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第37届中国控制会议

作者： Honghan Zhang Yajie Xu jiajia zhou Hao Fan College of Automation Harbin Engineering University

The large dive depth of underactuated AUV leads to the complicated external interference in the dive process, which greatly affects the performance of AUV dive motion control. In order to solve the problem of external interference, this paper first divides the external interferences into the constant current interferences and the buoyancy interferences that vary with the depth changes. Then the mathematical model is built and the adaptive rate is designed for the external interference. Secondly, the AUV dynamic model under external interference is established and the three-dimensional trajectory tracking is implemented by the backstepping control method which defines the virtual velocity error variables. The control method can ensure that the AUV can dive to a designated area when there is external interference and can also solve the singular value problem in the traditional backstepping method. Finally, the system stability is proved by Lyapunov function. The simulation results show the effectiveness of the proposed method, which achieve the purpose of controlling the deep-depth spiral dive of the AUV.

关键词： Backstepping external interference deep-sea AUV three-dimensional trajectory tracking

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Robust H∞ Control of Unmanned Underwater Vehicle in Vertical Plane Based on T-S Model and Parallel Distributed Compensation

Robust H∞ Control of Unmanned Underwater Vehicle in Vertica...

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第37届中国控制会议

作者： Zhang Xun Liao Hongzhou zhou jiajia Zhang Honghan College of Automation Harbin Engineering University

Excellent depth control capability of UUV（Unmanned Underwater Vehicle） is a key factor for completing specific tasks. Considering the variance of UUV’s speed and ocean current interference, depth and pitch control model of UUV are established based on T-S model. The H∞ controller in vertical plane movement is designed applying the method of parallel distributed compensation（PDC）. Aiming to meet the design requirements with the large pitch angle when UUV is submerging,the depth-pitch coordinated control method with variant depth is used to control the submergence of UUV. Simulation result shows that the control method can effectively control depth and pitch of UUV in given speed interval and has good dynamic performance. Moreover, the method can effectively decrease the pitch angel when UUV is submerging and has strong inhibitory ability on ocean current disturbance.

关键词： UUV H∞ control T-S model PDC Depth-pitch coordinated control method

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Horizontal Trajectory Tracking Control of AUV Using a Two-way Channel High Gain Observer

Horizontal Trajectory Tracking Control of AUV Using a Two-wa...

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第37届中国控制会议

作者： Zheping Yan Zewen Yang jiajia zhou Heming Jia Lu Wang Harbin Engineering University Northeast Forestry University

As the complexity and variety of actual sea conditions,autonomous underwater vehicles（AUVs） are subject to unknown disturbances in the horizontal plane which can cause the control system *** this paper,the kinematics and the dynamics of an under-actuated AUV in horizontal plane are simplified considering environmental *** the trajectory tracking error of the system is *** external disturbances are estimated by using a high gain observer,which can not be directly *** observer is designed in two-way channels of longitudinal velocity and transverse *** order to deal with nonholonomic constraints,coupling,nonlinearity and current disturbance in the tracking control,a trajectory tracking controller is designed using the backstepping method,which can make the closed-loop system globally eventual *** order to verify the robustness and validity of the proposed controller,a sinusoidal time-varying trajectory curve is designed from the perspective of practical *** numerical simulation shows that the vehicle can track the desired trajectory and the tracking error tends to zero quickly.

关键词： autonomous underwater vehicle(AUV) trajectory tracking high gain observer backstepping

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不同工况和应用场景下CAES-CFP三联产系统特性分析

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Engineering 2024年第3期34卷 233-245页

作者： jiajia Li Peigang Yan Guowen zhou Xingshuo Li Qiang Li Jinfu Liu Daren Yu School of Energy Science and Engineering Harbin Institute of TechnologyHarbin 150001China

To meet the goal of worldwide decarbonization,the transformation process toward clean and green energy structures has *** this context,coal-fired power plant(CFPP)and large-scale energy storage represented by compressed air energy storage(CAES)technology,are tasked with increasing renewable resource accommodation and maintaining the power system *** achieve this,this paper proposes the concept of a CFPP-CAES combined cycle and a trigenerative system based on *** the working conditions of the CFPP,thermal characteristics of three typical operation modes were studied and some general regularities were *** results of various potential integration schemes discussion indicated that extracting water from low-temperature points in the feedwater system to cool pressurized air and simultaneously increase the backwater temperature is beneficial for improving *** addition,preheating the pressurized air before the air expanders via lowgrade water in the feedwater system as much as possible and reducing extracted steam contribute to increasing the *** the optimal integration scheme,2.85 tonnes of coal can be saved per cycle and the round-trip efficiency can be increased by 2.24%.Through the cogeneration of heat and power,the system efficiency can reach 77.5%.In addition,the contribution degree of the three compression heat utilization methods to the performance improvement ranked from high to low,is preheating the feedwater before the boiler,supplying heat,and flowing into the CFPP feedwater *** the cooling energy generation mode,the system efficiency can be increased to over 69%.Regardless of the operation mode,the benefit produced by integration is further enhanced when the CFPP operates at higher operating conditions because the coupling points parameters are *** addition,the dynamic payback period can be shortened by 11.33 years and the internal rate of return increases by 5.20%under a typical app

关键词： Compressed air energy storage CFPP-CAES combined cycle Thermodynamic performance Technical economics

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Multi-UUV formation coordination control based on virtual navigator

Multi-UUV formation coordination control based on virtual na...

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第三十九届中国控制会议

作者： jiajia zhou Qiang Zhang Hongjian Wang Shaobin Guo Yingying Wang College of Automation Harbin Engineering University Southwest China Research Institute of Electronic Equipment

Aiming at the problem of multi-unmanned underwater vehicle（UUV） formation path tracking which is susceptible to perturbation and current interference, a method of multi-UUV formation coordination control based on virtual navigator is *** method proposes to use vectors to solve the cooperative path guide points. Then the UUV path tracking error equation and the cooperative error equation of the multi-UUV are established in the formation coordinates. An improved nonlinear incremental feedback robust sliding mode control law is designed based on ensuring sliding mode control, this method eliminates the modal approach process and effectively increases the robustness of the system. The simulation results show that the proposed multi-UUV formation coordination control method based on the virtual leader effectively enhances the formation of coordination and stability.

关键词： Collaborative guidance Path tracking Sliding mode control Multi-UUV

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Research on Backstepping Tracking Control of Deep-diving AUV Based on Biological Inspiration

Research on Backstepping Tracking Control of Deep-diving AUV...

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第32届中国控制与决策会议

作者： Honghan Zhang Yuzhe Zhang Yajie Xu jiajia zhou Yanyang Guo College of Automation Harbin Engineering University

This paper mainly studies the large dive depth of underactuated AUV’s control *** order to solve the problem of external time-varying interferences in the process of underactuated AUV dive at large depth,this paper first divides the interferences into the current interferences and the buoyancy interferences according to AUV depth *** the mathematical model is built and the adaptive law is designed for the external *** at the non-linear tracking control of underactuated AUV and the jump of motion parameters caused by non-smooth tracking trajectory,this paper proposes a backstepping control method based on bio-inspired model and uses the virtual velocity variables instead of the attitude ***,a three-dimensional trajectory tracking controller is designed from the view point of dynamics,which improves system robustness and tracking control *** stability of the proposed method is proved by Lyapunov *** simulation results prove the effectiveness of the proposed method.

关键词： Deep-diving AUV three-dimensional trajectory tracking bio-inspired model backstepping control underactuated AUV

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Ternary NiCoTi-layered double hydroxide nanosheets as a pH-responsive nanoagent for photodynamic/chemodynamic synergistic therapy

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Fundamental Research 2024年第4期4卷 926-933页

作者： Tingting Hu Zhan zhou jiajia Zha Gareth RWilliams Zhikang Wu Wei Zhao Weicheng Shen Hai Li Xisheng Weng Ruizheng Liang Chaoliang Tan State Key Laboratory of Chemical Resource Engineering Bejing Advanced Innovation Center for Soft Matter Science and EngineeringBejing University of Chemical TechnologyBeijing100029China College of Chemistry and Chemical Engineering Henan Key Laboratory of Function-Oriented Porous MaterialsLuoyang Normal UniversityLuoyang 471934China Department of Electrical Engineering City University of Hong KongHong Kong SAR 999077China UCL School of Pharmacy University College LondonLondon WCIN 1AXUnited Kingdom Institute of Advanced Materials(IAM)and Key Laboratory of Flexible Electronics(KLoFE) Nanjing Tech University(NanjingTech)Nanjing 211816China Department of Orthopedic Surgery State Key Laboratory of Complex Severe and Rare DiseasesPeking Union Medical College HospitalChinese Academy of Medical Science and Peking Union Medical CollegeBeijing 100730China Center of Super-Diamond and Advanced Films(COSDAF) City University of Hong KongHong Kong SAR 999077China Shenzhen Research Institute City University of Hong KongShenzhen 518057China

Combining photodynamic therapy(PDT)with chemodynamic therapy(CDT)has been proven to be a promising strategy to improve the treatment efficiency of cancer,because of the synergistic therapeutic effect arising between the two ***,we report an inorganic nanoagent based on ternary NiCoTi-layered double hydroxide(NiCoTi-LDH)nanosheets to realize highly efficient photodynamic/chemodynamic synergistic *** NiCoTi-LDH nanosheets exhibit oxygen vacancy-promoted electron-hole separation and photogenerated holeinduced O_(2)-independent reactive oxygen species(ROS)generation under acidic circumstances,realizing in situ pH-responsive ***,due to the effective conversion between Co^(3+)and Co^(2+)caused by photogenerated electrons,the NiCoTi-LDH nanosheets catalyze the release of hydroxyl radicals(-OH)from H_(2)O_(2)through Fenton reactions,resulting in *** irradiation enhances the catalyzed ability of the NiCoTi-LDH nanosheets to promote the ROS generation,resulting in a better performance than TiO_(2)nanoparticles at pH *** vitro and in vivo experimental results show conclusively that NiCoTi-LDH nanosheets plus irradiation lead to efficient cell apoptosis and significant inhibition of tumor *** study reports a new pH-responsive inorganic nanoagent with oxygen vacancy-promoted photodynamic/chemodynamic synergistic performance,offering a potentially appealing clinical strategy for selective tumor elimination.

关键词： Layereddouble hydroxides Photodynamic therapy pH-responsive Chemodynamic therapy Oxygen vacancy

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互花米草复合咀嚼片的研究与开发

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农产品加工 2024年第1期 24-28页

作者：周佳佳杨爱萍陈秀秀江苏经贸职业技术学院江苏南京211168

互花米草中的活性成分具有降尿酸、抗痛风的作用。由于互花米草粉单独使用具有较强烈的咸味,以互花米草粉为原料,添加菊苣根粉、菊粉、甘露醇进行复配,采用粉末直接压片法,先确立基础配方,并进行配方优化,以感官评价、硬度、脆碎度、颗... 详细信息

互花米草中的活性成分具有降尿酸、抗痛风的作用。由于互花米草粉单独使用具有较强烈的咸味,以互花米草粉为原料,添加菊苣根粉、菊粉、甘露醇进行复配,采用粉末直接压片法,先确立基础配方,并进行配方优化,以感官评价、硬度、脆碎度、颗粒产率为综合指标,制备一种对降尿酸有作用且口感佳的咀嚼片。通过试验得到互花米草复合咀嚼片的最优配方为互花米草粉用量3.5 g,菊苣根粉用量5 g,甘露醇用量13 g,菊粉用量11 g。利用该配方得到的互花米草复合咀嚼片的综合评价最好。

关键词：互花米草粉菊苣根粉菊粉甘露醇咀嚼片

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Online Receding Horizon Trajectory Planning Method for UUV Near Bottom Terrain Tracking

Online Receding Horizon Trajectory Planning Method for UUV N...

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第三十九届中国控制会议

作者： Tao Chen Qiqi Pi Da Xu jiajia zhou Yonglin Yuan Zehui Lu College of Automation Harbin Engineering University

Seafloor terrain survey is an important appliance for unmanned underwater vehicle（UUV）.In this paper,online receding horizon trajectory planning method is present to realize good effect of near bottom tracking when UUV performs the seafloor terrain survey *** that the task process has the characteristics of real-time control and dynamic periodic planning,a three-loop feedback framework of planning,tracking and controlling is *** framework has the advantage that the slow trajectory planning loop and the fast real-time tracking control loop are *** on the framework,the online receding horizon planning strategy and algorithm are designed to realize dynamic trajectory planning when UUV tracks seafloor *** outer loop of trajectory planning,the Bezier smoothing fitting method used to generate the online trajectory based on the real-time detection information of seafloor *** last,the validity and feasibility of the proposed online trajectory planning framework and method are verified by the simulation results.

关键词： UUV Near Bottom Terrain Tracking Receding Horizon Trajectory Planning Bezier Curve Fitting

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Modeling,Strategy and Control of UUV for Autonomous Underwater Docking Recovery to Moving Platform

Modeling,Strategy and Control of UUV for Autonomous Underwat...

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第36届中国控制会议

作者： Zheping Yan Da Xu Tao Chen jiajia zhou Shilin Wei Yuzhu Wang College of Automation Harbin Engineering University Key Laboratory of Underwater Robot Technology

ISBN: (纸本)9781538629185

Autonomous underwater docking recovery of UUV to a moving platform dock is presented in this *** docking strategy and control method is designed to realize accurate,safe and fast docking of UUV based on an optical terminal guidance system with two cameras and two guiding *** kinematics and dynamics of UUV during docking process is modeled to describe the hydrodynamic interaction disturbs due to environment changing from a vast water area far from the platform to restricted water area near the platform.A two-step docking strategy and dynamic positioning to line docking method is proposed to realize UUV double reference point dynamic docking *** predictive docking control system and five degrees of freedom grey prediction PID controllers are designed to realize UUV docking control with small overshoot and adjustment ***,the validity of the proposed method is verified by the simulation results.

关键词： UUV Underwater Docking Recovery Two-Step Docking Strategy Grey Prediction PID Docking Control

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