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Stability and Hopf bifurcation of a nonlinear electromechanical coupling system with time delay feedback

Chinese Physics B 2015年第1期24卷 345-353页

作者：刘爽赵双双王兆龙李海滨 Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University

The stability and the Hopf bifurcation of a nonlinear electromechanical coupling system with time delay feedback are studied. By considering the energy in the air-gap field of the AC motor, the dynamical equation of the electromechanical coupling transmission system is deduced and a time delay feedback is introduced to control the dynamic behaviors of the system. The characteristic roots and the stable regions of time delay are determined by the direct method, and the relationship between the feedback gain and the length summation of stable regions is analyzed. Choosing the time delay as a bifurcation parameter, we find that the Hopf bifurcation occurs when the time delay passes through a critical value.A formula for determining the direction of the Hopf bifurcation and the stability of the bifurcating periodic solutions is given by using the normal form method and the center manifold theorem. Numerical simulations are also performed, which confirm the analytical results.

关键词： electromechanical coupling time delay Hopf bifurcation stability

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Nonlinear parametrically excited vibration and active control of gear pair system with time-varying characteristic

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Chinese Physics B 2015年第10期24卷 303-311页

作者：刘爽王进进刘金杰李雅倩 Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University

In the present work, we investigate the nonlinear parametrically excited vibration and active control of a gear pair system involving backlash, time-varying meshing stiffness and static transmission error. Firstly, a gear pair model is established in a strongly nonlinear form, and its nonlinear vibration characteristics are systematically investigated through different approaches. Several complicated phenomena such as period doubling bifurcation, anti period doubling bifurcation and chaos can be observed under the internal parametric excitation. Then, an active compensation controller is designed to suppress the vibration, including the chaos. Finally, the effectiveness of the proposed controller is verified numerically.

关键词： nonlinear parametrically excited vibration time-varying meshing stiffness static transmission er-ror chaos

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A hybrid algorithm based on teaching-learning-based optimization and newton method for solving nonlinear equations

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ICIC Express Letters 2016年第1期10卷 103-109页

作者： Li, Xia Niu, Peifeng Zhao, Litong Li, Guoqiang Liu, Jianping Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University No. 438 West Hebei Avenue Qinhuangdao China Department of Mathematics and Information Science Hebei Normal University of Science and Technology No. 360 West Hebei Avenue Qinhuangdao China

Solving nonlinear equations is an important problem in engineering eld. Therefore, the study of ecient algorithm is of great signicance. Teaching-LearningBased Optimization (TLBO) has the advantages of simple algorithm, less parameters, strong global convergence ability and insensitivity to initial point, but it is weak at local optimization and slow later convergence. On the other hand, Newton method has the advantage of local deep search and fast convergence rate, but it is sensitive to the initial point. Therefore, considering advantages and disadvantages of two methods above, this paper proposes a hybrid algorithm (TNHA) based on the TLBO and Newton method for solving nonlinear equations. The hybrid algorithm both combines all these merits of the TLBO and Newton method but does not have the defects. Finally, numerical examples verify the eciency of the TNHA. © 2016 ICIC International.

关键词： Newton-Raphson method

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Compound control for speed and tension multivariable coupling system of reversible cold strip mill

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Journal of Central South University 2015年第2期22卷 529-538页

作者：方一鸣刘乐李建雄常茹 Key Laboratory of Industrial Computer Control Engineering of Hebei Province(Institute of Electrical Engineering Yanshan University) National Engineering Research Center for Equipment and Technology of Cold Strip Rolling(Yanshan University)

To weaken the nonlinear coupling influence among the variables in the speed and tension system of reversible cold strip mill, a compound control(CC) strategy based on invariance principle was proposed. Firstly, invariance principle was used to realize static decoupling between the speed and tension of reversible cold strip mill. Then, considering the influence caused by the time variation of steel coil radius and rotational inertia of the left and right coilers, as well as the uncertainties, a CC strategy that is composed of extended state observer(ESO) and global sliding mode control(GSMC) with backstepping adaptive was proposed,which further realized dynamic decoupling and coordination control for the speed and tension system. Theoretical analysis shows that the resulting closed-loop system is global bounded stable. Finally, the simulation was carried out on the speed and tension system of a 1422 mm reversible cold strip mill by using the actual data, and through the comparison of the other control strategies, validity of the proposed CC strategy was shown by the results.

关键词： reversible cold strip mill speed and tension system decoupling invariance principle compound control extended state observer global sliding mode control

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Passivity-Based control of Tower Vibration of Offshore Wind Turbines 34

Passivity-Based Control of Tower Vibration of Offshore Wind ...

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第三十四届中国控制会议

作者： REN Lina YANG Huanhuan LIU Shuangshuang LIU Fucai Key Lab of Industrial Computer Control Engineering of Hebei Yanshan University

ISBN: (纸本)9781467374439

Considering the influence of the tower vibration such as fore-aft/ side-to-side in the offshore wind turbine, the Passivity-based control(PBC) method is proposed to suppress the tower vibration based on the offshore Permanent Magnet Synchronous Generator(PMSG). The PCH model of the tower is established and the energy compensation of the system is adopted to increase the damping of the tower. In comparison with PID controller, the PBC method not only suppresses the vibration of the tower effectively while reduce the fatigue load of tower, but also reduces the influence of maximum capture of wind energy and the drive-train torsional vibration, stabilizing the output power of the generator. The effectiveness and superiority of the PBC method proposed is verified by the theoretical analysis and the simulations by comparing with PID.

关键词： Permanent Magnet Synchronous Generator(PMSG) fore-aft tower vibration side-to-side tower vibration PCH model Passivity-Based control(PBC) PID

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Nonlinear Identification of Triple Inverted Pendulum Based on GA-RBF-ARX

Nonlinear Identification of Triple Inverted Pendulum Based o...

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第35届中国控制会议

作者： Hai-bin Li Shuang Hao Xiu-ling Zhang Yong-jin Lai Qing Qi Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University

ISBN: (纸本)9781509009107

The triple inverted pendulum is a nonlinear, unsteady and dynamic system. The traditional model is built based on mathematical modeling method which has ignored many important factors in reality. In this paper, the GA-RBF-ARX is proposed to identify a nonlinear triple inverted pendulum model based on its input/output data. RBF-ARX model is a combination of Gaussian radial basis function(RBF) neural network and Autoregressive model with exogenous input(ARX) model. It not only has the advantages of RBF neural network, such as the approximation ability, simple structure and quickly learning rate, but also has the ability of describing globally of ARX model. The structured nonlinear parameter optimization method(SNPOM) is generally used to optimize parameters of the RBF-ARX model. However, SNPOM needs to classify the parameters before optimization. It is too complex to popularize and apply in practical engineering. Due to this problem, genetic algorithm(GA) is proposed to replace SNPOM. The identification process based on GA is simpler than SNPOM. Besides, GA has good parallel design structure and characteristics of global optimization. Finally, the MATlab simulation results show that GA-RBF-ARX identification is effective.

关键词： GA-RBF-ARX nonlinear triple inverted pendulum identification optimize

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Bandwidth Allocation with Minimum Rate Constraints in Cluster-based Femtocell Networks

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International Journal of Automation and computing 2015年第1期12卷 77-82页

作者： Kai Ma Liang Li Jie Yang Zhi-Xin Liu Xin-Bin Li Xin-Ping Guan School of Electrical Engineering Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information ProcessingMinistry of Education

Inter-femtocell interference becomes serious when femtocells are densely deployed. To mitigate the inter-femtocell interference, this paper proposes a cluster-based bandwidth allocation algorithm. We create femtocell clusters by constructing a weighted interference graph and allocate bandwidth to each cluster based on a Nash bargaining solution(NBS). Simulation results show that the cluster-based bandwidth allocation algorithm can reduce the inter-femtocell interference and meet the minimum rate constraint of each cluster.

关键词： Femtocell cluster inter-femtocell interference bandwidth allocation Nash bargaining solution(NBS)

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Adaptive cross-coupled sliding mode control for synchronization of dual-cylinder electro-hydraulic servo systems 34

Adaptive cross-coupled sliding mode control for synchronizat...

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第三十四届中国控制会议

作者： SUN Mengfei LI Jianxiong FANG Yiming Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling

ISBN: (纸本)9781467374439

To improve the equality of continuous casting billet, synchronization control is investigated for continuous casting mold driven by dual-cylinder electro-hydraulic servo systems(EHSS) in this paper. A second-order super twisting sliding mode controller is developed for each cylinder EHSS, in which cross-coupled errors are employed to construct the sliding mode surfaces, which guarantee that trajectory tracking errors of each cylinder EHSS and the synchronization error can rapidly converge to zero in finite time even in presence of the parameter uncertainties and external disturbances. Furthermore, to reduce the chartering caused by the discontinuous control law of sliding mode control, adaptive gains are employed during the sliding mode controller design. Thus, an adaptive sliding surface cross-coupled synchronization controller is presented by employing Lyapunov stability theorems. Simulation results in a model obtained from a real continuous casting mold demonstrate the effectiveness of the method.

关键词： Dual-cylinder electro-hydraulic servo systems,synchronization,sliding mode control,cross-coupling,continuous casting mold

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Multi-objective optimization of rolling schedules for aluminum hot tandem rolling based on improved NSGA-II 34

Multi-objective optimization of rolling schedules for alumin...

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第三十四届中国控制会议

作者： CHE Hai-ju HU Zi-yu YANG Jing-ming National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University

ISBN: (纸本)9781467374439

The quality and yield of products in the process of aluminum hot rolling is affected seriously by the load distribution. The load distribution of the hot tandem rolling is actually a problem of multi-objective optimization(MOO. The model of the rolling schedule was established based on slippage factor, which was also set as an optimization objective. In this paper, an improved NSGA-II is applied to optimize the rolling schedule of aluminum hot tandem rolling. This paper also proposed a method to select the best solution based on the preference after process of the improved NSGA-II. This method shows its ability on the slippage preventing and load distribution.

关键词： Multi-objective optimization Genetic algorithms aluminum hot tandem rolling load distribution

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Extended State Observer Based Nonsingular Terminal Sliding-mode control for Non-sinusoidal Oscillation of Continuous Casting Mold Driven by Servo Motor

Extended State Observer Based Nonsingular Terminal Sliding-m...

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第三十四届中国控制会议

作者： LI Qiang FANG Yiming KANG Kesong ZHENG Huicheng Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Department of Mechanical & Electronics Engineering Shijiazhuang Institute of Technology

ISBN: (纸本)9781467374439

A new driving mode that using servo motor to drive continuous casting mold oscillated following the expected non-sinusoidal(include sinusoidal) is introduced. For this system, the integral nonlinear mathematical model is built, which contains the nonlinear model of servo motor and the mechanical transmission parts of the mold. Because the servo motor rotates continuously in single direction while the oscillation waveform of the mold is nonlinear periodic function, firstly, establish the mapping between them to solve the irreversible of this system, and use a third-order tracking differentiator(TD) which has high-speed tracking ability and good tracking precision to track the result of the mapping function and obtain its derivative signal simultaneously. Then a new type of control scheme combined the extended state observer(ESO) with nonsingular terminal sliding-mode control is adopted in investigation. The controller is designed for the integral system by adopting a non-singular terminal sliding mode manifold and can make the singularity avoided by preventing differentiating terms deriving the control laws and applying a continuous control strategy to resolve the chattering. Meanwhile, the ESO is designed to estimate the states and the lumped uncertain disturbances accurately without requiring exact mathematical model and the sensors. The proposed controller can guarantee stabilization of the tracing system. Simulated results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： Sliding mode control,Extended state observer,Third order TD,Non-sinusoidal oscillation,Continuous casting mold

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