Robust Speed Control of a Low Damped Electromechanical System Based on CRONE Control: Application to a Four Mass Experimental Test Bench

Robust speed control of a low damped electromechanical system with backlash is studied, controlled load angular speed being not measured. The proposed control strategy combines a Luenberger observer (load angular speed and load torque disturbance estimations) and a robust CRONE controller. The observer provides estimation of the load angular speed and of the disturbance torque applied on the load. Through the computation of only three independent parameters (as many as a PID controller), the CRONE controller permits to ensure the robust speed control of the load in spite of plant parametric variations and speed observation errors. The proposed control strategy is applied to a four mass experimental test bench.     

狄拉克方程的单旋量解法以及由此引起的认识上的差异

把狄拉克方程分解成了两个单旋量的联立方程组．指出现行的自旋理论仅考虑了其中的一个方程，是以一个单旋量代替双旋量来描述状态而建立起来的．笔者在认同现行自旋理论可以作为狄拉克方程的一种求解方法，因而同意其中的某些提法外，对于其主要的物理观念：微观粒子存在着独立于现实的位形空间之外的一个自旋空间，在这个自旋空间内禀着角动量S和磁矩μ；这个自旋理论是相对论性量子力学导出的必然结论等等看法予以否定．笔者认为，只有同时考虑两个单旋量的方程，同时计及两个单旋量，才能准确地描述状态，从而正确地描述客观规律．     

Synthesis and Structure of a Manganese(Ⅱ) Complex: [Mn2·(dinitrobenzoic acid)4·(1,10-phen)2]n

The title compound, [Mn2·(dinitrobenzoic acid)4·(1,10-phen)2]n, has a linear chain structure containing binuclear [Mn2·(dinitrobenzoic acid)4(1,10-phen)2] repeat units. It crystallizes in the triclinic system, space group P1- with a = 7.9261(8), b = 12.1329(15), c = 14.847(2)(A), α = 103.845(5), β =101.424(5), γ= 92.618(4)°, Mr= 657.37, V= 1352.3(2) (A)3, Z = 2, Dc= 1.614 g/cm3, F(000) = 666, μ =0.567 mm-1, the final R = 0.0407 and wR = 0.1015 for 4081 observed reflections with I ＞ 2σ(Ⅰ). The Mn atom is six-coordinated by two N and four O atoms, forming a slightly distorted octahedral geometry. All Mn-O and Mn-N bond distances range from 2.093(2) to 2.310(2)(A). Two adjacent octahedral units are bridged together by two pairs of bi-monodentate carboxyl groups of different dinitrobenzoic acids to form an eight-membered ring with chair-typed configuration, thus generating a one-dimensional chain along the a axis.     

Synthesis, Crystal Structure and Electrochemical Properties of One-dimensional Chain Coordination Polymer [Co(Ⅱ)(C6H5CH=CHCOOH)2(4,4''-bipy)(H2O)5]n

A one-dimensional chain coordination polymer [Co(Ⅱ)(C6H5CH=CHCOOH)2(4,4'-bipy)(H2O)5]n has been synthesized with cinnamylic acid, 4,4'-bipy and cobaltous chloride as raw materials. Crystal data for this complex: monoclinic, space group P21/c, a - 1.1481(3), b =1.1230(2), c = 1.1759(3) nm, β = 97.054(4)°, V = 1.5046(6) nm3, Mr= 617.50, Dc = 1.363 g/cm3, Z= 2, μ(MoKα) = 0.627 mm-1, F(000) = 646, S = 1.062, R 0.0443 and wR = 0.1178. The crystal structure shows that two neighboring cobalt(Ⅱ) ions are linked together by one 4,4'-bipy, and the whole complex molecule adopts a one-dimensional chain structure. Each cobalt(Ⅱ) ion is coordinated with two nitrogen atoms from two 4,4'-bipy molecules and four oxygen atoms from four water molecules, giving a distorted octahedral coordination geometry. The electrochemical properties were analyzed by combining with the crystal structure.     

Synthesis and Structure Characterization of a Tetranuclear Manganese(Ⅲ) Complex:[Mn4O2(O2CMe)6(MeOH)2(dbm)2]·2MeCOOH·2CH2Cl2

The title compound, [Mn4O2(O2CMe)6(MeOH)2(dbm)2]·2MeCOOH·2CH2Cl2 (Hdbm = dibenzoylmethane), has been synthesized and structurally determined by single-crystal X-ray diffraction. The crystal belongs to triclinic, space group P(-l), with a = 10.729(3), b = 12.269(3), c =13.085(4) (A), a = 106.367(3), β = 107.643(2), γ = 94.771(2)°, V = 1547.9(7) (A)3, Z = 1,C50H64Cl4Mn4O24, Mr= 1410.57, Dc= 1.513 g/em3, F(000) = 724, Rint = 0.0147, T = 293(2) K and μ = 1.046 mm-1. The fimal R = 0.0359 and wR = 0.0938 for 5791 observed reflections with I ＞ 2( )I).The structure of the complex consists of one [Mn4(μ3-O)2]8+ core with four coplanar Mn atoms disposed in an extended "butterfly-like" arrangement and two O atoms triply bridging each "wing",and the peripheral ligation is provided by six μ2-MeCO2-, two terminalμ2-dbm- groups at the two hydrogen bonding interactions are found within the structure of the compound.     

Synthesis and Crystal Structure of a Cadmium Coordination Polymer with Dicyanamide and 1,2-Bis（1,2,4-triazol- 1-yl）ethane

The new cadmium(II) coordination polymer [Cd(bte)2(dca)2]n 1 (bte = 1,2-bis(1,2,4- triazol-1-yl)ethane, dca = dicyanamide) was synthesized and characterized by single-crystal X-ray diffraction. The crystal is of monoclinic, space group P21/n with a = 8.7148(15), b = 8.6142(17), c = 15.204(3) A, β = 92.100(10)o, V = 1140.6(4) A3, Z = 2, Mr = 572.87, Dc = 1.668 g/cm3, F(000) = 572, μ = 1.004 mm-1, the final R = 0.0654 and wR = 0.1429 for 1737 observed reflections (I > 2σ(I)). The cadmium atom is coordinated equatorially by four nitrogen atoms from four bte ligands and axially by two nitrogen atoms from two dca anions to adopt a distorted octahedral geometry. Each bte molecule bridges two cadmium(II) atoms. Two strands of bte molecules are wrapped around each other, and held together by cadmium(II) atoms. 1 Forms a double chain structure containing eighteen-membered Cd2(bte)2 rings.     

Synthesis and Crystal Structure of a Novel Manganese Coordination Polymer： 2,5-Bis（4-pyridyl）-3,4-diaza-2,4-hexadiene

A new manganese coordination polymer 1, [Mn(H2O)4(L)]n(ClO4)2n·2nH2O·3nL (L = 2,5-bis(4-pyridyl)-3,4-diaza-2,4-hexadiene), has been synthesized and structurally characterized. The crystal structure was determined by single-crystal X-ray diffraction. The crystal is of monoclinic, space group Pn with a = 13.9176(8), b = 15.4754(9), c = 15.9670(9) , β = 99.5010(10)o, V = 3391.8(3) 3, Z = 2, C56H68Cl2MnN16O14 , Mr = 1315.10, Dc = 1.288 g/cm3, μ = 0.344 mm-1, F(000) = 1374, R = 0.0733 and wR = 0.2035. In the crystal the manganese atom is six-coordinated by two nitrogen atoms from 2,5-bis(4-pyridyl)-3,4-diaza-2,4-hexadiene and four oxygen atoms from water molecules, completing an octahedral geometry. The title complex exhibits a novel supramolecular layer architecture sustained by the concurrence of coordination bonds, hydrogen bonds, and π-π stacking interactions.     

Oxidative addition of the ethane C-C bond to Pd. An ab initio benchmark and DFT validation study

We have computed a state-of-the-art benchmark potential energy surface (PES) for the archetypal oxidative addition of the ethane C-C bond to the palladium atom and have used this to evaluate the performance of 24 popular density functionals, covering LDA, GGA, meta-GGA, and hybrid density functionals, for describing this reaction. The ab initio benchmark is obtained by exploring the PES using a hierarchical series of ab initio methods [HF, MP2, CCSD, CCSD(T)] in combination with a hierarchical series of five Gaussian-type basis sets, up to g polarization. Relativistic effects are taken into account either through a relativistic effective core potential for palladium or through a full four-component all-electron approach. Our best estimate of kinetic and thermodynamic parameters is -10.8 (-11.3) kcal/mol for the formation of the reactant complex, 19.4 (17.1) kcal/mol for the activation energy relative to the separate reactants, and -4.5 (-6.8) kcal/mol for the reaction energy (zero-point vibrational energy-corrected values in parentheses). Our work highlights the importance of sufficient higher angular momentum polarization functions for correctly describing metal-d-electron correlation. Best overall agreement with our ab initio benchmark is obtained by functionals from all three categories, GGA, meta-GGA, and hybrid DFT, with mean absolute errors of 1.5 to 2.5 kcal/mol and errors in activation energies ranging from -0.2 to -3.2 kcal/mol. Interestingly, the well-known BLYP functional compares very reasonably with a slight underestimation of the overall barrier by -0.9 kcal/mol. For comparison, with B3LYP we arrive at an overestimation of the overall barrier by 5.8 kcal/mol. On the other hand, B3LYP performs excellently for the central barrier (i.e., relative to the reactant complex) which it underestimates by only -0.1 kcal/mol.     

Synthesis,Structure and Luminescence of a Novel 2D Cadmium Coordination Polymer with a Ligand Generated in situ

The hydrothermal reaction of 1,2-dicyanobenzene with NaN3 in the presence of Cd(NO3)2 affords a novel 2D cadmium tetrazolyl-benzoate,{Cd(tzbz)(H2O)}n (H2tzbz is 2-(5-tetrazolyl)-benzoate). The tzbz ligand is generated in situ through the 2+3 Sharpless cycloaddition reaction and hydrolyzation. Its crystal structure was determined by single-crystal X-ray diffraction method. The crystal crystallizes in the orthorhombic system,space group Pbca with a=9.6659(19),b=7.6366(15),c=25.964(5) ,V=1916.5(7) 3,Z=8,Mr=318.57,Dc= 2.208 g/cm3,F(000)=1232 and μ=2.276 mm-1. The Cd(Ⅱ) atom is coordinated by four tzbz ligands and one water molecule to form a severely distorted pentangle bipyramid. While each tzbz ligand connects to four Cd(Ⅱ) atoms in a μ4-η1,η2,η1,η1,η1 coordination mode to construct a 2D architecture of the title complex. Additionally,the title complex exhibits strong fluorescence at room temperature in the solid state.