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Defence Technology（防务技术） 2024年第2期32卷 144-158页

作者： shusen yuan Wenxiang Deng Jianyong Yao Guolai Yang School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China

Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering *** this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is *** utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is *** unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust *** the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system ***,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering ***,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator *** co-simulations and experiments illustrate the advantages of the proposed approach.

关键词： Bidirectional stabilization system Robust control Adaptive control Backlash inverse Disturbance estimation

Nonlinear robust adaptive control for bidirectional stabilization system of all-electric tank with unknown actuator backlash compensation and disturbance estimation

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Active Disturbance Rejection Adaptive Control of Tank Turret-gun Control Systems

Defence technology 2024年第2期

作者： shusen yuan Wenxiang Deng Jianyong Yao Guolai Yang

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Active Disturbance Rejection Adaptive Control of Tank Turret...

Asymptotic Adaptive Motion Control of Hydraulic Systems

第三十九届中国控制会议

作者： shusen yuan Jianyong Yao Wenxiang Deng Guolai Yang Xiang Ma School of Mechanical Engineering Nanjing University of Science and Technology

Aiming at parametric uncertainties and unmodeled disturbances of tank turret-gun control systems, this paper presents an adaptive control scheme via full state feedback. The basic idea of this control scheme is to combine adaptive control with extended state observer through back stepping method. The control scheme can effectively improve the stabilization accuracy of the marching tank. Based on the interaxial coupling nonlinear dynamic model of the tank turret-gun systems, an extended state observer is constructed to observe the unmodeled disturbance of the systems in real time to suppress its adverse effects and a parameter adaptive law is designed to learn and compensate the parametric uncertainties of the tank turret-gun control systems. The proposed active disturbance rejection adaptive control algorithm can simultaneously deal with the parametric uncertainties and unmodeled disturbances of the tank gun control systems. As a result, it can avoid the problem of high-gain feedback and improve the servo performance of the tank turret-gun control system. The controller theoretically has asymptotic tracking performance in the presence of parametric uncertainties and constant disturbances. In addition, prescribed transient tracking performance and final tracking accuracy can also be guaranteed when existing time-variant uncertain nonlinearities. A large number of comparative simulation results are obtained to verify the high performance nature of the proposed control strategy.

关键词： tank turret-gun control systems unmodeled disturbance adaptive control extended state observer

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Asymptotic Adaptive Motion Control of Hydraulic Systems

基于Mworks的坦克随动系统建模与仿真研究

第40届中国控制会议

作者： Xiaowei Yang Jianyong Yao Wenxiang Deng shusen yuan Xianglong Liang School of Mechanical Engineering Nanjing University of Science and Technology the State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University

Considering parametric uncertainties and unmodeled disturbances in hydraulic systems, this paper presents an asymptotic adaptive motion control scheme by adopting full state feedback. To accomplish this study, a novel parameter adaptive law based on both parametric estimation errors and tracking errors is developed to deal with parametric uncertainties of hydraulic systems, which can attenuate the major of parametric uncertainties and enhance the tracking performance. Then a composite robust integral of the sign of the error（RISE） feedback controller is employed to restrain the rest of parametric uncertainties and unmodeled disturbances. The developed continuous RISE-based controller is free of chattering, which is beneficial to practical implementation. Stability analysis indicates that the proposed method guarantees an excellent asymptotic tracking performance even in facing with time-variant disturbances and parametric uncertainties. Comparative simulation results are obtained to verify the high-performance nature of the proposed control strategy as well.

关键词： hydraulic system adaptive control asymptotic stability robust integral of the sign of the error(RISE) feedback control

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弹道学报 2021年第1期33卷 35-43页

作者：袁树森邓文翔姚建勇杨国来南京理工大学机械工程学院江苏南京210094 浙江大学流体动力与机电系统国家重点实验室浙江杭州310027

为准确拟合坦克随动系统的动态特性,优化综合性能,获得更好的控制跟踪效果,建立了坦克随动系统轴间耦合负载非线性动力学数学模型、方位子系统驱动端数学模型、俯仰子系统驱动端数学模型。采用基于Modelica语言的仿真软件Mworks建立坦... 详细信息

为准确拟合坦克随动系统的动态特性,优化综合性能,获得更好的控制跟踪效果,建立了坦克随动系统轴间耦合负载非线性动力学数学模型、方位子系统驱动端数学模型、俯仰子系统驱动端数学模型。采用基于Modelica语言的仿真软件Mworks建立坦克随动系统的仿真模型库,并进行仿真研究。结果表明:基于Mworks建立的模型能够准确地对坦克随动系统进行仿真验证,稳定精度满足坦克随动系统的要求;基于Mworks的坦克随动系统建模简便、直观,随动系统间的复杂关系可通过Mworks中各子模块直接建立,且建好的坦克随动系统综合动力学模型重复利用性好,提高了建模效率。

关键词：坦克随动系统综合动力学模型建模仿真

酸性磷化合物萃取金属反应中取代基空间效应的分子力学研究

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物理化学学报 1989年第1期5卷 56-61页

作者：李树森袁承业中国科学院上海有机化学研究所

本文利用分子力学计算从理论上估算了酸性有机磷化合物萃取金属离子反应中取代基的空间效应。二烷基磷(膦)酸叔丁酯(Ⅱ)作为萃合物分子的近似模型结构。计算结果表明,羟基氧在自由萃取剂Ⅰ和Ⅱ中的局部空间张力能之差与烷基的结构有密... 详细信息

本文利用分子力学计算从理论上估算了酸性有机磷化合物萃取金属离子反应中取代基的空间效应。二烷基磷(膦)酸叔丁酯(Ⅱ)作为萃合物分子的近似模型结构。计算结果表明,羟基氧在自由萃取剂Ⅰ和Ⅱ中的局部空间张力能之差与烷基的结构有密切的关系,可近似地用来作为烷基空间效应的量度(E_(s,ex))。并用于一系列有机磷(膦)酸萃取Ni、Co为稀土的多元回归分析。结果表明,E_(s,ex)基本上反映了该萃取过程中的空间效应。

关键词：萃取剂有机磷化合物空间效应

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河北承德地区钼矿成矿地质特征及成矿预测

黄金科学技术 2012年第4期20卷 135-140页

作者：袁树森沈柳生柳凤娟河南有色地质矿产局第七地质大队河南郑州455000 天津华北地质勘查总院天津300170

承德地区位于华北地台北缘中段受EW、NE和NNE向断裂联合控制的钼(铜)多金属成矿带上。20世纪,在该区先后发现了斑岩型撒岱沟门钼矿床、矽卡岩型寿王坟钼多金属矿床和脉型大草坪钼矿,显示出该区具有良好的成矿背景和找矿前景。该区钼矿... 详细信息

承德地区位于华北地台北缘中段受EW、NE和NNE向断裂联合控制的钼(铜)多金属成矿带上。20世纪,在该区先后发现了斑岩型撒岱沟门钼矿床、矽卡岩型寿王坟钼多金属矿床和脉型大草坪钼矿,显示出该区具有良好的成矿背景和找矿前景。该区钼矿床的形成与燕山期中—酸性小侵入体关系密切,矿床多产于花岗斑岩体之中或其内外接触带中。在充分收集承德地区典型钼(铜)矿床地质资料的基础上,结合前人的研究成果,系统总结了承德地区钼矿床的地质特征、矿床类型及时空分布规律,预测了该区钼矿找矿方向和靶区,为加强区内钼矿资源勘查、实现该区钼矿找矿突破提供参考。

关键词：钼矿成矿类型控矿因素成矿预测承德地区河北省

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全电坦克双向稳定系统自适应积分鲁棒控制

兵工学报 2023年第1期44卷 140-155页

作者：袁树森邓文翔姚建勇杨国来南京理工大学机械工程学院江苏南京210094

针对全电坦克双向稳定系统具有复杂的强非线性、强耦合性、强参数时变性等特点,提出了一种基于误差符号积分鲁棒反馈的坦克双向稳定系统自适应积分鲁棒(AIR)控制设计方法。考虑全电坦克双向稳定系统为一个耦合性的、非线性的、不确定性... 详细信息

针对全电坦克双向稳定系统具有复杂的强非线性、强耦合性、强参数时变性等特点,提出了一种基于误差符号积分鲁棒反馈的坦克双向稳定系统自适应积分鲁棒(AIR)控制设计方法。考虑全电坦克双向稳定系统为一个耦合性的、非线性的、不确定性的动力学系统,建立面向真实的全电坦克双向稳定系统机电一体化解析动力学模型;基于Backstepping法融合自适应的思想,引入辅助误差信号设计了AIR控制器,有效衰减系统的未建模扰动;所设计的AIR控制器不需要预先知道未知扰动的上界,而是通过自适应的方法不断更新以获取其上界,降低了其工程应用的保守性;基于Lyapunov理论分析,在连续控制输入下可以保证坦克双向稳定系统获得渐进跟踪性能。通过Recurdyn-Simulink的仿真对比试验,验证所提方法的有效性。

关键词：全电坦克双向稳定系统积分鲁棒控制自适应控制

Preparation of Al matrix nanocomposites by diluting the composite granules containing nano-SiCp under ultrasonic vibaration

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Journal of Materials Science & Technology 2018年第9期34卷 1609-1617页

作者： Shulin Lü Pan Xiao Du yuan Kun Hu shusen Wu State Key Laboratory of Materials Processing and Die & Mould Technology Huazhong University of Science and Technology

In this work, an efficient process by diluting the nano-SiCp/Al composite granules in the molten matrix under ultrasonic vibration（UV） was developed to prepare metal matrix nano-composites（MMNCs）.Millimeter-sized composite granules with high content of SiC particle（8 wt%） were specially fabricated by dry high-energy ball milling（HBM） without process control agent, and then remelted and diluted in molten Al alloy under UV. The MMNCs melt was finally squeeze cast under a squeeze pressure of 200 MPa, Microstructure of the composite granules during dry HBM was investigated, and the effect of UV on microstructure and mechanical properties of the MMNCs was discussed. The results indicate that nano-SiC particles are uniformly distributed in the nano-SiCp/Al composite granules, which are covered by vestures of pure Al. During diluting, nano-SiC particles released from the composite granules are quickly dispersed in the molten matrix by UV within 4 min. Microstructure of MMNCs is significantly refined under UV and squeeze casting, eutectic Si phase modified to fine islands with an average length of 1.4 μm. Tensile strength of the squeeze cast MMNCs with 1 wt% of nano-SiC particles is 269 MPa, which is improved by 25% compared with the A356 alloy matrix.

关键词： Al matrix nano-composites Dry high-energy ball milling Ultrasonic vibration Composite granules Microstructure

Metronomic chemotherapy of cyclophosphamide plus methotrexate for advanced breast cancer:Real-world data analyses and experience of one center

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Cancer Communications 2020年第5期40卷 222-233页

作者： Qianyi Lu Kaping Lee Fei Xu Wen Xia Qiufan Zheng Ruoxi Hong Kuikui Jiang Qinglian Zhai yuan Li Yanxia Shi Zhongyu yuan shusen Wang Department of Medical Oncology State Key Laboratory of Oncology in South ChinaCollaborative Innovation Center for Cancer MedicineSun Yat-sen University Cancer CenterGuangzhouGuangdong510060P.R.China

Background:Real-world data of the CM regimen[cyclophosphamide(CTX)plus methotrexate(MTX)]in metronomic pattern for advanced breast cancer is limited to small-sample or retrospective *** study was aimed to determine the effectiveness and safety of CM regimen in treating advanced breast cancer and to identify which patients are most likely to benefit from metronomic CM ***:Patients with advanced breast cancer who received the metronomic CM regimen at least once between January 2009 and February 2019 in Sun Yat-sen University Cancer Center were *** characteristics were *** survival(OS)and progression-free survival(PFS)were assessed using Kaplan-Meier *** between patients with PFS<6 months and≥6 months were compared using the Chi-square *** and multivariate Cox regression model was used to estimate the prognostic factors for PFS and ***:A total of 186 patients were *** median age and follow-up were 49 years and 13.3 months,*** 50%of the patients were estrogen receptor/progesterone receptor-positive,and 60.8%had been heavily treated(≥3 lines).The objective response rate was 3.8%,the disease control rate at 12 weeks was 41.4%,and the clinical benefit rate at 24 weeks was 31.2%(58/186).The median PFS was 4.0 months[95%confidence interval(CI):3.6-4.7 months],the median duration of clinical benefit was 9.5 months(95%CI:8.2-10.8 months),and the median OS was 26.8 months(95%CI:20.9-37.7 months).Multivariate analysis for PFS revealed the CM regimen as maintenance therapy and no liver metastasis as favorable prognostic ***,patients without liver metastasis were more likely to have a PFS over 6 months than those with liver involvement(P=0.022).Liver,lymph node,and brain metastases were unfavorable prognostic factors for *** CM regimen was well-tolerated without newly reported adverse ***:The CM regimen was effective in selec

关键词： metronomic chemotherapy advanced breast cancer cyclophosphamide methotrexate real-world