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

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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Motion Stability Analysis of Non-sinusoidal Oscillation of Mold Driven by Servomotor

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Chinese Journal of Mechanical engineering 2015年第6期28卷 1269-1276页

作者： YAO Yunfeng LI Junxia FANG Yiming School of Materials Science and Engineering Hebei University of Science and Technology Key Laboratory of Material Near-net Forming Technology of Hebei Province Key Laboratory of Industrial Computer Control Engineering of Hebei Province Yanshan University National Engineering Research Center for Equipment and Technology of Cold Strip Rolling

The investments of the electro-hydraulic servo system of the mold non-sinusoidal oscillator are great, the modification ratio of the mechanical type is unable to be adjusted online, and some continuous casters suffer from server resonance during the casting. A mold non-sinusoidal oscillation mechanism driven by servomotor is proposed and the prototype is produced in the lab, the investment is low and the modification ratio is can be adjusted online, and the stability problem is studied. At first the dynamics model of the servomotor non-sinusoidal oscillation is established, and the kinematics differential function is deduced. Furthermore, based on the harmonic balance method, the eigenvalues of the system are solved; the criterion of the stability of the system is put forward. In addition, the eigenvalues and harmonic with different oscillating parameters are analyzed. Analytical results show that the real parts of the eigenvalues are positive, the system will be unstable, and the resonance will occur when the positive real parts of the eigenvalues are extremum. A foundation is established for solving the running smooth problem and next application of this mechanism.

关键词： continuous casting mold non-sinusoidal oscillation servomotor stability resonance

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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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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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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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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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Extended state observer based nonsingular terminal sliding-mode control for non-sinusoidal oscillation of continuous casting mold driven by servo motor 34

Extended state observer based nonsingular terminal sliding-m...

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34th Chinese control Conference, CCC 2015

作者： Li, Qiang Fang, Yiming Kang, Kesong Huicheng, Zheng Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Department of Mechanical and Electronics Engineering Shijiazhuang Institute of Technology Shijiazhuang China

ISBN: (纸本)9789881563897

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. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

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

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Corrigendum to “Road detection algorithm for Autonomous Navigation Systems based on dark channel prior and vanishing point in complex road scenes” [Robot. Auton. Syst. 85 (2016) 1–11]

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Robotics and Autonomous Systems 2017年 88卷 202-202页

作者： Yong Li Weili Ding Xuguang Zhang Zhaojie Ju Laboratory of Pattern Recognition and Intelligent Systems Key Laboratory of Industrial Computer Control Engineering of Hebei Province Department of Automation Institute of Electrical Engineering Yanshan University Qinghuangdao Hebei 066004 China College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China School of Computing University of Portsmouth PO1 3HE UK

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