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Research of Compound Controller for Flight Simulator with Disturbance Observer

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

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A New Control Method with Perfect Tracking Control for Flight Simulator

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

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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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A Parallel Controller Design and Simulation for Industry Robot

A Parallel Controller Design and Simulation for Industry Rob...

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Asia Simulation conference 2008/the 7th International Conference on System Simulation and Scientific Computing（ICSC‘2008）

作者： dapeng tian,yunjie wu and Youmin liu the school of automation science and electrical engineering,Beihang University,Haidian district,Beijing,100191,China

A parallel controller was designed in order to realize an industry robot steady control performance. On the base of robust backstepping technique, a method for parallel control of robust backstepping and CMAC neural network was proposed for industry robot. It consisted of a robust controller designed through backstepping method and a CMAC controller. The backstepping controller was designed through robot model. However, there were parameters uncertainties and disturbance in the system. The backstepping controller can overcome the plant uncertainties and ensure the robust stability of system. And in order to assure the performance of system, a CMAC neural network is used to offset the disturbance and perturbation and improve the tracking precision. Simulation experiment shown that the method could give a good performance, even though there were disturbance and perturbation.

关键词： backstepping A Parallel Controller Design and Simulation for Industry Robot Controller Simulation

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A Novel Adaptive Controller Design for Servo Turning Table

A Novel Adaptive Controller Design for Servo Turning Table

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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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Guidelines for the diagnosis and treatment of pancreatic cancer in China (2021)

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Journal of Pancreatology 2021年第2期4卷 49-66页

作者： Yinmo Yang Xueli Bai dapeng Bian Shouwang Cai Rufu Chen Feng Cao Menghua Dai Chihua Fang Deliang Fu Chunlin Ge Xiaochao Guo Chunyi Hao Jihui Hao Heguang Huang Zhixiang Jian Gang Jin Fei Li Haimin Li Shengping Li Weiqin Li Yixiong Li Hongzhen Li Tingbo Liang Xubao liu Wenhui Lou Yi Miao Yiping Mou Chenghong Peng Renyi Qin Chenghao Shao Bei Sun Guang Tan xiaodong tian Huaizhi Wang Lei Wang Wei Wang Weilin Wang Junmin Wei Heshui wu Wenming wu Zheng wu Jingyong Xu Changqing Yan Xiaoyu Yin Xianjun Yu Chunhui Yuan Taiping Zhang Jixin Zhang Jun Zhou Yupei Zhao on behalf of the Chinese Pancreatic Surgery Association Department of General Surgery Peking University First HospitalBeijing Department of Hepatobiliary and Pancreatic Surgery the First Affiliated Hospital of Medical CollegeZhejiang UniversityHangzhouZhejiang Province Departments of Endoscopy Peking University First HospitalBeijing Institute of Hepatobiliary Surgery of PLA Chinese PLA General HospitalBeijing Department of Pancreatobiliary Surgery Sun Yat-sen Memorial HospitalSun Yat-sen UniversityGuangzhouGuangdong Province Department of General Surgery Xuanwu HospitalCapital Medical UniversityBeijing Department of General Surgery Peking Union Medical College HospitalChinese Academy of Medical Science&Peking Union Medical CollegeBeijing Department of Hepatobiliary Surgery Zhujiang HospitalSouthern Medical UniversityGuangzhouGuangdong Province Department of Pancreatic Surgery Huashan Hospital Fudan UniversityShanghai Department of General Surgery The First Affiliated Hospital of China Medical UniversityShenyangLiaoning Province Department of Imaging Peking University First HospitalBeijing Department of Hepato-Pancreato-Biliary Surgery Peking University Cancer Hospital&InstituteBeijing Department of Pancreatic Cancer Tianjin Medical University Cancer Institute and HospitalTianjin Department of General Surgery Fujian Medical University Union HospitalFuzhouFujian Province Department of General Surgery Guangdong Provincial People’s HospitalGuangzhouGuangdong Province Department of Hepatobiliary Pancreatic Surgery Changhai Hospital Affiliated to Navy Medical UniversityShanghai Department of Hepatobiliary Surgery Xijing HospitalFourth Military Medical UniversityXi’anShaanxi Province Department of Pancreatobiliary Surgery Sun Yat-sen University Cancer CenterGuangzhouGuangdong Province Department of General Surgery Jinling HospitalMedical School of Nanjing UniversityNanjingJiangsu Province Department of General Surgery Xiangya HospitalCentral South UniversityChangshaHunan Province Department of Radiation Oncology Peking University First H

The incidence of pancreatic cancer has been rising worldwide,and its clinical diagnosis and treatment remain a great *** present the update and improvements in the clinical diagnosis and treatment of pancreatic cancer in recent years,Chinese Pancreatic Association,the Chinese Society of Surgery,Chinese Medical Association revised the Guidelines for the Diagnosis and Treatment of Pancreatic Cancer in China(2014)after reviewing evidence-based and problem-oriented literature published during 2015-2021,mainly focusing on highlight issues regarding diagnosis and surgical treatment of pancreatic cancer,conversion strategies for locally advanced pancreatic cancer,treatment of pancreatic cancer with oligo metastasis,adjuvant and neoadjuvant therapy,standardized processing of surgical specimens and evaluation of surgical margin status,systemic treatment for unresectable pancreatic cancer,genetic testing,as well as postoperative follow up of patients with pancreatic *** recommendation items were finally proposed based on the above issues,and the quality of evidence and strength of recommendations were graded using the Grades of Recommendation,Assessment,Development,and Evaluation *** guideline aims to standardize the clinical diagnosis and therapy,especially surgical treatment of pancreatic cancer in China,and further improve the prognosis of patients with pancreatic cancer.

关键词： Diagnosis Guideline Multidisciplinary team Pancreatic cancer Treatment

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