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stability of the axial-auto-balanced impeller of centrifugal pump

Journal of Hydrodynamics 2022年第4期34卷 665-680页

作者： Fa-ye Jin Ran Tao Di Zhu Ruo-fu Xiao College of Water Resources and Civil Engineering China Agricultural UniversityBeijing 100083China Beijing Engineering Research Center of Safety and Energy Saving Technology for Water Supply Network System Beijing 100083China College of Engineering China Agricultural UniversityBeijing 100083China

The pump is one of the most important energy consuming devices in an energy system. The axial force on a centrifugal pump is an important factor for improving the operation stability and the service life. Based on the Bernoulli’s equation, the formulas of the axial clearance are derived theoretically. The relationship between the impeller axial force, the clearance leakage flow rate and the axial clearance is obtained. The motion differential equation of the axial-auto-balanced impeller is established by the number axis modeling method. The asymptotic stability of the impeller is evaluated by the lyapunov stability analysis. The transient simulation of the axial-auto-balanced impeller is carried out by the method of the computational fluid dynamics (CFD) with the dynamic mesh technology. The time required for the impeller to reach the stable state under different conditions is calculated. The effective values of the axial force are determined. This research is useful to improve the operation stability of the pump.

关键词： Canned motor pump impeller axial force auto-balanced impeller lyapunov stability analysis

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RFAC Based Task-Oriented Active Sharing Control for a Class of Robotic Rehabilitation Training Systems

RFAC Based Task-Oriented Active Sharing Control for a Class ...

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第37届中国控制会议

作者： Fancheng Meng Shuo Yang Yafeng Li Jinlei Wang College of Electrical and Information Engineering Lanzhou University of Technology Key Laboratory of Gansu Advanced Control for Industrial Processes

This paper proposes a robust fuzzy adaptive critic controller（RFAC） for a class of robotic rehabilitation *** on the RFAC control approach,the robotic rehabilitation system can utilize a robust fuzzy actor to generate an optimal task-oriented active sharing control behavior under the guidance of a fuzzy ***,if the control behavior generated by the fuzzy actor is good for rehabilitation training,then the critic will give a reward,otherwise,the critic will punish the fuzzy actor to modify its control ***,the RFAC can find the optimal control policy for the real robotic rehabilitation training through the reward-punishment *** addition,to attenuate the effects of the approximation error and various uncertainties in the system,a recently developed robust integral of the sign of the error feedback technique is also integrated into the developed RFAC *** stability analysis shows the RFAC can yield a semi-global asymptotic ***,simulation experiments verify that the RFAC has good performance.

关键词： Robotic rehabilitation system RFAC Task-oriented active sharing control lyapunov stability analysis

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Rotor Position estimation method for permanent magnet synchronous motor based on Super-Twisting Sliding Mode Observer

Rotor Position estimation method for permanent magnet synchr...

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第37届中国控制会议

作者： Dazhi Wang Jingjing Liu Shu Miao Tianqing Yuan Ye Li Wenbo Tian Zhen Liu College of Information Science and Engineering Northeastern University

In order to solve the restrictions, imposed by the position sensor, on the application of the permanent magnet synchronous motor（PMSM） in the robot field, a rotor position estimation method based on super-twisting sliding mode observer（STSMO） is proposed. The observer is built according to the back electromotive force（EMF） model after the back EMF equivalent signal is obtained. In this way, not only are low-pass filter and phase compensation module eliminated, but also estimation accuracy is improved. Then, the lyapunov stability analysis is carried out to verify the stability of SPMSM control system. Finally, Numerical simulations is carried out on Matlab/Simulink, the results demonstrate that the STSMO can effectively estimate rotor position and velocity, and the system has good dynamic and static performance.

关键词： SPMSM position sensorless control super-twisting sliding mode observer lyapunov stability analysis

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