When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is...When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is necessary to consider the diversity of control targets and the complexity of dynamic models,which brings the challenge of high-precision tracking control of the stack output power and cathode intake flow.For system idle speed control,a modelbased nonlinear control framework is constructed in this paper.Firstly,the nonlinear dynamic model of output power and cathode intake flow is derived.Secondly,a control scheme combining nonlinear extended Kalman filter observer and state feedback controller is designed.Finally,the control scheme is verified on the PEMFC experimental platform and compared with the proportion-integration-differentiation(PID)controller.The experimental results show that the control strategy proposed in this paper can realize the idle speed control of the fuel cell system and achieve the purpose of zero power output.Compared with PID controller,it has faster response speed and better system dynamics.展开更多
In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis...In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.展开更多
This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,...This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.展开更多
A nonlinear model of anti-backlash gear with time-varying friction and mesh stiffness was proposed for the further study on dynamic characteristics of anti-backlash gear. In order to improve the model precision, appli...A nonlinear model of anti-backlash gear with time-varying friction and mesh stiffness was proposed for the further study on dynamic characteristics of anti-backlash gear. In order to improve the model precision, applied force analysis was completed in detail, and single or double tooth meshing states of two gear pairs at any timing were determined according to the meshing characteristic of anti-backlash gear. The influences of friction and variations of damping ratio on dynamic transmission error were analyzed finally by numerical calculation and the results show that anti-backlash gear can increase the composite mesh stiffness comparing with the mesh stiffness of the normal gear pair. At the pitch points where the frictions change their signs, additional impulsive effects are observed. The width of impulsive in the same value of center frequency is wider than that without friction, and the amplitude is lower. When gear pairs mesh in and out, damping can reduce the vibration and impact.展开更多
A support vector machine with guadratic polynomial kernel function based nonlinear model multi-step-ahead optimizing predictive controller was presented. A support vector machine based predictive model was established...A support vector machine with guadratic polynomial kernel function based nonlinear model multi-step-ahead optimizing predictive controller was presented. A support vector machine based predictive model was established by black-box identification. And a quadratic objective function with receding horizon was selected to obtain the controller output. By solving a nonlinear optimization problem with equality constraint of model output and boundary constraint of controller output using Nelder-Mead simplex direct search method, a sub-optimal control law was achieved in feature space. The effect of the controller was demonstrated on a recognized benchmark problem and a continuous-stirred tank reactor. The simulation results show that the multi-step-ahead predictive controller can be well applied to nonlinear system, with better performance in following reference trajectory and disturbance-rejection.展开更多
This work proposes a practical nonlinear controller for the MIMO levitation system. Firstly, the mathematical model of levitation modules is developed and the advantages of the control scheme with magnetic flux feedba...This work proposes a practical nonlinear controller for the MIMO levitation system. Firstly, the mathematical model of levitation modules is developed and the advantages of the control scheme with magnetic flux feedback are analyzed when compared with the current feedback. Then, a backstepping controller with magnetic flux feedback based on the mathematical model of levitation module is developed. To obtain magnetic flux signals for full-size maglev system, a physical method with induction coils installed to winding of the electromagnet is developed. Furthermore, to avoid its hardware addition, a novel conception of virtual magnetic flux feedback is proposed. To demonstrate the feasibility of the proposed controller, the nonlinear dynamic model of full-size maglev train with quintessential details is developed. Based on the nonlinear model, the numerical comparisons and related experimental validations are carried out. Finally, results illustrating closed-loop performance are provided.展开更多
In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system （SINS） alignment, Unscented Kalman Filter （UKF） is presented for simulation with stationary base and mo...In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system （SINS） alignment, Unscented Kalman Filter （UKF） is presented for simulation with stationary base and moving base of SINS alignment. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in cases of large initial misalignment. The UKF has good performance in case of small initial misalignment.展开更多
Combining mathematical morphology (MM),nonparametric and nonlinear model,a novel approach for predicting slope displacement was developed to improve the prediction accuracy.A parallel-composed morphological filter wit...Combining mathematical morphology (MM),nonparametric and nonlinear model,a novel approach for predicting slope displacement was developed to improve the prediction accuracy.A parallel-composed morphological filter with multiple structure elements was designed to process measured displacement time series with adaptive multi-scale decoupling.Whereafter,functional-coefficient auto regressive (FAR) models were established for the random subsequences.Meanwhile,the trend subsequence was processed by least squares support vector machine (LSSVM) algorithm.Finally,extrapolation results obtained were superposed to get the ultimate prediction result.Case study and comparative analysis demonstrate that the presented method can optimize training samples and show a good nonlinear predicting performance with low risk of choosing wrong algorithms.Mean absolute percentage error (MAPE) and root mean square error (RMSE) of the MM-FAR&LSSVM predicting results are as low as 1.670% and 0.172 mm,respectively,which means that the prediction accuracy are improved significantly.展开更多
Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.Howe...Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.展开更多
By adopting cyclic increment loading and unloading method, time-independent and time-dependent strains can be separated. It is more reasonable to describe the reversible and the irreversible deformations of sample sep...By adopting cyclic increment loading and unloading method, time-independent and time-dependent strains can be separated. It is more reasonable to describe the reversible and the irreversible deformations of sample separately during creep process. A nonlinear elastic-visco-plastic rheological model is presented to characterize the time-based deformational behavior of hard rock. Specifically, a spring element is used to describe reversible instantaneous elastic deformation. A reversible nonlinear visco-elastic （RNVE） model is developed to characterize recoverable visco-elastic response. A combined model, which contains a fractional derivative dashpot in series with another Hook’s body, and a St. Venant body in parallel with them, is proposed to describe irreversible visco-plastic deformation. Furthermore, a three-stage damage equation based on strain energy is developed in the visco-plastic portion and then nonlinear elastic-visco-plastic rheological damage model is established to explain the trimodal creep response of hard rock. Finally, the proposed model is validated by a laboratory triaxial rheological experiment. Comparing with theoretical and experimental results, this rheological damage model characterizes well the reversible and irreversible deformations of the sample, especially the tertiary creep behavior.展开更多
A multi-domain nonlinear dynamic model of a proportional solenoid valve was presented.The electro-magnetic,mechanical and fluid subsystems of the valve were investigated,including their interactions.Governing equation...A multi-domain nonlinear dynamic model of a proportional solenoid valve was presented.The electro-magnetic,mechanical and fluid subsystems of the valve were investigated,including their interactions.Governing equations of the valve were derived in the form of nonlinear state equations.By comparing the simulated and measured data,the simulation model is validated with a deviation less than 15%,which can be used for the structural design and control algorithm optimization of proportional solenoid valves.展开更多
The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memor...The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.展开更多
A model of correcting the nonlinear error of photoelectric displacement sensor was established based on the least square support vector machine.The parameters of the correcting nonlinear model,such as penalty factor a...A model of correcting the nonlinear error of photoelectric displacement sensor was established based on the least square support vector machine.The parameters of the correcting nonlinear model,such as penalty factor and kernel parameter,were optimized by chaos genetic algorithm.And the nonlinear correction of photoelectric displacement sensor based on least square support vector machine was applied.The application results reveal that error of photoelectric displacement sensor is less than 1.5%,which is rather satisfactory for nonlinear correction of photoelectric displacement sensor.展开更多
Nonlinear model predictive controllers(NMPC)can predict the future behavior of the under-controlled system using a nonlinear predictive model.Here,an array of hyper chaotic diagonal recurrent neural network(HCDRNN)was...Nonlinear model predictive controllers(NMPC)can predict the future behavior of the under-controlled system using a nonlinear predictive model.Here,an array of hyper chaotic diagonal recurrent neural network(HCDRNN)was proposed for modeling and predicting the behavior of the under-controller nonlinear system in a moving forward window.In order to improve the convergence of the parameters of the HCDRNN to improve system’s modeling,the extent of chaos is adjusted using a logistic map in the hidden layer.A novel NMPC based on the HCDRNN array(HCDRNN-NMPC)was proposed that the control signal with the help of an improved gradient descent method was obtained.The controller was used to control a continuous stirred tank reactor(CSTR)with hard-nonlinearities and input constraints,in the presence of uncertainties including external disturbance.The results of the simulations show the superior performance of the proposed method in trajectory tracking and disturbance rejection.Parameter convergence and neglectable prediction error of the neural network(NN),guaranteed stability and high tracking performance are the most significant advantages of the proposed scheme.展开更多
A nonlinear flow reservoir mathematical model was established based on the flow characteristic of low-permeability reservoir.The well-grid equations were deduced and the dimensionless permeability coefficient was intr...A nonlinear flow reservoir mathematical model was established based on the flow characteristic of low-permeability reservoir.The well-grid equations were deduced and the dimensionless permeability coefficient was introduced to describe the permeability variation of nonlinear flow.The nonlinear flow numerical simulation program was compiled based on black-oil model.A quarter of five-spot well unit was simulated to study the effect of nonlinear flow on the exploitation of low-permeability reservoir.The comprehensive comparison and analysis of the simulation results of Darcy flow,quasi-linear flow and nonlinear flow were provided.The dimensionless permeability coefficient distribution was gained to describe the nonlinear flow degree.The result shows that compared with the results of Darcy flow,when considering nonlinear flow,the oil production is low,and production decline is rapid.The fluid flow in reservoir consumes more driving energy,which reduces the water flooding efficiency.Darcy flow model overstates the reservoir flow capability,and quasi-linear flow model overstates the reservoir flow resistance.The flow ability of the formation near the well and artificial fracture is strong while the flow ability of the formation far away from the main streamline is weak.The nonlinear flow area is much larger than that of quasi-linear flow during the fluid flow in low-permeability reservoir.The water propelling speed of nonlinear flow is greatly slower than that of Darcy flow in the vertical direction of artificial fracture,and the nonlinear flow should be taken into account in the well pattern arrangement of low-permeability reservoir.展开更多
A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and f...A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.展开更多
A non-linear regression model is proposed to forecast the aggregated passenger volume of Beijing-Shanghai high-speed railway(HSR) line in China. Train services and temporal features of passenger volume are studied to ...A non-linear regression model is proposed to forecast the aggregated passenger volume of Beijing-Shanghai high-speed railway(HSR) line in China. Train services and temporal features of passenger volume are studied to have a prior knowledge about this high-speed railway line. Then, based on a theoretical curve that depicts the relationship among passenger demand, transportation capacity and passenger volume, a non-linear regression model is established with consideration of the effect of capacity constraint. Through experiments, it is found that the proposed model can perform better in both forecasting accuracy and stability compared with linear regression models and back-propagation neural networks. In addition to the forecasting ability, with a definite formation, the proposed model can be further used to forecast the effects of train planning policies.展开更多
An improved model predictive control algorithm is proposed for Hammerstein-Wiener nonlinear systems.The proposed synthesis algorithm contains two parts:offline design the polytopic invariant sets,and online solve the ...An improved model predictive control algorithm is proposed for Hammerstein-Wiener nonlinear systems.The proposed synthesis algorithm contains two parts:offline design the polytopic invariant sets,and online solve the min-max optimization problem.The polytopic invariant set is adopted to replace the traditional ellipsoid invariant set.And the parameter-correlation nonlinear control law is designed to replace the traditional linear control law.Consequently,the terminal region is enlarged and the control effect is improved.Simulation and experiment are used to verify the validity of the wind tunnel flow field control algorithm.展开更多
Variable pump driving variable motor(VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle(UGV).VPDVM is a dual-input single-output nonlinear system with coupling,which is ...Variable pump driving variable motor(VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle(UGV).VPDVM is a dual-input single-output nonlinear system with coupling,which is difficult to control.High pressure automatic variables bang-bang(HABB) was proposed to achieve the desired motor speed.First,the VPDVM nonlinear mathematic model was introduced,then linearized by feedback linearization theory,and the zero-dynamic stability was proved.The HABB control algorithm was proposed for VPDVM,in which the variable motor was controlled by high pressure automatic variables(HA) and the variable pump was controlled by bang-bang.Finally,simulation of VPDVM controlled by HABB was developed.Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed,load and pump speed.展开更多
基金Supported by the Major Science and Technology Projects in Jilin Province and Changchun City(20220301010GX).
文摘When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is necessary to consider the diversity of control targets and the complexity of dynamic models,which brings the challenge of high-precision tracking control of the stack output power and cathode intake flow.For system idle speed control,a modelbased nonlinear control framework is constructed in this paper.Firstly,the nonlinear dynamic model of output power and cathode intake flow is derived.Secondly,a control scheme combining nonlinear extended Kalman filter observer and state feedback controller is designed.Finally,the control scheme is verified on the PEMFC experimental platform and compared with the proportion-integration-differentiation(PID)controller.The experimental results show that the control strategy proposed in this paper can realize the idle speed control of the fuel cell system and achieve the purpose of zero power output.Compared with PID controller,it has faster response speed and better system dynamics.
文摘In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.
基金“National Science and Technology Council”(NSTC 111-2221-E-027-088)。
文摘This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.
基金Project(51175505)supported by the National Natural Science Foundation of China
文摘A nonlinear model of anti-backlash gear with time-varying friction and mesh stiffness was proposed for the further study on dynamic characteristics of anti-backlash gear. In order to improve the model precision, applied force analysis was completed in detail, and single or double tooth meshing states of two gear pairs at any timing were determined according to the meshing characteristic of anti-backlash gear. The influences of friction and variations of damping ratio on dynamic transmission error were analyzed finally by numerical calculation and the results show that anti-backlash gear can increase the composite mesh stiffness comparing with the mesh stiffness of the normal gear pair. At the pitch points where the frictions change their signs, additional impulsive effects are observed. The width of impulsive in the same value of center frequency is wider than that without friction, and the amplitude is lower. When gear pairs mesh in and out, damping can reduce the vibration and impact.
文摘A support vector machine with guadratic polynomial kernel function based nonlinear model multi-step-ahead optimizing predictive controller was presented. A support vector machine based predictive model was established by black-box identification. And a quadratic objective function with receding horizon was selected to obtain the controller output. By solving a nonlinear optimization problem with equality constraint of model output and boundary constraint of controller output using Nelder-Mead simplex direct search method, a sub-optimal control law was achieved in feature space. The effect of the controller was demonstrated on a recognized benchmark problem and a continuous-stirred tank reactor. The simulation results show that the multi-step-ahead predictive controller can be well applied to nonlinear system, with better performance in following reference trajectory and disturbance-rejection.
基金Projects(11302252,11202230)supported by the National Natural Science Foundation of China
文摘This work proposes a practical nonlinear controller for the MIMO levitation system. Firstly, the mathematical model of levitation modules is developed and the advantages of the control scheme with magnetic flux feedback are analyzed when compared with the current feedback. Then, a backstepping controller with magnetic flux feedback based on the mathematical model of levitation module is developed. To obtain magnetic flux signals for full-size maglev system, a physical method with induction coils installed to winding of the electromagnet is developed. Furthermore, to avoid its hardware addition, a novel conception of virtual magnetic flux feedback is proposed. To demonstrate the feasibility of the proposed controller, the nonlinear dynamic model of full-size maglev train with quintessential details is developed. Based on the nonlinear model, the numerical comparisons and related experimental validations are carried out. Finally, results illustrating closed-loop performance are provided.
文摘In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system （SINS） alignment, Unscented Kalman Filter （UKF） is presented for simulation with stationary base and moving base of SINS alignment. Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in cases of large initial misalignment. The UKF has good performance in case of small initial misalignment.
基金Project(20090162120084)supported by Research Fund for the Doctoral Program of Higher Education of ChinaProject(08JJ4014)supported by the Natural Science Foundation of Hunan Province,China
文摘Combining mathematical morphology (MM),nonparametric and nonlinear model,a novel approach for predicting slope displacement was developed to improve the prediction accuracy.A parallel-composed morphological filter with multiple structure elements was designed to process measured displacement time series with adaptive multi-scale decoupling.Whereafter,functional-coefficient auto regressive (FAR) models were established for the random subsequences.Meanwhile,the trend subsequence was processed by least squares support vector machine (LSSVM) algorithm.Finally,extrapolation results obtained were superposed to get the ultimate prediction result.Case study and comparative analysis demonstrate that the presented method can optimize training samples and show a good nonlinear predicting performance with low risk of choosing wrong algorithms.Mean absolute percentage error (MAPE) and root mean square error (RMSE) of the MM-FAR&LSSVM predicting results are as low as 1.670% and 0.172 mm,respectively,which means that the prediction accuracy are improved significantly.
基金Project(61174002)supported by the National Natural Science Foundation of ChinaProject(200897)supported by the Foundation of National Excellent Doctoral Dissertation of PR China+1 种基金Project(NCET-10-0900)supported by the Program for New Century ExcellentTalents in University,ChinaProject(131061)supported by the Fok Ying Tung Education Foundation,China
文摘Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.
基金Project(BK20150005)supported by the Natural Science Foundation of Jiangsu Province for Distinguished Young Scholars,ChinaProject(2015XKZD05)supported by the Fundamental Research Funds for the Central Universities,China
文摘By adopting cyclic increment loading and unloading method, time-independent and time-dependent strains can be separated. It is more reasonable to describe the reversible and the irreversible deformations of sample separately during creep process. A nonlinear elastic-visco-plastic rheological model is presented to characterize the time-based deformational behavior of hard rock. Specifically, a spring element is used to describe reversible instantaneous elastic deformation. A reversible nonlinear visco-elastic （RNVE） model is developed to characterize recoverable visco-elastic response. A combined model, which contains a fractional derivative dashpot in series with another Hook’s body, and a St. Venant body in parallel with them, is proposed to describe irreversible visco-plastic deformation. Furthermore, a three-stage damage equation based on strain energy is developed in the visco-plastic portion and then nonlinear elastic-visco-plastic rheological damage model is established to explain the trimodal creep response of hard rock. Finally, the proposed model is validated by a laboratory triaxial rheological experiment. Comparing with theoretical and experimental results, this rheological damage model characterizes well the reversible and irreversible deformations of the sample, especially the tertiary creep behavior.
基金Project(2008ZHZX1A0502) supported by the Independence Innovation Achievements Transformation Crucial Special Program of Shandong Province,China
文摘A multi-domain nonlinear dynamic model of a proportional solenoid valve was presented.The electro-magnetic,mechanical and fluid subsystems of the valve were investigated,including their interactions.Governing equations of the valve were derived in the form of nonlinear state equations.By comparing the simulated and measured data,the simulation model is validated with a deviation less than 15%,which can be used for the structural design and control algorithm optimization of proportional solenoid valves.
基金Project(51105170) supported by the National Natural Science Foundation of ChinaProject supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars,Ministry of Education,China
文摘The hysteresis characteristic is the major deficiency in the positioning control of magnetic shape memory alloy actuator. A Prandtl-Ishlinskii model was developed to characterize the hysteresis of magnetic shape memory alloy actuator. Based on the proposed Prandtl-Ishlinskii model, the inverse Prandtl-Ishlinskii model was established as a feedforward controller to compensate the hysteresis of the magnetic shape memory alloy actuator. For further improving of the positioning precision of the magnetic shape memory alloy actuator, a hybrid control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with inverse Prandtl-Ishlinskii model and a feedback loop with neural network controller. To validate the validity of the proposed control method, a series of simulations and experiments were researched. The simulation and experimental results demonstrate that the maximum error rate of open loop controller based on inverse PI model is 1.72%, the maximum error rate of the hybrid controller based on inverse PI model is 1.37%.
基金Project(50925727) supported by the National Fund for Distinguish Young Scholars of ChinaProject(60876022) supported by the National Natural Science Foundation of China+1 种基金Project(2010FJ4141) supported by Hunan Provincial Science and Technology Foundation,ChinaProject supported by the Fund of the Key Construction Academic Subject (Optics) of Hunan Province,China
文摘A model of correcting the nonlinear error of photoelectric displacement sensor was established based on the least square support vector machine.The parameters of the correcting nonlinear model,such as penalty factor and kernel parameter,were optimized by chaos genetic algorithm.And the nonlinear correction of photoelectric displacement sensor based on least square support vector machine was applied.The application results reveal that error of photoelectric displacement sensor is less than 1.5%,which is rather satisfactory for nonlinear correction of photoelectric displacement sensor.
文摘Nonlinear model predictive controllers(NMPC)can predict the future behavior of the under-controlled system using a nonlinear predictive model.Here,an array of hyper chaotic diagonal recurrent neural network(HCDRNN)was proposed for modeling and predicting the behavior of the under-controller nonlinear system in a moving forward window.In order to improve the convergence of the parameters of the HCDRNN to improve system’s modeling,the extent of chaos is adjusted using a logistic map in the hidden layer.A novel NMPC based on the HCDRNN array(HCDRNN-NMPC)was proposed that the control signal with the help of an improved gradient descent method was obtained.The controller was used to control a continuous stirred tank reactor(CSTR)with hard-nonlinearities and input constraints,in the presence of uncertainties including external disturbance.The results of the simulations show the superior performance of the proposed method in trajectory tracking and disturbance rejection.Parameter convergence and neglectable prediction error of the neural network(NN),guaranteed stability and high tracking performance are the most significant advantages of the proposed scheme.
基金Project(10672187) supported by the National Natural Science Foundation of ChinaProject(2008ZX05000-013-02) supported by the National Science and Technology Major Program of China
文摘A nonlinear flow reservoir mathematical model was established based on the flow characteristic of low-permeability reservoir.The well-grid equations were deduced and the dimensionless permeability coefficient was introduced to describe the permeability variation of nonlinear flow.The nonlinear flow numerical simulation program was compiled based on black-oil model.A quarter of five-spot well unit was simulated to study the effect of nonlinear flow on the exploitation of low-permeability reservoir.The comprehensive comparison and analysis of the simulation results of Darcy flow,quasi-linear flow and nonlinear flow were provided.The dimensionless permeability coefficient distribution was gained to describe the nonlinear flow degree.The result shows that compared with the results of Darcy flow,when considering nonlinear flow,the oil production is low,and production decline is rapid.The fluid flow in reservoir consumes more driving energy,which reduces the water flooding efficiency.Darcy flow model overstates the reservoir flow capability,and quasi-linear flow model overstates the reservoir flow resistance.The flow ability of the formation near the well and artificial fracture is strong while the flow ability of the formation far away from the main streamline is weak.The nonlinear flow area is much larger than that of quasi-linear flow during the fluid flow in low-permeability reservoir.The water propelling speed of nonlinear flow is greatly slower than that of Darcy flow in the vertical direction of artificial fracture,and the nonlinear flow should be taken into account in the well pattern arrangement of low-permeability reservoir.
基金Project(2009AA045004)supported by the Hi-tech Research and Development Program of China
文摘A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
基金Project(2014YJS080) supported by the Fundamental Research Funds for the Central Universities of China
文摘A non-linear regression model is proposed to forecast the aggregated passenger volume of Beijing-Shanghai high-speed railway(HSR) line in China. Train services and temporal features of passenger volume are studied to have a prior knowledge about this high-speed railway line. Then, based on a theoretical curve that depicts the relationship among passenger demand, transportation capacity and passenger volume, a non-linear regression model is established with consideration of the effect of capacity constraint. Through experiments, it is found that the proposed model can perform better in both forecasting accuracy and stability compared with linear regression models and back-propagation neural networks. In addition to the forecasting ability, with a definite formation, the proposed model can be further used to forecast the effects of train planning policies.
基金Project(61074074)supported by the National Natural Science Foundation,ChinaProject(KT2012C01J0401)supported by the Group Innovation Fund,China
文摘An improved model predictive control algorithm is proposed for Hammerstein-Wiener nonlinear systems.The proposed synthesis algorithm contains two parts:offline design the polytopic invariant sets,and online solve the min-max optimization problem.The polytopic invariant set is adopted to replace the traditional ellipsoid invariant set.And the parameter-correlation nonlinear control law is designed to replace the traditional linear control law.Consequently,the terminal region is enlarged and the control effect is improved.Simulation and experiment are used to verify the validity of the wind tunnel flow field control algorithm.
基金Project(51375029)supported by the National Natural Science Foundation of ChinaProject(20091102120038)supported by Specialized Research Fund for Doctoral Program of Higher Education of China
文摘Variable pump driving variable motor(VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle(UGV).VPDVM is a dual-input single-output nonlinear system with coupling,which is difficult to control.High pressure automatic variables bang-bang(HABB) was proposed to achieve the desired motor speed.First,the VPDVM nonlinear mathematic model was introduced,then linearized by feedback linearization theory,and the zero-dynamic stability was proved.The HABB control algorithm was proposed for VPDVM,in which the variable motor was controlled by high pressure automatic variables(HA) and the variable pump was controlled by bang-bang.Finally,simulation of VPDVM controlled by HABB was developed.Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed,load and pump speed.
