Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

Event-triggered variable horizon Supervisory Predictive control of hybrid power plants

The supervision of a hybrid power plant, including solar panels, a gas microturbine and a storage unit operating under varying solar power profiles is considered. The Economic Supervisory Predictive controller assigns the power references to the controlled subsystems of the hybrid cell using a financial criterion. A prediction of the renewable sources power is embedded into the supervisor. Results deteriorate when the solar power is unsteady, owing to the inaccuracy of the predictions for a long-range horizon of 10 s. The receding horizon is switched between an upper and a lower value according to the amplitude of the solar power trend. Theoretical results show the relevance of horizon switching, according to a tradeoff between performance and prediction accuracy. Experimental results, obtained in a Hardware In the Loop (HIL) framework, show the relevance of the variable horizon approach. Power amplifiers allow us to simulate virtual components, such as a gas microturbine, and to blend their powers with that of real devices (storage unit, real solar panels). In this case, fuel savings, reaching 15%, obtained under unsteady operating conditions lead to a better overall performance of the hybrid cell. The overall savings obtained in the experiments amount to 12%.     

MIMO系统的约束广义预测控制

讨论了输出终端带不等式约束情形的多输入多输出系统，说明了这些约束可以通过修改输入柔化系数而使其得以满足，在柔化系数的选择范围确定过程中，为了避免矩阵求逆，采用利用已知数据辨识参数的方法来确定柔化系数，从而使得问题简化。降低了计算量且加快了收敛速度。     

动态矩阵控制在浆料浓度控制系统中的应用

针对PTA生产中浆料配制过程这一有纯滞后、大时间常数的非线性系统，进行系统的动态机理分析，与工作点附近的线性化，在此基础上设计DMC-PID串级加前馈控制方案。目前该系统在扬子石化化工厂PTA装置上已成功投运。     

基于Intranet/Internet的大坝安全监测信息查询系统

大坝安全监测信息的网上发布可以让人们了解各种实时、动态信息，文 中主要介绍了在Intranet/Internet下采用ASP(active server pages)结合VBScript，JavaS cript及ActiveX技术进行大坝安全监测信息查询系统开发的方法及步骤，并结合实际系统的 开发加以说明。     

TCP稳态流中慢启动序列对吞吐量性能的影响

在计算TCP稳态数据流吞吐量时一般都忽略了由于分组丢失而形成的各个慢启动阶段。在考虑TCP稳态数据流中慢启动序列的情况下,对Padhye的经典TCP稳态数据流模型进行了扩展。通过将Padhye的模型与扩展后的模型作比较,证明了在使用Padhye的模型作为多媒体流量控制模型时忽略超时后慢启动阶段的可行性和正确性。     

引进意大利连续纺丝机车间空调节能设计

介绍了某化纤厂引进意大利十二台粘胶连续纺丝机车间与以往的纺丝车间相比,空调设计中的节能途径,体现了既满足工艺要求,又降低生产成本的设计目的。     

法国产CT4型横拼双金属专用真空电子束焊机原理与构造

试述法国TECHMETA公司产的CT4型横拼双金属专用真空电子束焊机原理与构造，其中主要阐述电子枪控制电路板的原理。     

A broad line n.m.r. study of oriented poly(vinylidene fluoride)

Broadline nuclear magnetic resonance measurements have been carried out for the proton resonance in oriented poly(vinylidene fluoride). The spectra in general show two component lines with distinctly different line widths. The broad component shows a high degree of molecular orientation and can be satisfactorily assigned to the crystalline regions of the polymer. The narrow component corresponds to an oriented non crystalline phase which is sufficiently constrained to allow motion about the chain axis only. An appreciable decrease in the value of the rigid mass fraction was observed in both of the samples over the temperature range examined. Our calculations indicate that this could play an important role in the temperature dependence of the pyroelectric response of this material.