Global robust optimal sliding mode control for uncertain affine nonlinear systems

The problem of robustifying linear quadratic regulators (LQRs) for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control (GROSMC) is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.     

被动式电液加载系统的变刚度自适应控制

建立了被动式电液加载系统的数学模型,分析由位置扰动和系统自身结构引起的稳态误差,讨论了负载刚度和液压刚度在系统主要行程范围内变化对系统动态特性的影响。采用高阶系统跟随低阶参考模型的自适应控制方法,在选择二阶参考模型的固有频率时综合考虑了两方面的因素,既发挥了液压动力机构响应频率高的优势又确定了合理的频宽。运用Narendra稳定自适应控制理论设计自适应控制器,建立增广误差模型,选取Lyapunov能量函数并导出能使系统全局渐进稳定的自适应律。利用Simulink软件进行数值仿真,仿真结果表明,加入自适应控制器后,系统能稳定地跟随参考模型,两者误差快速收敛为零,并且系统在5组不同参数设置下的动态响应性能几乎一致,上升时间和调整时间分别为4.8ms和14.6ms,稳态误差仅为0.03%;同时,由速度为0.5m/s的位置扰动引起的系统误差最大仅为0.58kN并于35ms后消除。故本文设计的自适应控制器使被动式电液加载系统在变参数和位置扰动条件下的动态特性和精度得到大幅提升。     

响应曲面法优化菌渣活性炭吸附水中亚甲基蓝

染色废水对环境具有巨大危害。利用青霉素菌渣为原料制备氮掺杂活性炭,研究其对水中亚甲基蓝的吸附机理,并用响应曲面法优化活性炭对水中亚甲基蓝的吸附机理。研究结果表明,所制备的活性炭孔隙结构发达,比表面积达到了1 640.39 m²/g,活性炭表面含羟基等官能团。亚甲基蓝吸附过程符合伪二级动力学模型和Langmuir等温吸附模型。建立的响应面模型合理可靠,最佳吸附条件为吸附时间138 min、吸附温度30℃、pH为8。在此条件下,活性炭对亚甲基蓝的吸附量达到了332.90 mg/g,与模型理论预测值335.76 mg/g基本吻合。     

饮用水的诱变性与肝癌的风险

应用蚕豆根尖微核技术研究了肝癌高发区的扶绥县饮用水的诱变性与肝癌发病的关系。结果表明，检测３２份不同饮水类型的饮用水（饮用塘水、塘边井水、井水、河水和自来水）中有１２份饮用塘水和２份塘边井水能明显诱导蚕豆根尖核率增高（Ｐ〈０．０１），而井水、河水和自来水所诱发的蚕豆根尖微核率与对照组则无显著差异（Ｐ〉０．０５）。提示该县饮用塘水中存在染色体畸变的物质，此类物质在各种饮水类型的水样中所诱发的蚕豆根尖     

3-硝基-1,2,4-三唑酮-5(NTO)的铅盐[Pb(NTO)_2·H_2O]的晶体结构

3-硝基-1,2,4-三唑酮-5(NTO)的铅盐[Pb(NTO)_2·H_2O]的晶体结构已经测定.该晶体属单斜晶系,空间群为C_(2h)~5-P_(1/n)~2.晶胞参数:a=0.72589nm,b=1.21243nmc=1.22875nm,β=90.41°.结构测定表明,两个NTO五元环平面的二面角为82.42°,有一分子水参与配位,重原子铅的配位数为6。     

鱼腥藻PCC 7120染色体上relBE同源基因的克隆及表达

为研究鱼腥藻PCC7120染色体上与relBE同源的基因asl4561和asl4562表达产物的毒素-抗毒素作用,从鱼腥藻细胞中提取总基因组DNA,设计特异引物PCR扩增目的基因asl4561和asl4562,与T载体连接后经XhoI和EcoR I双酶切并与表达载体pET28a（＋）连接,由IPTG诱导表达,并在IPTG浓度和诱导时间上对asl4561基因的表达条件进行了优化.琼脂糖凝胶电泳显示扩增出了264bp的asl4561基因和213bp的asl4562基因,SDS-PAGE检测表明成功表达出15.65kD和13.55kD的两蛋白,当诱导温度28℃、IPTG浓度0.4 mmol/L、诱导时间6h时,asl4561基因表达蛋白在细菌裂解液上清中表达量最大.     

2D self-assembling of 4, 5-didodecylthiolphthalonitrile on graphite surface

An important precursor 4,5-didodecylthiolphthalonitrile (DCP) for synthesis of phthalocyanines (Pcs) and subphthalocyanines (SubPcs) was synthesized and the assembling structure of this molecule on the basal plane of highly oriented pyrolytic graphite (HOPG) surface was characterized using the scanning tunneling microscopy (STM) in ambient conditions. In high-resolution images of the molecules, we found that the arrangement of the cyano groups forms a “head-to-head” configuration to keep the stability of the entire system. The mismatch of the DCP molecules with the substrate lattice has also been observed in the experiment.     

命名数据网络中的一种双模式转发模型

命名数据网络(named data networking,NDN)是为了解决当前IP网络中因存在大量重复冗余传输所造成的流量爆炸问题而提出的一种新型网络架构.NDN的网内缓存机制极大地提升了网络资源的利用效率,对于传统的端到端业务来说却略显支持性不足.针对于这一问题,提出了一种NDN网络中的双模式转发模型.该模型对内容分发类业务采用传统的NDN转发机制进行转发处理;对端到端业务,采用定长的标签交换代替变长的名字查找来加速转发,并且不再进行缓存操作.基于ndnSIM的仿真结果表明,相较于传统NDN的单一转发机制,使用该转发模型后有效地节省了内容缓存的空间,同时端到端业务的响应时间减小了约37％.     

Two typical phenomena from the numerical simulation of fire and smoke transport in a gymnasium fire

Building a large centralized atrium in a building has become favourable both to designers and owners. The space of an atrium in a hall, theatre or gymnasium, can occupy an area as large as thousands of square meters and a height as high as 10―30 meters[1…     

纸箱包装机连续高速纸板供给机构的设计探讨

纸板供给是高速纸箱包装机的瓶颈之一,为了满足80箱/min纸箱包装机的供板需求,提出垂直与水平相结合的解决方案。垂直输送技术比较成熟,实际应用比较普遍,为了提高水平输送速度,提出采用纸板水平短距离移动机构和对辊输送机构相配合的设计方案,对各部件工作原理及结构原理进行分析,论述设计的合理性和实用性,实现快速输送。