的挖潜，钻井施工存在高陡构造防斜打快、裂缝性地层井漏严重、井壁失稳坍塌、长裸眼小井眼固井、深井小井眼完井、含硫化氢井的井控及防护等难题．中国石化集团通过近几年的技术攻关研究与推广应用，深井超深井钻井、水平井钻井、欠平衡钻井、盐膏层钻井、新型钻井液、保护油气层、固井工艺等技术水平大幅度提高，钻井速度和质量不断提高。介绍了中国石化集团钻井技术的现状，分析了中国石化集团钻井面临的主要技术难点，展望了钻井技术的发展趋势，指出应整合推广应用成熟钻井技术．研究攻克钻井生产中的“瓶颈”技术，进一步开展深井超深井、防斜打快和垂直钻井、超高压喷射、地质导向、分支井复杂井钻井、完井工艺等技术研究，进行连续管钻井、套管钻井、欠平衡钻井完井、智能钻井等前瞻技术研究，以提高中国石化集团的钻井技术水平。