Adaptive neural control for an uncertain robotic manipulator with joint space constraints

In this paper, adaptive neural tracking control is proposed for a robotic manipulator with uncertainties in both manipulator dynamics and joint actuator dynamics. The manipulator joints are subject to inequality constraints, i.e., the joint angles are required to remain in some compact sets. Integral barrier Lyapunov functionals (iBLFs) are employed to address the joint space constraints directly without performing an additional mapping to the error space. Neural networks (NNs) are utilised to compensate for the unknown robot dynamics and external force. Adapting parameters are developed to estimate the unknown bounds on NN approximations. By the Lyapunov synthesis, the proposed control can guarantee the semi-global uniform ultimate boundedness of the closed-loop system, and the practical tracking of joint reference trajectory is achieved without the violation of predefined joint space constraints. Simulation results are given to validate the effectiveness of the proposed control scheme.     

A Simultaneous Mixed LQR/H∞ Control Approach to the Design of Reliable Active Suspension Controllers

This paper is concerned with the synthesis of reliable controllers for quarter‐car active suspension systems. By a simultaneous mixed LQR/H_∞ control approach, a static output feedback controller is derived for guaranteeing good suspension performance under possible sensor fault or suspension component breakdown. The considered simultaneous mixed LQR/H_∞ control problem is a nonconvex optimization problem; therefore, the linear matrix inequality approach is not applicable. Based on the barrier method, we solve an auxiliary minimization problem to get an approximate solution for the simultaneous mixed LQR/H_∞ control problem. Necessary conditions for the local optimum of the auxiliary minimization problem are derived. Moreover, a three‐stage solution algorithm is developed for solving the auxiliary minimization problem. The simulation shows that the obtained static output feedback suspension controllers can improve suspension performance in nominal mode and all considered failure modes.     

高压摆喷灌浆技术在临汾市汾河城区段中隔堤防渗墙工程上的应用

高压摆喷灌浆目前在堤防防渗工程中得到广泛的应用。文中结合在临汾市汾河城区段中隔堤防渗墙工程中的实际情况,对高压摆喷灌浆施工工艺、特殊情况处理措施进行了详细阐述。     

水布垭大坝总渗流量突变成因分析

介绍了水布垭水电站大坝加密监测及巡视检查的情况,从监测资料、巡视检查的角度,对坝体总渗流量2012年4月发生突变的情况进行了综合分析,分析成果为水布垭水电站安全稳定运行提供了依据。     

Mechanism and control of water seepage of vertical feeding borehole for solid materials in backfilling coal mining

To solve the problem of water seepage of vertical feeding borehole for solid materials, we established the fluid-solid coupling dynamic model of groundwater flowing in rock mass adjacent to the vertical feeding borehole. Combining with the engineering geological conditions, we built a numeral model to study the influence rule of the aquifer hydraulic pressure and seepage location of feeding borehole on the amount of seepage with finite element numerical method. The results show that the nonlinear relationship is presented among the amount of seepage, the seepage location and aquifer hydraulic pressure. The higher the aquifer hydraulic pressure is, the closer the distance between seepage location and aquifer is, and the faster the harmful levels of aquifer will grow. In practice, we calculated the allowable seepage of feeding borehole by the optimum moisture content and natural moisture content of backfilling materials, and then determined the protection zone of feeding borehole, so the moisture content of backfilling materials can be controlled within the scope of optimum moisture content.     

海塘渗透破坏数值模拟及渗透特性

为研究海塘的洪水渗透规律和渗透破坏机制,提出了可考虑土体渗透性随渗透破坏而变化的饱和-非饱和/非稳定渗流分析模型,编制了相应的程序。选取实际海塘进行了洪水渗透过程的数值模拟,并将计算结果与现场监测试验结果进行了对比,表明所建立的分析模型和计算程序是正确的。工程实例分析结果表明,海塘洪水渗透过程是一个涉及土体渗透性变化的饱和非饱和/非稳定渗流过程,塘身浸润线变化经历4个阶段,海塘渗透破坏是大渗流比降下洪水长时间渗透所导致的。因此海塘的洪水渗透破坏涉及破坏区土体渗透性的变化以及饱和-非饱和/非稳定渗流,按中国现行规范应用稳定渗流分析方法进行计算是存在问题的。     

地下水扰动作用下地基土体渗透破坏试验研究

为分析近年来中国西南地区频繁发生的"天坑"形成原因,从渗流破坏理论出发,通过自主设计循环变水压渗透试验装置模拟地下水扰动过程,研究了地下水扰动作用下地基土体的变形破坏机制。首先通过现场和室内试验获得土样的基本物理化学性质,排除由碳酸盐溶洞导致地表塌陷的可能性。在此基础上,为模拟地下水循环扰动对土体的渗透破坏作用,采用饱和土渗流理论,设计了1种变压型常水头渗透试验装置,通过自动循环地改变水头大小模拟地下水扰动对土体的破坏机制,分析实验前后土样级配组成、水头变化和土样变形破坏特性,试验表明土样在地下水扰动作用下细颗粒明显减少,土体级配结构发生改变,土体承载力降低并最终导致土体塌陷。变压型常水头渗透破坏试验研究表明,该方法较好地阐明了该地区"天坑"形成机制。     

Reservoir Operation Optimization: A Nonstructural Solution for Control of Seepage from Lar Reservoir in Iran

Abstract

In this paper, the results of utilizing a deterministic dynamic programming model for operation of Lar Reservoir in Iran are discussed. This reservoir has experienced extensive seepage from the start of its operation. The optimization model consists of a three-step cycle, which began with the optimization of reservoir operation for a given set of streamflows. The optimal policies are then analyzed in a regression procedure to obtain a set of operating rules. After the first run, operating rules from the previous run were placed as a new constraint on the water releases with some pre-assigned tolerance and the cycle continues. The model also consisted of mathematical functions for modeling the seepage from Lar Reservoir as a function of storage head in the reservoir. The loss function in the model was also modified in order to incorporate parameters that reduce the seepage. Results of different scenarios showed the significant effect of optimal policies on reduction of seepage and increasing the reliability of water supply to Tehran Metropolitan Area. A pumping station was also proposed to utilize the inactive part of the reservoir, in access of over 100 MCM, in order to reduce the seepage. The effectiveness of different pumping capacities to reduce the seepage was also investigated.     

拔贡水电站改扩建工程大坝安全监测设计

根据拔贡水电站工程的特点,重点布置了大坝变形监测、渗流等监测项目,监测布置方案合理,监测方法简单可靠,能够有效地反映枢纽主要建筑物的运行状态。     

多头搅拌桩与高压摆喷桩在截渗工程中的应用

结合太仓市应急水源地工程实例,比较分析了多头搅拌桩与高压摆喷桩两种施工方法在围井试验中的检测结果,利用AUTOBANK(水工有限元分析系统)建立渗流稳定及抗滑稳定模型,说明模型建立的原理及采用的公式,计算各种工况下的渗流稳定及抗滑稳定。结果表明:在土坝渗流中,高压摆喷桩与多头搅拌桩形成的连续墙,渗透系数相近,且均满足防渗的设计要求;高压摆喷桩形成的桩体连续性、芯样的完整程度差,喷浆孔位置薄弱;多头搅拌桩形成的墙体成墙均匀,相对搭接好,且施工工艺不会破坏原有土坝的完整性,并在工程施工质量、工程造价、施工功效方面具有显著的优越性,对环境的影响小。基于多头搅拌桩的特点及优越性,该工法将会广泛应用于各种实践的截渗工程中。