检索结果-内蒙古大学图书馆

Cascaded Nonlinear MPC for Realtime Quadrotor Position Tracking ⁎

学校读者我要写书评

暂无评论

IFAC-PapersOnLine 2020年第2期53卷 7026-7032页

作者： Jonas Schlagenhauf Peter Hofmeier Thilo Bronnenmeyer Reinhart Paelinck Moritz Diehl Systems Control and Optimization Laboratory Department of Microsystems Engineering (IMTEK) University of Freiburg Georges-Köhler-Allee 102 79110 Freiburg Germany Kiteswarms GmbH 79427 Eschbach Germany

In this paper we present a cascaded control approach using nonlinear model-predictive controllers for both stages. Using a quadrotor platform as an exemplary target plant with fast nonlinear dynamics, a realtime capable design is proposed that does not require the plant dynamics to exhibit clearly separable time constants as in classical cascaded control. In contrast to similar work we employ NMPC for the inner control loop instead of classical control approaches such as PID control, allowing to keep predictive properties as well as explicit constraint handling. We demonstrate via Monte-Carlo simulations that our design is able to achieve a significantly better position tracking performance of the quadrotor while being equally computationally expensive compared to monolithic position tracking NMPC.

关键词： model predictive control cascaded control realtime control modeling for control optimization quadrotor control

Finite-time Stability of Networked Predictive control systems with Uncertainties

学校读者我要写书评

暂无评论

Finite-time Stability of Networked Predictive Control System...

第三十九届中国控制会议

作者： Hairui Zhao Dongyan Chen School of Science Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology

In this paper, the problem of finite-time stability is studied for a class of networked predictive control systems with parameter uncertainties. Firstly, both the modelling uncertainties and the network-induced delays are considered. A networked predictive control scheme is proposed to actively compensate the network-induced delays. Secondly, a sufficient condition is given to ensure the finite-time stability of the augmented closed-loop system with time delay, where both bilinear matrix inequality and linear matrix inequality conditions are derived with the help of Lyapunov stability theorem. At the same time, an alternate algorithm is designed to obtain the gain matrices of observer and controller from bilinear matrix inequality and linear matrix inequality. Finally, a numerical example is given to confirm the feasibility of the proposed results.

关键词： Networked predictive control finite-time stability parameter uncertainty network-induced delay bilinear matrix inequality

State Estimation for Discrete Neural Networks with False Data Injection Attacks under Weighted Try-Once-Discard Protocol

学校读者我要写书评

暂无评论

State Estimation for Discrete Neural Networks with False Dat...

第三十九届中国控制会议

作者： Dianhong Hou Dongyan Chen Ning Yang School of Science Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology

This paper investigates the state estimation problem for a class of discrete neural networks with time-varying delays and false data injection attacks under weighted try-once-discard（WTOD） protocol. The false data injection attacks are modelled by using the Bernoulli distributed random variable. The measurements are transmitted according to the WTOD protocol in order to reduce unnecessary data transmission and alleviate the bandwidth pressure. A state estimator is designed based on the obtained measurement. By utilizing Lyapunov stability theory, sufficient conditions are given to ensure the exponentially ultimate boundedness in the mean square of error dynamics system. Then, by combining with the linear matrix inequalities（LMIs） technology, the design method of estimator parameter is given. Finally, a numerical example is provided to testify the validity of the proposed state estimation approach.

关键词： Discrete delayed neural networks state estimation false data injection attacks WTOD protocol exponentially ultimate boundedness in the mean square

Predictor-based disturbance rejection control design for low-order stable and integrating processes with time delay

学校读者我要写书评

暂无评论

Predictor-based disturbance rejection control design for low...

第三十九届中国控制会议

作者： Rudong Zang Shoulin Hao Tao Liu Qing-Guo Wang Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Institute of Advanced Control Technology Dalian University of Technology Institute for Intelligent Systems The University of Johannesburg

In this paper, a novel predictor-based disturbance rejection control scheme is proposed for industrial stable and integrating processes with time delay. Two realizable differentiators with finite gain are first introduced to estimate the derivatives of the delay-free output response given by a generalized predictor. Then, a predicted disturbance response is constructed for feedforward compensation by using the input signal along with the delay-free output response and its estimated derivatives. By specifying the desired closed-loop poles, the feedback controller is derived analytically. A prominent advantage of the proposed control scheme lies in that a trade-off between the control performance and its robustness against process uncertainties can be made by monotonically tuning the adjustable parameters in the prediction filter, differentiator and feedback controller, respectively. The necessary and sufficient condition for robust stability of the closed-loop system is established based on the small gain theorem. Two illustrative examples from the literature are adopted to demonstrate the effectiveness and superiority of the proposed control scheme.

关键词： Disturbance rejection time delay dead-time compensator realizable differentiator robust stability

Promoted Generation of Singlet Oxygen by Hollow-Shell Cos/G-C3n4 Catalyst for Sulfonamides Degradation: Pms Oxidation and Electron Transfer

学校读者我要写书评

暂无评论

SSRN 2022年

作者： Fang, Zhimo Qi, Juanjuan Xu, Yongyi Liu, Yibo Qi, Tieyue Xing, Lei Dai, Qin Wang, Lidong MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China China Power Hua Chuang Electricity Technology Research Company Ltd Suzhou215123 China

Sulfanilamide (SM), as one representative drug of sulfonamides, was commonly used for the prevention and treatment of bacterial infectious diseases and were extremely difficult to remove. Herein, an efficient catalyst (CoS/CN) for SM degradation was constructed by CoS self-assembling on ultra-thin g-C3N4 nanosheets. The prepared hollow-shell CoS/CN catalyst could completely degrade SM within 10 min with a rate constant (1.959 min−1) through activation of peroxymonosulfate (PMS). Experiments and theoretical calculations illustrated that that S2- acted as an electron donor to promote the generation of Co(II). The addition of g-C3N4 made the CoS/CN composite had higher conductivity and electron transfer ability than CoS, which promoted the decomposition of PMS to produce reactive oxygen species (ROSs). Singlet oxygen (1O3) was proved as the primary ROSs, and SO4•− radicals were generated during the degradation process to improve the low mineralization rate of 1O2-dominated degradation process, which derived from the oxidation process of PMS and electron transfer of g-C3N4. The results revealed the synergistic effect of free radicals and non-free radicals during the oxidation and reduction of PMS, and provided theoretical support for the efficient degradation of refractory organics in wastewater. © 2022, The Authors. All rights reserved.

关键词： Sulfur compounds

Zero-Valent Bimetallic Catalyst/Absorbent for Simultaneous Facilitation of Mgso3 Oxidation and Arsenic Uptake

学校读者我要写书评

暂无评论

SSRN 2022年

作者： Liang, Zhengwei Qi, Tieyue Lui, Hui Wang, Lidong Li, Qiangwei Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China School of Foreign Languages North China Electric Power University Beijing102206 China

Cobalt-based catalyst can efficiently reduce the heat penalty of sulfate enrichment by enhancing sulfite oxidation in wet magnesia desulfurization. However, the coexistent arsenic will poison the catalyst, and migrate into the sulfate byproduct, resulting in severe secondary pollution. In this paper, we fabricated a Zero-Valent cobalt-iron-based nanoparticle (NZV-Co2Fe1) as a bifunctional catalyst-adsorbent. The catalytic stability of the cobalt-based catalyst was enhanced by the introduction of iron because the poisonous effect was substantially depressed by the high adsorption capacity of iron for arsenic. Compared with the non-catalytic benchmark, the presence of 0.5 g/L NZV-Co2Fe1 can increase the rate of MgSO3 oxidation by approximate 12-folders even at a high concentration of arsenic (2.5 mg/L). The Langmuir model was fitted for the adsorption of arsenic, indicating that the simultaneous uptake of arsenic is a single-layer adsorption process. Pseudo-second-order kinetic model demonstrates that arsenic was removed by chemisorption. The oxidation pathway of As(III) oxidation involves reactive radicals (mainly OH•, SO4-• and SO5-•) and ligand-to-metal charge transfer between SO32- and Co2+. The presence of MgSO3 improved the removal efficiency at high concentrations of As(III) (1 mg/L). The results provide a novel strategy for protecting the catalyst and purifying the byproduct for the FGD. © 2022, The Authors. All rights reserved.

关键词： Adsorption

Heterogeneous Changes of Chemical Compositions, Sources and Health Risks of Pm2.5 with the "Clean Heating" Policy at Urban/Suburban/Industrial Sites

学校读者我要写书评

暂无评论

SSRN 2022年

作者： Zhiyong, Li Liu, Jixiang Zhai, Zhen Liu, Chen Ren, Zhuangzhuang Yue, Ziyuan Hu, Yao Zheng, Huang Kong, Shaofei Yang, Dingyuan Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China Department of Atmospheric Sciences School of Environmental Sciences China University of Geosciences Wuhan430074 China

"Clean Heating" policy implemented in north China. Its impact on PM2.5 constituents and sources in small-scale cities is still lacking. An intensive observation covering the heating period (HP) and pre-heating period (PHP) was conducted in the winter of 2017 at urban (UR), industrial (IS) and suburban (SUR) sites of Changzhi, one of the "2+26" cities. PM2.5 at UR and IS decreased by 15.2% and 4.6%, while increased by 9.8% at SUR in HP, indicating the heterogeneous response to the CH policies. The lowest contributions of coal combustion (21.3%) and industrial emissions (14.1%) to PM2.5 and associated SO42–(3.71%) at UR in HP implied that the CH played more effective role. However, the NO3–/SO42–ratio increased most by 26.8% at the UR site and the NO3– concentration was highest in HP, which should be related to the thermal-NOx emissions from natural gas (NG) burning in view of the NOx reduction from other sources. The highest concentrations of OC, SO42–, Cl– and K+, and the strongest correlations of Cl–-NH4+ (R2=0.75) and NO3–-SO42–(R2=0.97) verified the enhanced usage of biomass/coal for heating at SUR in HP. Biomass burning and coal combustion contributed highest to PM2.5 at SUR in HP, as 20.7% and 24.8%, respectively. Coal banning at IS and UR resulted in the decrease of OC, SO42–, As and Sb. The coal banning at IS and UR, the emission control on large-size enterprises including iron-steel and cement and the ignored control of the emission from small-size industries modified the mass concentrations and health risks of heavy metals. The lowest carcinogenic risks moved from SUR in PHP to UR in HP. The policies on de-NOx of NG-burning related enterprises, reduction of biomass/coal usage in suburban area, and strict regulation of small-size enterprises were need to further improve the air quality. © 2022, The Authors. All rights reserved.

关键词： Health risks

Preventing Re-Emission of Malodorous Dimethylamine Via Tunable Nonradical Oxidation Catalyzed by Waste Mask-Derived Carbocatalyst

学校读者我要写书评

暂无评论

SSRN 2022年

作者： Dai, Qin Li, Zehui Zhong, Xiaolin Wang, Yuxian Qi, Juanjuan Wang, Yanan Fang, Zhimo Xing, Lei Li, Zhen Wang, Lidong MOE Key Laboratory of Resources and Environmental Systems Optimization College of Environmental Science and Engineering North China Electric Power University Beijing102206 China Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China State Key Laboratory for Mesoscopic Physics Frontiers Science Center for Nano-optoelectronics School of Physics Peking University Beijing100871 China State Key Laboratory of Heavy Oil Processing China University of Petroleum-Beijing Beijing102249 China

The re-emission of dimethylamine (DMA), as a famous malodorous volatile organic compound (VOC), exhausted from various industries receives emerging concerns. Herein, a metal-free carbocatalyst derived from waste masks was developed to inhibit DMA re-emission via activating peroxymonosulfate (PMS). The optimal inhibition efficiency was around 99%, 85-fold higher than that without any carbocatalysts and PMS. Such enhancement was ascribed to the rapid conversion of DMA ( kobs = 0.67 min-1, 4 min) into non-volatile and lower toxic substances (NO3− , NO2− and aliphatic acids) by electron transfer and singlet oxygenation. Experiments combined with correlation analysis and theoretical calculations unveiled that the intensified graphitization degree promoted the electron migration from DMA to the carbocatalyst/PMS* complex due to the enhanced conductivity and elevated redox potential, and PMS preferentially absorbed on the electron-rich C=O and deprotonated COO− groups rather than C-OH and COOH of carbocatalyst and then released SO5•− for the generation of 1O2 . Based on the theory, tuning the graphitization degree and amount of C=O and COO− groups via a simple annealing strategy triggered a shift from singlet oxygenation to predominantly direct electron transfer pathway, thus achieving optimal suppression efficiency of DMA re-emission. Finally, electrical energy per order (EE/O) analysis demonstrated our technology had a relatively low EE/O value (3.56 kWh/m3 ) and cost (0.47 $/m3 ). Considering the high efficiency and low cost of carbocatalytic PMS system endowed with clear mechanism and controllable properties, this work, therefore, pioneers an unparalleled approach for the industrial governance of effluvial VOCs treatment, and provides new insights into the tunable nonradical oxidation mechanism of carbocatalytic PMS activation. © 2022, The Authors. All rights reserved.

关键词： Oxidation

Impact of "Coal to Electricity" Policy on Air Quality During Heating Period Over Beijing−Tianjin−Hebei Region in China by Wrf-Chem Model

学校读者我要写书评

暂无评论

SSRN 2022年

作者： Zhang, Ruting Chen, Chuanmin Liu, Songtao Wu, Huacheng Zhou, Weiqing Li, Peng Jia, Wenbo Cao, Yue Hebei Key Lab of Power Plant Flue Gas Multi-Pollutants Control Department of Environmental Science and Engineering North China Electric Power University Baoding071003 China Jibei Electric Power Research Institute State Grid Jibei Electric Power Co. Ltd. North China Electric Power Research Institute Company Limited Beijing100045 China The Key Laboratory of Resources and Environmental Systems Optimization

To improve the quality of the atmospheric environment, the Chinese government has issued guidance on alternative energy and formulated a series of control measures such as "coal to electricity" policy, but impacts of the implementation of "coal to electricity" policy on air quality cannot be accurately quantified. In this study, by conducting basic scenario and emission reduction scenario simulation experiments, we find that the daily PM2.5 decreased by 0.2−5.6 μg/m3 due to the policy while the decreases in PM2.5 concentrations varied from 1−6% in Beijing, Tianjin, Baoding, Shijiazhuang during the heating period. During the heavy pollution process on December 15, 2018, the hourly average concentration of PM2.5 decreased by 1.02−7.53 μg/m3 in most Beijing−Tianjin−Hebei (BTH) region. The implementation of the policy has different degrees of reduction effects on BTH region under various air quality index (AQI) levels, and the policy also affected the AQI level in BTH region. In the heating period, the number of days that AQI level changes in the BTH region accounts for up to 13%. For other pollutants, the average reduction of PM10, CO, SO2 and NO2 concentration over BTH region in December 2018 ranged from 0.42−11.47, 0.01−0.77, 0.39−24.18, 0.76−2.91 μg/m3, respectively. Even if the "coal to electricity" policy replaced part of the residential sector of emission sources, it plays an important role in improving air quality over BTH region. We suggest that policies should be formulated and improved according to the actual situation to further complete energy transformation such as coal substitution. © 2022, The Authors. All rights reserved.

关键词： Coal