Control method on serial type pump-valve coordinated electro-hydraulic servo system

In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems, a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was proposed. The system was constituted of a pump-controlled part and a valve-controlled part, the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic cylinder. Based on the system characteristics, a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses, and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control precision. The experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.     

Fuzzy controller based on chaos optimal design and its application

In order to overcome difficulty of tuning parameters of fuzzy controller, a chaos optimal design method based on annealing strategy is proposed. First, apply the chaotic variables to search for parameters of fuzzy controller, and transform the optimal variables into chaotic variables by carrier-wave method. Making use of the intrinsic stochastic property and ergodicity of chaos movement to escape from the local minimum and direct optimization searching within global range, an approximate global optimal solution is obtained. Then, the chaos local searching and optimization based on annealing strategy are cited, the parameters are optimized again within the limits of the approximate global optimal solution, the optimization is realized by means of combination of global and partial chaos searching, which can converge quickly to global optimal value. Finally, the third order system and discrete nonlinear system are simulated and compared with traditional method of fuzzy control. The results show that the new chaos optimal design method is superior to fuzzy control method, and that the control results are of high precision, with no overshoot and fast response.     

Design of observer-based discrete repetitive-control system based on 2D model

A discrete observer-based repetitive control（RC） design method for a linear system with uncertainties was presented based on two-dimensional（2D） system theory. Firstly, a 2D discrete model was established to describe both the control behavior within a repetition period and the learning process taking place between periods. Next, by converting the designing problem of repetitive controller into one of the feedback gains of reconstructed variables, the stable condition was obtained through linear matrix inequality（LMI） and also the gain coefficient of repetitive system. Numerical simulation shows an exceptional feasibility of this proposal with remarkable robustness and tracking speed.     

Strategy to control crawling vehicles with automated mechanical transmission

In order to move vehicles with automated mechanical transmission (AMT) a little bit of distance, such as reversing into or moving in a garage, a control strategy for crawling vehicles was proposed. Based on the dynamic analysis of vehicle starting process and requirements of crawl driving for the vehicle,a control strategy of the clutch was designed. The strategy increased the slipping friction torque first and then decreased it, in order to realize the crawl driving. The speed increased by the engagement of the clutch, and then the clutch turned to disengage to the half disengage point, when the speed met the requirements. Based on the control strategy, a control software was designed. In the end, the software was tested on a vehicle with AMT. The lowest steady vehicle speed was reduced to 40% of the original value, which was set in the control strategy.     

Slow driving control of tracked vehicles with automated mechanical transmission based on fuzzy logic

In order to move tracked vehicles at an extremely slow speed with automated mechanical transmission (AMT), slow driving function was added in the original system. The principle and requirement of slow driving function were analyzed. Based on analysis of slow driving characteristic, identification of slow driving condition and fuzzy control algorithm, a control strategy of the clutch was designed. In order to realize slow driving, the clutch was controlled in a slipping mode as manual driving. The vehicle speed was increased to a required speed and kept in a small range by engaging or disengaging the clutch to the approximate half engagement point. Based on the control strategy, a control software was designed and tested on a tracked vehicle with AMT. The test results show that the control of the clutch with the slow driving function was smoother than that with original system and the vehicle speed was slower and steadier.     

Motion stability and control of supercavitating vehicle with variable cavitation number

Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater,for example,under the condition of accelerated motion stage and external disturbance.The dynamic model and control challenge associated with the longitudinal motion of supercavitating vehicle with variable cavitation number and speed have been explored.Based on the principle of cavity expansion independence the properties of cavity and the influence on planning force of body were researched.Calculation formula of efficiency of the fin was presented.Nonlinear dynamics model of variable cavitation number and speed supercavitating vehicle was established.Stabilities of the open-loop systems of different situations were analyzed.The simulations results of open-loop systems show that it is necessary to design a control method to control a supercavitating vehicle.A gain schedule controller with guaranteed H∞ performance was designed to stabilize the dive-plane dynamics of supercavitating vehicle under changing conditions.     

Attitude control allocation strategy of high altitude airship based on synthetic performance optimization

This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic performance and energy consumption of airship. Firstly, according to the system overall configuration, the dynamic model of HAA was established and the HAA linearized model of longitudinal plane motion was obtained. Secondly, using the classic PID control theory, the HAA attitude control system was designed. Thirdly, through analyzing the dynamic performance of airship with fin or vectored thruster control, the synthetic performance index function with different weighting functions was determined. By means of optimizing the obtained performance index function, the attitude control of high altitude airship with good dynamic performance and low energy consumption was achieved. Finally, attitude control allocation strategy was designed for the airship station keeping at an altitude of 22 km. The simulation experiment proved the validity of the proposed algorithm.     

Transient stability and emergency control

Comparability of emergency control strategies with different instability modes is the key issue to decide which control strategy to be implemented. This paper considers that the essential factor causing instability should be used to form a unified standard to assess the effectiveness of control strategies with different instability modes. Thus a switching control stabilization principle was proposed based on elimination of the unbalanced energy between mechanical and electrical energies of generator sets. Along this way, the difficulty of seeking a Lyapunov function was circumvented. According to the principle, an emergency control algorithm framework was established to handle transient stability assessment, control location selection and control amount evaluation. Within the framework, this paper studied instability mode transition, then proposed an algorithm based on prediction function and a new approach to normalized stability margin stemmed from static EEAC method, which can increase comparability of various control locations. The simulations on the New-England System verified the proposed emergency control method for stabilizing transient stability.     

Compound control allocation strategy of dual aero/jet vane control missile

To solve the control allocation problem of dual aero/jet vane control missile, dynamics equations in longitudinal plane are derived, and the structure of compound control loop is designed based on attitude autopilot. Four brief compound control allocation strategies are researched and analyzed. Furthermore, a new strategy called chain combination variable proportional coefficient strategy based on rudder effect is presented. By simulation of initial climb trajectory, the characteristics of all the strategies are researched, and the results illustrate that the new strategy can meet the requirement well.     

Numerical method of slope failure probability based on Bishop model

Based on Bishop＇s model and by applying the first and second order mean deviations method, an approximative solution method for the first and second order partial derivatives of functional function was deduced according to numerical analysis theory. After complicated multi-independent variables implicit functional function was simplified to be a single independent variable implicit function and rule of calculating derivative for composite function was combined with principle of the mean deviations method, an approximative solution format of implicit functional function was established through Taylor expansion series and iterative solution approach of reliability degree index was given synchronously. An engineering example was analyzed by the method The result shows its absolute error is only 0.78% as compared with accurate solution.     

Resolution performance analysis of cumulants-based rank reduction estimator in presence of unexpected modeling errors

Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.     

Human action recognition based on chaotic invariants

A new human action recognition approach was presented based on chaotic invariants and relevance vector machines （RVM）. The trajectories of reference joints estimated by skeleton graph matching were adopted for representing the nonlinear dynamical system of human action. The C-C method was used for estimating delay time and embedding dimension of a phase space which was reconstructed by each trajectory. Then, some chaotic invariants representing action can be captured in the reconstructed phase space. Finally, RVM was used to recognize action. Experiments were performed on the KTH, Weizmann and Ballet human action datasets to test and evaluate the proposed method. The experiment results show that the average recognition accuracy is over 91.2%, which validates its effectiveness.     

Independent component analysis approach for fault diagnosis of condenser system in thermal power plant简

A statistical signal processing technique was proposed and verified as independent component analysis （ICA） for fault detection and diagnosis of industrial systems without exact and detailed model. Actually, the aim is to utilize system as a black box. The system studied is condenser system of one of MAPNA＇s power plants. At first, principal component analysis （PCA） approach was applied to reduce the dimensionality of the real acquired data set and to identify the essential and useful ones. Then, the fault sources were diagnosed by ICA technique. The results show that ICA approach is valid and effective for faults detection and diagnosis even in noisy states, and it can distinguish main factors of abnormality among many diverse parts of a power plant＇s condenser system. This selectivity problem is left unsolved in many plants, because the main factors often become unnoticed by fault expansion through other parts of the plants.     

A novel SINR and mutual information based radar jamming technique

The improvements of anti-jamming performance of modem radar seeker are great threats to military targets. To protect the target from detection and estimation, the novel signal-to-interference-plus-noise ratio （SINR）-based and mutual information （Ml）-based jamming design techniques were proposed. To interfere with the target detection, the jamming was designed to minimize the S1NR of the radar seeker. To impair the estimation performance, the mutual information between the radar echo and the random target impulse response was used as the criterion. The spectral of optimal jamming under the two criteria were achieved with the power constraints. Simulation results show the effectiveness of the jamming techniques. SINR and MI of the SINR-based jamming, the MI-based jamming as well as the predefined jamming under the same power constraints were compared. Furthermore, the probability of detection and minimum mean-square error （MMSE） were also utilized to validate the jamming performance. Under the jamming power constraint of I W, the relative decrease of the probability of detection using S1NR-based optimal jamming is about 47%, and the relative increase of MMSE using Ml-based optimal jamming is about 8%. Besides, two useful jamming design principles are concluded which can be used in limited jamming power situations.     

Multi-modality liver image registration based on multilevel B-splines free-form deformation and L-BFGS optimal algorithm简

A new coarse-to-fine strategy was proposed for nonrigid registration of computed tomography （CT） and magnetic resonance （MR） images of a liver. This hierarchical framework consisted of an affine transformation and a B-splines free-form deformation （FFD）. The affine transformation performed a rough registration targeting the mismatch between the CT and MR images The B-splines FFD transformation performed a finer registration by correcting local motion deformation. In the registration algorithm, the normalized mutual information （NMI） was used as similarity measure, and the limited memory Broyden-Fletcher- Goldfarb-Shannon （L-BFGS） optimization method was applied for optimization process. The algorithm was applied to the fully automated registration of liver CT and MR images in three subjects. The results demonstrate that the proposed method not only significantly improves the registration accuracy but also reduces the running time, which is effective and efficient for nonrigid registration.     

Mechanical behavior and failure analysis of brittle sandstone specimens containing combined flaws under uniaxial compression

Based on the axial stress-axial strain curves, the effect of fissure angle on the strength and deformation behavior of sandstone specimens containing combined flaws is analyzed. The mechanical parameters of sandstone specimens containing Combined flaws are all lower than that of intact specimen, but the reduction extent is distinctly related to the fissure angle. The results of sandstone specimens containing combined flaws are obtained by the acoustic emission, which can be used to monitor the crack initiation and propagation. The ultimate failure mode and crack coalescence behavior are evaluated for brittle sandstone specimens containing combined flaws. Nine different crack types are identified on the basis of their geometry and crack coalescence mechanism （tensile crack, hole collapse, far-field crack and surface spalling） for combined flaws. The photographic monitoring was also adopted for uniaxial compression test in order to confirm the sequence of crack coalescence in brittle sandstone specimens containing combined flaws, which recorded the real-time crack coalescence process during entire deformation. According to the monitored results, the effect of crack coalescence process on the strength and deformation behavior is investigated based on a detailed analysis for brittle sandstone specimens containing combined flaws by using digital photogrammetry.     

Ability of rotary compactor in compacting consistent slabs and effect of rotary compaction on engineering properties of stone mastic asphalt mixtures

A new automatic rotary compactor and its abilities in compacting stone mastic asphalt （SMA） are presented. Following an overview of the rotary compactor and the compaction procedure, it is demonstrated that the rotary compactor is able to produce uniform slabs with the desired thickness of 65 mm all over around. Furthermore, 132 cored samples from the rotary compactor had been compacted uniformly with approximately 4% optimum air void content. In addition, performance tests results indicate that the rotary compactor produces asphalt mixturures with the requirements of resilient modulus, Marshall stability and flow. A weight factor was introduced for each fraction of aggregates in the degradation analysis to compensate the crushing effect of aggregates during mixing and compacting.     

Distributed collaborative extremum response surface method for mechanical dynamic assembly reliability analysis

To make the dynamic assembly reliability analysis more effective for complex machinery of multi-object multi-discipline （MOMD）,distributed collaborative extremum response surface method （DCERSM） was proposed based on extremum response surface method （ERSM）.Firstly,the basic theories of the ERSM and DCERSM were investigated,and the strengths of DCERSM were proved theoretically.Secondly,the mathematical model of the DCERSM was established based upon extremum response surface function （ERSF）.Finally,this model was applied to the reliability analysis of blade-tip radial running clearance （BTRRC） of an aeroengine high pressure turbine （HPT） to verify its advantages.The results show that the DCERSM can not only reshape the possibility of the reliability analysis for the complex turbo machinery,but also greatly improve the computational speed,save the computational time and improve the computational efficiency while keeping the accuracy.Thus,the DCERSM is verified to be feasible and effective in the dynamic assembly reliability （DAR） analysis of complex machinery.Moreover,this method offers an useful insight for designing and optimizing the dynamic reliability of complex machinery.     

A unified approach of observability analysis for airborne SLAM

An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localization and mapping （SLAM） which allows for the simultaneous estimation of the location of the UAV as well as the location of the features it sees.Obscrvability is a key aspect of the state estimation problem of SLAM.However,the dimension and variables of SLAM system might be changed with new features.To solve this issue,a unified approach of observability analysis for SLAM system is provided,through reorganizing the system model.The dimension and variables of SLAM system keep steady,then the PWCS theory can be used to analyze the local or total observability,and under special maneuver,some system states,such as the yaw angle,become observable.Simulation results validate the proposed method.     

Competitive adsorption of Cu（Ⅱ） and Pb（Ⅱ） ions from aqueous solutions by Ca-alginate immobilized activated carbon and Saccharomyces cerevisiae

To establish a theoretical foundation for simultaneous removal of multi-heavy metals,the adsorption of Cu（Ⅱ） and Pb（Ⅱ） ions from their single and binary systems by Ca-alginate immobilized activated carbon and Saccharomyces cerevisiae （CAS） was investigated.The CAS beads were characterized by Scanning electron microscope （SEM） and Fourier transformed infrared spectroscopy （FTTR）.The effect of initial pH,adsorbent dosage,contact time and initial metal ions concentration on the adsorption process was systematically investigated.The experimental maximum contents of Cu（Ⅱ） and Pb（Ⅱ） uptake capacity were determined as 64.90 and 166.31 mg/g,respectively.The pseudo-second-order rate equation and Langmuir isotherm model could explain respectively the kinetic and isotherm experimental data of Cu（Ⅱ） and Pb（Ⅱ） ions in single-component systems with much satisfaction.The experimental adsorption data of Cu（Ⅱ） and Pb（Ⅱ） ions in binary system were best described by the extended Freundlich isotherm and the extended Langmuir isotherm,respectively.The removal of Cu（lⅡ） ions was more significantly influenced by the presence of the coexistent Pb（Ⅱ） species,while the Pb（Ⅱ） removal was affected slightly by varying the initial concentration of Cu（Ⅱ）.The CAS was successfully regenerated using 1 mol/L HNO3 solution.