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.     

Single step synthesis of GdAlO3 powder

A novel method for preparation of nano-crystalline gadolinium aluminate (GdAlO₃) powder, based on combustion synthesis, is reported. It was observed that aluminium nitrate and gadolinium nitrate exhibit different combustion characteristics with respect to urea, glycine and β-alanine. While urea was proven to be a suitable fuel for direct formation of crystalline α-Al₂O₃ from its nitrate, glycine and β-alanine are suitable fuels for gadolinium nitrate for preparation of its oxide after combustion reaction. Based on the observed chemical characteristics of gadolinium and aluminium nitrates with respect to above mentioned fuels for the combustion reaction, the fuel mixture composition could be predicted that could lead to phase pure perovskite GdAlO₃ directly after the combustion reaction without any subsequent calcination step. The use of single fuel, on the other hand, leads to formation of amorphous precursor powders that call for subsequent calcination for the formation of crystalline GdAlO₃. The powders produced directly after combustion reactions using fuel mixtures were found to be highly sinterable. The sintering of the powders at 1550 °C for 4 h resulted in GdAlO₃ with sintered density of more than 95%. T.D.     

检定S型短型热电偶的4种不同冷端补偿方法之比较

检定长度在200～700 mm范围内的S型热电偶时,由于参考端温度大都处于室温或者波动的温场之中,需要将参考端温度恒定在0℃或采取修正、补偿等措施进行修正。现采取检定中最常用的4种不同的冷端补偿方法检定同一支S型短型热电偶,对结果进行比较分析,得到这4种不同的冷端补偿方法的优劣性及其准确度排序。结果表明,将参考端应用达到一等标准热电偶准确度水平的同极性热电偶丝延伸至参考端恒温器方法能获得较为理想的补偿效果。     

钢丝非稳态加热的运行速度计算

在热处理钢丝时,大多在对流换热条件下对钢丝进行加热,铅浴热处理是其加热方法之一。本文根据传热学理论,依据能量守恒原理,应用集总热容法,对钢丝在第三类边界条件下的加热建立合适的数学模型,推导出第三类边界条件下的钢丝在对流换热情况时的加热时间计算式,给出了钢丝表面到温和钢丝中心到温时间表达式,由此导出钢丝非稳态加热的运行速度计算式,为钢丝热处理工艺的制定和钢丝加热炉(槽)的设计提供理论计算依据。     

PC挖掘机回转系统常见故障分析与排除

文中分析了挖掘机回转系统中控制系统和回转锁定功能;阐述了引起回转系统故障的原因,并且提出检查和排除故障的方法。通过对故障案例的详细分析,最终给出了检查步骤及维修措施,对在实际维修与使用机器具有一定的指导意义。     

Evaluation of wind load integration in disproportionate collapse analysis of steel moment frames for column loss

The design of steel structures, in most cases, depends majorly on the level of wind loads which are prescribed by codes and regulations and are used in the structural analysis due to the fact that steel structures being light and ductile systems are strongly affected from a slight difference in the values of wind loading. During the last decades, disproportionate collapse analysis has become of major interest mainly due to the increasing number of failures occurring in that pattern. Commonly accepted guidelines and methods of analysis have been produced, the most dominating of which being the Department of Defense Facilities criteria or DoD. In the DoD, as well as in other criteria, the event of a column loss is suggested as the modeling scenario which has to be sustained by a structural system in order to be robust. However, all the guidelines so far have disconnected the column loss analysis from wind loads and have only performed it for gravity loading. This paper presents the dynamic time history disproportionate collapse analysis of steel frames, including various levels of wind loading. Interesting aspects are discussed through the parametric analysis of five different numerical examples of moment resisting frames.     

Simulation of the urban climate variations in connection with the transformations of the city of Nantes since the 17th century

The paper seeks to quantify the effect of urban politics on the microclimate of the city of Nantes (France), in particular those initiated by the sanitarians in the mid-19th century to find a remedy for the insalubrity that had been developing with urban densification since the late 17th century. Intensive historical research was first carried out in order to define and date the major transformations undergone by the city, its structure (densification, then widening of the streets, filling of water courses), the lifestyle habits (heating) or the building practices (appearance of stone and paving, higher buildings, insulation). This led to the definition of 5 characteristic states of the city, in 1680, 1756, 1835, 1880 and 1945.     

因需而型,应需为变——豫西南地区村镇住宅优化设计研究

研究豫西南农村的住宅设计模式,借助计算机数字化分析,探讨投入低、舒适度高的村镇住宅设计思路,并提出该因需而型,应需为变的优化设计策略。     

Error evaluation on experimental stress–strain curve obtained from tube bulging test

To get precise material data for advanced numerical modelling of tube hydroforming process, the tube bulging test is recommended. Stresses and strains in the tube cannot be evaluated easily and several approaches have been proposed. A review is proposed and points out their advantages and drawbacks.     

网络计划技术在暖通空调工程管理中的应用

结合实际工程,介绍了该应用的具体步骤。通过对工程的分析,绘制了网络图,找到了关键线路,并对工程计划进行了优化。