This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLAD...This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.展开更多
On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine...On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.展开更多
The dynamics of 2DOF spherical inverted pendulum system is analyzed. The motion of the pendulum may be projected onto the orthogonal planes in the Cartesian Space. In this way the system can be decoupled into two clas...The dynamics of 2DOF spherical inverted pendulum system is analyzed. The motion of the pendulum may be projected onto the orthogonal planes in the Cartesian Space. In this way the system can be decoupled into two classical cart-pendulum systems and the design of controllers aimed at each subsystem separately are proposed. The linear quadratic optimal control strategy is applied in order to balance the pendulum system at the 'inverted' status. The method proposed is verified by the simulation and actual system experiments and the performance of the controller is discussed.展开更多
A model of vibrating device coupling two pendulums (VDP) which is highly nonlinear was put forward to conduct vibration analysis. Based on energy analysis, dynamic equations with cubic nonlinearities were established ...A model of vibrating device coupling two pendulums (VDP) which is highly nonlinear was put forward to conduct vibration analysis. Based on energy analysis, dynamic equations with cubic nonlinearities were established using Lagrange's equation. In order to obtain approximate solution, multiple time scales method, one of perturbation technique, was applied. Cases of non-resonant and 1:1:2:2 internal resonant were discussed. In the non-resonant case, the validity of multiple time scales method is confirmed, comparing numerical results derived from fourth order Runge-Kutta method with analytical results derived from first order approximate expression. In the 1:1:2:2 internal resonant case, modal amplitudes of Aa1 and Ab2 increase, respectively, from 0.38 to 0.63 and from 0.19 to 0.32, while the corresponding frequencies have an increase of almost 1.6 times with changes of initial conditions, indicating the existence of typical nonlinear phenomenon. In addition, the chaotic motion is found under this condition.展开更多
The property of dichotomy of interconnected second-order pendulum-like systems with multiple equilibria is investigated. This interconnection can be viewed as harmonic control of independent sub-systems. Linear interc...The property of dichotomy of interconnected second-order pendulum-like systems with multiple equilibria is investigated. This interconnection can be viewed as harmonic control of independent sub-systems. Linear interconnections and a class of input and output interconnections are considered in this paper. The effects of input and output interconnections are shown through a permutation matrix. Frequency domain and linear matrix inequality (LMI) conditions of dichotomy of interconnected pendulum-like systems are derived. It is shown that global properties of two coupled systems can be changed significantly through interconnections. Examples are given to illustrate the results.展开更多
金属材料挤出成型(metal material extrusion, MME)是采用金属粉末与聚合物黏结剂混合丝材为原料,通过成型、脱脂和烧结工艺(shaping-debinding-sintering, S-D-S)制造纯金属零部件的一种增材制造技术。随着MME技术的发展,亟须对其制品...金属材料挤出成型(metal material extrusion, MME)是采用金属粉末与聚合物黏结剂混合丝材为原料,通过成型、脱脂和烧结工艺(shaping-debinding-sintering, S-D-S)制造纯金属零部件的一种增材制造技术。随着MME技术的发展,亟须对其制品的抗冲击性能进行研究,然而相关信息非常匮乏。制备了不同过程参数下的MME试件,并采用夏比摆锤冲击试验研究了其抗冲击性能,探讨了成型方向、填充角度、挤出温度、床温及成型速度等过程参数对试件冲击吸收功的影响。结果表明:当填充角度为45°时,侧置方向成型试件的抗冲击性能最佳,水平方向次之,竖直方向最差;而在0°填充角度下,水平方向成型试件性能最好;进一步提高挤出温度、床温并降低成型速度,可以显著增强试件的抗冲击性能。研究结果为优化MME成型参数提供了理论依据,拓展了其在承受冲击载荷场景下的应用潜力。展开更多
基金supported by the National Natural Science Foundation of China(61836001).
文摘This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.
文摘On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.
文摘The dynamics of 2DOF spherical inverted pendulum system is analyzed. The motion of the pendulum may be projected onto the orthogonal planes in the Cartesian Space. In this way the system can be decoupled into two classical cart-pendulum systems and the design of controllers aimed at each subsystem separately are proposed. The linear quadratic optimal control strategy is applied in order to balance the pendulum system at the 'inverted' status. The method proposed is verified by the simulation and actual system experiments and the performance of the controller is discussed.
基金Projects(50574091, 50774084) supported by the National Natural Science Foundation of ChinaProject supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions+1 种基金Project(CXLX12_0949) supported by Research and Innovation Project for College Graduates of Jiangsu Province, ChinaProject(2013DXS03) supported by the Fundamental Research Funds for the Central Universities, China
文摘A model of vibrating device coupling two pendulums (VDP) which is highly nonlinear was put forward to conduct vibration analysis. Based on energy analysis, dynamic equations with cubic nonlinearities were established using Lagrange's equation. In order to obtain approximate solution, multiple time scales method, one of perturbation technique, was applied. Cases of non-resonant and 1:1:2:2 internal resonant were discussed. In the non-resonant case, the validity of multiple time scales method is confirmed, comparing numerical results derived from fourth order Runge-Kutta method with analytical results derived from first order approximate expression. In the 1:1:2:2 internal resonant case, modal amplitudes of Aa1 and Ab2 increase, respectively, from 0.38 to 0.63 and from 0.19 to 0.32, while the corresponding frequencies have an increase of almost 1.6 times with changes of initial conditions, indicating the existence of typical nonlinear phenomenon. In addition, the chaotic motion is found under this condition.
基金Supported by National Natural Science Foundation of P. R. China (60334030, 60204007, 60474029, 60404007)
文摘The property of dichotomy of interconnected second-order pendulum-like systems with multiple equilibria is investigated. This interconnection can be viewed as harmonic control of independent sub-systems. Linear interconnections and a class of input and output interconnections are considered in this paper. The effects of input and output interconnections are shown through a permutation matrix. Frequency domain and linear matrix inequality (LMI) conditions of dichotomy of interconnected pendulum-like systems are derived. It is shown that global properties of two coupled systems can be changed significantly through interconnections. Examples are given to illustrate the results.
文摘金属材料挤出成型(metal material extrusion, MME)是采用金属粉末与聚合物黏结剂混合丝材为原料,通过成型、脱脂和烧结工艺(shaping-debinding-sintering, S-D-S)制造纯金属零部件的一种增材制造技术。随着MME技术的发展,亟须对其制品的抗冲击性能进行研究,然而相关信息非常匮乏。制备了不同过程参数下的MME试件,并采用夏比摆锤冲击试验研究了其抗冲击性能,探讨了成型方向、填充角度、挤出温度、床温及成型速度等过程参数对试件冲击吸收功的影响。结果表明:当填充角度为45°时,侧置方向成型试件的抗冲击性能最佳,水平方向次之,竖直方向最差;而在0°填充角度下,水平方向成型试件性能最好;进一步提高挤出温度、床温并降低成型速度,可以显著增强试件的抗冲击性能。研究结果为优化MME成型参数提供了理论依据,拓展了其在承受冲击载荷场景下的应用潜力。
