A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed.The main controller is designed for high performance of the origi...A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed.The main controller is designed for high performance of the original faultless system.The compensating controller can be seen as a standalone loop added to the system to compensate the effects of fault guaranteeing the stability of the system.A design method is proposed using nonlinear dynamic inverse control as the main controller and nonlinear extended state observer-based compensator.The stability of the whole closed-loop system is analyzed.Feasibility and validity of the new controller is demonstrated with an aircraft simulation example.展开更多
The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and wi...The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and with multivariable nonlinear interaction of microwave and materials. The conventional PID control strategy incorporated with optimization GA was put forward to maintain the optimum drying temperature in order to keep the moisture content below 1%, whose adaptation ability included the cost function of optimization GA according to the output change. Simulations on five different industrial process models and practical temperature process control system for selenium-enriched slag drying intensively by using IMDRDWM were carried out systematically, indicating the reliability and effectiveness of control design. The parameters of proposed control design are all on-line implemented without iterative predictive calculations, and the closed-loop system stability is guaranteed, which makes the developed scheme simpler in its synthesis and application, providing the practical guidelines for the control implementation and the parameter design.展开更多
锻炼行为促进是公共卫生领域的关键议题,但现有理论在预测和干预锻炼行为时仍存在局限性。基于锻炼行为发生的必要条件,提出了锻炼行为的MTMSP(motor competence,time,motivation,self-control and physical exertion,运动能力、时间、...锻炼行为促进是公共卫生领域的关键议题,但现有理论在预测和干预锻炼行为时仍存在局限性。基于锻炼行为发生的必要条件,提出了锻炼行为的MTMSP(motor competence,time,motivation,self-control and physical exertion,运动能力、时间、动机、自我控制和体力消耗)决定因素模型(以下简称“MTMSP决定因素模型”)。该模型从个体层面深入解析锻炼行为的发生机制,将运动能力、时间、动机、自我控制和体力消耗作为核心决定因素,并通过“前提条件-双过程动机-自我控制调节”三级结构揭示各因素的内在关联。研究认为,MTMSP决定因素模型为克服锻炼意向−行为差距和维持问题提供了新的理论视角。未来研究可基于该模型,诊断目标人群的初始状态,设计更具针对性的干预方案,促进锻炼行为的发生。展开更多
自平衡机器人是验证各种控制算法的经典装置,研究传输时滞对其控制系统的影响具有重要意义。基于李雅普诺夫-克拉索夫斯基(Lyapunov-Krasovskii,L-K)泛函方法讨论了自平衡机器人的控制问题。首先,建立了直流电机的线性化模型,并应用拉...自平衡机器人是验证各种控制算法的经典装置,研究传输时滞对其控制系统的影响具有重要意义。基于李雅普诺夫-克拉索夫斯基(Lyapunov-Krasovskii,L-K)泛函方法讨论了自平衡机器人的控制问题。首先,建立了直流电机的线性化模型,并应用拉格朗日方程法建立了自平衡机器人的线性数学模型;然后,进一步考虑传输时滞环节,建立基于多闭环比例积分微分(proportional integral differential,PID)控制器的自平衡机器人控制系统的整体状态空间模型;最后,应用广义自由矩阵积分不等式,建立了低保守性的L-K稳定性判据,在此基础上通过MATLAB中的线性矩阵不等式(linear matrix inequality,LMI)工具箱去求解PID控制增益对时滞稳定裕度的影响。仿真结果表明,所提出的系统稳定性判据不仅有效,而且具有较低的保守性。展开更多
基金supported by the National Natural Science Foundation of China (60874117)the 111 Project (B07009)
文摘A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed.The main controller is designed for high performance of the original faultless system.The compensating controller can be seen as a standalone loop added to the system to compensate the effects of fault guaranteeing the stability of the system.A design method is proposed using nonlinear dynamic inverse control as the main controller and nonlinear extended state observer-based compensator.The stability of the whole closed-loop system is analyzed.Feasibility and validity of the new controller is demonstrated with an aircraft simulation example.
基金Project(51090385) supported by the Major Program of National Natural Science Foundation of ChinaProject(2011IB001) supported by Yunnan Provincial Science and Technology Program,China+1 种基金Project(2012DFA70570) supported by the International Science & Technology Cooperation Program of ChinaProject(2011IA004) supported by the Yunnan Provincial International Cooperative Program,China
文摘The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and with multivariable nonlinear interaction of microwave and materials. The conventional PID control strategy incorporated with optimization GA was put forward to maintain the optimum drying temperature in order to keep the moisture content below 1%, whose adaptation ability included the cost function of optimization GA according to the output change. Simulations on five different industrial process models and practical temperature process control system for selenium-enriched slag drying intensively by using IMDRDWM were carried out systematically, indicating the reliability and effectiveness of control design. The parameters of proposed control design are all on-line implemented without iterative predictive calculations, and the closed-loop system stability is guaranteed, which makes the developed scheme simpler in its synthesis and application, providing the practical guidelines for the control implementation and the parameter design.
文摘锻炼行为促进是公共卫生领域的关键议题,但现有理论在预测和干预锻炼行为时仍存在局限性。基于锻炼行为发生的必要条件,提出了锻炼行为的MTMSP(motor competence,time,motivation,self-control and physical exertion,运动能力、时间、动机、自我控制和体力消耗)决定因素模型(以下简称“MTMSP决定因素模型”)。该模型从个体层面深入解析锻炼行为的发生机制,将运动能力、时间、动机、自我控制和体力消耗作为核心决定因素,并通过“前提条件-双过程动机-自我控制调节”三级结构揭示各因素的内在关联。研究认为,MTMSP决定因素模型为克服锻炼意向−行为差距和维持问题提供了新的理论视角。未来研究可基于该模型,诊断目标人群的初始状态,设计更具针对性的干预方案,促进锻炼行为的发生。
文摘自平衡机器人是验证各种控制算法的经典装置,研究传输时滞对其控制系统的影响具有重要意义。基于李雅普诺夫-克拉索夫斯基(Lyapunov-Krasovskii,L-K)泛函方法讨论了自平衡机器人的控制问题。首先,建立了直流电机的线性化模型,并应用拉格朗日方程法建立了自平衡机器人的线性数学模型;然后,进一步考虑传输时滞环节,建立基于多闭环比例积分微分(proportional integral differential,PID)控制器的自平衡机器人控制系统的整体状态空间模型;最后,应用广义自由矩阵积分不等式,建立了低保守性的L-K稳定性判据,在此基础上通过MATLAB中的线性矩阵不等式(linear matrix inequality,LMI)工具箱去求解PID控制增益对时滞稳定裕度的影响。仿真结果表明,所提出的系统稳定性判据不仅有效,而且具有较低的保守性。
