An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm...An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting dosed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship ‘YULONG＇ are presented to validate the effectiveness of the algorithm.展开更多
A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was proposed.After the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which m...A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was proposed.After the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which made it possible to obtain good dynamic and control performances just through mechanism optimization.Based on the idea of design for control(DFC),a novel kind of multi-objective optimization model was proposed.There were three optimization objectives:the index of inertia,the index describing the dynamic coupling effects and the global condition number.Other indexes to characterize the designing requirements such as the velocity of end-effector,the workspace size,and the first mode natural frequency were regarded as the constraints.The cross-section area and length of the linkages were chosen as the design variables.NSGA-II algorithm was introduced to solve this complex multi-objective optimization problem.Additional criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution sets.Finally,experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms.A new expression for measuring the dynamic coupling degree with clear physical meaning was proposed.The results show that the optimized mechanism has an approximate decoupled dynamics structure,and each active joint can be regarded as a linear SISO system.The control performances of the linear and nonlinear controllers were also compared.It can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.展开更多
The hybrid tracked vehicles(HTV)usually adopt series hybrid powertrain with extra steering mechanism,which has relatively low transmission efficiency and reduces the flexibility of structural arrangement.To overcome t...The hybrid tracked vehicles(HTV)usually adopt series hybrid powertrain with extra steering mechanism,which has relatively low transmission efficiency and reduces the flexibility of structural arrangement.To overcome the disadvantages,a new kind of single-mode powertrain has been proposed.The power-split hybrid powertrain is composed of three planetary gear(PG)sets connected to one engine,left and right track outputs,and three motors.The proposed powertrain can realize steering while going forward by controlling the output torque on each side without extra steering mechanism or steering shaft.Due to the diversity of the connection way between components and planetary gear sets,a rapid configuration design approach is proposed for the design selection of HTV.The automated dynamic modelling method can show the one-to-one correspondence with the selected feasible groups by establishing two characteristic matrices,which is more simple than other researches.The analytically-based method is proposed to classify all possible connection designs into several groups to decrease the searching scope with improved design efficiency.Finally,the optimal control strategy is used to find the design with optimal fuel economy under typical condition of HTV.The case study is implemented by the proposed design approach which demonstrates better design performances compared with the existing series-hybrid HTV.展开更多
To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） co...To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.展开更多
On the basis of the relationship between the Hamiltonian of spin 1/2 quantum system under control and the energy level structure and transitions, a radio frequency pulse sequence is designed using intuitive and half c...On the basis of the relationship between the Hamiltonian of spin 1/2 quantum system under control and the energy level structure and transitions, a radio frequency pulse sequence is designed using intuitive and half counter-intuitive sequences of pulse to transfer the population of the 3-qubit system coherently. The effectiveness of the designed control sequence is verified through the system simulation experiment of the evolution of state. In principle, the design method of the control pulse sequence proposed can be generalized to use in the quantum systems of higher dimension.展开更多
As a method for testing a sequential circuit efficiently, a scan design is usually used. But, since this design has some drawbacks, a non-scan testable design should be discussed. The testable design can be implemente...As a method for testing a sequential circuit efficiently, a scan design is usually used. But, since this design has some drawbacks, a non-scan testable design should be discussed. The testable design can be implemented by enhancing controllability and observability. This paper discusses a non-scan testable design for a sequential circuit by only focusing the improvement of controllability. The proposed design modifies a circuit so that all the FFs can be directly controlled by primary input lines in a test mode. Experimental results show that we can get a good testability using this method.展开更多
The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs m...The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.展开更多
A co-design scheme of event-triggered sampling mechanism and active fault tolerant control(FTC) is developed. Firstly,a fault diagnosis observer is designed to estimate both the fault and the state simultaneously by u...A co-design scheme of event-triggered sampling mechanism and active fault tolerant control(FTC) is developed. Firstly,a fault diagnosis observer is designed to estimate both the fault and the state simultaneously by using the event-triggered sampled output. Some H∞constraints between the estimation errors and the event-triggered sampling mechanism are established to ensure the estimation accuracy. Then, based on the constraints and the obtained fault information, an event-triggered detector and a static fault tolerant controller are co-designed to guarantee the stability of the faulty system and to reduce the sensor communication cost.Furthermore, the problem of the event detector and dynamic FTC co-design is also investigated. Simulation results of an unstable batch reactor are finally provided to illustrate the effectiveness of the proposed method.展开更多
Missile fire control system is the core of ship-based missile weapon system, whose safeguard level has direct relation with the attack ability of naval vessels. After a long period of deep investigation and research, ...Missile fire control system is the core of ship-based missile weapon system, whose safeguard level has direct relation with the attack ability of naval vessels. After a long period of deep investigation and research, it was found that, in one missile fire control system, there are such problems as single safeguard system, low ratio of cost to efficiency, etc. By adopting intelligent control techniques and many measures to multiple securities, the new type of assistant system is designed, some difficult problems are solved, such as fixed project channel and unitary means of missiles, which can make the equipment carry out combat mission reliably and continuously.展开更多
In this research,a Multidisciplinary Design Optimization approach is proposed for the dual-spin guided flying projectile design considering external and internal parts of the body as design variables.In this way,a par...In this research,a Multidisciplinary Design Optimization approach is proposed for the dual-spin guided flying projectile design considering external and internal parts of the body as design variables.In this way,a parametric formulation is developed.All related disciplines,including structure,aerodynamics,guidance,and control are considered.Minimum total mass,maximum aerodynamic control effectiveness,minimum miss distance,maximum yield stress in all subsystems,controllability and gyroscopic stability constraints are some of objectives/constraints taken into account.The problem is formulated in All-At-Ones Multidisciplinary Design Optimization approach structure and solved by Simulated Annealing and minimax algorithms.The optimal configurations are evaluated in various aspects.The resulted optimal configurations have met all design objectives and constraints.展开更多
Internet-based process control is becoming new generations of control systems, in which the Internet is used as a platform for global remote monitoring and control. The obvious benefit is to enable global collaboratio...Internet-based process control is becoming new generations of control systems, in which the Internet is used as a platform for global remote monitoring and control. The obvious benefit is to enable global collaboration between operators from geographically dispersed locations, data sharing and data provision for remote monitoring and control. However, connection to an open network and the use of universal technology present new problems that did not exist with the conventional design and construction of control systems, such as time delay and data loss in Internet transmission and security. This paper reviews the latest research results and presents design guidance of Internet based monitoring and control systems.展开更多
文摘An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting dosed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship ‘YULONG＇ are presented to validate the effectiveness of the algorithm.
基金Project(2009AA04Z216) supported in part by the National High Technology Research and Development Program of ChinaProject(2009ZX04013-011) supported by the National Science and Technology Major Program of ChinaProject(20092302120068) supported by the Doctoral Program of Higher Education of China
文摘A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was proposed.After the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which made it possible to obtain good dynamic and control performances just through mechanism optimization.Based on the idea of design for control(DFC),a novel kind of multi-objective optimization model was proposed.There were three optimization objectives:the index of inertia,the index describing the dynamic coupling effects and the global condition number.Other indexes to characterize the designing requirements such as the velocity of end-effector,the workspace size,and the first mode natural frequency were regarded as the constraints.The cross-section area and length of the linkages were chosen as the design variables.NSGA-II algorithm was introduced to solve this complex multi-objective optimization problem.Additional criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution sets.Finally,experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms.A new expression for measuring the dynamic coupling degree with clear physical meaning was proposed.The results show that the optimized mechanism has an approximate decoupled dynamics structure,and each active joint can be regarded as a linear SISO system.The control performances of the linear and nonlinear controllers were also compared.It can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.
基金Project(CIT&TCD20190304)supported by the Beijing Great Scholars Program,China。
文摘The hybrid tracked vehicles(HTV)usually adopt series hybrid powertrain with extra steering mechanism,which has relatively low transmission efficiency and reduces the flexibility of structural arrangement.To overcome the disadvantages,a new kind of single-mode powertrain has been proposed.The power-split hybrid powertrain is composed of three planetary gear(PG)sets connected to one engine,left and right track outputs,and three motors.The proposed powertrain can realize steering while going forward by controlling the output torque on each side without extra steering mechanism or steering shaft.Due to the diversity of the connection way between components and planetary gear sets,a rapid configuration design approach is proposed for the design selection of HTV.The automated dynamic modelling method can show the one-to-one correspondence with the selected feasible groups by establishing two characteristic matrices,which is more simple than other researches.The analytically-based method is proposed to classify all possible connection designs into several groups to decrease the searching scope with improved design efficiency.Finally,the optimal control strategy is used to find the design with optimal fuel economy under typical condition of HTV.The case study is implemented by the proposed design approach which demonstrates better design performances compared with the existing series-hybrid HTV.
文摘To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.
基金Supported by National Nature Science Foundation of China （61074068, 60774009, 61034007）, and the Research Fund for the Doc- toral Program of Chinese Higher Education （200804220028）
基金supported by the National Natural Science Foundation of China (60774098)the National Key Basic Research Program (2006922004)
文摘On the basis of the relationship between the Hamiltonian of spin 1/2 quantum system under control and the energy level structure and transitions, a radio frequency pulse sequence is designed using intuitive and half counter-intuitive sequences of pulse to transfer the population of the 3-qubit system coherently. The effectiveness of the designed control sequence is verified through the system simulation experiment of the evolution of state. In principle, the design method of the control pulse sequence proposed can be generalized to use in the quantum systems of higher dimension.
文摘As a method for testing a sequential circuit efficiently, a scan design is usually used. But, since this design has some drawbacks, a non-scan testable design should be discussed. The testable design can be implemented by enhancing controllability and observability. This paper discusses a non-scan testable design for a sequential circuit by only focusing the improvement of controllability. The proposed design modifies a circuit so that all the FFs can be directly controlled by primary input lines in a test mode. Experimental results show that we can get a good testability using this method.
文摘The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.
基金Supported by National High Technology Research and Development Program of China （863 Program） （2006AA04Z183）, National Natural Science Foundation of China （60621001, 60534010, 60572070, 60774048, 60728307）, Program for Changjiang Scholars and Innovative Research Groups of China （60728307, 4031002）
基金supported by the National Natural Science Foundation of China(6147315961374136+1 种基金61104028)the Research Innovation Program of Nantong University(YKC16004)
文摘A co-design scheme of event-triggered sampling mechanism and active fault tolerant control(FTC) is developed. Firstly,a fault diagnosis observer is designed to estimate both the fault and the state simultaneously by using the event-triggered sampled output. Some H∞constraints between the estimation errors and the event-triggered sampling mechanism are established to ensure the estimation accuracy. Then, based on the constraints and the obtained fault information, an event-triggered detector and a static fault tolerant controller are co-designed to guarantee the stability of the faulty system and to reduce the sensor communication cost.Furthermore, the problem of the event detector and dynamic FTC co-design is also investigated. Simulation results of an unstable batch reactor are finally provided to illustrate the effectiveness of the proposed method.
基金Sponsored by Major Task Financially-aided for Military Equipment Maintenance Safeguard
文摘Missile fire control system is the core of ship-based missile weapon system, whose safeguard level has direct relation with the attack ability of naval vessels. After a long period of deep investigation and research, it was found that, in one missile fire control system, there are such problems as single safeguard system, low ratio of cost to efficiency, etc. By adopting intelligent control techniques and many measures to multiple securities, the new type of assistant system is designed, some difficult problems are solved, such as fixed project channel and unitary means of missiles, which can make the equipment carry out combat mission reliably and continuously.
文摘In this research,a Multidisciplinary Design Optimization approach is proposed for the dual-spin guided flying projectile design considering external and internal parts of the body as design variables.In this way,a parametric formulation is developed.All related disciplines,including structure,aerodynamics,guidance,and control are considered.Minimum total mass,maximum aerodynamic control effectiveness,minimum miss distance,maximum yield stress in all subsystems,controllability and gyroscopic stability constraints are some of objectives/constraints taken into account.The problem is formulated in All-At-Ones Multidisciplinary Design Optimization approach structure and solved by Simulated Annealing and minimax algorithms.The optimal configurations are evaluated in various aspects.The resulted optimal configurations have met all design objectives and constraints.
基金Supported by the Engineering and Physical Science Research Council in the UK
文摘Internet-based process control is becoming new generations of control systems, in which the Internet is used as a platform for global remote monitoring and control. The obvious benefit is to enable global collaboration between operators from geographically dispersed locations, data sharing and data provision for remote monitoring and control. However, connection to an open network and the use of universal technology present new problems that did not exist with the conventional design and construction of control systems, such as time delay and data loss in Internet transmission and security. This paper reviews the latest research results and presents design guidance of Internet based monitoring and control systems.
