Adaptive control of bifurcation and chaos in a time-delayed system

In this paper, the stabilization of a continuous time-delayed system is considered. To control the bifurcation and chaos in a time-delayed system, a parameter perturbation control and a hybrid control are proposed. Then, to ensure the asymptotic stability of the system in the presence of unexpected system parameter changes, the adaptive control idea is introduced, i.e., the perturbation control parameter and the hybrid control parameter are automatically tuned according to the adaptation laws, respectively. The adaptation algorithms are constructed based on the Lyapunov-Krasovskii stability theorem. The adaptive parameter perturbation control and the adaptive hybrid control methods improve the corresponding constant control methods. They have the advantages of increased stability, adaptability to the changes of the system parameters, control cost saving, and simplicity. Numerical simulations for a well-known chaotic time-delayed system are performed to demonstrate the feasibility and superiority of the proposed control methods. Besides, comparison of the two adaptive control methods are made in an experimental study.     

漂浮基柔性关节空间机器人自适应滑模运动控制及振动主动抑制

讨论了关节柔性且系统参数不确定的漂浮基空间机器人系统的动力学建模过程、运动轨迹跟踪控制算法设计及系统柔性振动的主动抑制问题。利用系统动量、动量矩守恒关系和拉格朗日法对系统动力学进行分析,并建立系统动力学方程。基于奇异摄动法将系统分解为表示系统刚性运动部分的慢变子系统和表示系统柔性运动部分的快变子系统。针对慢变子系统提出了一种自适应滑模控制算法。该控制算法是由基于滑模面的等效控制项、自适应控制项和PID反馈控制项组成。因此,它集合了滑模控制、自适应算法和PID技术的优点,且弥补了三种算法各自的缺点。该控制算法能够有效地补偿系统的转动误差和不确定参数,提高控制系统的精度。针对快变子系统,提出基于速度差值的反馈控制算法来抑制柔性关节引起的系统柔性振动,保证系统的稳定性。最后,通过仿真实验证明了提出的混合控制算法的有效性。     

非线性函数参数的线性化率定方法

非线性函数参数率定基本上都是以误差平方和目标函数为信息依据的,其过程通常包括误差平方和目标函数构建和一阶函数求导为零得其参数优值解这两步操作.本文通过研究发现以上两步操作给非线性函数参数增加了不相关的局部极优值,提出了非线性函数参数的线性化率定方法.该方法对非线性函数以参数为自变量求导,再通过导函数差分线性化,并对线性化的参数用误差平方和目标函数进行率定,然后逐步迫近非线性函数参数的最优值.本文在理论上证明了该方法的收敛性,检验了此方法的合理性、优点和效果,解决了非线性函数参数以误差平方和为目标函数增加不相关的局部极优值的理论性问题,而且该方法的实用性和效果都比较好.     

新型Gemini咪唑表面活性剂的合成及表面性能

以2,2-双(溴甲基)-1,3-丙二醇为连接基合成了新型的连接基为枝状的Gemini咪唑表面活性剂2,4-二(溴化-3-烷基咪唑)-1,3-丙二醇([Cn-P-Cnim]Br2,n=10,12,14).产物经核磁共振氢谱(1H NMR)、红外(IR)光谱和元素分析等进行了分析,证明所得产物即为目标产物.通过表面张力法和电导法测量其表面活性并计算胶束形成热力学参数(ΔG m—0,ΔH m—0,ΔS m—0).结果表明,25℃时3种表面活性剂均具有很高的表面活性,胶束的形成是自发的熵驱动过程.     

反气相色谱法测定有机溶剂型木质素的溶解度参数

采用反气相色谱法(IGC),于333.15～373.15 K温度范围内测定了有机溶剂型木质素的溶解度参数(δ2)及相关指标。以正辛烷(n-C8)、正癸烷(n-C10)、正十二烷(n-C12)和正十四烷(n-C14)为探针溶剂,计算了探针溶剂的特性保留体积(V0g)、摩尔吸收焓(ΔHs1)、无限稀释摩尔混合焓(ΔH∞1)、摩尔蒸发焓(ΔHv)、无限稀释活度系数(Ω∞1)以及探针溶剂与有机溶剂型木质素的Flory-Huggins相互作用参数(χ∞12)。结果表明,上述4种探针溶剂在测定的温度范围内均为有机溶剂型木质素的不良溶液;在同一温度下,参数χ∞12随着探针溶剂碳数的增加而降低。测得的有机溶剂型木质素的δ2为19.03 (J\5cm-3)1/2。     

反气相色谱法测定离子液体1-己基-3-甲基咪唑三氟甲磺酸盐的热力学参数

采用反气相色谱法研究了343.15~373.15 K温度范围内离子液体1-己基-3-甲基咪唑三氟甲磺酸盐([HMIM]OTF)的热力学参数。根据18种探针溶剂的保留时间计算出探针溶剂与[HMIM]OTF之间的摩尔吸附焓、无限稀释的摩尔混合焓、摩尔蒸发焓、质量部分活度系数、Flory-Huggins相互作用参数及[HMIM]OTF的溶解度参数。结果表明,所选溶剂中正构烷烃、四氢呋喃、乙醚、环己烷和苯为[HMIM]OTF的不良溶剂;二氯甲烷、丙酮、氯仿、乙酸乙酯、四氯化碳、乙酸甲酯、甲苯和甲醇为[HMIM]OTF的良溶剂;运用外推法得到了室温(298.15 K)时[HMIM]OTF的溶解度参数为20.74 (J/cm³)^0.5。本研究为离子液体的应用及相关工作提供了参考。     

Piezoelectric transducer parameter selection for exciting a single mode from multiple modes of Lamb waves

Excitation and propagation of Lamb waves by using rectangular and circular piezoelectric transducers surface-bonded to an isotropic plate are investigated in this work. Analytical stain wave solutions are derived for the two transducer shapes, giving the responses of these transducers in Lamb wave fields. The analytical study is supported by a numerical simulation using the finite element method. Symmetric and antisymmetric components in the wave propagation responses are inspected in detail with respect to test parameters such as the transducer geometry, the length and the excitation frequency. By placing only one piezoelectric transducer on the top or the bottom surface of the plate and weakening the strength of one mode while enhancing the strength of the other modes to find the centre frequency, with which the peak wave amplitude ratio between the S0 and A0 modes is maximum, a single mode excitation from the multiple modes of the Lamb waves can be achieved approximately. Experimental data are presented to show the validity of the analyses. The results are used to optimize the Lamb wave detection system.     

Adaptive lag synchronization and parameter identification of fractional order chaotic systems

This paper proposes a simple scheme for the lag synchronization and the parameter identification of fractional order chaotic systems based on the new stability theory. The lag synchronization is achieved and the unknown parameters are identified by using the adaptive lag laws. Moreover, the scheme is analytical and is simple to implement in practice. The well-known fractional order chaotic Lü system is used to illustrate the validity of this theoretic method.     

线偏振周期量级脉冲中H-强场光解离的不对称性

Photodetachment of H^- irradiated by linearly polarized few-cycle laser field is investigated by time-dependent Schr?dinger equation numerically. The photo-electron left-right asym-metry parameter as a function of carrier-envelop (CE) phase of few-cycle pulses is attained. We confirm the asymmetry of photoelectron distribution in H^- photodetachment and find that the maximal asymmetry parameter of H^- is equal to that of H atom under the same conditions but the corresponding CE phases are quite different. Thus a CE phase shift ap-pears. Compared to that of H atom and field free electron, the zero asymmetry CE phase shift is sensitively affected by Coulomb field. The Coulomb effect on the asymmetry of H^- photodetachment mainly behaves in the CE phase shift of H^- instead of the amplitude of asymmetry parameter curve.     

Approximate solving method of shock for nonlinear disturbed coupled Schrödinger system

A class of nonlinear disturbed coupled Schrödinger systems is studied. The specific technique is used to relate the exact and approximate solutions. The corresponding typical coupled system is considered. An exact shock travelling solution is obtained by a mapping method. The travelling asymptotic solutions of the disturbed coupled Schrödinger system are then found with an approximate method.