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第三十四届中国控制会议

作者： Yafei Yang Ling Zhao Xiaozhao Fan Zhixin Liu School of Electrical Engineering Yanshan University Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical Engineering Yanshan University

ISBN: (纸本)9781467374439

This paper presents an improved active disturbance rejection controller to study the trajectory tracking problem of a pneumatic servo system. It is a challenging job to track a given trajectory for pneumatic system with strong nonlinearity. The designed active disturbance rejection controller consists of tracking differentiator, extended state observer and nonlinear *** differentiator is designed to arrange a transition process for the given signal and get its corresponding differential *** state observer has advantages in observing states and estimating the nonlinear part of system. Moreover, a nonlinear controller is derived on the basis of backstepping approach. Finally, simulation results indicate the capabilities of the proposed method.

关键词： Active disturbance rejection control,Backstepping approach,Rodless pneumatic cylinder,Trajectory tracking

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Research on algorithm of braking pressure estimating for anti-lock braking system of motorcycle

Research on algorithm of braking pressure estimating for ant...

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IEEE International Conference on Aircraft Utility Systems (AUS)

作者： Jing Yao Yang Zhang Juan Wang Ministry of Education of China Key Laboratory of Advanced Forging & Stamping Technology and Science Qinhuangdao Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao CO China School of Mechanical Engineering Yanshan University Qinhuangdao CO China

ISBN: (纸本)9781509010882

An effective pressure estimation algorithm of ABS for motorcycles was proposed in this paper to get the relatively accurate wheel cylinder pressure. Firstly, the performance characteristics of hydraulic control unit was studied and the vehicle model was established by using BikeSim. Next, the pressure estimation algorithms of master cylinder and wheel cylinder were studied. The estimated pressure is modified according to different vehicle braking stages. Finally, based on an actual motorcycle the wheel cylinder pressure was obtained under different pavements and braking initial speeds by ABS experimental platform to validate the effectiveness of wheel cylinder pressure estimation algorithm. The results show that the actual wheel cylinder pressure can be well tracked by the estimated wheel cylinder pressure with an allowable pressure error.

关键词： Wheels Motorcycles Force Estimation Mathematical model Valves Pistons

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Sliding mode control for network control systems with packets dropout

Sliding mode control for network control systems with packet...

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第三十四届中国控制会议

作者： Luyang Zhang Ling Zhao Li Li Institute of Electrical Engineering Yanshan University Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical Engineering Yanshan University

ISBN: (纸本)9781467374439

In this paper, we investigate the problems of stabilization of networked control systems with packets dropout via delta operator approach. A sliding mode controller is constructed to analyze the stochastic stability of the closed-loop networked control systems. The process of packets dropout is modeled as a Bernoulli process. Sufficient LMI conditions are developed to guarantee the existence of the discrete linear sliding surfaces. By solving the conditions, a linear sliding surface is characterized and a sliding mode controller is designed. Simulation results are given to demonstrate the effectiveness of the proposed approach.

关键词： Sliding mode control,network control systems(NCSs),delta operator system,packets dropout

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The Design of An Intelligent Self-Reconfigurable Single-Module Robot

The Design of An Intelligent Self-Reconfigurable Single-Modu...

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Electronic technology and Information science (ICETIS), International Conference on

作者： Zezheng Xing Qiuwei Zheng Lang Xiong Yundou Xu Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology Science (Yanshan University) Ministry of Education of China Qinhuangdao China

ISBN: (数字)9798350388343

ISBN: (纸本)9798350388350

Self-reconfigurable robot is a typical modular robot, which is composed of a large number of identical modules based on cell design idea. Perform a job by combining it as a whole while working. At present, the carrying capacity of the self-reconfigurable robot is limited and the degree of intelligence is not high, which leads to the limited working ability of the self-reconfigurable robot. Therefore, an intelligent single-module self-reconfigurable robot is designed in this paper. Firstly, a high stiffness bidirectional butt locking mechanism is designed for the connection between modules. Secondly, aiming at the task of quick survey of fire rescue environment, the identification and distance detection of ignition point and rescue personnel are designed in the fire environment. The BI _ A * algorithm is used to complete the single-module path planning of the self-reconfigurable robot, and the Multi_ Bi _ A * algorithm is proposed for the optimal path planning of the collection of multi-module self-reconfigurable robots. Finally, the functional verification of the prototype is completed by using a single three-room model experiment platform.

关键词： Surveys Target recognition Prototypes Programming Multitasking Stability analysis Path planning

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A new tracking control method for synchronization of spacecraft formation with switching topologies

A new tracking control method for synchronization of spacecr...

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第三十三届中国控制会议

作者： Ling Zhao Xiu You Fuchun Sun Zhixin Liu Hongjiu Yang Hebei Province Key Laboratory of Heveay Machinery Fluid Power Transmission and Control College of Mechanical EngineeringYanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical EngineeringYanshan University Institute of Electrical Engineering Yanshan University Department of Computer Science and Technology Tsinghua University

ISBN: (纸本)9781479947249

This paper studies an attitude synchronization problem for spacecraft formation with switching interaction *** adaptive control architecture which allows for parameter uncertainties and unknown external disturbances is established for the decentralized controllers *** paper also shows that the attitude synchronization under dynamically changing interaction topologies can be achieved asymptotically if the union of the switching communication graphs is jointly connected in a finite time ***,some simulations indicate the capabilities of the proposed results.

关键词： Spacecraft formulation attitude synchronization adaptive control switching topology.

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Study on the Microstructure and Properties of Eh40/2205 Interface with Fe, Co, Ni Composite Interlayer

SSRN

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SSRN 2024年

作者： Zhang, Biao Feng, Kangkang Shen, Xiaolong Yi, Yali Jin, Herong School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The impact of dual and triple-layer composite interlayer (CI), constructed from Fe, Co, and Ni foils, on the microstructure and mechanical properties of the interface of EH40/2205 clad plates was investigated. The findings indicated that all groups of CI had achieved metallurgical bonding between EH40 and 2205. Specifically, the Ni layer, which had been positioned close to the composite layer 2205, had hindered the diffusion of Ni and Cr, enhancing the plasticity of the clad plate. The Fe layer, situated between Ni and Co, had increased the hardness of the CI by 180~190HV through solid solution strengthening. The Co layer, located near the base layer EH40, had been approximately 70HV harder than the Ni layer, increasing the ultimate tensile strength (UTS) and ultimate shear strength (USS) of the clad plate by about 20%. Among the schemes, EH40/Co/Fe/Ni/2205 had been the preferred option, with a UTS of 549MPa and a USS of 704MPa. © 2024, The Authors. All rights reserved.

关键词： Microstructure

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Joint power control and interference management in two-tier CDMA femtocell networks for multi-agent systems

Joint power control and interference management in two-tier ...

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第三十三届中国控制会议

作者： Lili Hao Juhai Ma Ling Zhao Hongjiu Yang Zhixin Liu Institute of Electrical Engineering Yanshan University Hebei Province Key Laboratory of Heveay Machinery Fluid Power Transmission and Control College of Mechanical EngineeringYanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical EngineeringYanshan University

ISBN: (纸本)9781479947249

As energy saving and environmental protection become an inevitable trend,this paper studied the problem of the efficient resource allocation via power control and interference management approaches for multi-agents in two-tier femtocell *** this paper,a distributed power control algorithm is proposed to investigate the resource allocation using hierarchical game for two-tier femtocell *** the algorithm,the protection of higher-priority multi-agents’uplink communication and the optimal power allocation for lower-priority multi-agents are simultaneously *** manage the cross-tier interference and suppress the near-far effect in the code-division multiple access system,an adaptive pricing scheme is *** example is given to illustrate the effectiveness of the developed algorithms.

关键词： Multi-agent Femtocell Resource allocation Hierarchical game Adaptive pricing.

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Robust power control for femtocell networks based on chance-constrained linear programs

Robust power control for femtocell networks based on chance-...

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第三十四届中国控制会议

作者： Peng Zhang Ling Zhao Zhixin Liu Hongjiu Yang Xinbin Li Institute of Electrical Engineering Yanshan University Hebei Province Key Laboratory of Heveay Machinery Fluid Power Transmission and Control College of Mechanical Engineering Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical Engineering Yanshan University

ISBN: (纸本)9781467374439

In this paper, we study the power control for two-tier network system which is comprised of a central macrocell and several femtocells. We are aiming at minimizing total power of the macrocell users and femtocell users considering that the signal-to-interference-plus-noise ratios(SINRs) of the macrocell user and femtocell users are subject to probability constraints and that the uncertainty of the channel gains is of stochastic nature. To solve the chance-constrained optimization problem, we propose a novel method which adopts distributionally robust chance-constrained linear programming. The method changes the chance-constrained optimization problem into a quadratic programming with quadratic constraints. Then, a branch and bound approach is adopted to solve it. Finally, numerical results are given to illustrate the performance with the scheme of power control.

关键词： Femtocell probability constraints quadratic programming quadratic constraints

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Design and Research of New Large Flow Three-way Pressure Compensation Valve

Design and Research of New Large Flow Three-way Pressure Com...

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2016 IEEE/CSAA International Conference on Aircraft Utility Systems(AUS)

作者： Xiaodong Yang Xiaolong Zhao Chao Ai Gang Peng Zhimin Wang Jianpei Dou Xiaodong Wu Yuejun Li Beijing Huade Hydraulic Industrial Group Co. Ltd Beijing Huade Hydraulic Industrial Group Co Ltd Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control as well as Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of ChinaYanshan University

In the hydraulic systems with fixed displacement pump,there is a problem that the flow of three-way pressure compensation valve working with LUDV multi-way valve is *** a new large flow pressure compensation valve was *** valve contains a main channel and two overflow *** bench test and field experiments,the new large flow three-way pressure compensated valve was verified with good unloading pressure characteristics and good pressure compensation characteristics in large flow working *** flow of new valve can reach 400 L/min and unloading pressure can reduce to ***,the new valve meets the requirements of LUDV multi-way valve under large flow *** new large flow three-way pressure compensation valve makes an important contribution to the further research on multi-way valve.

关键词： large flow pressure compensation valve LUDV multi-way valve unloading pressure

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Higher-Order Kinematics Modeling of 3-RRS Parallel Mechanism Based on CGA

Research Square

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Research Square 2020年

作者： Wang, Chang Zhao, Tie-Shi Li, Er-Wei Zhao, Yan-Zhi Bian, Hui Geng, Ming-Chao Parallel Robot and Mechatronic System Laboratory Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Hebei University of Architecture Zhangjiakou075000 China

Higher-order kinematics of mechanisms has been applied in servo motor control, human-robot interaction and machinery life design fields, etc. The representations of acceleration and jerk by screws have been fully developed by researchers with the methods of the differential of the matrix representation of SE(3) group. Clifford algebra, which is tighter and with higher computational efficiency than the matrix method, is another representation of the motions of rigid bodies. It has been used in position kinematics, grub task motion planning, and robot vision for its convenience of geometric representations and calculations. As far as we know, the work of higher-order kinematics of mechanisms based on Clifford algebra is rare. First, after recalling the based theory of motion representation in conformal geometric algebra (CGA), the mathematical relationships between flag and motor are built. Second, a method for the higher-order kinematics modeling of serial chain mechanisms is proposed. Finally, the higher-order kinematics of the 3-RRS parallel mechanism is built to prove the correctness of the algorithm. This work further enriches the application of CGA for the higher-order kinematics modeling of parallel mechanisms. © 2020, CC BY.

关键词： Kinematics

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