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Research of Compound Controller for Flight Simulator with Disturbance Observer

2009中国控制与决策会议

作者： tian dapeng~1,wu yunjie~2,liu youmin 1.school of automation science and electrical engineering,beihang university,beijing 100191 2.school of automation science and electrical engineering,beihang university,beijing 100191

In this paper,a novel adaptive controller was designed based on the structure of disturbance observer(DOB) for servo turning *** adaptive filter was added into DOB to realize a stable zeros-poles *** adaptive law was deduced by Lyapunov function in order to guarantee the system stable when the parameters changed *** took advantage of the characteristic of the DOB ***,the equivalent disturbance could be compensated. At the same time,it was able to hold the plant dynamics as the characteristic of a fixed *** this advantage,an out loop controller could be designed easily and not need to be modified even if the main parameters *** experiment showed that this method could effectively get the desired results and effectively suppressed *** robustness of this controller based on DOB was improved.

关键词： Servo turning table Disturbance observer Lyapunov function Adaptive

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Chinese Journal of Aeronautics 2011年第5期24卷 613-621页

作者： wu yunjie liu Xiaodong tian dapeng science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China

A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer （DOB） is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.

关键词： compound controller zero phase error tracking controller flight simulators disturbance observer robustness

A New Control Method with Perfect Tracking Control for Flight Simulator

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A New Control Method with Perfect Tracking Control for Fligh...

Sustainable wood-based nanotechnologies for photocatalytic degradation of organic contaminants in aquatic environment

2011 Chinese Control and Decision Conference（CCDC）

作者： wu yunjie,Wang Junfeng,liu Xiaodong,tian dapeng school of automation science and electrical engineering,beihang university,100191 science and Technology on Aircraft Control Laboratory,beihang university

For enhancing the performance of flight simulator,perfect tracking control （PTC） was ***,for dealing with the parameters uncertainty of the plant,system identification based on neural network （NN） was ***,PID controller and disturbance observer （DOB） was *** addition,the priority and rationality were proved by simulation and experiment.

关键词： perfect tracking control (PTC) parameter identification disturbance observer (DOB) Neutral Network (NN) feedforward

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Frontiers of Environmental science & engineering 2021年第4期15卷 19-40页

作者： Xinyi liu Caichao Wan Xianjun Li Song Wei Luyu Zhang Wenyan tian Ken-Tye Yong Yiqiang wu Jian Li College of Materials science and engineering Central South University of Forestry and TechnologyChangsha410004China Material science and engineering College Northeast Forestry UniversityHarbin150040China school of electrical and Electronic engineering Nanyang Technological UniversitySingapore639798Singapore Yihua Lifestyle Technology Co. LtdHuaidong Industrial ZoneLianxia TownChenghai DistrictShantou515834China Caichao Wan

Wood-based nanotechnologies have received much attention in the area of photocatalytic degradation of organic contaminants in aquatic environment in recent years,because of the high abundance and renewability of wood as well as the high reaction activity and unique structural features of these ***,we present a comprehensive review of the current research activities centering on the development of wood-based nanocatalysts for photodegradation of organic *** review begins with a brief introduction of the development of photocatalysts and hierarchical structure of *** review then focuses on strategies of designing novel photocatalysts based on wood or its recombinants(such as 1D fiber,2D films and 3D porous gels)using advanced nanotechnology including sol-gel method,hydrothermal method,magnetron sputtering method,dipping method and so ***,we highlight typical approaches that improve the photocatalytic property,including metal element doping,morphology control and semiconductor ***,the structure-activity relationship of photocatalysts is ***,a brief summary and prospect of wood-derived photocatalysts is provided.

关键词： Wood Nanocatalysts Photodegradation Organic contaminants Composites

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密云某流域土壤重金属污染特征及评价

城市地质 2019年第2期14卷 67-72页

作者：颜常春田志君吴大鹏丁霞王威邢宇鑫韩娟娟北京市地质工程设计研究院北京101500 北京科技大学能源与环境工程学院北京100089

对北京市密云水库上游某流域周边土壤重金属(As、Hg、Zn、Cu、Cd、Pb、Ni、Cr)的空间分布、来源及污染现状进行评价。地累积指数法、单因子指数与内梅罗综合污染指数法、多元统计分析(相关性分析、主成分分析)表明,Cu、Pb、Zn、Cd和As... 详细信息

对北京市密云水库上游某流域周边土壤重金属(As、Hg、Zn、Cu、Cd、Pb、Ni、Cr)的空间分布、来源及污染现状进行评价。地累积指数法、单因子指数与内梅罗综合污染指数法、多元统计分析(相关性分析、主成分分析)表明,Cu、Pb、Zn、Cd和As五种元素主要来源于矿山开采、选矿以及运输等过程;Cr和Ni污染主要来源于旧金属垃圾及铁矿开采伴生元素;Hg元素污染主要来自于金矿的采选过程。Cr元素在该流域内污染比例较大,Hg与Cd两种元素变异程度较大,污染较为严重的区域主要集中在金矿和尾矿库附近。Pb和As两种元素污染程度处于相对安全水平。

关键词：土壤重金属空间分布多元统计分析污染评价

针身绝缘针灸针对家兔坐骨神经干电刺激的有效性与安全性评价

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针刺研究 2021年第6期46卷 492-496,514页

作者：胡光迪秦玲利张路付建华李天昕徐水洋宋玉娟李磊杨斌沈建武蒋磊项国梁中国中医科学院西苑医院北京100091 北京科技大学能源与环境工程学院北京100083 广东省深圳市龙华区医院中医科广东深圳518110 德意志联邦共和国下萨克森州汉诺威医科大学康复医院汉诺威30625

目的:初步评价针身绝缘针灸针对家兔坐骨神经刺激的有效性与安全性。方法:将18只新西兰雄兔,随机分为空白对照组、普通针组、绝缘针组,每组6只。空白对照组无干预措施,仅用于神经取材对比评价安全性;绝缘针组与普通针组于家兔暴露的左... 详细信息

目的:初步评价针身绝缘针灸针对家兔坐骨神经刺激的有效性与安全性。方法:将18只新西兰雄兔,随机分为空白对照组、普通针组、绝缘针组,每组6只。空白对照组无干预措施,仅用于神经取材对比评价安全性;绝缘针组与普通针组于家兔暴露的左下肢坐骨神经干处分别以涂层针灸针或传统针灸针针刺,并连接电刺激仪与隔离器。当观察到家兔足部出现规律性跖反射(坐骨神经效应器反射)时记录电流强度。针刺结束后,HE染色法观察坐骨神经损伤程度,透射电镜观察坐骨神经干的超微结构变化。结果:绝缘针组引发规律跖反射的电流强度为(0.29±0.07)mA,普通针组为(0.86±0.08)mA,绝缘针组明显低于普通针组(P<0.01)。HE染色结果显示,普通针组轴突变性,形成嗜酸性小体,神经纤维水肿,局灶性髓鞘丢失;绝缘针组神经纤维损伤不明显,且轴突仅在少数区域变性。透射电镜观察结果显示,普通针组神经髓鞘板层结构分离,各层间排列杂乱,层间可见大量空泡及裂隙,神经轴索萎缩,轴浆及线粒体肿胀、空泡化;绝缘针组神经髓鞘结构正常,且呈现同心圆样明暗相间的板层结构,髓鞘空泡及裂隙较少,神经轴索仅小部分线粒体、微丝、微管结构异常,整体空泡样变性明显少于普通针组,仅部分有髓纤维轻微变性,轴索病变不明显。结论:针身绝缘针灸针对家兔坐骨神经干的电刺激较普通针灸针的刺激更精准,安全性更好,所需电流强度更小。

关键词：针身绝缘针灸针微米涂层电针坐骨神经干