To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a sec...To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.展开更多
The remanufacturing system is remolding the manufacturing industry by bringing scrapped products back to such a condition that reintegrated performance is just as good as new.The remanufacturing environment is feature...The remanufacturing system is remolding the manufacturing industry by bringing scrapped products back to such a condition that reintegrated performance is just as good as new.The remanufacturing environment is featured by a far deeper level of uncertainty than new manufacturing,such as probabilistic routing files,and highly variable processing time.The stochastic disturbances result in the production bottlenecks,which constrain the productivity of the job shop.The uncertainties in the remanufacturing process cause the bottlenecks to shift when the workshop is processing.Considering this outstanding problem,many researchers try to optimize the production process to mitigate dynamic bottlenecks toward a balanced state.This paper proposes a data-driven method to predict bottlenecks in the remanufacturing system with multi-variant uncertainties.Firstly,discrete event simulation technology is applied to establish a simulation model of the remanufacturing production line and calculate the bottleneck index to identify bottlenecks.Secondly,a data-driven method,auto-regressive moving average(ARMA)model is employed to predict the bottlenecks in the system based on real-time data captured by the Arena software.Finally,the proposed prediction method is verified on real data from the automobile engine remanufacturing production line.展开更多
In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive fun...In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.展开更多
A new adaptive Type-2 （T2） fuzzy controller was developed and its potential performance advantage over adaptive Type-1 （T1） fuzzy control was also quantified in computer simulation. Base on the Lyapunov method, th...A new adaptive Type-2 （T2） fuzzy controller was developed and its potential performance advantage over adaptive Type-1 （T1） fuzzy control was also quantified in computer simulation. Base on the Lyapunov method, the adaptive laws with guaranteed system stability and convergence were developed. The controller updates its parameters online using the laws to control a system and tracks its output command trajectory. The simulation study involving the popular inverted pendulum control problem shows theoretically predicted system stability and good tracking performance. And the comparison simulation experiments subjected to white noige or step disturbance indicate that the T2 controller is better than the T1 controller by 0--18%, depending on the experiment condition and performance measure.展开更多
Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a ...Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.展开更多
Adaptive Type-2 fuzzy control possesses control performance better than the traditional adaptive fuzzy control.However,heavy computation burden obviously blocks the utilization of adaptive Type-2 fuzzy control in indu...Adaptive Type-2 fuzzy control possesses control performance better than the traditional adaptive fuzzy control.However,heavy computation burden obviously blocks the utilization of adaptive Type-2 fuzzy control in industrial application.By adopting novel piecewise fuzzy sets and center-average type-reduction,a simplified adaptive interval Type-2 fuzzy controller involving less computation is developed for practical industrial application.In the proposed controller,the inputs are divided into several subintervals and then two piecewise fuzzy sets are used for each subinterval.With the manner of piecewise fuzzy sets and a novel fuzzy rules inference engine,only part of fuzzy rules are simultaneously activated in one control loop,which exponentially decreases the computation and makes the controller appropriate in industrial application.The simulation and experimental study,involving the popular magnetic levitation platform,shows the predicted system with theoretical stability and good tracking performance.The analysis indicates that there is far less computation of the proposed controller than the traditional adaptive interval Type-2 fuzzy controller,especially when the number of fuzzy rules and fuzzy sets is large,and the controller still maintains good control performance as the traditional one.展开更多
Rocks will suffer different degree of damage under freeze-thaw(FT)cycles,which seriously threatens the long-term stability of rock engineering in cold regions.In order to study the mechanism of rock FT damage,energy c...Rocks will suffer different degree of damage under freeze-thaw(FT)cycles,which seriously threatens the long-term stability of rock engineering in cold regions.In order to study the mechanism of rock FT damage,energy calculation method and energy self-inhibition model are introduced to explore their energy characteristics in this paper.The applicability of the energy self-inhibition model was verified by combining the data of FT cycles and uniaxial compression tests of intact and pre-cracked sandstone samples,as well as published reference data.In addition,the energy evolution characteristics of FT damaged rocks were discussed accordingly.The results indicate that the energy self-inhibition model perfectly characterizes the energy accumulation characteristics of FT damaged rocks under uniaxial compression before the peak strength and the energy dissipation characteristics before microcrack unstable growth stage.Taking the FT damaged cyan sandstone sample as an example,it has gone through two stages dominated by energy dissipation mechanism and energy accumulation mechanism,and the energy rate curve of the pre-cracked sample shows a fall-rise phenomenon when approaching failure.Based on the published reference data,it was found that the peak total input energy and energy storage limit conform to an exponential FT decay model,with corresponding decay constants ranging from 0.0021 to 0.1370 and 0.0018 to 0.1945,respectively.Finally,a linear energy storage equation for FT damaged rocks was proposed,and its high reliability and applicability were verified by combining published reference data,the energy storage coefficient of different types of rocks ranged from 0.823 to 0.992,showing a negative exponential relationship with the initial UCS(uniaxial compressive strength).In summary,the mechanism by which FT weakens the mechanical properties of rocks has been revealed from an energy perspective in this paper,which can provide reference for related issues in cold regions.展开更多
基金Project (61174203) supported by the National Natural Science Foundation of China
文摘To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.
基金Projects(51975099,51775086)supported by the Natural Science Foundation of China。
文摘The remanufacturing system is remolding the manufacturing industry by bringing scrapped products back to such a condition that reintegrated performance is just as good as new.The remanufacturing environment is featured by a far deeper level of uncertainty than new manufacturing,such as probabilistic routing files,and highly variable processing time.The stochastic disturbances result in the production bottlenecks,which constrain the productivity of the job shop.The uncertainties in the remanufacturing process cause the bottlenecks to shift when the workshop is processing.Considering this outstanding problem,many researchers try to optimize the production process to mitigate dynamic bottlenecks toward a balanced state.This paper proposes a data-driven method to predict bottlenecks in the remanufacturing system with multi-variant uncertainties.Firstly,discrete event simulation technology is applied to establish a simulation model of the remanufacturing production line and calculate the bottleneck index to identify bottlenecks.Secondly,a data-driven method,auto-regressive moving average(ARMA)model is employed to predict the bottlenecks in the system based on real-time data captured by the Arena software.Finally,the proposed prediction method is verified on real data from the automobile engine remanufacturing production line.
基金Project(2007AA04Z162) supported by the National High-Tech Research and Development Program of ChinaProjects(2006T089, 2009T062) supported by the University Innovation Team in the Educational Department of Liaoning Province, China
文摘In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.
基金Project(51005253) supported by the National Natural Science Foundation of ChinaProject(2007AA04Z344) supported by the National High Technology Research and Development Program of China
文摘A new adaptive Type-2 （T2） fuzzy controller was developed and its potential performance advantage over adaptive Type-1 （T1） fuzzy control was also quantified in computer simulation. Base on the Lyapunov method, the adaptive laws with guaranteed system stability and convergence were developed. The controller updates its parameters online using the laws to control a system and tracks its output command trajectory. The simulation study involving the popular inverted pendulum control problem shows theoretically predicted system stability and good tracking performance. And the comparison simulation experiments subjected to white noige or step disturbance indicate that the T2 controller is better than the T1 controller by 0--18%, depending on the experiment condition and performance measure.
基金Project(61273344)supported by the National Natural Science Foundation of ChinaProject(SKLRS-2010-ZD-40)supported by the StateKey Laboratory of Robotics and Systems(HIT),China+1 种基金Project(2008AA04Z208)supported by the National Hi-tech Research and Development Program of ChinaProject(20121101110011)supported by PhD Program Foundation of Ministry of Education,China
文摘Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
基金Project(51005253) supported by the National Natural Science Foundation of ChinaProject(2012ZX02702006-003) supported by the National Science and Technology Major Program of ChinaProject(JMTZ201101) supported by the Key Laboratory for Precision & Non-traditional Machining of Ministry of Education,Dalian University of Technology,China
文摘Adaptive Type-2 fuzzy control possesses control performance better than the traditional adaptive fuzzy control.However,heavy computation burden obviously blocks the utilization of adaptive Type-2 fuzzy control in industrial application.By adopting novel piecewise fuzzy sets and center-average type-reduction,a simplified adaptive interval Type-2 fuzzy controller involving less computation is developed for practical industrial application.In the proposed controller,the inputs are divided into several subintervals and then two piecewise fuzzy sets are used for each subinterval.With the manner of piecewise fuzzy sets and a novel fuzzy rules inference engine,only part of fuzzy rules are simultaneously activated in one control loop,which exponentially decreases the computation and makes the controller appropriate in industrial application.The simulation and experimental study,involving the popular magnetic levitation platform,shows the predicted system with theoretical stability and good tracking performance.The analysis indicates that there is far less computation of the proposed controller than the traditional adaptive interval Type-2 fuzzy controller,especially when the number of fuzzy rules and fuzzy sets is large,and the controller still maintains good control performance as the traditional one.
基金Project(52174088)supported by the National Natural Science Foundation of ChinaProject(104972024JYS0007)supported by the Independent Innovation Research Fund Graduate Free Exploration,Wuhan University of Technology,China。
文摘Rocks will suffer different degree of damage under freeze-thaw(FT)cycles,which seriously threatens the long-term stability of rock engineering in cold regions.In order to study the mechanism of rock FT damage,energy calculation method and energy self-inhibition model are introduced to explore their energy characteristics in this paper.The applicability of the energy self-inhibition model was verified by combining the data of FT cycles and uniaxial compression tests of intact and pre-cracked sandstone samples,as well as published reference data.In addition,the energy evolution characteristics of FT damaged rocks were discussed accordingly.The results indicate that the energy self-inhibition model perfectly characterizes the energy accumulation characteristics of FT damaged rocks under uniaxial compression before the peak strength and the energy dissipation characteristics before microcrack unstable growth stage.Taking the FT damaged cyan sandstone sample as an example,it has gone through two stages dominated by energy dissipation mechanism and energy accumulation mechanism,and the energy rate curve of the pre-cracked sample shows a fall-rise phenomenon when approaching failure.Based on the published reference data,it was found that the peak total input energy and energy storage limit conform to an exponential FT decay model,with corresponding decay constants ranging from 0.0021 to 0.1370 and 0.0018 to 0.1945,respectively.Finally,a linear energy storage equation for FT damaged rocks was proposed,and its high reliability and applicability were verified by combining published reference data,the energy storage coefficient of different types of rocks ranged from 0.823 to 0.992,showing a negative exponential relationship with the initial UCS(uniaxial compressive strength).In summary,the mechanism by which FT weakens the mechanical properties of rocks has been revealed from an energy perspective in this paper,which can provide reference for related issues in cold regions.
