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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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Positioning control of a one-DOF manipulator driven by pneumatic artificial muscles based on active disturbance rejection control

Positioning control of a one-DOF manipulator driven by pneum...

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第三十四届中国控制会议

作者： Ling Zhao Qi Li Hongjiu Yang Hongbo Li 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 EngineeringYanshan University College of Mechanical Engineering Yanshan University Institute of Electrical Engineering Yanshan University Department of Computer Science and Technology Tsinghua University

The purpose of this paper is to study positioning control performance of the one-DOF manipulator driven by pneumatic artificial muscles using active disturbance rejection controller. Owing to the pneumatic artificial muscle's highly nonlinear and time-varying behavior, it is difficult to achieve good positioning performance. In this paper, the nonlinear and time-varying behavior of pneumatic artificial muscle is considered as disturbance to be estimated by extended state observer. Tracking differentiator is designed to get corresponding smooth signal and differential signal of reference input to avoid overshoot. A linear error feedback combining with estimated value compensation of disturbance is designed to ensure a good response of system. Moreover, stability analysis of the close-loop system is given by Lyapunov theory. Finally, simulation results verify the effectiveness of the proposed controller.

关键词： Active disturbance rejection control,positioning control,pneumatic artificial muscle,disturbance estimation

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Influence of structure parameters on the permanent magnetic planetary gear forced vibration frequency response 4

Influence of structure parameters on the permanent magnetic ...

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4th International Conference on advanced Design and Manufacturing Engineering, ADME 2014

作者： Zhu, Xue Jun Xu, Li Zhong Yanshan Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of magnetization intensity and pole pair number to frequency forced responses is discussed. Results show that the dynamic displacement when only considering output excitation is larger than that when only considering input excitationand magnetic parameters have obvious effects on the low frequency vibration amplitude of elements. When magnetization intensity and pole pair number are too large or too small, they will seriously affect the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © (2014) Trans Tech Publications, Switzerland.

关键词： Frequency response

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Chaotification of chain system via feedback control

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ICIC Express Letters 2015年第10期9卷 2851-2857页

作者： Liu, Wen Liu, Man Zhang, Desheng Zhao, Jingyi Zhang, Yanyan School of Science Yanshan University No. 438 Hebei Avenue Qinhuangdao China College of Mechanical Engineering Yanshan University No. 438 Hebei Avenue Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University No. 438 Hebei Avenue Qinhuangdao China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Avenue Qinhuangdao China

In this paper, a feedback control method is proposed for chaotification of chain system by using model matching and tracking control. The error system between the controlled chain system and the reference chaos system is asymptotically stable at zero point, which guarantees that chain system tracks reference chaos system asymptotically. The proposed method is applied to chaos anti-control of the second order chain system and the third order one, while Duffing oscillator and Ameodo system are considered as the reference models. The method avoids computation complexity of Lyapunov exponent. The numerical simulation results show the effectiveness of the proposed method. © 2015, ICIC International.

关键词： Feedback control

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Combination resonances of field modulated magnetic gear system considering eccentricity

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Journal of Information and Computational science 2014年第9期11卷 3037-3046页

作者： Yuan, Xiaoming Hao, Xiuhong Du, Bing Zhang, Lijie Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao 066004 China School of Mechanical Engineering Yanshan University Qinhuangdao 066004 China

Considering the torque ripples caused by the component eccentricities of Field Modulated Magnetic Gear (FMMG) system, a dynamic model and the corresponding dynamic differential equations are founded. The formulae of the resonance responses are deduced and the laws of the combination resonances of FMMG system are discussed. The results show that the component eccentricities have little effects on the maximum torques, but the ripples of the dynamic torques increase, especially the dynamic torque on the inner rotor. The frequencies of the system resonances agree with the excitation frequencies and there are the interactive modulation phenomena between the displacements of all parts. Because the magnetic coupling stiffnesses are much smaller than the supporting stiffnesses of all parts, the relative deflections of two Degree of Freedoms (DOFs) are much bigger than the relative deflections of other DOFs. The resonances will badly deteriorate the dynamic behaviors of FMMG system and must be got much attention. Copyright © 2014 Binary Information Press.

关键词： Dynamic models

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Design and analysis of a novel heavy-load positioner with series-parallel mechanism 4

Design and analysis of a novel heavy-load positioner with se...

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4th International Conference on advanced Design and Manufacturing Engineering, ADME 2014

作者： Tang, Yan-Hua Parallel robot and mechatronic system laboratory of Hebei province Yanshan University QinhuangdaoHebei China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China

ISBN: (纸本)9783038352570

A heavy-load positioner with series-parallel mechanism was put forward according to the heavy-load positioner’s task demand. Two rotational DOFs were realized by the spherical 3-DOF mechanism with a restricted embranchment instead of traditional gear-driven mechanism, the other by the serial part. The mechanism has the advantages of large workspace, good flexibility and high stiffness-to-weight ratio. The kinematics, statics and singularity of the positioner mechanism were analyzed. The mathematic model of the positioner mechanism was established. Combining the workspace demand of the positioner, dimension optimization of the mechanism was researched. Finally, the kinematics, statics and the singularity analysis of the positioner mechanism was verified through virtual prototype designed with one group of satisfied dimensions. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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The deformation characteristics of hydro-forming of differential gear box for automobile

The deformation characteristics of hydro-forming of differen...

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作者： Huang, Wen Yu, Hai Bo Lu, Hong Qin, Si Ji National Engieering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan University Qinhuangdao Hebei 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao Hebei 066004 China

ISBN: (纸本)9783038351221

The hydroforming process of differential gear box for automobile under axial compressive load and internal bulging pressure was simulated and the load paths were optimized. The hydroforming process is divided into two steps. The deformation under different load paths was investigated using dynamic explicit finite element method. The distribution of equivalent strain and thickness was investigated as well. The simulation results show that the forming path for the first step is optimal when internal pressure changes linearly from 37MPa to 65MPa with the axial displacement. © (2014) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Research on active online diagnosis technology of hydraulic system

Research on active online diagnosis technology of hydraulic ...

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4th International Conference on Frontiers of Manufacturing science and Measuring technology, ICFMM 2014

作者： Yang, Cheng Gang Zhang, Chun Hui Zhao, Jing Yi Zhao, Shi Ming Tangshan Industrial Vocational and Technical College Tangshan 063000 China Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao 066004 China

ISBN: (纸本)9783038351924

Based on the introduction of the hydraulic diagnostic techniques which are commonly used and existed defects in these methods, the active hydraulic diagnosis technology is put forward. Besides, theory analysis of active online test is elaborated. The theory of active diagnose is used in the hydraulic system of heavy transporter to describe online diagnosis method. The results show that the active hydraulic diagnosis is appropriate for all kinds of hydraulic system which is a general diagnosis method. © (2014) Trans Tech Publications, Switzerland.

关键词： Hydraulic equipment

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Force measurement method and analysis of guide wire in minimally invasive cardiovascular interventional surgery

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Journal of Chemical and Pharmaceutical Research 2014年第1期6卷 266-270页

作者： Yang, Xue Wang, Hongbo Wang, Qiang Wu, Jianshuang Parallel Robot and Mechatronic System Laboratory of Hebei Province China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China

This paper presents a method of detecting the resistant force that acting on the guide wire when it moving into the body blood vessel for minimally invasive cardiovascular interventional surgery operated by a robot system. To learn more about the influenced factors for measured force, some simulations of body blood flow environment have been given. And then some analyses have been worked on blood flow to study whether the parameters of blood flow influence the resistant force measurement results. All of these studies will make us know more about the reliability of this force detecting method and lay the foundation for realizing force feedback in minimally invasive surgery robot system to further improve the system reliability.

关键词： Blood vessels

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Numerical simulation research on stretch-bending springback of sheet metal in different loading methods

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ICIC Express Letters 2014年第6期8卷 1761-1766页

作者： Zhai, Ruixue Qian, Zhiping Zhao, Jun Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China

The research on springback is always the difficulty in the field of stretchbending processing. The 3D finite element model of sheet metal stretch-bending was established based on the finite element simulation software ABAQUS, in order to investigate the influence of different loading methods, bending radius and tension on the springback. When the bending radius was 150mm, 300mm and 450mm, the numerical simulations were performed respectively in the loading method of stretching-after-bending and bending-after-stretching. The relationships among residual radius of sheet metal after springback, tension and bending radius were obtained. The springback laws in the two loading methods were compared. © 2014 ISSN 1881-803X.

关键词： Sheet metal

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