Fast economic model predictive control based on NLP-sensitivities

This study adapts the advanced step NMPC framework to Economic NMPC. Here, sufficient conditions for nominal stability are derived for NMPC controllers that incorporate economic stage costs with appropriate regularization. To guarantee these conditions, we derive a constructive strategy to calculate the regularization term directly. Moreover, we extend the sensitivity components in the advanced step NMPC framework to consider a rigorous path-following algorithm. This approach accounts for active set changes and allows much weaker constraint qualifications. Moreover, using an ℓ₁ formulation of the NMPC problem satisfies these constraint qualifications and allows more reliable solution of the moving horizon optimization problem, even in the presence of noise. Finally, all of these concepts are demonstrated on a detailed case study with a continuously stirred tank reactor.     

六维腕力传感器非线性正解耦方法设计

多维力传感器利用其多个转换单元完成测量加载于其结构上未知负载的作用效果,解耦是其设计的重要组成部分。针对传统静态线性解耦方法的不足,试图将传统线性解耦方程扩展为多项式结构,受其多元高次方式通解形式的启发,构造了一种多项式非线性静态正解耦方程,该方法无需传统线性解耦方法中的曲线拟合、逆解,不依赖以系统是线性为前提,且方程可以扩展成任意结构的多项式。实验结果表明:该方法能降低输出耦合误差。     

磁悬浮系统的控制方法研究

对于电磁吸浮型磁浮列车,悬浮控制是其关键部分,由于该系统的非线性和不稳定性,需要通过主动控制使其稳定悬浮。建立了磁悬浮列车悬浮系统模型,针对模型的非线性问题,采用精确反馈线性化将悬浮系统的非线性模型线性化,然后用闭环增益成形算法设计出非线性鲁棒控制器。用MATLAB的Simulink对具有扰动的非线性模型进行仿真,仿真结果表明控制效果没有静差和超调,调节时间快。     

Straightforward modeling of dynamic I–V characteristics for microwave FETs

This work presents a straightforward approach aimed at modeling the dynamic I–V characteristics of microwave active solid‐state devices. The drain‐source current generator represents the most significant source of nonlinearity in a transistor and, therefore, its correct modeling is fundamental to predict accurately the current and voltage waveforms under large‐signal operation. The proposed approach relies on using a small set of low‐frequency time‐domain waveform measurements combined with numerical optimization‐based estimation of the nonlinear model parameters. The procedure is applied to a gallium nitride HEMT and silicon FinFET. The effectiveness of the modeling procedure in terms of prediction accuracy and generalization capability is demonstrated by validation of the extracted models under operating conditions different than the ones used for the parameters estimation. Good agreement between measurements and model simulations is achieved for both technologies and in both low‐ and high‐frequency range. © 2013 Wiley Periodicals, Inc. Int J RF and Microwave CAE 24:109–116, 2014.     

基于GP2Y0A02距离测量的仿真与辅助设计

为了实现非接触距离测量,利用多个仿真与设计软件设计了采用GP2Y0A02模块的距离光学测试系统。在PROTEUS中测量GP2Y0A02电压值,并在Matlab中采用多元线性回归建立GP2Y0A02电压与距离的拟合曲线,最后在开发的测量程序中利用拟合曲线求解得到距离量。测试结果表明,对于非线性位置测量采用适当数据处理方法能得到满意的测量精度。     

A New Robust Adaptive Control of Uncertain Nonlinear Systems and Pendulum Application

A new robust adaptive control of uncertain nonlinear systems is proposed in this paper. The proposed method combines sliding mode control with the immersion and invariance (I&I) adaptive scheme, and it has more available degrees of freedom than using the backstepping scheme. Via the proposed method, a class of nonlinear systems with mismatched parametric perturbations can be rendered asymptotically stable and the performance of the system can also be improved. Finally, the proposed method is applied to a simple pendulum with motor dynamics, and simulation results show the effectiveness and performance of the proposed method.     

An Adaptive and Optimized Switching Observer for Sensorless Control of an Electromagnetic Valve Actuator in Camless Internal Combustion Engines

In this paper, the design and operation of a special electromagnetic actuator as a variable engine valve actuator are presented. Further, this paper describes a feasible approximated velocity switching estimator based on measurements of current and input voltage to achieve sensorless control. The proposed concept allows a reduced‐order observer to be conceived and yields a specific control strategy with an acceptable performance. In general, this approach represents a viable strategy to build reduced‐order observers for estimating the velocity of systems through the measurement of input current and voltage. The robustness of the velocity tracking is explored using a minimum variance approach. The effect of the noise is minimized, and the position can be achieved through an adaptive and optimized structure by combining this particular velocity estimator and an observer based on the electromechanical system. Position control is achieved through an inversion of the model. This approach avoids a more complex structure for the observer and yields an acceptable performance as well as eliminating bulky position‐sensor systems. In addition, a control strategy is presented and discussed. Computer simulations of the sensorless control structure are presented in which the positive effects of the observer with optimized parameter setting are visible in the closed‐loop control.     

基于非线性关联维特征提取的机械自动化监测系统

提取天然气压缩机故障状态下振动信号的故障特征是设计机械自动化检测系统的核心技术。提出一种基于非线性关联维特征提取的机械自动化监测系统设计方法,在故障诊断原理基础上,进行故障振动信号时间序列分析,设计故障振动信号相空间重构方法,改进了相空间重构最佳时延和嵌入维数参数计算的关键技术,通过提取关联维故障特征,在Simulink平台上设计了自动化监测系统。系统实验结果表明,该算法和系统能使各类故障状态下提取的关联维特征的标准差显著性降低,特征分布聚类能力明显提高,系统能有效检测各类故障,实现了机械设备的自动化监测,在自动化故障诊断仪表设计等领域具有较好的工程实践价值。     

Controller design for nonlinear systems using the Contoured Robust Controller Bode plot

In this paper, we develop the Contoured Robust Controller Bode (CRCBode) plot and demonstrate its use in the design of robust controllers for nonlinear single‐input single‐output (SISO) systems. The CRCBode plot shows contours (level sets) of a robust performance quantity on the Bode magnitude and phase plots of the controller. An iterative frequency domain loop‐shaping design approach is employed to eliminate all intersections of the controller frequency response with certain ‘forbidden regions,’ indicating that a standard SISO robust stability and performance criterion is satisfied. Nonlinearities are accounted for by avoiding the maximum forbidden regions over a structured uncertainty set consisting of linearizations of the system dynamics about several operating points. We demonstrate this technique by designing and experimentally verifying a flow‐rate controller for a butterfly‐valve based liquid cooling system, which is robust to valve nonlinearities and flow disturbances. Finally, we compare this compensator with one generated using an automated H _∞ synthesis algorithm and discuss the advantages of the CRCBode approach. Copyright © 2013 John Wiley & Sons, Ltd.