Robust control of variable speed autonomous underwater vehicle

Set point tracking control of autonomous underwater vehicle (AUV) via robust model predictive control (RMPC) is considered. Input-constrained RMPC with integral action, which has been developed in our previous work, is used to control the AUV in this study. In order to derive a RMPC control rule, non-linear dynamics of AUV with six degree of freedom is linearized at certain operating points. So, horizontal and vertical plane dynamics of system are represented by linear models which have polytopic uncertainties. Since the derived control rule will be used in real time, the computation time should be reduced. To overcome this computational time problem and get rid of trial–error step of Algorithm 1, a new algorithm is proposed here. The simulations are carried out using the control rule based on this algorithm and these results are presented.     

关于自适应非线性镇定的某些结果

不确定非线性系统的反馈控制一直是控制科学的中心问题之一,迄今已经取得很大进展。然而,目前现有大部分工作所研究的反馈控制规律,或是连续时间形式的,或是采样反馈形式但需要采样频率充分快,或是离散时间反馈形式,但需要被控离散时间系统的非线性函数增长速度不超过线性。要消除或减弱这些约束条件,一般来讲是相当困难的。这就促使我们探究反馈机制的最大能力和根本局限。尽管近年来在这个方向有许多重要进展,但仍有许多非平凡的重要问题有待研究。例如,在反馈通道中有时滞情形,或者系统状态是高维的情形。在本文中,我们将探索两类比较特殊的离散时间不确定非线性动力系统的控制问题,给出关于全局自适应反馈镇定的某些初步结果。     

长江经济带水-能源-粮食系统耦合时空动态特征研究

水、能源和粮食为可持续发展的基础性资源,如何从时空角度全面评价长江经济带水-能源-粮食系统的耦合协调发展是促进区域资源可持续发展的重要前提。以水、能源、粮食以及共生单元水能、水粮和能粮系统为单元,构建水-能源-粮食系统耦合协调评价指标体系,采用熵值法对各系统指标赋权,运用耦合协调度模型和空间自相关分析对2010—2019年长江经济带的水-能源-粮食系统协调发展和时空动态特征进行定量研究。结果表明：2010—2019年长江经济带水-能源-粮食系统综合评价指数整体呈缓慢增长趋势,其中水系统对水-能源-粮食系统综合评价指数贡献最大,年均贡献占比为21.57%;能源系统贡献最小,占比为11.95%; 2010—2019年长江经济带水-能源-粮食系统耦合协调水平呈先升后降趋势,其中四川省上升幅度为5.05%,重庆市下降幅度为2.83%,且存在显著的空间异质性,上游地区明显高于中下游地区。其中能源资源是水-能源-粮食系统耦合协调发展的短板;长江经济带水-能源-粮食系统耦合协调度表现出显著空间关联性,高-高集聚区集中在长江上游地区,下游地区主要以低-低集聚区为主。长江经济带内各省市应因地制宜地完善资源管理机制,推动长江经济带资源可持续发展。     

基于回收质量不确定与政府双参与的再制造闭环供应链定价策略研究

基于回收质量不确定的现实考虑,运用Stackelberg博弈论方法研究政府补贴和碳税双参与的再制造闭环供应链的定价问题,采用数值仿真的方法量化分析补贴额度和碳税率对再制造闭环供应链定价策略、供应链各成员利润、供应链碳排放量的影响,以及回收质量对再制造闭环供应链的影响。研究发现：政府补贴和碳税的双参与改善了由政府征收碳税而引起的市场不活跃现象,促进了闭环供应链的回收再制造,比单纯补贴或碳税更有效地引导了再制造闭环供应链;无论哪种手段参与,提高废旧产品的回收质量都有助于提高废旧产品的回收量、制造商的利润、第三方回收商的利润以及供应链的总利润,也有助于降低供应链的碳排放。     

Effect of the electrolyte composition on In and Ag–In alloy electrodeposition from cyanide electrolytes

A procedure for preparation of clear and stable indium cyanide electrolytes, containing indium salt, d(+)-Glucose and KCN is proposed. NMR investigations revealed that the formation of a complicated indium complex in which the products of the disintegration of d(+)-Glucose in the KCN-solution are closely situated to the indium ion ensures the clearness of the electrolyte. The effect of nitrate, chloride and sulphate ions on the electrochemical processes of indium and silver–indium alloy electrodeposition is studied by cyclic voltammetry. During alloy electrodeposition under galvanostatic conditions unique spatio–temporal structures are observed on the cathodic surface.     

城市雨洪放大效应驱动因子时空演变规律分析

城市雨洪具有复杂的放大效应,引起该现象较直接的原因包括大暴雨的频繁出现、可渗透地表面积的骤减以及排蓄水能力的改变和排水管网的扩张等。以武汉市为例,选择降雨强度、不透水面积比例、排水管道密度作为洪水放大效应的驱动因子进行趋势分析和演变规律分析,计算表明:从20世纪80年代开始,暴雨雨量和历时明显增加;不透水面在20世纪90年代初增加较快;排水管道在1990~2006年间缓慢增长,2007年跳跃式增长。降雨量和历时的增加使城市洪量增大,排水压力随之上升,在一定程度上增加了内涝几率;不透水面积的逐年增多以及水体等天然蓄水区的减少,不但增加了产流量,也使汇流时间更短,且雨水管渠的建设缩短了天然汇流路径,导致城市洪水呈现峰高量大,洪峰提前的放大效应。研究成果可用于城市雨洪放大效应对其驱动因子的定量响应研究,为进一步量化城市内涝风险与驱动因子间的关系提供依据,从而为内涝风险调控措施提供技术支撑。     

Stability analysis and controller design of interval type-2 fuzzy systems with time delay

The type-2 fuzzy models can handle the system uncertainties directly based on the type-2 fuzzy sets. In this paper, the Takagi–Sugeno fuzzy model approach is extended to the stability analysis and controller design for interval type-2 (IT2) fuzzy systems with time-varying delay. Delay-dependent robust stability criteria are developed in terms of linear matrix inequalities by using the improvement technique of free-weighting matrices. Less conservative results are obtained by considering the information contained in the footprint of uncertainty. Finally, two simulation examples are presented to illustrate the effectiveness of the theoretical results. One is provided to show the merits of the proposed method, the other based on the continuous stirred tank reactor model is given to illustrate the design processes of IT2 fuzzy controller for a nonlinear system with parameter uncertainties.     

石油产品中硫醇硫含量测定的不确定度评估

根据国家标准GB/T1792-88《馏分燃料中硫醇硫含量测定法(电位滴定法)》的试验方法．考察评估了该项分析的测量不确定度。     

流域规划时空数据管理关键技术研究

针对流域规划工作中存在专业模型计算数据格式众多、时空数据分离、包含时间和空间信息的多方案对比不直观等问题,对流域规划中数据管理关键技术进行了研究。利用水资源分区和行政区划组合出了"流域-子流域-计算分区"不同层次的空间尺度,运用历史年月统计数据、长时间日观测系列数据,预测计算出了从规划基准年到近、远期规划水平年间不同时间粒度的成果,按照"数据集-对象图层-要素"的组织形式存储于关系型数据库中,用以构建厄瓜多尔流域规划时空数据库,实现了多格式数据集成化管理、不同尺度时空数据的整合以及多方案成果的直观表达,增加了流域规划工作中数据多样化分析的应用方式,提升了数据分析及其应用的自动化程度,通过对时空数据变化的直观模拟,提升了对比分析的工作效率。     

Stability Analysis and Controller Design of Discrete Interval Type‐2 Fuzzy Systems

This paper is concerned with trajectory stabilization of a computer simulated model car with uncertain velocity via type‐2 fuzzy control systems. First, stability conditions of discrete interval type‐2 fuzzy control systems are given in accordance with the definition of stability in the sense of Lyapunov. Then, we approximate a computer simulated model car, whose dynamics are nonlinear and velocity is uncertain. A type‐2 Takagi–Sugeno TS fuzzy controller is designed to handle system uncertainty. The control rules, which guarantee stability of the system, are derived from the approximated model. The simulation results show that the type‐2 fuzzy control rules can effectively stabilize the car model.