Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties

This paper addresses a tracking problem for uncertain nonlinear discrete‐time systems in which the uncertainties, including parametric uncertainty and external disturbance, are periodic with known periodicity. Repetitive learning control (RLC) is an effective tool to deal with periodic unknown components. By using the backstepping procedures, an adaptive RLC law with periodic parameter estimation is designed. The overparameterization problem is overcome by postponing the parameter estimation to the last backstepping step, which could not be easily solved in robust adaptive control. It is shown that the proposed adaptive RLC law without overparameterization can guarantee the perfect tracking and boundedness of the states of the whole closed‐loop systems in presence of periodic uncertainties. In addition, the effectiveness of the developed controller is demonstrated by an implementation example on a single‐link flexible‐joint robot. Copyright © 2014 John Wiley & Sons, Ltd.     

基于Deform-3D和正交实验法的2A12铝合金等通道转角挤压工艺优化

在Deform-3D有限元数值模拟过程中应用正交实验设计方法,对2A12铝合金等通道转角挤压工艺进行优化设计,并系统分析不同工艺参数对挤压力和等效应变的影响规律。结果表明:摩擦系数与挤压角度对挤压力的影响较大;挤压角度和挤压速度对等效应变有较大影响。     

Effect of hyperbranched poly(citric polyethylene glycol) with various polyethylene glycol chain lengths on starch plasticization and retrogradation

A series of hyperbranched poly(citric polyethylene glycol) (PCPEG) materials with varied polyethylene glycol (PEG) chain lengths as plasticizers were mixed with maize starch (MS) via cooking and film‐forming. The structure, pasting property, plasticization, aging property, moisture absorption and compatibility of plasticized starches were studied by means of Fourier transform infrared spectroscopy, X‐ray diffraction, rapid viscosity analysis, tension testing, moisture absorption measurements and scanning electron microscopy. Compared with PEG and citric acid, PCPEG was more effective in promoting starch chain movement and inhibiting the retrogradation of starch film. Also, PCPEG/MS had smaller moisture content. The longer the plasticizer chain, the better were the aging resistance and moisture resistance of starch. But with an increase of PEG chain length, mechanical properties of PCPEG/MS deteriorated and the compatibility between PCPEG and MS decreased. The hyperbranched derivative of PEG with longer chain exhibited improved plasticization and compatibility with starch. © 2019 Society of Chemical Industry     

浅谈粤菜饮食之养生保健

粤菜历史悠久,是广东饮食文化的亮点,也是中华饮食文化的一个重要组成部分。粤菜因受广东特殊的地理环境、人文环境的影响而独具特色。粤菜菜式丰富多样,善于应四季之变而变,而且善于"寓医于食",注重食疗养生,达到营养滋补、防病保健、强身健体的目的,这又以广东的老火汤最具代表性。     

安徽省河长制决策支持系统建设与应用

针对河湖长制相关数据分散在多个部门及部门之间、省市县之间,数据互联互通和共建共享不够充分等问题,结合河湖管理保护实际,充分整合涉河湖保护相关数据,最大程度地共享现有数据资料和软硬件资源,系统建设严格遵循全国河长制系统建设指导方案,围绕决策支持的主题思想,总体框架采用“5+N”模式,满足河湖长制工作和河长湖长履职尽责需求,强化基础资料整编、实化系统功能、优化系统界面,充分分析建设难点及解决办法、存在不足及意见建议,系统的建成推动河湖长制工作规范化、促进河湖管理协同工作的高效化、实现执法监督工作的实时化,提升河湖管理保护信息化水平,为河湖长制信息化建设提供参考。     

CAN总线的输送控制系统集成化研究

针对现有技术中输送系统控制不稳定、控制能力低下等问题,本文提出基于工业CAN总线的输送系统集成化控制.在控制系统CAN通信节点利用代码进行数据的转化,通过emit关键字将数据绘制成显示曲线,由输入的代码不断对系统数据进行刷新,实现了输送系统的实时监控,提高了系统运行的安全性.通过时间同步技术将SAEAS6802时钟同步协议与时钟修正算法相结合,有效地对数据处理时间和接收时间进行校正,减少了数据接收误差,提高了时间同步精度.实验结果表明,本文研究方法提高了输送控制系统的运行安全性和可靠性.     

靶面激光光斑尺寸原位测量的研究

提供了一种简便易行的靶面激光光斑尺寸原位测量的方法。从高斯光束的横向光强分布特性出发,建立了激光烧蚀斑半径与辐照激光能量、光斑尺寸、烧蚀阈值间的关系式,模拟分析发现辐照激光光斑尺寸对烧蚀斑半径随辐照能量变化曲线有较大影响。对于脉宽为2 ms,波长为1064 nm的激光,实验测量了不同能量激光辐照下相纸烧蚀斑半径,并用推导出的关系式拟合测量数据,获得了靶面处光斑尺寸和样品烧蚀阈值。同时,也测量了不同位置处的光斑尺寸和样品烧蚀阈值,对高斯光束束腰位置和样品烧蚀阈值的光斑尺寸效应进行了验证。研究结果表明该技术结果可靠,简单高效。该技术可以为高能激光与固体物质相互作用的基础研究和激光加工等应用领域中实现简单方便地测量靶面光斑尺寸提供帮助。     

关于汽车尾气污染及其治理问题的探讨

针对大气污染的现状,就汽车尾气对环境的影响及其危害进行分析,提出大气污染治理的措施与方法,对如何发展天然气汽车理论和实践的主要问题进行了尝试性的研究,指出大力发展天然气汽车是解决汽车尾气污染的最好办法。