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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

Control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-yi su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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Adaptive Consensus Quantized Control for a Class of High-Order Nonlinear Multi-Agent Systems With Input Hysteresis and Full State Constraints

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1574-1589页

作者： Guoqiang Zhu Haoqi Li Xiuyu Zhang Chenliang Wang Chun-yi su Jiangping Hu the School of Automation Engineering Northeast Electric Power UniversityJilin 132012 the Jilin Province International Research Center of Precision Drive and Intelligent Control Jilin 132012China the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the Department of Mechanical and Industrial Engineering Concordia UniversityQCMontrealH3B 1R6Canada the School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China(

For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is *** major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent *** constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is *** stability analysis has proved that all signals of the closed-loop are semi-globally uniformly *** Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.

关键词： Adaptive quantized control barrier Lyapunov function input hysteresis multi-agent systems

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Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems

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IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 916-928页

作者： Xiuyu Zhang Ruijing Jing Zhiwei Li Zhi Li Xinkai Chen Chun-yi su School of Automation Engineering Northeast Electric Power Universityand also with Jilin Province International Research Center of Precision Drive and Intelligent ControlJilin 132012China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China Department of Electronic and Information Systems Shibaura Institute of TechnologySaitama 337-8570Japan Department of Mechanical and Industrial Engineering Concordia UniversityQCMontreal H3B 1R6Canada

This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control(DSC)***"pseudo inverse"means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is *** main contributions are summarized as:1)to our best knowledge,it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult;2)by designing the saturated-type hysteresis pseudo inverse compensator,the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis;3)by combining DSC technique with the tracking error transformed function,the"explosion of complexity"problem in backstepping method is overcome and the prespecified tracking performance is *** of stability and experimental results on the hardware-inloop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.

关键词： Adaptive dynamic surface control adaptive pseudo inverse control asymmetric and saturated hysteresis robust control

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Histone deacetylase inhibitors promote breast cancer metastasis by elevating NEDD9 expression

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Signal Transduction and Targeted Therapy 2023年第2期8卷 692-704页

作者： Zonglong Hu Fan Wei yi su Yafang Wang Yanyan Shen Yanfen Fang Jian Ding yi Chen Division of Anti-Tumor Pharmacology Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai201203China University of Chinese Academy of Sciences No.19A Yuquan RoadBeijing100049China State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai201203China

Histone deacetylase(HDAC)is a kind of protease that modifies histone to regulate gene expression,and is usually abnormally activated in *** approved pan-HDAC inhibitors have demonstrated clinical benefits for patients in some hematologic *** limited therapeutic success in breast cancer has been observed in clinical *** this study,we declare that pan-HDAC inhibitors targeting NEDD9-FAK pathway exacerbate breast cancer metastasis in preclinical models,which may severely impede their clinical ***9 is not an oncogene,however,it has been demonstrated recently that there are high level or activity changes of NEDD9 in a variety of cancer,including leukemia,colon cancer,and breast ***,pan-HDAC inhibitors enhance H3K9 acetylation at the nedd9 gene promoter via inhibition of HDAC4 activity,thus increase NEDD9 expression,and then activate FAK *** realization that pan-HDAC inhibitors can alter the natural history of breast cancer by increasing invasion warrants clinical *** addition,although NEDD9 has been reported to have a hand in breast cancer metastasis,it has not received much attention,and no therapeutic strategies have been ***,we demonstrate that FAK inhibitors can reverse breast cancer metastasis induced by upregulation of NEDD9 via pan-HDAC inhibitors,which may offer a potential combination therapy for breast cancer.

关键词： metastasis breast cancer

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Flood risk control of dams and dykes in middle reach of Huaihe River

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Water Science and Engineering 2014年第1期7卷 17-31页

作者： Zhen-kun MA Zi-wu FAN Ming ZHANG yi-lu su College of Hydrology and Water Resources Hohai University State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering Nanjing Hydraulic Research Institute Administration Office of Feilaixia Water Conservancy Project of Guangdong Province

Three stochastic mathematical models for calculation of the reservoir flood regulation process, river course flood release, and flood risk rate under flood control were established based on the theory of stochastic differential equations and features of flood control systems in the middle reach of the Huaihe River from Xixian to the Bengbu floodgate, comprehensively considering uncertain factors of hydrology, hydraulics, and engineering control. They were used to calculate the flood risk rate with flood regulation of five key reservoirs, including the Meishan, Xianghongdian, Nianyushan, Mozitan, and Foziling reservoirs in the middle reach of the Huaihe River under different flood frequencies, the flood risk rate with river course flood release under design and check floods for the trunk of the Huaihe River in conjunction with relevant flood storage areas, and the flood risk rate with operation of the Linhuaigang Project under design and check floods. The calculated results show that （l） the five reservoirs can withstand design floods, but the Xianghongdian and Foziling reservoirs will suffer overtopping accidents under check floods; （2） considering the service of flood storage areas under the design flood conditions of the Huaihe River, the mean flood risk rate with flood regulation of dykes and dams from Xixian to the Bengbu floodgate is about 0.2, and the trunk of the Huaihe River can generally withstand design floods; and （3） under a check flood with the flood return period of 1 000 years, the risk rate of overtopping accidents of the Linhuaigang Project is not larger than 0.15, indicating that it has a high flood regulation capacity. Through regulation and application of the flood control system of the Linhuigang Project, the Huaihe River Basin can withstand large floods, and the safety of the protected area can be ensured.

关键词： stochastic mathematical model reservoir flood regulation river course flood release risk factor risk rate middle reach of Huaihe River

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Straight SiO_x nanorod Yjunctions

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Science China(Technological Sciences) 2009年第1期52卷 32-36页

作者： ZHU Guang ZOU XiaoPing CHENG Jin WANG MaoFa su yi Beijing Key Laboratory for Sensor Beijing Information Science&Technology UniversityBeijing 100101China Department of Electronic and Electrical Engineering Suzhou CollegeAnhui 234000China

Novel straight silicon oxide [SiO x (1substrate ... 详细信息

Novel straight silicon oxide [SiO x (1substrate without assistance of any catalyst. The synthesized samples were characterized by means of scanning electron microscopy, transmission electron microscopy, high resolution transmission electron microscopy, and energy dispersive X-ray spectroscopy. The results suggested that the straight nanorod Y junctions are amorphous and consist only of elements Si and O, and these rods with diameters about 50–200 nm have a neat smooth surface. The growth of such silicon oxide nanorods may be a result of the second nucleation on the surface of rods causing a change in the growth direction of silicon oxide nanorods developed.

关键词： SiO_x nanorod Y junction nanostructure

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Work roll thermal contour prediction model of nonoriented electrical steel sheets in hot strip mills

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Journal of University of Science and Technology Beijing 2008年第3期15卷 352-356页

作者： Ningtao Zhao Jianguo Cao Jie Zhang yi su Tanli Yan Kefeng Rao School of Mechanical Engineering University of Science and Technology Beijing Beijing 100083 China Wuhan Iron and Steel Company Wuhan 430083 China

The demands for profile and flatness of nonoriented electrical steels are becoming more and more severe. The temperature field and thermal contour of work rolls are the key factors that affect the profile and flatness control in the finishing trains of the hot rolling. A theoretic mathematical model was built by a two-dimensional finite difference to calculate the temperature field and thermal contour at any time within the entire rolling campaign in the hot rolling process. To improve the calculating speed and precision, some special solutions were introduced, including the development of this model, the simplification of boundary conditions, the computation of heat transfer coefficient, and the narrower mesh along the edge of the strip. The effects of rolling pace and work roll shifting on the temperature field and thermal contour of work rolls in the hot rolling process were demonstrated. The calculated results of the prediction model are in good agreement with the measured ones and can be applied to guiding profile and flatness control of nonoriented electrical steel sheets in hot strip mills.

关键词： hot rolling rolls temperature distribution mathematical model finite difference method

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Internal flow mechanism of cone-straight nozzle

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Petroleum Science 2021年第5期18卷 1507-1519页

作者： Tian-Wen Jiang Zhong-Wei Huang Jing-Bin Li yi-su Zhou State Key Laboratory of Petroleum Resources and Prospecting China University of Petroleum(Beijing)Beijing102249China

Cone-straight nozzle has been widely used in well bore cleaning,assisting drilling in petroleum industries due to its good clustering *** structure including cone angle and throat length has also been studied by scholars and been ***,the internal flow properties have not been investigated clearly especially the boundary layer *** this paper LES model is used to capture the small-scale flow state near the nozzle *** RNG k-epsilon model is used to validate the accuracy of the LES simulation,the simulation data shows a good *** different inlet velocities are considered in *** velocity distribution,shear stress,boundary layer thickness,skin friction coefficient and Reynolds stress are analyzed,the boundary layer separation and transition are *** state of flow inside nozzle is laminar with inlet velocity of 1 m/s and gradually transferred into turbulent with the increasing inlet *** most severe turbulence is at the entrance of the throat section,the vortex structure appears at the entrance of converging section and dose not survive,the vortex structure appears in sequence along the throat section wall when the inlet velocity is set to 5 m/s and 10 m/s the flow properties along the conical nozzle are revealed clearly,the main flow resistance is mainly produced in throat *** these works aim to provide theoretical support for the further processing optimization of the nozzle structure and reduce the flow resistance of nozzle.

关键词： Cone-straight nozzle Boundary layer Flow resistance

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Study on Load Bearing Characteristics of Novel Expandable Deepwater Drilling Conductor Based on Laboratory Experiment and Field Test

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China Ocean Engineering 2023年第1期37卷 16-28页

作者： ZHANG Ming-he YANG Jin YANG Yu-xiang XU Dong-sheng ZHOU yi-su College of Safety and Ocean Engineering China University of Petroleum-BeijingBeijing 102249China

A novel expandable conductor was designed and applied in deep-water drilling to improve the vertical and lateral bearing capacity with a significant reduction of conductor jetting depth and soaking time. The vertical and lateral bearing capability of expandable conductors was depicted based on the ultimate subgrade reaction method and pile foundation bearing theory. The load-bearing characteristics of a laboratory-scale expandable conductor were analyzed through laboratory experiments. The serial simulation experiments are accomplished to study the bearing characteristics(vertical ultimate bearing capacity, lateral soil pressure, and lateral displacement) during the conductor soaking process. The laboratory experimental results show that the larger the length and thickness of expandable materials are,the higher the bearing capacity of the wellhead will be. During the conductor soaking process, the soil pressure around the three expandable conductors increases faster, strings representing a stronger squeezing effect and resulting in higher vertical bearing capacity. Furthermore, the lateral displacement of novel expandable conductor is smaller than that of the conventional conductor. All the advantages mentioned above contributed to the reduction of conductor’s jetting depth and soaking time. Lastly, the application workflow of a novel expandable deep-water drilling conductor was established and the autonomous expandable conductor was successfully applied in the South China Sea with a significant reduction of conductor’s jetting depth and soaking time. According to the soil properties and designed installation depth of the surface conductor, the arrangement of expandable materials should be designed reasonably to meet the safety condition and reduce the construction cost of the subsea wellhead.

关键词： novel expandable surface conductor deep water subsea wellhead laboratory experiment field test

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Review of solution growth techniques for 4H-SiC single crystal

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China Foundry 2023年第2期20卷 159-178页

作者： Gang-qiang Liang Hao Qian yi-lin su Lin Shi Qiang Li Yuan Liu School of Materials Science and Engineering Tsinghua UniversityBeijing 100084China Key Laboratory for Advanced Materials Processing Technology(Ministry of Education) Beijing 100084China

Silicon carbide(SiC),a group IV compound and wide-bandgap semiconductor for high-power,high-frequency and high-temperature devices,demonstrates excellent inherent properties for power devices and specialized high-end *** growth is thermodynamically favorable for producing SiC single crystal ingots with ultra-low dislocation density as the crystallization is driven by the supersaturation of carbon dissolved in Si-metal ***,solution growth is conducive to the growth of both N-and P-type SiC,with doping concentrations ranging from 10^(14)to 10^(19)cm^(-3).To date,4-inch 4H-SiC substrates with a thickness of 15 mm produced by solution growth have been unveiled,while substrates of 6 inches and above are still under *** on top-seeded solution growth(TSSG),several growth techniques have been developed including solution growth on a concave surface(SGCS),melt-back,accelerated crucible rotation technique(ACRT),two-step growth,and facet ***-parameters of the solution growth including meniscus,solvent design,flow control,dislocation conversion,facet growth,and structures of graphite components make high-quality single crystal growth *** this paper,the solution growth techniques and corresponding parameters involved in SiC bulk growth were reviewed.

关键词： wide-bandgap semiconductor silicon carbide bulk growth of single crystal process parameters

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