This paper proposes an efficient method for designing accurate structure-specified mixed H2/H∞ optimal controllers for systems with uncertainties and disturbance using particle swarm (PSO) algorithm. It is designed t...This paper proposes an efficient method for designing accurate structure-specified mixed H2/H∞ optimal controllers for systems with uncertainties and disturbance using particle swarm (PSO) algorithm. It is designed to find a suitable controller that minimizes the performance index of error signal subject to an unequal constraint on the norm of the closed-loop system. Although the mixed H2/H∞ for the output feedback approach control is considered as a robust and optimal control technique, the design process normally comes up with a complex and non-convex optimization problem, which is difficult to solve by the conventional optimization methods. The PSO can efficiently solve design problems of multi-input-multi-output (MIMO) optimal control systems, which is very suitable for practical engineering designs. It is used to search for parameters of a structure-specified controller, which satisfies mixed performance index. The simulation and experimental results show high feasibility, robustness and practical value compared with the conventional proportional-integral-derivative (PID) and proportional-Integral (PI) controller, and the proposed algorithm is also more efficient compared with the genetic algorithm (GA).展开更多
The mixed l1/H2 optimization problem for MIMO (multiple input-multiple output) discrete-time systems is considered. This problem is formulated as minimizing the l1-norm of a closed-loop transfer matrix while maintaini...The mixed l1/H2 optimization problem for MIMO (multiple input-multiple output) discrete-time systems is considered. This problem is formulated as minimizing the l1-norm of a closed-loop transfer matrix while maintaining the H2-norm of another closed-loop transfer matrix at prescribed level. The continuity property of the optimal value in respect to changes in the H2-norm constraint is studied. The existence of the optimal solutions of mixed l1/H2 problem is proved. Because the solution of the mixed l1/H2 problem is based on the scaled-Q method, it avoids the zero interpolation difficulties. The convergent upper and lower bounds can be obtained by solving a sequence of finite dimensional nonlinear programming for which many efficient numerical optimization algorithms exist.展开更多
The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road ...The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system＇s robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system＇s robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers.展开更多
A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was establi...A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was established to demonstrate the effectiveness of the new control approach.Magneto-rheological(MR) dampers were designed,manufactured and characterized as available semi-active actuators in the developed semi-active suspension system.The four independent mixed H2/H∞ controllers were devised in order to perform a distributed semi-active control system in the vehicle by which the response velocity and reliability can be improved significantly.The performance of the proposed new approach was investigated in time and frequency domains.A good balance between vehicle's comfort and road holding was achieved.An effective and practical control strategy for semi-active suspension system was thus obtained.This new approach exhibits some advantages in implementation,performance flexibility and robustness compared to existing methods.展开更多
For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mi...For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mixed H_2/H_∞ state feedback attitude control problem of microsatellite based on extended LMI method.Firstly,the microsatellite attitude control system is established and transformed into corresponding state space form.Then,without the equivalence restriction of the two Lyapunov variables of H_2 and H∞performance,this paper introduces additional variables to design the mixed H_2/H_∞ control method based on LMI which can also reduce the conservatives.Finally,numerical simulations are analyzed to show that the proposed method can make the satellite stable within 20 s whether there is additive perturbation of the controller gain or not.The comparative analysis of the simulation results between extended LMI method and traditional LMI method also demonstrates the effectiveness and feasibility of the proposed method in this paper.展开更多
The general discrete-time Single-Input Single-Output （SISO） mixed H2/l1 control problem is considered in this paper. It is found that the existing results of duality theory cannot be directly applied to this infinit...The general discrete-time Single-Input Single-Output （SISO） mixed H2/l1 control problem is considered in this paper. It is found that the existing results of duality theory cannot be directly applied to this infinite dimension optimisation problem. By means of two finite dimension approximate problems, to which duality theory can be applied, the dual of the mixed H2/l1 control problem is verified to be the limit of the duals of these two approximate problems.展开更多
Study of the SISO mixed H2/l1 problem for discrete time systems showed that there exists a unique optimal solution which can be approximated within any prescribed missing error bound in l2 norm with solvable suboptima...Study of the SISO mixed H2/l1 problem for discrete time systems showed that there exists a unique optimal solution which can be approximated within any prescribed missing error bound in l2 norm with solvable suboptimal solutions and solvable superoptimal solutions.展开更多
In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in ...In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in serial or in parallel.The dynamic equations of TID adjacent building damping systems were derived,and the H2 norm criterion was used to optimize and adjust them,so that the system had the optimum damping performance under white noise random excitation.Taking TID frequency ratio and damping ratio as optimization parameters,the optimum analytical solutions of the displacement frequency response of the undamped structure under white noise excitation were obtained.The results showed that compared with the classic TMD,TID could obtain a better damping effect in the adjacent buildings.Comparing the TIDs composed of serial or parallel,it was found that the parallel TIDs had more significant advantages in controlling the peak displacement frequency response,while the H2 norm of the displacement frequency response of the damping system under the coupling of serial TID was smaller.Taking the adjacent building composed of two ten-story frame structures as an example,the displacement and energy collection time history analysis of the adjacent building coupled with the optimum design parameter TIDs were carried out.It was found that TID had a better damping effect in the full-time range compared with the classic TMD.This paper also studied the potential power of TID in adjacent buildings,which can be converted into available power resources during earthquakes.展开更多
Direct propylene epoxidation with H2 and O2,an attractive process to produce propylene oxide(PO),has a potential explosion danger due to the coexistence of flammable gases(i.e.,C3 H6 and H2)and oxidizer(i.e.,O2).The u...Direct propylene epoxidation with H2 and O2,an attractive process to produce propylene oxide(PO),has a potential explosion danger due to the coexistence of flammable gases(i.e.,C3 H6 and H2)and oxidizer(i.e.,O2).The unknown explosion limits of the multi-component feed gas mixture make it difficult to optimize the reaction process under safe operation conditions.In this work,a distribution method is proposed and verified to be effective by comparing estimated and experimental explosion limits of more than 200 kinds of flammable gas mixture.Then,it is employed to estimate the explosion limits of the feed gas mixture,some results of which are also validated by the classic Le Chatelier’s Rule and flammable resistance method.Based on the estimated explosion limits,process optimization is carried out using commercially high and inherently safe reactant concentrations to enhance reaction performance.The promising results are directly obtained through the interface called gOPT in gPROMS only by using a simple,easy-constructed and mature packed-bed reactor,such as the PO yield of 13.3%,PO selectivity of 85.1%and outlet PO fraction of 1.8%.These results can be rationalized by indepth analyses and discussion about the effects of the decision variables on the operation safety and reaction performance.The insights revealed here could shed new light on the process development of the PO production based on the estimation of the explosion limits of the multi-component feed gas mixture containing flammable gase s,inert gas and O2,followed by process optimization.展开更多
Seven types of activated carbon were used to investigate the effect of their structure on separation of CO2 from（H2 ＋ CO2） gas mixture by the adsorption method at ambient temperature and higher pressures. The resul...Seven types of activated carbon were used to investigate the effect of their structure on separation of CO2 from（H2 ＋ CO2） gas mixture by the adsorption method at ambient temperature and higher pressures. The results showed that the limiting factors for separation of CO2 from 53.6 mol% H2 ＋ 46.4 mol% CO2 mixture and from 85.1 mol% H2 ＋ 14.9 mol% CO2 mixture were different at 20 °C and about 2 MPa. The best separation result could be achieved when the pore diameter of the activated carbon ranged from 0.77 to 1.20 nm, and the median particle size was about2.07 lm for 53.6 mol% H2 ＋ 46.4 mol% CO2 mixture and 1.41 lm for 85.1 mol% H2 ＋ 14.9 mol% CO2 mixture. The effect of specific area and pore diameter of activated carbon on separation CO2 from 53.6 mol% H2 ＋ 46.4 mol% CO2 mixture was more significant than that from 85.1 mol% H2 ＋ 14.9 mol% CO2 mixture. CO2 in the gas phase can be decreased from 46.4 mol% to 2.3 mol%–4.3 mol% with a two-stage separation process.展开更多
Experiments performed on the grwth of mixed crystals of rare earth tartrates (Y1-xSmx)2 (C4H4O6)3.zH2O (0≤x≤1) from silica gels at 35~40℃ and 25~30℃ employing single-diffusion technique. are discussed. The crysta...Experiments performed on the grwth of mixed crystals of rare earth tartrates (Y1-xSmx)2 (C4H4O6)3.zH2O (0≤x≤1) from silica gels at 35~40℃ and 25~30℃ employing single-diffusion technique. are discussed. The crystals maintain spherulitic morphology, irrespective of the value of x, concentration of upper and lower reactants, gel pH, gel age and gel temperature. Formation Of Liesegang rings in this system is a temperature dependent phenomenon. It is shown that with the increase of the value of x the system passes from Liesegangring phenomenon to singlezone phenomenon. Operative mechanism of crystallization in the higher (35~40℃) and lower temperature ranges (25~30℃) is explained. Seeded growth experiments indicate the possibility of increasing the size of the spherulites in the gel medium展开更多
The aim of the present work is to illustrate the application of mixed H2/H∞ control theory with Pole-Placement in de- signing controller for semi-active suspension system. It is well known that the ride comfort is im...The aim of the present work is to illustrate the application of mixed H2/H∞ control theory with Pole-Placement in de- signing controller for semi-active suspension system. It is well known that the ride comfort is improved by reducing vehicle body acceleration generated by road disturbance. In order to study this phenomenon, Two Degrees of Freedom (DOF) in state space vehicle model was built in. However, the role of H is to minimize the disturbance effect on the output while H2 is used to improve the input of controller. Linear Matrix Inequality (LMI) technique is used to calculate the dynamic controller parameters. The simulation results show that the H2 and H techniques can effectively control the vibration of vehicle system where the reduction of suspension working space, dynamic tire load and body acceleration. Moreover, the simulation results show that the (RMS) of suspension working space was reduced by 44.5%, body acceleration and dynamic tire load are reduced by 18.5% and 20% respectively.展开更多
文摘This paper proposes an efficient method for designing accurate structure-specified mixed H2/H∞ optimal controllers for systems with uncertainties and disturbance using particle swarm (PSO) algorithm. It is designed to find a suitable controller that minimizes the performance index of error signal subject to an unequal constraint on the norm of the closed-loop system. Although the mixed H2/H∞ for the output feedback approach control is considered as a robust and optimal control technique, the design process normally comes up with a complex and non-convex optimization problem, which is difficult to solve by the conventional optimization methods. The PSO can efficiently solve design problems of multi-input-multi-output (MIMO) optimal control systems, which is very suitable for practical engineering designs. It is used to search for parameters of a structure-specified controller, which satisfies mixed performance index. The simulation and experimental results show high feasibility, robustness and practical value compared with the conventional proportional-integral-derivative (PID) and proportional-Integral (PI) controller, and the proposed algorithm is also more efficient compared with the genetic algorithm (GA).
基金This project was supported by the National Nature Science Foundation of China (60374009)Nature Science Foundation of Guangdong Province of China (990795).
文摘The mixed l1/H2 optimization problem for MIMO (multiple input-multiple output) discrete-time systems is considered. This problem is formulated as minimizing the l1-norm of a closed-loop transfer matrix while maintaining the H2-norm of another closed-loop transfer matrix at prescribed level. The continuity property of the optimal value in respect to changes in the H2-norm constraint is studied. The existence of the optimal solutions of mixed l1/H2 problem is proved. Because the solution of the mixed l1/H2 problem is based on the scaled-Q method, it avoids the zero interpolation difficulties. The convergent upper and lower bounds can be obtained by solving a sequence of finite dimensional nonlinear programming for which many efficient numerical optimization algorithms exist.
基金supported by National Natural Science Foundation of China (Grant No. 51005115, No. 51005248)Science Fund of State Key Laboratory of Automotive Safety and Energy of China (Grant No. KF11201)
文摘The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system＇s robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system＇s robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers.
基金Project(50775225) supported by the National Natural Science Foundation of ChinaProjects(CSTC, 2008AC6097, 2008BA6025) supported by National Natural Science Foundation of Chongqing, China
文摘A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was established to demonstrate the effectiveness of the new control approach.Magneto-rheological(MR) dampers were designed,manufactured and characterized as available semi-active actuators in the developed semi-active suspension system.The four independent mixed H2/H∞ controllers were devised in order to perform a distributed semi-active control system in the vehicle by which the response velocity and reliability can be improved significantly.The performance of the proposed new approach was investigated in time and frequency domains.A good balance between vehicle's comfort and road holding was achieved.An effective and practical control strategy for semi-active suspension system was thus obtained.This new approach exhibits some advantages in implementation,performance flexibility and robustness compared to existing methods.
文摘For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mixed H_2/H_∞ state feedback attitude control problem of microsatellite based on extended LMI method.Firstly,the microsatellite attitude control system is established and transformed into corresponding state space form.Then,without the equivalence restriction of the two Lyapunov variables of H_2 and H∞performance,this paper introduces additional variables to design the mixed H_2/H_∞ control method based on LMI which can also reduce the conservatives.Finally,numerical simulations are analyzed to show that the proposed method can make the satellite stable within 20 s whether there is additive perturbation of the controller gain or not.The comparative analysis of the simulation results between extended LMI method and traditional LMI method also demonstrates the effectiveness and feasibility of the proposed method in this paper.
基金This work is supported by the National Natural Science Foundation of China (No.60374002 and No.60421002) the 973 program of China (No.2002CB312200) and the program for New Century Excellent Talents in University (No.NCET-04-0547).
文摘The general discrete-time Single-Input Single-Output （SISO） mixed H2/l1 control problem is considered in this paper. It is found that the existing results of duality theory cannot be directly applied to this infinite dimension optimisation problem. By means of two finite dimension approximate problems, to which duality theory can be applied, the dual of the mixed H2/l1 control problem is verified to be the limit of the duals of these two approximate problems.
文摘Study of the SISO mixed H2/l1 problem for discrete time systems showed that there exists a unique optimal solution which can be approximated within any prescribed missing error bound in l2 norm with solvable suboptimal solutions and solvable superoptimal solutions.
基金This research was funded by the Natural Science Research Project of Higher Education Institutions in Anhui Province(Grant No.2022AH040045)the Anhui Provincial Natural Science Foundation(Grant No.2008085QE245)the Project of Science and Technology Plan of Department of Housing and Urban-Rural Development of Anhui Province(Grant No.2021-YF22).
文摘In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in serial or in parallel.The dynamic equations of TID adjacent building damping systems were derived,and the H2 norm criterion was used to optimize and adjust them,so that the system had the optimum damping performance under white noise random excitation.Taking TID frequency ratio and damping ratio as optimization parameters,the optimum analytical solutions of the displacement frequency response of the undamped structure under white noise excitation were obtained.The results showed that compared with the classic TMD,TID could obtain a better damping effect in the adjacent buildings.Comparing the TIDs composed of serial or parallel,it was found that the parallel TIDs had more significant advantages in controlling the peak displacement frequency response,while the H2 norm of the displacement frequency response of the damping system under the coupling of serial TID was smaller.Taking the adjacent building composed of two ten-story frame structures as an example,the displacement and energy collection time history analysis of the adjacent building coupled with the optimum design parameter TIDs were carried out.It was found that TID had a better damping effect in the full-time range compared with the classic TMD.This paper also studied the potential power of TID in adjacent buildings,which can be converted into available power resources during earthquakes.
基金Supported by the National Natural Science Foundation of China(91434117,21776077)the Shanghai Rising-Star Program(17QA1401200)+1 种基金the Program for Professor of Special Appointment(Eastern Scholar)at Shanghai Institutions of Higher Learningthe Open Project of State Key Laboratory of Chemical Engineering(SKL-Che-15C03).
文摘Direct propylene epoxidation with H2 and O2,an attractive process to produce propylene oxide(PO),has a potential explosion danger due to the coexistence of flammable gases(i.e.,C3 H6 and H2)and oxidizer(i.e.,O2).The unknown explosion limits of the multi-component feed gas mixture make it difficult to optimize the reaction process under safe operation conditions.In this work,a distribution method is proposed and verified to be effective by comparing estimated and experimental explosion limits of more than 200 kinds of flammable gas mixture.Then,it is employed to estimate the explosion limits of the feed gas mixture,some results of which are also validated by the classic Le Chatelier’s Rule and flammable resistance method.Based on the estimated explosion limits,process optimization is carried out using commercially high and inherently safe reactant concentrations to enhance reaction performance.The promising results are directly obtained through the interface called gOPT in gPROMS only by using a simple,easy-constructed and mature packed-bed reactor,such as the PO yield of 13.3%,PO selectivity of 85.1%and outlet PO fraction of 1.8%.These results can be rationalized by indepth analyses and discussion about the effects of the decision variables on the operation safety and reaction performance.The insights revealed here could shed new light on the process development of the PO production based on the estimation of the explosion limits of the multi-component feed gas mixture containing flammable gase s,inert gas and O2,followed by process optimization.
基金the Talent Scientific Research Fund of LSHU (No. 2016XJJ-015)the fund of the Liaoning Provincial Department of Education (No. L2017LQN005)the National Natural Science Foundation of China (No. 21606120)
文摘Seven types of activated carbon were used to investigate the effect of their structure on separation of CO2 from（H2 ＋ CO2） gas mixture by the adsorption method at ambient temperature and higher pressures. The results showed that the limiting factors for separation of CO2 from 53.6 mol% H2 ＋ 46.4 mol% CO2 mixture and from 85.1 mol% H2 ＋ 14.9 mol% CO2 mixture were different at 20 °C and about 2 MPa. The best separation result could be achieved when the pore diameter of the activated carbon ranged from 0.77 to 1.20 nm, and the median particle size was about2.07 lm for 53.6 mol% H2 ＋ 46.4 mol% CO2 mixture and 1.41 lm for 85.1 mol% H2 ＋ 14.9 mol% CO2 mixture. The effect of specific area and pore diameter of activated carbon on separation CO2 from 53.6 mol% H2 ＋ 46.4 mol% CO2 mixture was more significant than that from 85.1 mol% H2 ＋ 14.9 mol% CO2 mixture. CO2 in the gas phase can be decreased from 46.4 mol% to 2.3 mol%–4.3 mol% with a two-stage separation process.
文摘Experiments performed on the grwth of mixed crystals of rare earth tartrates (Y1-xSmx)2 (C4H4O6)3.zH2O (0≤x≤1) from silica gels at 35~40℃ and 25~30℃ employing single-diffusion technique. are discussed. The crystals maintain spherulitic morphology, irrespective of the value of x, concentration of upper and lower reactants, gel pH, gel age and gel temperature. Formation Of Liesegang rings in this system is a temperature dependent phenomenon. It is shown that with the increase of the value of x the system passes from Liesegangring phenomenon to singlezone phenomenon. Operative mechanism of crystallization in the higher (35~40℃) and lower temperature ranges (25~30℃) is explained. Seeded growth experiments indicate the possibility of increasing the size of the spherulites in the gel medium
文摘The aim of the present work is to illustrate the application of mixed H2/H∞ control theory with Pole-Placement in de- signing controller for semi-active suspension system. It is well known that the ride comfort is improved by reducing vehicle body acceleration generated by road disturbance. In order to study this phenomenon, Two Degrees of Freedom (DOF) in state space vehicle model was built in. However, the role of H is to minimize the disturbance effect on the output while H2 is used to improve the input of controller. Linear Matrix Inequality (LMI) technique is used to calculate the dynamic controller parameters. The simulation results show that the H2 and H techniques can effectively control the vibration of vehicle system where the reduction of suspension working space, dynamic tire load and body acceleration. Moreover, the simulation results show that the (RMS) of suspension working space was reduced by 44.5%, body acceleration and dynamic tire load are reduced by 18.5% and 20% respectively.
