Decentralized optimal tracking control for large-scale nonlinear systems with tracking error constraints

In this article, a decentralized optimal tracking control strategy is proposed for a class of nonlinear systems with tracking error constraints by utilizing adaptive dynamic programming (ADP). It should be noted that ADP technology cannot be directly used to solve decentralized optimal tracking problem of large-scale interconnected nonlinear system with nonzero equilibrium points, since that an infinite domain performance index function may result in an unsolvable solution. In addition, by introducing a smooth function, the constrained tracking error is transformed into an unconstrained one. Then, the error dynamics and a new infinite domain performance index function are designed, such that ADP technology can be used. Following the designed performance index function, the tracking error can be ensured within a small neighborhood of zero. Finally, the feasibility and the effectiveness of the proposed decentralized optimal control scheme are verified through two simulation examples.     

Removal of lead(Pb(Ⅱ))and zinc(Zn(Ⅱ))from aqueous solution using coal fly ash(CFA)as a dual-sites adsorbent

Coal fly ash(CFA)is composed of minerals containing some oxides in crystalline phase(i.e.,quartz and mullite),as well as unburned carbon as mesoporous material,thus enabling CFA to act as a dual-sites adsorbent with unique properties.This work focused on the adsorption of Pb(Ⅱ)and Zn(Ⅱ)from binary system,a mixture containing two metal ion solutions present simultaneously,onto NaOH-modified CFA(MCFA).Several adsorption tests were conducted to evaluate the effect of several parameters,includ-ing pH and contact times.The experiment results indicated that chemical treatment of CFA with NaOH increased pore volume from 0.021 to 0.223 cm3 g-1.In addition,it could also enhance the availability of functional groups on both minerals and unburned carbon,resulting in almost 100％Pb(Ⅱ)and 97％Zn(Ⅱ)adsorbed.The optimum pH for adsorption system was pH=3 and quasi-equilibrium occurred in 240 minutes.Equilibrium data from the experimental results were analyzed using Modified Extended Langmuir(MEL)and Competitive Adsorption Langmuir-Langmuir(CALL)isotherm models.The analysis results showed that the CALL isotherm model could better describe the Pb(Ⅱ)and Zn(Ⅱ)adsorption pro-cess onto MCFA in binary system compared with MEL isotherm model.     

Synthetic copolymer (AM/AMPS/DMDAAC/SSS) as rheology modifier and fluid loss additive at HTHP for water-based drilling fluids

In the petroleum industry, high temperature and high pressure (HTHP) would dramatically worsen rheological properties and increase fluid loss volumes of drilling fluids. Synthetic polymer as an indispensable additive has attracted more and more attention recently. In this article, a new copolymer (named AADS) of 2-acrylamide-2-methylpropanesulfonic acid, acrylamide, dimethyl diallyl ammonium chloride, and sodium styrene sulfonate was synthesized through aqueous solution polymerization. The chemical structure of the copolymer was characterized by Fourier transform infrared spectroscopy and nuclear magnetic resonance. Moreover, its thermal stability was simultaneously analyzed using a differential scanning calorimetry. The results showed that the synthetic polymer contained all the designed functional groups, and its structure was consistent to the desired one. Under contamination of sodium chloride, AADS solution maintained relatively high viscosity in high concentration brine, showing a good antisalt capacity. Furthermore, the effect of AADS content and temperature on rheological behavior and fluid loss volume of the water-based drilling fluid (WBDF) containing the synthesized product were investigated according to the American Petroleum Institute standard. Results showed that the rheological and filtration properties of the prepared WBDF were improved with the increase in the AADS concentration before and after the thermal aging test. In addition, in the temperature range of 80–240 °C, a reversible rheological behavior was observed during the heating–cooling process, and the HTHP fluid loss was controlled within 22.5 mL, suggesting that the copolymer AADS was suitable for making WBDF s with high temperature resistance. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47813.     

多约束下距离加权最优滑模末制导律

为解决多约束下制导炮弹的精确制导问题,采用带有相对距离权函数的最优滑模末制导律,将权函数引入到最优制导律中,通过改变制导炮弹的运动轨迹、运动时间,进而增强制导精度。针对单权函数难以同时满足制导精度与导引头视线角、过载等约束的问题,采用不同权函数的分段加权方法解决加权最优末制导引起的制导问题。结合滑模变结构控制理论,设计分段加权最优滑模末制导律,增强制导系统的抗干扰能力。仿真验证结果表明,该末制导律既能解决过载、导引头视线角、落角等多约束情况下的精确制导问题,同时又具有一定的鲁棒性。     

后处理料液中氨基羟基脲的分析方法研究

氨基羟基脲（HSC)是一种新型无盐试剂，可有效控制后处理料液中钚的价态，实现铀钚分离和钚的纯化，其含量是后处理工艺中的一项重要参数，需准确测定。本文根据HSC和对二甲氨基苯甲醛在酸性介质中发生显色反应，其产物在456 nm处有明显特征吸收的原理，建立了后处理料液中HSC的分析方法，并优化了分析条件。结果表明，HSC的最佳测量条件为测量波长456 nm、显色温度80～90 ℃（水浴）、显色时间45 min，NO^-₂、Fe³⁺、N₂H₄及其他共存组分对HSC的测定无明显影响。HSC含量在2.5～60.0 μmol/L范围内符合比耳定律，R²为0.999 9，测量精密度优于5.0%。在45 d内工作曲线重复性好，具有良好的长期稳定性。真实样品的测量结果显示，其重加回收率在99%～105%之间。     

限制失真的网格参数化方法

针对当前网格参数化效率较低、映射失真较严重的问题，提出一种限制失真的网格参数化方法。首先，预处理原始网格模型。输入原3D网格模型，采用Half-Edge数据结构来重新组织网格并切割网格模型产生相应的切缝；构建Tutte映射把3D网格映射到一个2D凸多边形域，即构建2D网格模型。然后，进行限制失真的网格参数化计算。将Tutte映射后的2D网格模型作为限制失真计算的初始数据，建立相对于原3D模型网格的失真度量函数；求得该度量函数的最小值点，即为映射后的网格坐标集合；将映射后的网格作为限制失真映射的输入网格，设定迭代终止条件，循环迭代直至迭代结束，得到收敛的最优网格坐标；在计算映射失真度时，针对等距映射失真采用Dirichlet能量函数度量，针对共形映射失真采用尽可能等距（MIPS）能量函数度量；在求解映射失真度量函数的最小值点时采用代理函数法结合组合牛顿法的最优解方法。最终，实现了该方法并开发了一个原型系统。在原型系统中，分别设计了限制等距失真和限制共形失真的网格参数化实验，对程序执行时间和失真能量下降情况进行了统计和对比，提供了相应的纹理映射效果展示。实验数据表明，所提出的方法执行效率高、映射失真能量下降快，最优值收敛质量稳定；纹理映射时纹理着色均匀、布局紧致、线条均匀，符合实际应用的标准。     

Ti对铬钼钒模具钢奥氏体化组织与性能的影响

??The microstructure and properties of die steels with Ti and without Ti at different austenitizing temperatures were studied through the combination of thermodynamic calculation and experiment. The results show that the total solution temperature of Cr23C6, Cr7C3, VC, V2C, V8C7, MoC, Mo2C and TiC is 748. 2, 952. 7, 977. 3, 632. 9, 1116. 0, 1131. 2, 645. 3 and 1044. 1??, respectively. Hardness and impact toughness both increase with the increase in temperature. When the austenitizing temperature is above 1200 ??, it has a greater influence on the hardness. Toughness of die steel with Ti is better than that without Ti. The grain becomes coarse and the amount of martensite increases with the increase of temperature. The average grain size of the die steel with Ti is 21. 4??m smaller than that without Ti, and the size of the undissolved phase of the former is about 0. 2??m smaller than that of the latter.     

Tunable temperature‐ and shear‐responsive hydrogels based on poly(alkyl glycidyl ether)s

We describe the synthesis, characterization and direct‐write 3D printing of triblock copolymer hydrogels that have a tunable response to temperature and shear stress. In aqueous solutions, these polymers utilize the temperature‐dependent self‐association of poly(alkyl glycidyl ether) ‘A’ blocks and a central poly(ethylene oxide) segment to create a physically crosslinked three‐dimensional network. The temperature response of these hydrogels was dependent upon composition, chain length and concentration of the ‘A’ block in the copolymer. Rheological experiments confirmed the existence of sol–gel transitions and the shear‐thinning behavior of the hydrogels. The temperature‐ and shear‐responsive properties enabled direct‐write 3D printing of complex objects with high fidelity. Hydrogel cytocompatibility was also confirmed by incorporating HeLa cells into select hydrogels resulting in high viabilities over 24 h. The tunable temperature response and innate shear‐thinning properties of these hydrogels, coupled with encouraging cell viability results, present an attractive opportunity for additive manufacturing and tissue engineering applications. © 2018 Society of Chemical Industry