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Multi-loop adaptive internal model control based on a dynamic partial least squares model

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2011年第3期12卷 190-200页

作者： Zhao ZHAO Bin HU Jun LIANG State Key lab of Industrial control Technology Department of Control Seienee & Engineering Zhejiang University Hangzhou 310027 China

A multi-loop adaptive internal model control (IMC) strategy based on a dynamic partial least squares (PLS) frame-work is proposed to account for plant model errors caused by slow aging,drift in operational conditions,or environmental *** PLS decomposition structure enables multi-loop controller design within latent spaces,a multivariable adaptive control scheme can be converted easily into several independent univariable control loops in the PLS *** each latent subspace,once the model error exceeds a specific threshold,online adaptation rules are implemented separately to correct the plant model mismatch via a recursive least squares (RLS) *** the IMC extracts the inverse of the minimum part of the internal model as its structure,the IMC controller is self-tuned by explicitly updating the parameters,which are parts of the internal *** parameter convergence and system stability are briefly analyzed,and proved to be ***,the proposed control scheme is tested and evaluated using a widely-used benchmark of a multi-input multi-output (MIMO) system with pure delay.

关键词： Partial least squares (PLS) Adaptive internal model control (IMC) Recursive least squares (RLS)

Fuzzy adaptive robust control for space robot considering the effect of the gravity

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Chinese Journal of Aeronautics 2014年第6期27卷 1562-1570页

作者： Qin Li Liu Fucai Liang Lihuan Gao Jingfang Key lab of Industrial Computer control engineering of Hebei Province Yanshan University

Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.

关键词： Fuzzy adaptive Microgravity Robustness Space robot Trajectory tracking control

Interval analysis for neural networks with application to fault detection

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Science China(Information Sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of control Science and engineering Harbin Institute of Technology national Key laboratory of Complex System control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

Response of harmonically and stochastically excited strongly nonlinear oscillators with delayed feedback bang-bang control

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2009年第1期10卷 54-61页

作者： Chang-shui FENG Wei-qiu ZHU Institute of mechatronic engineering Hangzhou Dianzi University Hangzhou 310018 China State Key laboratory of Fluid Power Transmission and control Department of Mechanics Zhejiang University Hangzhou 310027 China

We studied the response of harmonically and stochastically excited strongly nonlinear oscillators with delayed feedback bang-bang control using the stochastic averaging method. First, the time-delayed feedback bang-bang control force is expressed approximately in terms of the system state variables without time delay. Then the averaged It6 stochastic differential equations for the system are derived using the stochastic averaging method. Finally, the response of the system is obtained by solving the Fokker-Plank-Kolmogorov （FPK） equation associated with the averaged lt6 equations. A Duffing oscillator with time-delayed feedback bang-bang control under combined harmonic and white noise excitations is taken as an example to illus- trate the proposed method. The analytical results are confirmed by digital simulation. We found that the time delay in feedback bang-bang control will deteriorate the control effectiveness and cause bifurcation of stochastic jump of Duffing oscillator.

关键词： Nonlinear system Delayed feedback bang-bang control Combined harmonic and white noise excitation Stochastic averaging Stationary response Stochastic jump

Calculation on the pitch angle of rocker of a rocker lunar rover in uneven terrain and path planning

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Journal of Harbin Institute of Technology(New Series) 2008年第5期15卷 728-731页

作者：邓宗全侯绪研高海波胡明 School of mechatronic engineering Harbin Institute of Technology

For the concerted motion of rocker lunar rover, the pitch angle of rocker of a rocker lunar rover in uneven terrain must be calculated. According to the character of passive shape-shifting adaptive suspension of rocker lunar rover, the model of rocker lunar rover and the model of terrain were both simplified. The pitch angle of rocker was calculated using forward solving, reverse solving and the method of offsetting the curve of terrain respectively. Because of the banishment of the nonlinearity of equation sets of calculation by reverse solving, the calculation of the pitch angle based on reverse solving was programmed by means of MATlab. Simulations were carried out by means of ADAMS. The result verified the validity of the calculation based on reverse solving. It provides the theoretical foundation for motion planning and path planning of rocker lunar rover. As applications of the calculation of pitch angle of rocker, the multi-attribute decision making of path based on the concerted motion planning and the predictive control on lunar rover based on the Markov prediction model were introduced.

关键词： rocker lunar rover pitch angle of rocker uneven terrain

controlling flexural waves in thin plates by using transformation acoustic metamaterials

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Chinese Physics B 2018年第5期27卷 513-517页

作者： Xing Chen Li Cai Ji-Hong Wen laboratory of Science and Technology on Integrated Logistics Support National University of Defense TechnologyChangsha 410073China College of mechatronic engineering and Automation National University of Defense TechnologyChangsha 410073China

In this study,we design periodic grille structures on a single homogenous thin plate to achieve anisotropic acoustic metamaterials that can control flexural *** metamaterials can achieve the bending control of flexural waves in a thin plate at will by designing only one dimension in the thickness direction,which makes it easier to use this metamaterial to design transformation acoustic *** numerical simulation results show that the metamaterials can accurately control the bending waves over a wide frequency *** experimental results verify the validity of the theoretical *** research provides a more practical theoretical method of controlling flexural waves in thin-plate structures.

关键词： acoustic metamaterials coordinate transformation flexural wave grille structure

MPC-Based Change Management of Supply Chain Under Disruption Risks:The Case of Battery Industry

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1896-1898页

作者： Yi Yang Chen Peng School of mechatronic engineering and Automation Shanghai UniversityShanghai 200444China IEEE

Dear Editor,The health management of battery supply chain(SC)is vital to battery-related *** letter focuses on the study of health management of battery SC under ***,a discrete-time model of battery SC is developed based on the actual industrial ***,a model predictive control-based change management(MPCCM)strategy is proposed to ensure stable manufacturing of ***,the effects of disruption are also considered in terms of the actual ***,the validity of the proposed strategy is verified by a case study in Dongsheng Electronics Co.,Ltd.

关键词： battery Battery Supply

Directional Beamforming for High-Speed Railway Communications with Frequency Offset Precorrection

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Chinese Journal of Electronics 2014年第1期23卷 163-168页

作者： CAO Yuan WEN Yinghong XU Wei XIE Xin School of Electronics and Information engineering National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University State Key laboratory of Rail Traffic control and Safety Beijing Jiaotong University national Mobile Communications Research lab. Southeast University

This paper considers a multi-antenna transmission strategy for high speed railway communications. In order to achieve better performance than conventional space-frequency block coding schemes, we propose a directional beamforming strategy for the High-speed railway(HSR) communication by exploiting some characteristic of the railway system including predetermined moving tracks and real-time positioning information. Moreover,for alleviating the effect of Doppler shift due to the moving train, a frequency offset precorrection method is also incorporated with direction beamforming. Theoretical Signalto-noise ratio(SNR) gain of the proposed beamforming scheme over traditional HSR communication schemes is also derived for illustrating the performance *** results verify the effectiveness of our proposed scheme even with some kind of imperfect position information available at the transmitter.

关键词： Multiple-input multiple-output(MIMO) Directional beamforming High-speed railway communications Frequency offset precorrection

Optimization and evaluation of fish oil rnicrocapsules

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Particuology 2016年第6期14卷 162-168页

作者： Hui Liu Lia nyan Wang Tingyuan Yang Guifeng Zhang Jian Huang Jing Sun Junsheng Huo Division of Food Science & Technology National Institute for Nutrition and Health Chinese Center for Disease Control and Prevention Beijing 100050China national Key lab of Biochemical engineering Institute of Process Engineering Chinese Academy of Science Beifing 100190 China

Fish oil microcapsules were prepared using two natural polysaccharides, alginate and chitosan, as the wall materials. A response surface methodology （RSM） was used to optimize the conditions for fish oil encapsulation efficiency （FOEE）. The FOEE was investigated with respect to three key-variables in the RSM： ratio of inner oil phase to aqueous phase （X1 w/w）; concentration of the aqueous phase （X2, wt%）; and ratio of the aqueous phase to outer oil phase （X3, v/v）. The optimal formulation obtained from the RSM model, i.e., 2.7：1 （X1）, 1.6 wt% （X2）, and 11.5：1 （X3）, gave a FOEE of 28%. The model was validated and the fish oil microcapsules prepared under the optimized conditions were characterized in terms of particle size, polydispersity index （PDI）, zeta potential, surface morphology, and in vitro release. The average droplet size, PDI, and zeta potential were 915 nm, 0.038, and ＋5.2 mV, respectively. The fish oil microcapsules were highly uniform microspheres, and had an accumulative release rate of 77.7% in 270 min in a gastrointestinal model, indicating their potential as an alternative carrier for the controlled release of fish oil. In conclusion, formulating optimal microencapsulation conditions by the RSM can be applied to the microencapsulation of various oil-soluble nutrients for food applications.

关键词： Optimization Microencapsulation Fish oil Evaluation Response surface methodology