PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.      

Stress wave propagation in adhesively bonded functionally graded cylinders: an improved model

This study presents an improved mathematical model to analyse the stress wave propagation in adhesively bonded functionally graded (FG) circular cylinders (butt joint) under an axial impulsive load. The volume fractions of the material constituents in the upper and lower cylinders were functionally tailored through the thickness of each cylinder using a power-law. The effective material properties of both cylinders, which are made of aluminum (Al) and silicon carbide (SiC), at any point were predicted by using the Mori–Tanaka homogenization scheme. In this improved model, the governing equations of the wave propagation include the spatial derivatives of local mechanical properties and were discretized by means of the finite difference method. The influence of these spatial derivatives and the compositional gradient exponent on the displacement and stress distributions of the joint was investigated. The material composition variations of both cylinders affected the displacement and stress fields whereas the compositional gradient exponent had a minor effect. The stress concentrations were alleviated in time, the displacement and stress distributions/variations around/along the upper and lower cylinder-adhesive interfaces were significantly affected by the adhesive layer. The spatial derivatives also affected the temporal histories of the displacement and stress components evaluated at the selected critical points of the upper cylinder, adhesive layer and lower cylinder. The consideration of the spatial local material derivatives provided a more accurate mathematical model of wave propagations through the graded layered structures.     

基于Abaqus的双裂纹不同间距对裂纹扩展速率的研究

扩展有限元法是近年经过大量运用的,在传统有限元的范围中求解不连续问题一种有效计算方法,它是基于单位分解的思想,在计算不连续问题时加入跳跃函数。以ABAQUS为平台,基于扩展有限元方法 (XFEM),以含双穿透型裂纹的有限宽板受横向拉伸载荷为力学模型,建立相应的裂纹尖端应力的有限元模型,研究焊接接头区域不同间距双裂纹相互作用对裂纹扩展速率的影响。结果表明:双裂纹间距的的大小并没有对裂纹的扩展速率产生影响。     

基于面元素重排的三维网格模型数据隐藏算法

目的 为了解决目前三维数据隐藏算法不能兼顾无失真和盲提取的问题，提出一种新的完全无失真的三维网格模型数据隐藏盲算法。方法 首先使用混沌逻辑映射选择嵌入与提取模式，保证数据的安全性。然后利用面元素重排，完全不会造成三维模型失真的性质，通过不同嵌入模式规则对三角面元素进行重排，以嵌入秘密数据。接收端则可根据相应的提取模式规则提取秘密数据。结果 仿真结果与分析表明，该算法不会对三维模型造成任何失真，嵌入容量为每顶点2比特，且能抵抗仿射变换攻击、噪声攻击和平滑攻击等。结论 这种三维数据隐藏盲算法无失真，容量大、安全性高、鲁棒性强，适用于三维载体不容修改的情形，如军事、医学、秘密通信和版权保护等。     

5A06-O aluminium–magnesium alloy sheet warm hydroforming and optimization of process parameters

The uniaxial tensile test of the 5A06-O aluminium–magnesium (Al–Mg) alloy sheet was performed in the temperature range of 20–300 °C to obtain the true stress–true strain curves at different temperatures and strain rates. The constitutive model of 5A06-O Al–Mg alloy sheet with the temperature range from 150 to 300°C was established. Based on the test results, a unique finite element simulation platform for warm hydroforming of 5A06-O Al–Mg alloy was set up using the general finite element software MSC.Marc to simulate warm hydroforming of classic specimen, and a coupled thermo-mechanical finite element model for warm hydroforming of cylindrical cup was built up. Combined with the experiment, the influence of the temperature field distribution and loading conditions on the sheet formability was studied. The results show that the non-isothermal temperature distribution conditions can significantly improve the forming performance of the material. As the temperature increases, the impact of the punching speed on the forming becomes particularly obvious; the optimal values of the fluid pressure and blank holder force required for forming are reduced.     

Eight-node conforming straight-side quadrilateral element with high-order completeness (QH8-C1)

A new eight-node conforming quadrilateral element with high-order completeness, denoted as QH8-C1, is proposed in this article. First, expressions for the interpolation displacement function satisfying the requirements for high-order completeness in the global coordinate system are constructed. Second, the displacement function expression in global coordinates is transformed into isoparametric coordinates, and the relationships between the two series of coefficients for the two kinds of displacement function expressions are found. Third, the displacement function expression is modified to satisfy the requirements of nodal freedom and interelement boundary continuity. The key to the new element construction is the derivation of the linear relationship expressions among 12 coefficients of element displacement interpolation polynomials in the global and isoparametric coordinate systems. As a result, the relationship between quadratic completeness and interelement continuity is explicitly given, and a proof of the completeness and the continuity was conducted to theoretically guarantee the validity of the derivation results. Furthermore, in order to verify the correctness of the theoretical work, nine numerical examples were performed. The computation results from these examples demonstrate that QH8-C1 exhibited excellent performance, including high simulation accuracy, fast convergence, insensitivity to mesh distortion, and monotonic convergence.     

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.     

Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

ABSTRACT

This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.     

济阳坳陷下古生界潜山油气藏特征及成藏模式

济阳坳陷下古生界潜山具有多样性、复杂性的特点，潜山差异性的形成演化、油气成藏主控因素和控藏模式不明确，严重制约了该区潜山油气勘探。在潜山分类的基础上，综合利用系统恢复、分类对比和典型解剖等方法，揭示了济阳坳陷下古生界不同类型潜山的形成演化过程和油气成藏主控因素差异性，分类建立了油气成藏模式。研究表明，济阳坳陷下古生界主要发育高位新盖侵蚀残丘潜山、中位古盖拉张断块潜山、中位新古盖拉张剪切断块潜山、中位中古盖挤压拉张断块潜山和低位古盖拉张滑脱断块潜山5种潜山类型。不同类型潜山的形成演化和油气成藏各具特色，其中，高位新盖侵蚀残丘潜山的发育受隆升、侵蚀作用控制，油气成藏主要受控于油源和盖层条件，表现为"单向供烃、砂体-不整合岩溶体联合输导、残丘控藏"的成藏模式；中位古盖拉张断块潜山的发育受掀斜、断裂作用控制，油气成藏主要受控于储集条件，表现为"单向供烃、顺向断层输导、反向断层控藏"的成藏模式；中位新古盖拉张剪切断块潜山的发育受反转、翘倾和走滑切割作用控制，油气成藏主要受控于输导条件，表现为"多源供烃、断溶体立体输导、断裂控藏"的成藏模式；中位中古盖挤压拉张断块潜山的形成受强烈挤压、拉张滑脱作用控制，油气成藏主要受控于储集条件，表现为"多源供烃、断缝体输导、断褶控藏"的成藏模式；低位古盖拉张滑脱断块潜山的形成受强烈拉张滑脱作用控制，油气成藏主要受控于输导条件，表现为"顶部供烃、断缝体输导、断裂控藏"的成藏模式。