Superhydrophobic glass has inspiring development prospects in endoscopes,solar panels and other engineering and medical fields.However,the surface topography required to achieve superhydrophobicity will inevitably aff...Superhydrophobic glass has inspiring development prospects in endoscopes,solar panels and other engineering and medical fields.However,the surface topography required to achieve superhydrophobicity will inevitably affect the surface transparency and limit the application of glass materials.To resolve the contradiction between the surface transparency and the robust superhydrophobicity,an efficient and low-cost laser-chemical surface functionalization process was utilized to fabricate superhydrophobic glass surface.The results show that the air can be effectively trapped in surface micro/nanostructure induced by laser texturing,thus reducing the solid-liquid contact area and interfacial tension.The deposition of hydrophobic carbon-containing groups on the surface can be accelerated by chemical treatment,and the surface energy is significantly reduced.The glass surface exhibits marvelous robust superhydrophobicity with a contact angle of 155.8°and a roll-off angle of 7.2°under the combination of hierarchical micro/nanostructure and low surface energy.Moreover,the surface transparency of the prepared superhydrophobic glass was only 5.42%lower than that of the untreated surface.This superhydrophobic glass with high transparency still maintains excellent superhydrophobicity after durability and stability tests.The facile fabrication of superhydrophobic glass with high transparency and robustness provides a strong reference for further expanding the application value of glass materials.展开更多
A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevaryin...A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.展开更多
To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method...To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.展开更多
Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate trackin...Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.展开更多
To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target ...To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.展开更多
大规模风电并网导致电力系统惯量和一次调频响应资源减少,大扰动下系统频率安全问题突出。为应对风电不确定性和系统惯量降低的挑战,提出计及风电频率支撑能力和运行风险的鲁棒机组组合(unitcommitment,UC)模型。首先,通过系统发生有功...大规模风电并网导致电力系统惯量和一次调频响应资源减少,大扰动下系统频率安全问题突出。为应对风电不确定性和系统惯量降低的挑战,提出计及风电频率支撑能力和运行风险的鲁棒机组组合(unitcommitment,UC)模型。首先,通过系统发生有功扰动后频率偏差动力学摆动方程建立频率安全的运行约束模型,并嵌入到UC问题中。其次,考虑到风电出力不确定性,提出风电出力鲁棒可行域定义以表征系统接纳风电的安全运行范围,并基于此提出系统运行风险模型。最后,基于两阶段鲁棒优化理论提出计及风电频率支撑能力和运行风险的UC鲁棒优化模型,并采用列和约束生成(column and constraint generation,C&CG)算法求解该模型。在IEEE9和IEEE118节点测试系统进行仿真分析,结果验证了所提模型的有效性。展开更多
为了解决高比例分布式电源(distributed generation,DG)大规模并网后实时量测数目缺失、传统预测辅助状态估计方法(forecasting-aided state estimation,FASE)估计精度有限等问题,提出了基于改进Crossformer伪量测构建的主动配电网FASE...为了解决高比例分布式电源(distributed generation,DG)大规模并网后实时量测数目缺失、传统预测辅助状态估计方法(forecasting-aided state estimation,FASE)估计精度有限等问题,提出了基于改进Crossformer伪量测构建的主动配电网FASE方法。首先,基于最大信息系数法(maximal information coefficient,MIC)筛选出高相关性的输入特征,提高预测模型的精度;然后,通过全变差正则化技术(total variation regularized,TV)优化鲁棒主成分分析法(robust principal component analysis,RPCA),构建TRPCA层,并将其嵌入到Crossformer中,以填补Crossformer无法有效处理非高斯噪声的空白;最后,利用改进的预测模型进行超短期负荷预测,经潮流计算得到节点伪量测,在量测不足情况下补全缺失数据,并结合扩展卡尔曼滤波器(extended Kalman filter,EKF)进行状态估计。在IEEE 33节点和IEEE 118节点标准配电网上进行仿真测试,结果表明所提方法在估计精度和鲁棒性等方面具有一定优势,可为主动配电网FASE提供参考。展开更多
基金Projects(52105175,52305149)supported by the National Natural Science Foundation of ChinaProject(2242024RCB0035)supported by the Zhishan Young Scholar Program of Southeast University,China+5 种基金Project(BK20210235)supported by the Natural Science Foundation of Jiangsu Province,ChinaProject(2023MK042)supported by the State Administration for Market Regulation,ChinaProject(KJ2023003)supported by the Jiangsu Administration for Market Regulation,ChinaProjects(KJ(Y)202429,KJ(YJ)2023001)supported by the Jiangsu Province Special Equipment Safety Supervision Inspection Institute,ChinaProject(JSSCBS20210121)supported by the Jiangsu Provincial Innovative and Entrepreneurial Doctor Program,ChinaProject(1102002310)supported by the Technology Innovation Project for Returnees in Nanjing,China。
文摘Superhydrophobic glass has inspiring development prospects in endoscopes,solar panels and other engineering and medical fields.However,the surface topography required to achieve superhydrophobicity will inevitably affect the surface transparency and limit the application of glass materials.To resolve the contradiction between the surface transparency and the robust superhydrophobicity,an efficient and low-cost laser-chemical surface functionalization process was utilized to fabricate superhydrophobic glass surface.The results show that the air can be effectively trapped in surface micro/nanostructure induced by laser texturing,thus reducing the solid-liquid contact area and interfacial tension.The deposition of hydrophobic carbon-containing groups on the surface can be accelerated by chemical treatment,and the surface energy is significantly reduced.The glass surface exhibits marvelous robust superhydrophobicity with a contact angle of 155.8°and a roll-off angle of 7.2°under the combination of hierarchical micro/nanostructure and low surface energy.Moreover,the surface transparency of the prepared superhydrophobic glass was only 5.42%lower than that of the untreated surface.This superhydrophobic glass with high transparency still maintains excellent superhydrophobicity after durability and stability tests.The facile fabrication of superhydrophobic glass with high transparency and robustness provides a strong reference for further expanding the application value of glass materials.
基金supported in part by the Nation Natural Science Foundation of China under Grant No.52175099China Postdoctoral Science Foundation under Grant No.2020M671494Jiangsu Planned Projects for Postdoctoral Research Funds under Grant No.2020Z179。
文摘A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.
基金financially supported by the National Natural Science Foundation of China(Grant 52175099)the China Postdoctoral Science Foundation(Grant No.2020M671494)+1 种基金the Jiangsu Planned Projects for Postdoctoral Research Funds(Grant No.2020Z179)the Nanjing University of Science and Technology Independent Research Program(Grant No.30920021105)。
文摘To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.
基金the National Natural Science Foundation of China(No.52275062)and(No.52075262).
文摘Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.
基金supported by the National Natural Science Foundation of China(62373187)Forward-looking Layout Special Projects(ILA220591A22).
文摘To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.
文摘大规模风电并网导致电力系统惯量和一次调频响应资源减少,大扰动下系统频率安全问题突出。为应对风电不确定性和系统惯量降低的挑战,提出计及风电频率支撑能力和运行风险的鲁棒机组组合(unitcommitment,UC)模型。首先,通过系统发生有功扰动后频率偏差动力学摆动方程建立频率安全的运行约束模型,并嵌入到UC问题中。其次,考虑到风电出力不确定性,提出风电出力鲁棒可行域定义以表征系统接纳风电的安全运行范围,并基于此提出系统运行风险模型。最后,基于两阶段鲁棒优化理论提出计及风电频率支撑能力和运行风险的UC鲁棒优化模型,并采用列和约束生成(column and constraint generation,C&CG)算法求解该模型。在IEEE9和IEEE118节点测试系统进行仿真分析,结果验证了所提模型的有效性。
文摘为了解决高比例分布式电源(distributed generation,DG)大规模并网后实时量测数目缺失、传统预测辅助状态估计方法(forecasting-aided state estimation,FASE)估计精度有限等问题,提出了基于改进Crossformer伪量测构建的主动配电网FASE方法。首先,基于最大信息系数法(maximal information coefficient,MIC)筛选出高相关性的输入特征,提高预测模型的精度;然后,通过全变差正则化技术(total variation regularized,TV)优化鲁棒主成分分析法(robust principal component analysis,RPCA),构建TRPCA层,并将其嵌入到Crossformer中,以填补Crossformer无法有效处理非高斯噪声的空白;最后,利用改进的预测模型进行超短期负荷预测,经潮流计算得到节点伪量测,在量测不足情况下补全缺失数据,并结合扩展卡尔曼滤波器(extended Kalman filter,EKF)进行状态估计。在IEEE 33节点和IEEE 118节点标准配电网上进行仿真测试,结果表明所提方法在估计精度和鲁棒性等方面具有一定优势,可为主动配电网FASE提供参考。
