Passivity‐based sliding mode control for nonlinear systems

Passivity with sliding mode control for a class of nonlinear systems with and without unknown parameters is considered in this paper. In fact, a method for deriving a nonlinear system with external disturbances to a passive system is considered. Then a passive sliding mode control is designed corresponding to a given storage function. The passivity property guarantees the system stability while sliding mode control techniques assures the robustness of the proposed controller. When the system includes unknown parameters, an appropriate updated law is obtained so that the new transformed system is passive. The passivation property of linear systems with sliding mode is also analysed. The linear and nonlinear theories are applied to a simple pendulum model and the gravity‐flow/pipeline system, respectively. Copyright © 2008 John Wiley & Sons, Ltd.     

Control of discrete time nonlinear systems with a time-varying structure

In this paper, we present a control methodology for a class of discrete time nonlinear systems that depend on a possibly exogenous scheduling variable. This class of systems consists of an interpolation of nonlinear dynamic equations in strict feedback form, and it may represent systems with a time-varying nonlinear structure. Moreover, this class of systems is able to represent some cases of gain scheduling control, Takagi-Sugeno fuzzy systems, as well as input-output realizations of nonlinear systems which are approximated via localized linearizations. We present two control theorems, one using what we call a “global” approach (akin to traditional backstepping), and a “local” approach, our main result, where backstepping is again used but the control law is an interpolation of local control terms. An aircraft wing rock regulation problem with varying angle of attack is used to illustrate and compare the two approaches.     

地球化学录井技术的发展和应用

简要介绍了国内地化录井技术的发展历程，分析了该技术的特点及在油气勘探开发应用中取得的成效。认为中国地化录井技术在引进、消化、吸收的基础上，扩展了该技术的应用领域和范围，目前该专业的整体技术水平处于国际领先地位。在以统计资料及应用实例报道该技术的应用成果及独特技术优势的同时，也分析了存在的问题，指出了解决问题的主要途径。     

膏盐岩地层地质特征与录井技术

石油勘探实践和研究结果表明，许多油气藏的形成都与膏盐岩地层有关，也常与膏盐岩地层伴生，成功钻穿膏盐岩地层是钻井难题之一，录井技术成为钻进安全监测、膏盐岩地层准确预报的重要手段。针对上述情况，介绍了膏盐岩地层的主要类型、沉积模式以及与油气的关系，归纳总结了膏盐岩地层的录井技术经验，包括：在随钻录井过程中熟悉地质设计与邻井资料；在没有预测钻遇膏盐岩地层的情况下，通过钻井液中Cl^-的变化判定是否钻遇膏盐岩地层；预计钻遇膏盐岩地层时，使用饱和盐水钻井液；钻遇膏盐岩地层后观察盐岩是否以岩屑形式返出；同时，把握膏盐岩地层的岩性、岩性组合、层位、顶底界和厚度是非常重要的。通过S1井实例分析，论述了在膏盐岩地层中钻进时，防卡、防漏是录井人员监测和预报的重点。     

煤巷锚杆支护技术的探讨

从巷道围岩强度,原岩自重应力,地质构适应力,煤柱留设宽度和巷道断面形状等方面对影响煤巷稳定性的因素进行了分析,提出了煤巷锚杆支护注意的6个问题。     

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

高压射流冲击破碎岩石的有限元计算

高压射流冲击破岩是一个复杂的非线性问题。通过MSC．Marc建立模型，分别使用动态接触作为非线性冲击载荷模拟高压水射流冲击岩石。通过动力计算分析，根据岩石内部应力的变化使用Hoffman失效准则研究了岩石的破碎过程。分析表明，增加射流冲击速度可以提高射流破碎岩石的效率，当射流速度迭到某一临界值时，射流水锤作用使得岩石发生大块破碎。     

加氢处理润滑油基础油各组分对光安定性的影响

将经紫外光照前后的加氢处理润滑油基础油分离为饱和烃、轻质芳烃、中质芳烃、重质芳烃和极性组分，分别采用薄层色谱、质谱和紫外吸收光谱分析了各组分的烃组成、硫和氮含量的变化，并通过将从原料油中分离出的各组分反加到光安定性好的饱和烃中，试验验证了加氢处理润滑油基础油中的重质芳烃和极性组分是光不安定组分，其中含有硫、氮的芳香杂环化合物光安定性差。     

防治水泥稳定碎石基层沥青路面裂缝的措施浅析

水泥稳定碎石基层沥青路面裂缝产生的原因复杂 ,但非荷载型裂缝更为主要。防治水泥稳定碎石基层沥青路面的裂缝应该从设计和施工两方面考虑 ,其中由结构、材料组成设计 ,以及施工工艺出发控制水泥稳定碎石基层本身的收缩也是一项重要措施。     

Adaptive switching supervisory control of nonlinear systems with no prior knowledge of noise bounds

The problem of controlling nonlinear noisy systems affected by parametric uncertainties is approached via the introduction of a supervisor which, whenever needed, switches on, in feedback to the plant, a controller selected from a finite set of predesigned controllers. A Lyapunov-based falsification criterion allows one to ensure robust stability in the presence of uncertain constant parameters and exogenous bounded disturbances. Simulations are discussed in order to illustrate the merits of the proposed algorithms.