Iterative Learning Control Algorithm with a Fixed Step

Iterative Learning Control (ILC) captures interests of many scholars because of its capability of high precision control implement without identifying plant mathematical models, and it is widely applied in control engineering. Presently, most ILC algorithms still follow the original ideas of ARIMOTO, in which the iterative-learning-rate is composed by the control error with its derivative and integral values. This kind of algorithms will result in inevitable problems such as huge computation, big storage capacity for algorithm data, and also weak robust. In order to resolve these problems, an improved iterative learning control algorithm with fixed step is proposed here which breaks the primary thought of ARIMOTO. In this algorithm, the control step is set only according to the value of the control error, which could enormously reduce the computation and storage size demanded, also improve the robust of the algorithm by not using the differential coefficient of the iterative learning error. In this paper, the convergence conditions of this proposed fixed step iterative learning algorithm is theoretically analyzed and testified. Then the algorithm is tested through simulation researches on a time-variant object with randomly set disturbance through calculation of step threshold value, algorithm robustness testing,and evaluation of the relation between convergence speed and step size. Finally the algorithm is validated on a valve-serving-cylinder system of a joint robot with time-variant parameters. Experiment results demonstrate the stability of the algorithm and also the relationship between step value and convergence rate. Both simulation and experiment testify the feasibility and validity of the new algorithm proposed here. And it is worth to noticing that this algorithm is simple but with strong robust after improvements, which provides new ideas to the research of iterative learning control algorithms.     

New Linkage with Linear Actuator for Tracking PV Systems with Large Angular Stroke

This paper focuses on the development of an optimized photovoltaic tracking system involving low-cost, relative simple mechanisms, with linear actuators able to insure strokes comparable with those resulted when using gear rotary actuators. Starting with a rhombus linkage, with a linear actuator on the diagonal used for the elevation motion till 90°, a new performance solution is generated. This new linkage allows large angular strokes by using an asymmetric rhombus and an eccentrically positioned linear ac...     

Life Prediction Based on Transient Dynamics Analysis of Van Semi-trailer with Air Suspension System

The early fatigue damage in the van-body of the semi-trailer is often caused by the unique mechanical characteristics and the dynamic impact of the loads.The traditional finite element method with static strength analysis cannot support the fatigue design of van-body;thus,the dynamics analysis should be adopted for the endurance performance.The accurate dynamics model to describe the transient impacts of all kinds of uneven road and the proper system transfer functions to calculate the load transfer effects...     

Study on Microstructure and Mechanical Properties of Hot Rolled Low Silicon Containing Phosphorus TRIP Steel

The effects of final air cooling temperature on the microstructure and mechanical properties of hot rolled 0.2C-1.9Mn-0.5Si-0.08P TRIP steel were studied by utilizing OM, SEM, TEM and tensile tests. Experimental results showed that in the multiphase microstructure of the investigated steel when the finish rolling temperature was about 820 ℃ and the final air cooling temperature was in the range of 630-700 ℃, the grain size of most of ferrite was finer (about 4 μm) and which had higher dislocation density, t...     

Study on Thermal Deformation Behavior and Properties of Vacuum Hot-press Sintered W(50)/Cu-Al_2O_3 Composite

In this work, the tungsten particulate reinforced Al2O3 dispersion strengthened copper base composites were successfully fabricated by using a vacuum hot-press sintering method. With the test temperature varying from 650 to 950 ℃ and the strain rate varying from 0.01 to 5 s-1, the W(50)/Cu-Al2O3 composites were isothermally compressed on a Gleeble-1500D thermal simulator. The true stress-strain curves of the W(50)/Cu-Al2O3 under different test conditions were obtained. The dynamic recrystallization of the W...     

Transition Temperature of Bi_2Sr_2CaCu_2O_(8+x) Superconducting Films Prepared from Commercial Precursors

This paper have made a systematic study of the superconducting Bi-2212 phase transition temperature, which has a transition temperature (Tc) around 80-93 K, and depends on precise control of synthesis conditions, mainly including heat treatment parameters, oxygen partial pressure, and annealing temperature. Partial melting of the sample during preparation helps to raise its Tc. To elucidate the origin of this strong effect, the samples were heated with different melting process. The rapid changes in Tc valu...     

Development of High Deformability Pipeline Steel

Based on strain-based design, high deformability X70 high strength pipeline steel with dual-phase microstructure has been developed, which can be laid in the seismic, the cold or the deepwater region. The results illustrated that the developed X70 steel has the stress-strain curve like round house and it shows good anti-transformation characteristic, high uniform deformation(≥10%), enhanced n-value(≥0.10), and the low yield-tensile ratio Y/T(≤0.85). The dual-phase microstructure of ferrite and bainite conta...     

Progress in Thermal Contact Resistance

The developments of aeronautics and astronautics require engines of higher quality. The temperature distribution in combustion engine is highly influenced by the thermal conduct resistance. To predict the temperature field of the hot-end assemblies of combustion engine, the thermal contact resistance must be considered. The object of the study is to propose a model of high application including in conditions of high temperature and high pressure. Up to date, many models and empirical or semi-empirical corre...     

Cleaning method of InSb [111] B of n-InSb [111] A/B for the growth of epitaxial layers by liquid phase epitaxy

The crystal structure of InSb[111]A/B surfaces shows that this structure is polarized.This means that the surfaces of InSb[111]A and InSb[111]B contain two different crystallized directions and they have different physical and chemical properties.Experiments were carried out on the InSb[111]A/B surfaces,showing that tartaric acid etchant could create a very smooth surface on the InSb[111]B without any traces of oxides and etch pit but simultaneously create etch pit on InSb[111]A surfaces.After lapping and polishing,some particles remained on the InSb[111]B surface,they could not be removed easily by standard cleaning process and if these particles remain on the surface of the substrate,the growth layer was not uniform and some island-like regions were observed.The purpose of this work is to remove these particles on the InSb[111]B surface.Some morphology images of both surfaces,InSb[111]A/B,will be presented.