重力坝深层抗滑稳定设计初探

针对某水库重力坝坝基地层倾角平缓(8°~15°),基岩为薄层状结构,坝基深层抗滑设计是工程关键技术,在利用抗剪断强度理论进行坝基抗滑稳定计算的基础上,通过分析比较常见的坝基基础处理措施,最终确定重力坝坝基采用坝趾处设置混凝土深齿墙措施,可同时提高坝基浅层及深层抗滑稳定安全系数。     

Sliding mode control for Markov jump linear uncertain systems with partly unknown transition rates

In this paper, based on sliding mode control approach, the robust stabilisation problem for a class of continuous-time Markovian jump linear uncertain systems with partly unknown transition rates is investigated. The transition rate matrix under consideration covers completely known, boundary known and completely unknown elements. By making use of linear matrix inequalities technique, sufficient conditions are presented to derive the linear switching surface and guarantee the stochastic stability of sliding mode dynamics. Then a sliding mode control law is designed to drive the state trajectory of the closed-loop system to the specified linear switching surface in finite time in spite of the existing uncertainties and unknown transition rates. Finally, an example is given to verify the validity of the theoretical results.     

Underactuated fingers controlled by robust and adaptive trajectory following methods

Choosing an appropriate control scheme to alleviate nonlinearities and uncertainties is not a trivial task, especially when models are not easily available and practical evaluation provides the only means for actual performance assessment. Various factors can contribute to these nonlinearities and uncertainties, such as friction and stiction. Thus, this article investigates four different control schemes, namely PID, adaptive, conventional sliding mode control (SMC) and integral sliding mode control (ISMC) which are implemented in the Bristol Elumotion Robot Hand (BERUL) to analyse and overcome the aforementioned problems. The hand has five fingers with 16 joints and all fingers are underactuated. The implementation of the proposed control schemes are challenging since the BERUL fingers have significant friction, stiction and unknown parameters. The fingers are light in weight and fragile. Comparative performance characteristics have shown that the ISMC is the most suitable candidate to provide good experimental trajectory following and positioning control for underactuated BERUL fingers.     

A Discrete‐Time Global Quasi‐Sliding Mode Control Scheme with Bounded External Disturbance Rejection

A global quasi‐sliding mode control (GQSMC) scheme is introduced to ensure zigzag motion with a smaller bound than that offered by Gao's method and to provide disturbance rejection throughout the entire response in discrete time. The design of an augmented forcing function is followed by three conditions in discrete time extended from global sliding mode control (GSMC) in continuous time. Furthermore, we adopt a switching gain, which is auto‐tuned as a function of sliding surface s(k), such that chattering phenomena can be considerably alleviated during the steady‐state, significantly reducing switching control applied to the plant. The proposed GQSMC scheme can provide more advantages such as an even distribution of the control input throughout the entire response and an improvement in the accuracy and speed of the desired performance, guaranteeing a quasi‐sliding mode throughout the entire response. In addition, we also consider the input disturbance rejection according to the norm‐bounded exogenous signal. Results from both the simulation and the experiments are reported. The results further verify that we can use the global sliding surface to curtail reaching the phase stage.     

Sliding‐Mode Velocity Control of a Two‐Wheeled Self‐Balancing Vehicle

Underactuated vehicles are those in which the number of control inputs is less than the degrees of freedom to be controlled. Using actuated wheels, velocity control of the two‐wheeled self‐balancing vehicle drives the vehicle at a desired speed and balances the body of the vehicle. First, we investigate the effects of friction on the wheel and derive the hybrid model of rolling and slipping. Second, we propose a nonlinear sliding mode velocity control scheme for the pure rolling model of the two‐wheeled vehicle. We present the design of the corresponding sliding surfaces and internal dynamics of the two‐wheeled vehicle. Our stability analysis reveals that the proposed sliding mode method can guarantee the asymptotic stability of the error dynamics for velocity control of the underactuated vehicle. Compared to linear optimal control, our numerical simulations demonstrate that the proposed sliding mode schemes can effectively control the velocity under the circumstances of parametric variations, emergency braking, and rapid acceleration in slippery road conditions. The proposed velocity control and the simulation improve our understanding on designing velocity control of the two‐wheeled self‐balancing vehicle.     

Stabilization And Tracking Of Underactuated Surface Vessels In Random Waves With Fin Based On Adaptive Hierarchical Sliding Mode Technique

Trajectory tracking and roll stabilization are both vital practices in ship motion control. Trajectory tracking is a kind of low‐frequency control, while roll stabilization by means of fins is a kind of high‐frequency control. However, they have been studied separately previously; most tracking control of underactuated surface vessels in the previous studies do not account for roll stabilization by means of fins. In reality, however, they are an integral system. In this paper, a simple control strategy is proposed to achieve trajectory tracking and fin roll stabilization simultaneously. Four degrees of freedom derived from a six degrees of freedom mathematical model of a surface vessel is considered, including surge, sway, roll and yaw. Surge force, roll moment and yaw moment are considered as control inputs, while position, yaw angle and roll angle are controlled. The number of control inputs is fewer than the outputs to be controlled. Therefore, we are dealing with an underactuated problem. An adaptive hierarchical sliding mode control technique is employed to deal with the underactuation. Stabilization of underactuated surface vessels is studied as a special case. Random waves are applied to test the robustness of the designed controllers. Lyapunov stability theory is used to show the stability of closed‐loop system. The simulation results verify the effectiveness of the proposed strategy.     

考虑重力影响的空间机械臂轨迹跟踪滑模控制

针对空间机械臂由地面装调到空间应用过程中重力环境发生变化的问题,使用滑模控制器对空间机械臂进行控制,通过将配置特殊的非线性结构-fal函数引入趋近律的设计中,提出一种新的基于趋近律的滑模控制方法,并基于李亚普诺夫理论证明了闭环系统的渐近稳定性。仿真结果表明该方法能够很好地完成不同重力环境下机械臂的轨迹跟踪控制任务,并具有较强的鲁棒性。     

氮化硅陶瓷高温摩擦学性能

本文研究热压氮化硅陶瓷与３Ｃｒ２Ｗ８Ｖ钢组成的销－盘摩擦副，在空气中非润滑条件下，４００～８００℃不同载荷（４９～３４３Ｎ）的摩擦磨损性能；测定了磨擦系数和Ｓｉ３Ｎ４销的磨损因子；通过对Ｓｉ３Ｎ４磨损面的ＳＥＭ形貌观察、Ｘ射线相结构分析，探讨了陶瓷销的磨损机理     

独立光柴混合微电网新的负荷频率控制研究

针对光柴混合发电的孤岛微电网,提出基于滑模控制和超级电容调节的频率控制方法。首先,建立光伏系统、超级电容和柴油发电机系统的数学模型;其次,设计滑模控制器来调节柴油机发电机的有功输出功率,减小由于光伏输出功率波动和微网中不断变化的负荷而产生的频率偏差;最后增加超级电容储能设备控制微网的频率偏差。仿真结果表明,与传统的柴油发电机速度控制策略相比,提出的方法不仅实现了光伏系统的最大输出功率控制,而且有效的减少了孤岛微网的频率偏差。