Reliable control for a class of uncertain singular systems with interval time‐varying delay

This paper is concerned with the reliable controller design problem for a class of singular systems with interval time‐varying delay and norm‐bounded uncertainties. A more practical model of actuator failures than outages is considered. First, by constructing a novel Lyapunov–Krasovskii functional combined with Finsler's Lemma, an improved delay‐range‐dependent stability criterion for the nominal unforced singular time‐delay system is established in terms of linear matrix inequality (LMI). Then, based on this criterion, an LMI condition for the design of a reliable state feedback controller is presented such that, for all parameter uncertainties and actuator failures, the resultant closed‐loop system is regular, impulse‐free and stable. Numerical examples are proposed to illustrate the effectiveness of the proposed method. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Robust reliable control for a near space vehicle with parametric uncertainties and actuator faults

Based on fuzzy control techniques, this article is concerned with the problem of robust reliable control for a near space vehicle (NSV) with parametric uncertainties and actuator faults. The nonlinear dynamics of a NSV is represented by the Takagi–Sugeno fuzzy models, and then the actuator fault model and fuzzy state-space observer are developed. Next, the fuzzy observer-based robust reliable control strategy is proposed. It is proved that the fuzzy control systems for the NSV is reliable in the sense that the closed-loop system is asymptotically stable and the actuator components can operate well in the presence of some actuator faults. The developed theoretical results are in the form of linear matrix inequalities, which can be readily solved via standard numerical software. Finally, simulation results are given to illustrate the applicability of the proposed approach.     

Adaptive fuzzy decentralised fault-tolerant control for nonlinear large-scale systems with actuator failures and unmodelled dynamics

This paper discusses the adaptive fuzzy decentralised fault-tolerant control (FTC) problem for a class of nonlinear large-scale systems in strict-feedback form. The systems under study contain the unknown nonlinearities, unmodelled dynamics, actuator faults and without the direct measurements of state variables. With the help of fuzzy logic systems identifying the unknown functions and a fuzzy adaptive observer is designed to estimate the unmeasured states. By using the backstepping design technique and the dynamic surface control approach and combining with the changing supply function technique, a fuzzy adaptive FTC scheme is developed. The main features of the proposed control approach are that it can guarantee the closed-loop system to be input–to-state practically stable, and also has the robustness to the unmodelled dynamics. Moreover, it can overcome the so-called problem of ‘explosion of complexity’ existing in the previous literature. Finally, simulation studies are provided to illustrate the effectiveness of the proposed approach.     

Event‐triggered control design for nonlinear systems with actuator failures and uncertain disturbances

Traditional adaptive event‐triggered design methods compensated for the event‐triggered error are not direct, and the stability analysis of resulting close‐loop systems is rather complicated. To alleviate the above restrictions, we propose a direct and simple event‐triggered co‐design method to solve the tracking control problem for parameter strict‐feedback systems with actuator faults and uncertain disturbances. By introducing a compensating terms in a smooth function form of a conventional control law and certain positive integrable functions, the effects of actuator faults and event‐triggered error can be compensated completely. Such a direct design method has the following features: (i) a direct compensation of the event‐triggered error is achieved without introducing any extra design parameters; (ii) it is not necessary to know any bound information on the parameters of event‐triggered threshold, and global asymptotic tracking control of the overall closed‐loop system is achieved; and (iii) the resulting stability criteria of the proposed event‐triggered control design are much simpler and easier to fulfill by virtue of the introduced co‐design method. Simulations are then carried out to validate the proposed schemes.     

Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots

A pneumatic actuator is suitable and safe for in-pipe inspection robots in inflammable circumstances because of its ability to withstand explosions. However, ordinary pneumatic actuators limit driving speed because of their slow response. In this paper, we propose a novel pneumatic drive mechanism that can produce a high-impact force to move the in-pipe robot forward with sufficient speed by a catastrophic phenomenon using rapid release between a magnet and springs. We also introduce an anisotropic friction mechanism that uses a self-locking phenomenon to transmit the impact force to the pipe walls efficiently. A pin retraction mechanism that releases the self-locking condition is applied to retrieve the robot from the pipes. Optimizations of the proposed design were conducted based on a motion simulation model and verified in experiments. The experimental results obtained for maximum driving speeds in a straight pipe with different material types were approximately 90 and 50 mm/s for horizontal and vertical pipes, respectively. Stable strokes were also observed at different driving frequencies from 0.5 to 2.0 Hz.     

基于遗传算法的双E型永磁接触器仿真优化设计

在详细分析永磁操动机构模型和相关理论的基础上,给出了永磁接触器操动机构的设计方法。基于磁路法获得永磁操动机构的初始设计参数,建立永磁操动机构最优化模型。采用遗传算法并结合电磁场有限元计算方法求解该最优化模型,获得合理的设计参数,并研制了1台250A配双E型永磁操动机构的永磁接触器。试验结果表明,算法可实现永磁接触器的优化设计,大幅度提高产品的设计效率,验证了设计模型和算法的有效性与正确性。     

永磁机构在空气式断路器中可行性分析及其MATLAB仿真*

提出了一种新型的永磁机构(PMA)代替之前运用在空气式断路器(ACB)中弹簧机械机构的模型.通过有限元分析法分析永磁机构在开闸与合闸位置各种情况的磁场情况,然后根据仿真结果优化计算结果,并将计算好的电磁参数导入到以MATLAB为基础的仿真系统中.MATLAB联合仿真通过模拟PMA合闸与分闸过程,以及对仿真数据的分析,最后认可了PMA能够对空气式断路器的开合过程进行有效的控制,并且展现出了比传统弹簧机械结构更好的优越性.     

超磁致伸缩薄膜致动器磁-机械特性研究

超磁致伸缩材料以其高能量输出、高操作频率、远程非接触式控制等特点广泛应用于各种微机械系统中.建立了超磁致伸缩薄膜型致动器的磁-机械强耦合模型,并且进行了理论及数值推导.薄膜尺寸只有几微米,有限元方法在进行单元剖分时会产生严重的网络变形,从而降低计算精度.提出采用无单元Galerkin方法来进行数值计算,比较了计算值和实验值,吻合情况较好.     

超精密机床的压电作动器隔振系统研究

压电作动器是振动主动控制中最常用的一种执行机构。文章分析了各种压电作动器的特点及应用范围 ,并用压电陶瓷作动器对超精密机床实施振动主动控制。结果表明 ,该系统应用控制器克服了压电元件的迟滞特性、蠕变特性和非线性后 ,能有效的控制地基振动对超精密机床的影响 ,提高了超精密机床的加工精度     

具有柔性铰链的差式微位移放大机构

阐述了差式微位移放大机构的基本设计原理,分析了机构中位移损失的原因。研制的放大机构具有较好的放大效果,而且机构的位移输出线性特性也较好。采用片状柔性铰链成功地解决了由于机构中的位移干涉造成的机构内部反力太大的问题。