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单纯采用经典的比例积分(proportion integration,PI)校正难以进一步提高航空光电平台惯性稳定性能。本文分析了影响稳定精度的主要因素,设计了基于简化干扰观测器(disturbance observer,DOB)的航空光电平台稳定控制算法。该方法由DOB和PI控制器构成,其中DOB 采用陀螺反馈,利用等效变换实现,无需求取被控系统的逆模型。此外,本文提出一种基于隔离度测试的航空光电平台稳定性能评价方法。在实际系统中进行了惯性稳定实验,采用所提出的稳定控制方法获得了10 μrad(RMS)的稳定精度,并且采用新方法的隔离度测试结果在30 Hz频带内的姿态扰动下较传统PI控制均有显著的提高。 相似文献
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3D Printed Microtransporters: Compound Micromachines for Spatiotemporally Controlled Delivery of Therapeutic Agents
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Jinlong Ma Juan Wang Zhibo Cheng Tian Yin Huan Teng Hui Xu 《Drug development and industrial pharmacy》2015,41(2):307-314
The purpose of this study was to prepare sustained-release pellets of nifedipine (NSPs) based on MCC matrix. Wet-milling and extrusion-spheronization techniques were employed to prepare the microcrystals and pellets, respectively. The drug release mechanism and the influencing factors were investigated. After milled with HPMC (E5), the mean particle size of nifedipine in co-grinding mixture (CGM) was 5?μm, which is 15-fold smaller than that of raw material. DSC, X-ray powder diffraction and microscopic observation confirmed the microcrystals of drug were maintained in the CGM. With increased milling time and the content of HPMC, the dissolution rate was greatly enhanced compared with the raw material. The NSPs prepared by MCC and the CGM, which was obtained by cogrinding nifedipine with 5% HPMC solution for 210?min, exhibited sustained release pattern within 8?h. Nifedipine release from MCC-based NSPs followed the Korsmeyer model and closely related to the microstructure of pellet. High stability of NSPs was confirmed after 6 months of accelerated stability test. Using commercially available sustained product as reference, bioequivalence study in beagle dogs was executed and two formulations were bioequivalent. This sustained release pellet formulation of nifedipine was advantageous with convenient and easy scaled-up preparation process. 相似文献
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Shuangshuang Song Baocheng Tian Fen Chen Wenji Zhang Yusheng Pan Qiang Zhang 《Drug development and industrial pharmacy》2015,41(1):51-62
Objective: The objectives of this study were, first, to develop a free-flowing and stable proniosome formulation for poorly water-soluble drugs such as vinpocetine; and second, to estimate its bioavailability as oral drug delivery system.Methods: The proniosomes consisting of span60, cholesterol, sorbitol and vinpocetine were prepared by a novel approach. After the proniosomes were contacted with water, the suspension of vinpocetine-loaded niosomes formed automatically. The proniosomes and reconstituted niosomes were evaluated for their physicochemical characteristics, in vitro drug dissolution and release, integrity and stability at different GI tract pH conditions, in situ single-pass intestinal perfusion and in vivo bioavailability.Results: The proniosome powder exhibited excellent flowability. The reconstituted niosomes with high drug entrapment efficiency (89.67?±?3.28%) showed spherical morphology with smooth surface under transmission electron microscope (TEM). X-ray diffraction (XRD) indicated that the drug was in an amorphous or molecular state in proniosome powder. In vitro dissolution and release study, proniosomes did enhance the dissolution and release rate compared to vinpocetine suspension in phosphate buffer solution (pH 7.2). Proniosome-derived niosomes could keep their integrity and stability at different GI tract pH conditions. The in situ single-pass intestinal perfusion indicated that encapsulation of vinpocetine into niosomes could largely improved the absorption of vinpocetine. The AUC(0?∞) of F2 and F3 was about 4.0- and 4.9-fold higher than that of the vinpocetine suspension, respectively. The results demonstrated the proniosomes indeed remarkably enhanced the oral bioavailability of vinpocetine.Conclusion: This study suggested the potential of proniosomes as stable precursors for the immediate preparation of niosome carrier systems. 相似文献