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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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三自由度混合磁轴承无模型自适应控制系统 Article

Ye YUAN, Yu-kun SUN, Qian-wen XIANG, Yong-hong HUANG, Zhi-ying ZHU

《信息与电子工程前沿（英文）》 2017年 第18卷 第12期   页码 2035-2045 doi: 10.1631/FITEE.1700324

摘要： 由于气隙磁场分布不均以及未建模动态性，数学模型不再适用于磁力轴承系统。基于错误数学模型的系统控制会表现出低响应和高颤动。为解决这一问题，本文提出一种三自由度混合磁轴承无模型自适应控制系统。该控制系统仅与控制电流和轴承的平衡位置有关。其参数估计算法的设计与模型无关，直接基于输入和输出数据的伪偏导数。本文通过不同直径的辅助轴承分析了三自由度混合磁轴承转子悬浮区域,以及通过两种不同的操作系统具体分析无模型自适应控制系统的可行性。模拟和实验结果表明，该三自由度混合磁轴承无模型自适应控制系统具有响应速度快，稳态误差小，和稳定性好等优势。

关键词： 模型自适应控制；混合磁轴承；非线性区域；快速响应；高稳定性    

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Design and modeling of a free-piston engine generator

《能源前沿（英文）》   页码 811-821 doi: 10.1007/s11708-022-0848-2

摘要： Free-piston engine generators (FPEGs) can be applied as decarbonized range extenders for electric vehicles because of their high thermal efficiency, low friction loss, and ultimate fuel flexibility. In this paper, a parameter-decoupling approach is proposed to model the design of an FPEG. The parameter-decoupling approach first divides the FPEG into three parts: a two-stroke engine, an integrated scavenging pump, and a linear permanent magnet synchronous machine (LPMSM). Then, each of these is designed according to predefined specifications and performance targets. Using this decoupling approach, a numerical model of the FPEG, including the three aforementioned parts, was developed. Empirical equations were adopted to design the engine and scavenging pump, while special considerations were applied for the LPMSM. A finite element model with a multi-objective genetic algorithm was adopted for its design. The finite element model results were fed back to the numerical model to update the LPMSM with increased fidelity. The designed FPEG produced 10.2 kW of electric power with an overall system efficiency of 38.5% in a stable manner. The model provides a solid foundation for the manufacturing of related FPEG prototypes.

关键词： free-piston engine generator     linear permanent magnet synchronous machine     system design     numerical model     finite element method    

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An experimental study of a single-piston free piston linear generator

Jin XIAO, Yingdong CHENG, Jinlong WANG, Chengwei ZHU, Zhen HUANG

《能源前沿（英文）》 2022年 第16卷 第6期   页码 916-930 doi: 10.1007/s11708-022-0838-4

摘要： Free piston linear generator (FPLG) is a promising range extender for the electrical vehicle with unparallel advantages, such as compact structure, higher system efficiency, and reduced maintenance cost. However, due to the lack of the mechanic crankshaft, the related piston motion control is a challenge for the FPLG which causes problems such as misfire and crash and limits its widespread commercialization. Aimed at resolving the problems as misfire, a single-piston FPLG prototype has been designed and manufactured at Shanghai Jiao Tong University (SJTU). In this paper, the development process and experimental validation of the related control strategies were detailed. From the experimental studies, significant misfires were observed at first, while the FPLG operated in natural-aspiration conditions. The root cause of this misfire was then identified as the poor scavenging process, and a compressed air source was leveraged to enhance the related scavenging pressure. Afterward, optimal control parameters, in terms of scavenging pressure, air-fuel equivalence ratio, and ignition position, were then calibrated in this charged-scavenging condition. Eventually, the FPLG prototype has achieved a continuous stable operation of over 1000 cycles with an ignition rate of 100% and a cycle-to-cycle variation of less than 0.8%, produced an indicated power of 2.8 kW with an indicated thermal efficiency of 26% and an electrical power of 2.5 kW with an overall efficiency of 23.2%.

关键词： free piston linear generator (FPLG)     charged scavenging     engine control     misfire     stable operation    

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An assessment of China-Japan-Korea Free Trade Agreement’s economic and environmental impacts on China

Zhaoyang LIU, Xianqiang MAO, Wei TANG, Tao HU, Peng SONG

《环境科学与工程前沿（英文）》 2012年 第6卷 第6期   页码 849-859 doi: 10.1007/s11783-012-0432-9

摘要： Recently, China, Japan, and the Republic of Korea (Korea) are conducting a government-commissioned feasibility study on the Free Trade Agreement among the three countries (CJKFTA) to form a regional free trade zone in East Asia. Considering that freer trade can cause unexpected impact on domestic environment, there is a need to evaluate the environmental impact of such a trade policy. This move should be made to help negotiators understand and pay more attention to environmental issues during CJKFTA negotiations, and to help lobby with the government to carry out appropriate policy instruments for adaptation or mitigation. Following the Chain Reaction Assessment Method that integrates and links the elements of trade, production, and environment, the present research aims to quantitatively assess CJKFTA’s possible impact on China’s environment. This is done by estimating the variations of China’s major conventional pollutants and greenhouse gases (GHGs) emission in two policy scenarios to represent CJKFTA’s scale and composition effects on China’s environment. Estimating the variations is based on a static Computable General Equilibrium model, working with Global Trade Analysis Project (GTAP) 7 database and China’s energy-environment statistics. Based on these assessments, CJKFTA is predicted to lead to notable environmental impact, including increased emissions of agricultural total nitrogen, agricultural total phosphorus, chemical oxygen demand, and GHGs. On the other hand, decreased emissions of industrial SO and dust are also expected to happen. Suitable policies need to be made to combat negative effects and amplify positive ones, while aiming at a more sustainable regional freer trade system.

关键词： Free Trade Agreement     Strategic Environmental Assessment     Chain Reaction Assessment Method     Computable General Equilibrium model     Global Trade Analysis Project    

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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization algorithm    

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An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

《化学科学与工程前沿（英文）》 2022年 第16卷 第2期   页码 237-250 doi: 10.1007/s11705-021-2058-6

摘要： Advanced model-based control strategies, e.g., model predictive control, can offer superior control of key process variables for multiple-input multiple-output systems. The quality of the system model is critical to controller performance and should adequately describe the process dynamics across its operating range while remaining amenable to fast optimization. This work articulates an integrated system identification procedure for deriving black-box nonlinear continuous-time multiple-input multiple-output system models for nonlinear model predictive control. To showcase this approach, five candidate models for polynomial and interaction features of both output and manipulated variables were trained on simulated data and integrated into a nonlinear model predictive controller for a highly nonlinear continuous stirred tank reactor system. This procedure successfully identified system models that enabled effective control in both servo and regulator problems across wider operating ranges. These controllers also had reasonable per-iteration times of ca. 0.1 s. This demonstration of how such system models could be identified for nonlinear model predictive control without prior knowledge of system dynamics opens further possibilities for direct data-driven methodologies for model-based control which, in the face of process uncertainties or modelling limitations, allow rapid and stable control over wider operating ranges.

关键词： nonlinear model predictive control     black-box modeling     continuous-time system identification     machine learning     industrial applications of process control    

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Full-band error control and crack-free surface fabrication techniques for ultra-precision fly cutting

F. H. ZHANG, S. F. WANG, C. H. AN, J. WANG, Q. XU

《机械工程前沿（英文）》 2017年 第12卷 第2期   页码 193-202 doi: 10.1007/s11465-017-0448-8

摘要：

Large-aperture potassium dihydrogen phosphate (KDP) crystals are widely used in the laser path of inertial confinement fusion (ICF) systems. The most common method of manufacturing half-meter KDP crystals is ultra-precision fly cutting. When processing KDP crystals by ultra-precision fly cutting, the dynamic characteristics of the fly cutting machine and fluctuations in the fly cutting environment are translated into surface errors at different spatial frequency bands. These machining errors should be suppressed effectively to guarantee that KDP crystals meet the full-band machining accuracy specified in the evaluation index. In this study, the anisotropic machinability of KDP crystals and the causes of typical surface errors in ultra-precision fly cutting of the material are investigated. The structures of the fly cutting machine and existing processing parameters are optimized to improve the machined surface quality. The findings are theoretically and practically important in the development of high-energy laser systems in China.

关键词： ultra-precision fly cutting     large-aperture KDP crystals     spatial frequency     processing error    

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Standard model of knowledge representation

Wensheng YIN

《机械工程前沿（英文）》 2016年 第11卷 第3期   页码 275-288 doi: 10.1007/s11465-016-0372-3

摘要：

Knowledge representation is the core of artificial intelligence research. Knowledge representation methods include predicate logic, semantic network, computer programming language, database, mathematical model, graphics language, natural language, etc. To establish the intrinsic link between various knowledge representation methods, a unified knowledge representation model is necessary. According to ontology, system theory, and control theory, a standard model of knowledge representation that reflects the change of the objective world is proposed. The model is composed of input, processing, and output. This knowledge representation method is not a contradiction to the traditional knowledge representation method. It can express knowledge in terms of multivariate and multidimensional. It can also express process knowledge, and at the same time, it has a strong ability to solve problems. In addition, the standard model of knowledge representation provides a way to solve problems of non-precision and inconsistent knowledge.

关键词： knowledge representation     standard model     ontology     system theory     control theory     multidimensional representation    

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年 第4卷 第3期   页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing     actuator delay     compensation     adaptive control     MIT rule     discrete transfer function    

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Ceramic membrane fouling mechanisms and control for water treatment

《环境科学与工程前沿（英文）》 2023年 第17卷 第10期 doi: 10.1007/s11783-023-1726-9

摘要：

● The fouling is summarized based on ceramic membrane performance and pollutants.

关键词： Ceramic membrane     Fouling model     Fouling control    

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Cell-free systems in the new age of synthetic biology

Fernando Villarreal,Cheemeng Tan

《化学科学与工程前沿（英文）》 2017年 第11卷 第1期   页码 58-65 doi: 10.1007/s11705-017-1610-x

摘要： The advent of synthetic biology has ushered in new applications of cell-free transcription-translation systems. These cell-free systems are reconstituted using cellular proteins, and are amenable to modular control of their composition. Here, we discuss the historical advancement of cell-free systems, as well as their new applications in the rapid design of synthetic genetic circuits and components, directed evolution of biomolecules, diagnosis of infectious diseases, and synthesis of vaccines. Finally, we present our vision on the future direction of cell-free synthetic biology.

关键词： cell-free system     application    

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Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

《机械工程前沿（英文）》 2007年 第2卷 第2期   页码 168-174 doi: 10.1007/s11465-007-0028-4

摘要： To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown environment.

关键词： predictive     tracking     corresponding     stiffness     algorithm    

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

《机械工程前沿（英文）》 2018年 第13卷 第2期   页码 179-210 doi: 10.1007/s11465-018-0464-3

摘要：

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

关键词： hydraulic servo system     adaptive control     robust control     nonlinear friction     disturbance compensation     repetitive control     noise alleviation     constraint control    

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多目标自适应优化模型预测控制——降低氧化锌回转窑的碳排放 Article

Ke Wei, Keke Huang, Chunhua Yang, Weihua Gui

《工程（英文）》 2023年 第27卷 第8期   页码 96-105 doi: 10.1016/j.eng.2023.01.017

摘要：

The zinc oxide rotary kiln, as an essential piece of equipment in the zinc smelting industrial process, is presenting new challenges in process control. China's strategy of achieving a carbon peak and carbon neutrality is putting new demands on the industry, including green production and the use of fewer resources; thus, traditional stability control is no longer suitable for multi-objective control tasks. Although researchers have revealed the principle of the rotary kiln and set up computational fluid dynamics (CFD) simulation models to study its dynamics, these models cannot be directly applied to process control due to their high computational complexity. To address these issues, this paper proposes a multi-objective adaptive optimization model predictive control (MAO-MPC) method based on sparse identification. More specifically, with a large amount of data collected from a CFD model, a sparse regression problem is first formulated and solved to obtain a reduction model. Then, a two-layered control framework including real-time optimization (RTO) and model predictive control (MPC) is designed. In the RTO layer, an optimization problem with the goal of achieving optimal operation performance and the lowest possible resource consumption is set up. By solving the optimization problem in real time, a suitable setting value is sent to the MPC layer to ensure that the zinc oxide rotary kiln always functions in an optimal state. Our experiments show the strength and reliability of the proposed method, which reduces the usage of coal while maintaining high profits. 

关键词： Zinc oxide rotary kiln     Model reduction     Sparse identification     Real-time optimization     Model predictive control     Process control    

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标题 作者 时间 类型 操作

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

期刊论文

三自由度混合磁轴承无模型自适应控制系统

Ye YUAN, Yu-kun SUN, Qian-wen XIANG, Yong-hong HUANG, Zhi-ying ZHU

期刊论文

Design and modeling of a free-piston engine generator

期刊论文

An experimental study of a single-piston free piston linear generator

Jin XIAO, Yingdong CHENG, Jinlong WANG, Chengwei ZHU, Zhen HUANG

期刊论文

An assessment of China-Japan-Korea Free Trade Agreement’s economic and environmental impacts on China

Zhaoyang LIU, Xianqiang MAO, Wei TANG, Tao HU, Peng SONG

期刊论文

Extended model predictive control scheme for smooth path following of autonomous vehicles

期刊论文

An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

期刊论文

Full-band error control and crack-free surface fabrication techniques for ultra-precision fly cutting

F. H. ZHANG, S. F. WANG, C. H. AN, J. WANG, Q. XU

期刊论文

Standard model of knowledge representation

Wensheng YIN

期刊论文

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

期刊论文

Ceramic membrane fouling mechanisms and control for water treatment

期刊论文

Cell-free systems in the new age of synthetic biology

Fernando Villarreal,Cheemeng Tan

期刊论文

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

期刊论文

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

期刊论文

多目标自适应优化模型预测控制——降低氧化锌回转窑的碳排放

Ke Wei, Keke Huang, Chunhua Yang, Weihua Gui

期刊论文