Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this ...Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.展开更多
Based on the molecular theory of non-linear viscoelasticity with constrained entanglements in polymer melts, the material functions in simple shear flow were formulated, the theoretical relations between. eta((gamma) ...Based on the molecular theory of non-linear viscoelasticity with constrained entanglements in polymer melts, the material functions in simple shear flow were formulated, the theoretical relations between. eta((gamma) over dot), psi (10)((gamma) over dot) and shear rate ((gamma) over dot), and topologically constrained dimension number n ' and a were derived. Linear viscoelastic parameters (eta (0) and G(N)(0)) and topologically constrained dimension number (n ' a and <(<upsilon>)over bar>) as a function of the primary molecular weight (M-n), molecular weight between entanglements (M-C) and the entanglement sites sequence distribution in polymer chain were determined. A new method for determination of viscoelastic parameters (eta (0), psi (10), G(N)(0) and J(e)(0)), topologically constrained dimension number (n ', a and v) and molecular weight (M-n, M-c and M-e) from the shear flow measurements was proposed. It was used to determine those parameters and structures of HDPE, making a good agreement between these values and those obtained by other methods. The agreement affords a quantitative verification for the molecular theory of nonlinear viscoelasticity with constrained entanglement in polymer melts.展开更多
In order to meet tracking performance index of three-axis hydraulic simulator, based on classical quantitative feedback theory （QFT）, an improved QFT technique is used to synthesize controller of low gain and bandwi...In order to meet tracking performance index of three-axis hydraulic simulator, based on classical quantitative feedback theory （QFT）, an improved QFT technique is used to synthesize controller of low gain and bandwidth. By choosing a special nominal plant, the improved method assigns relative magnitude and phase tracking error between system uncertainty and nominal control plant. Relative tracking error induced by system uncertainty is transformed into sensitivity problem and relative tracking error induced by nominal plant forms into a region on Nichols chart. The two constraints further form into a combined bound which is fit for magnitude and phase loop shaping. Because of leaving out pre-filter of classical QFT controller structure, tracking performance is enhanced greatly. Furthermore, a cascaded two-loop control strategy is proposed to heighten control effect. The improved technique＇s efficacy is validated by simulation and experiment results.展开更多
In the era of network live broadcasting for everyone,the development of live broadcasting platforms is also more intelligent and diversified.However,in the face of a large group of elderly users,the interface interact...In the era of network live broadcasting for everyone,the development of live broadcasting platforms is also more intelligent and diversified.However,in the face of a large group of elderly users,the interface interaction design mode used is still mainly based on the interaction mode for young groups,and is not designed for elderly users.Therefore,a design method for optimizing the interaction interface of live broadcasting platform for elderly users was proposed in this study.Firstly,the case study method and Delphi expert survey method were used to determine the design needs of elderly users and the design mode was analysed.Secondly,the orthogonal design principle was used to design a test sample of the interactive interface of live broadcasting platform applicable for the elderly users,and then a user evaluation system was established to calculate the weights of the design elements using hierarchical analysis,and then the predictive relationship between the design mode of the interactive interface of live broadcasting platform and the elderly users was established by Quantitative Theory I.Finally,Genetic Algorithm was applied to generate the optimized design scheme.The results showed that the design method based on the Genetic Algorithm and the combination of Quantitative Theory can scientifically and effectively optimize the design of the interactive interface of the live broadcasting platform for the elderly users,and improve the experience of the elderly users.展开更多
Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhi...Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.展开更多
A novel method of incorporating generalized predictive control GPC algorithms based on quantitative feedback theory QFT principles is proposed for solving the feedback control problem of the highly uncertain and cross...A novel method of incorporating generalized predictive control GPC algorithms based on quantitative feedback theory QFT principles is proposed for solving the feedback control problem of the highly uncertain and cross-coupling plants. The quantitative feedback theory decouples the multi-input and multi-output MIMO plant and is also used to reduce the uncertainties of the system, stabilize the system, and achieve tracking performance of the system to a certain extent. Single-input and single-output SISO generalized predictive control is used to achieve performance with higher performance. In GPC, the model is identified on-line, which is based on the QFT input and the plant output signals. The simulation results show that the performance of the system is superior to the performance when only QFT is used for highly uncertain MIMO plants.展开更多
To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design...To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.展开更多
The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the ...The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the main characteristics in the 3-axis flight table servosystem. Based on the description of dynamic and static model of a nonlinear Stribeck frictionmodel, and taking account of the practical uncertainties of 3-axis flight table servo system, theQFT controller is designed. Simulation and realtime results are presented.展开更多
For the primary mirror of a large-scale telescope, an electro-hydraulic position control system(EHPCS) is used in the primary mirror support system. The EHPCS helps the telescope improve imaging quality and requires a...For the primary mirror of a large-scale telescope, an electro-hydraulic position control system(EHPCS) is used in the primary mirror support system. The EHPCS helps the telescope improve imaging quality and requires a micron-level position control capability with a high convergence rate, high tracking accuracy, and stability over a wide mirror cell rotation region. In addition, the EHPCS parameters vary across different working conditions, thus rendering the system nonlinear. In this paper, we propose a robust closed-loop design for the position control system in a primary hydraulic support system. The control system is synthesized based on quantitative feedback theory. The parameter bounds are defined by system modeling and identified using the frequency response method. The proposed controller design achieves robust stability and a reference tracking performance by loop shaping in the frequency domain. Experiment results are included from the test rig for the primary mirror support system, showing the effectiveness of the proposed control design.展开更多
A model-flee compound controller design method is proposed to achieve the wide frequency bandwidth requirement of flight simulators. The method based on quantitative feedback theory, acquires system uncertainty under ...A model-flee compound controller design method is proposed to achieve the wide frequency bandwidth requirement of flight simulators. The method based on quantitative feedback theory, acquires system uncertainty under different working conditions through closed-loop identification with power spectrum estimation. Then in controller designing, it makes a trade, off between the strict requirements for magnitude-frequency characteristics and those for phase-frequency characteristics of flight simulators, by converting the indices of magnitude-frequency characteristics of flight simulators into quantitative feedback theory-based tracking specification bounds and using feedforward controller to attain the required phase-flequency characteristics. Simulation and experimental results indicate that, when used to design inner flame controller of flight simulator, the proposed method can fulfill the requirements for wide frequency bandwidth indices. Compared with other controller design methods, it has the property of model-free and transparency.展开更多
The strain of bridges under traffic loads is time-varying and of small amplitude(~10^(-6)),which is a type of cumulative response and needs long-term continuous monitoring.To precisely capture the time-varying respons...The strain of bridges under traffic loads is time-varying and of small amplitude(~10^(-6)),which is a type of cumulative response and needs long-term continuous monitoring.To precisely capture the time-varying responses,a dynamic strain triboelectric nanogenerator(TENG)sensor with superior response capability,sensitivity,self-powered,and long-term stability is proposed in this paper.An analytical correlation between the structural strain response signal and the detected electrical signal is established for long-term continuous quantitative strain measurements based on the principles of contact electrification and electrostatic induction.A series of experiments are conducted to investigate the output performance of the proposed lateral-sliding mode TENG sensors.The results reveal that,with the loading condition with frequencies lower than 10 Hz,the time-varying strain responses of the steel bridge within the range of 3 to 150 microstrains can also be detected with high precision of 0.1 microstrains.And it achieves long-term stability after 10000 loading cycles compared with commercial sensors.The proposed novel sensing theory and method based on TENG technology can be applied as a new alternative approach for monitoring realtime structural strain information quantitatively with general applicability and feasibility for bridges.展开更多
In this paper, a computationally efficient method is proposed for automated design of the prefilters for multivariable systems. In quantitative feedback theory （QFT） method, proposed by Horowitz, the prefilter is de...In this paper, a computationally efficient method is proposed for automated design of the prefilters for multivariable systems. In quantitative feedback theory （QFT） method, proposed by Horowitz, the prefilter is designed to achieve the desired tracking specifications. In the proposed approach, we pose the prefilter design problem as an interval constraint satisfaction problem and solve it using the well-established interval constraint satisfaction techniques. The proposed method finds optimal values of the parameters of fixed structure prefilter within the initial search domain. An approach based on prefilter synthesis for single-input single-output is already developed. The purpose of this paper is to extend this approach to QFT prefilter design for general multivariable systems. To validate the above design approach, we applied the method to a laboratory setup of magnetic levitation system.展开更多
文摘Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.
基金The authors gratefully a.cknowledge financial supportfrom th6 Natiol-al Natural Science Foundatiol- of CI-h-a. The number of
文摘Based on the molecular theory of non-linear viscoelasticity with constrained entanglements in polymer melts, the material functions in simple shear flow were formulated, the theoretical relations between. eta((gamma) over dot), psi (10)((gamma) over dot) and shear rate ((gamma) over dot), and topologically constrained dimension number n ' and a were derived. Linear viscoelastic parameters (eta (0) and G(N)(0)) and topologically constrained dimension number (n ' a and <(<upsilon>)over bar>) as a function of the primary molecular weight (M-n), molecular weight between entanglements (M-C) and the entanglement sites sequence distribution in polymer chain were determined. A new method for determination of viscoelastic parameters (eta (0), psi (10), G(N)(0) and J(e)(0)), topologically constrained dimension number (n ', a and v) and molecular weight (M-n, M-c and M-e) from the shear flow measurements was proposed. It was used to determine those parameters and structures of HDPE, making a good agreement between these values and those obtained by other methods. The agreement affords a quantitative verification for the molecular theory of nonlinear viscoelasticity with constrained entanglement in polymer melts.
文摘In order to meet tracking performance index of three-axis hydraulic simulator, based on classical quantitative feedback theory （QFT）, an improved QFT technique is used to synthesize controller of low gain and bandwidth. By choosing a special nominal plant, the improved method assigns relative magnitude and phase tracking error between system uncertainty and nominal control plant. Relative tracking error induced by system uncertainty is transformed into sensitivity problem and relative tracking error induced by nominal plant forms into a region on Nichols chart. The two constraints further form into a combined bound which is fit for magnitude and phase loop shaping. Because of leaving out pre-filter of classical QFT controller structure, tracking performance is enhanced greatly. Furthermore, a cascaded two-loop control strategy is proposed to heighten control effect. The improved technique＇s efficacy is validated by simulation and experiment results.
文摘In the era of network live broadcasting for everyone,the development of live broadcasting platforms is also more intelligent and diversified.However,in the face of a large group of elderly users,the interface interaction design mode used is still mainly based on the interaction mode for young groups,and is not designed for elderly users.Therefore,a design method for optimizing the interaction interface of live broadcasting platform for elderly users was proposed in this study.Firstly,the case study method and Delphi expert survey method were used to determine the design needs of elderly users and the design mode was analysed.Secondly,the orthogonal design principle was used to design a test sample of the interactive interface of live broadcasting platform applicable for the elderly users,and then a user evaluation system was established to calculate the weights of the design elements using hierarchical analysis,and then the predictive relationship between the design mode of the interactive interface of live broadcasting platform and the elderly users was established by Quantitative Theory I.Finally,Genetic Algorithm was applied to generate the optimized design scheme.The results showed that the design method based on the Genetic Algorithm and the combination of Quantitative Theory can scientifically and effectively optimize the design of the interactive interface of the live broadcasting platform for the elderly users,and improve the experience of the elderly users.
基金Supported by National Excellent Natural Science Foundation of China(Grant No.52122503)Hebei Provincial Natural Science Foundation of China(Grant No.E2022203002)+2 种基金The Yanzhao’s Young Scientist Project of China(Grant No.E2023203258)Science Research Project of Hebei Education Department of China(Grant No.BJK2022060)Hebei Provincial Graduate Innovation Funding Project of China(Grant No.CXZZSS2022129).
文摘Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.
基金the National Natural Science Foundation of China (No.60374037, No.60574036)the Program for New CenturyExcellent Talents in Education Ministry (NCET)the Specialized Research Fund for the Doctoral Program of Higher Edu-cation of China (No.20050055013)
文摘A novel method of incorporating generalized predictive control GPC algorithms based on quantitative feedback theory QFT principles is proposed for solving the feedback control problem of the highly uncertain and cross-coupling plants. The quantitative feedback theory decouples the multi-input and multi-output MIMO plant and is also used to reduce the uncertainties of the system, stabilize the system, and achieve tracking performance of the system to a certain extent. Single-input and single-output SISO generalized predictive control is used to achieve performance with higher performance. In GPC, the model is identified on-line, which is based on the QFT input and the plant output signals. The simulation results show that the performance of the system is superior to the performance when only QFT is used for highly uncertain MIMO plants.
基金This project was supported by the Aeronautics Foundation of China (00E51022).
文摘To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.
文摘The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the main characteristics in the 3-axis flight table servosystem. Based on the description of dynamic and static model of a nonlinear Stribeck frictionmodel, and taking account of the practical uncertainties of 3-axis flight table servo system, theQFT controller is designed. Simulation and realtime results are presented.
基金supported by the National Basic Research Program(973)of China(No.2013CB035400)the National High-Tech R&D Program(863)of China(No.2012AA041803)the National Natural Science Foundation of China(No.51221004)
文摘For the primary mirror of a large-scale telescope, an electro-hydraulic position control system(EHPCS) is used in the primary mirror support system. The EHPCS helps the telescope improve imaging quality and requires a micron-level position control capability with a high convergence rate, high tracking accuracy, and stability over a wide mirror cell rotation region. In addition, the EHPCS parameters vary across different working conditions, thus rendering the system nonlinear. In this paper, we propose a robust closed-loop design for the position control system in a primary hydraulic support system. The control system is synthesized based on quantitative feedback theory. The parameter bounds are defined by system modeling and identified using the frequency response method. The proposed controller design achieves robust stability and a reference tracking performance by loop shaping in the frequency domain. Experiment results are included from the test rig for the primary mirror support system, showing the effectiveness of the proposed control design.
文摘A model-flee compound controller design method is proposed to achieve the wide frequency bandwidth requirement of flight simulators. The method based on quantitative feedback theory, acquires system uncertainty under different working conditions through closed-loop identification with power spectrum estimation. Then in controller designing, it makes a trade, off between the strict requirements for magnitude-frequency characteristics and those for phase-frequency characteristics of flight simulators, by converting the indices of magnitude-frequency characteristics of flight simulators into quantitative feedback theory-based tracking specification bounds and using feedforward controller to attain the required phase-flequency characteristics. Simulation and experimental results indicate that, when used to design inner flame controller of flight simulator, the proposed method can fulfill the requirements for wide frequency bandwidth indices. Compared with other controller design methods, it has the property of model-free and transparency.
基金supported by the National Key R&D Program of China(Grant No.2018YFB1600200)the National Natural Science Foundation of China(Grant Nos.52122801,11925206,and 51978609)+1 种基金Zhejiang Provincial Natural Science Foundation for Distinguished Young Scientists(Grant No.LR20E080003)。
文摘The strain of bridges under traffic loads is time-varying and of small amplitude(~10^(-6)),which is a type of cumulative response and needs long-term continuous monitoring.To precisely capture the time-varying responses,a dynamic strain triboelectric nanogenerator(TENG)sensor with superior response capability,sensitivity,self-powered,and long-term stability is proposed in this paper.An analytical correlation between the structural strain response signal and the detected electrical signal is established for long-term continuous quantitative strain measurements based on the principles of contact electrification and electrostatic induction.A series of experiments are conducted to investigate the output performance of the proposed lateral-sliding mode TENG sensors.The results reveal that,with the loading condition with frequencies lower than 10 Hz,the time-varying strain responses of the steel bridge within the range of 3 to 150 microstrains can also be detected with high precision of 0.1 microstrains.And it achieves long-term stability after 10000 loading cycles compared with commercial sensors.The proposed novel sensing theory and method based on TENG technology can be applied as a new alternative approach for monitoring realtime structural strain information quantitatively with general applicability and feasibility for bridges.
文摘In this paper, a computationally efficient method is proposed for automated design of the prefilters for multivariable systems. In quantitative feedback theory （QFT） method, proposed by Horowitz, the prefilter is designed to achieve the desired tracking specifications. In the proposed approach, we pose the prefilter design problem as an interval constraint satisfaction problem and solve it using the well-established interval constraint satisfaction techniques. The proposed method finds optimal values of the parameters of fixed structure prefilter within the initial search domain. An approach based on prefilter synthesis for single-input single-output is already developed. The purpose of this paper is to extend this approach to QFT prefilter design for general multivariable systems. To validate the above design approach, we applied the method to a laboratory setup of magnetic levitation system.
