Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties

This paper addresses a tracking problem for uncertain nonlinear discrete‐time systems in which the uncertainties, including parametric uncertainty and external disturbance, are periodic with known periodicity. Repetitive learning control (RLC) is an effective tool to deal with periodic unknown components. By using the backstepping procedures, an adaptive RLC law with periodic parameter estimation is designed. The overparameterization problem is overcome by postponing the parameter estimation to the last backstepping step, which could not be easily solved in robust adaptive control. It is shown that the proposed adaptive RLC law without overparameterization can guarantee the perfect tracking and boundedness of the states of the whole closed‐loop systems in presence of periodic uncertainties. In addition, the effectiveness of the developed controller is demonstrated by an implementation example on a single‐link flexible‐joint robot. Copyright © 2014 John Wiley & Sons, Ltd.     

Ca-Mg-Al复合氧化物催化尿素与1,2-丙二醇制碳酸丙烯酯

采用共沉淀法制备了系列Ca-Mg-Al复合氧化物催化剂，通过对沉淀剂配比、沉淀液pH值及焙烧温度等制备条件的考察，得到以Na₂CO₃为沉淀剂、pH=9.5、850℃下焙烧4h制备的Ca-Mg-Al催化活性最高。在 n(PG)∶n(urea)=1.5∶1、反应温度为145℃、绝压20kPa、反应时间4h、催化剂用量为尿素质量的5%时，碳酸丙烯酯收率达到84.6%。采用XRF、XRD、NH₃-TPD、SEM及BET对催化剂的组成、晶型及酸性进行了表征，发现随着沉淀剂中Na₂CO₃的含量增加，催化剂中CaO∶MgO的比例增大，碳酸丙烯酯的收率亦升高；经850℃焙烧后，催化剂中存在CaO和MgO两种活性中心，起协同催化作用；随着焙烧温度由700℃升高到850℃，NH₃-TPD脱附曲线向低温方向偏移，且强酸中心NH₃脱附峰面积比由81.14%明显下降为0，中强酸中心NH₃脱附峰面积比由0增加到78.07%，而碳酸丙烯酯收率由68%增加到84.6%，这表明催化剂强酸性位的减少是催化活性增加的主要原因。     

餐饮废油生物柴油低温流动性的改进研究

使用气-质联用仪测定餐饮废油生物柴油(WCME)和-10号柴油(-10PD)的组成,使用冷滤点试验器和运动黏度试验器测定WCME的低温流动性,同时使用调合、添加低温流动性改进剂的方法改进WCME的低温流动性。实验结果表明,WCME主要由饱和脂肪酸甲酯和不饱和脂肪酸甲酯组成,质量分数分别为27.63%和71.81%;WCME冷滤点为0℃,运动黏度(40℃)为4.41mm2/s;WCME与-10PD调合后,冷滤点降低,其中B20的冷滤点最低,为-13℃,运动黏度随着WCME的体积分数的减少,逐渐接近-10PD的运动黏度。通过添加低温流动性改进剂,WCME,B10,B20的冷滤点分别从0,-8,-13℃降至-4,-26,-25℃。     

应急避难场所广播设计实现

应急避难场所广播体系由应急广播、场所广播室、接收端、网络接收、广播管理群、监测系统等6部分组成.针对电台在市区建立应急避难场所广播作出设计,在学校、社区、广场上安装广播系统,做到市区全方面覆盖.     

A Finite-Element Approach for the Partitioning of Carbon in Q&P Steel

Metallurgical and Materials Transactions B - This paper reports a Galerkin finite-element analysis of carbon partitioning from martensite into austenite during the quenching and partitioning...     

基于Cortex-M的嵌入式设备固件更新方法研究

本文提出了一种基于分散加载技术实现Boot程序和用户应用程序在同一个工程编写开发的固件更新方法 .通过编写分散加载规范文件在工程中实现代码存储区分区.为了保证固件更新的稳定性和可靠性,在固件下载过程中引入CRC校验、丢包错包重传等容错技术.实验结果 验证了方法的有效性和可靠性.