PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation. Based on the bounds on the growth rates of the nonlinear uncertain function in the system model, the system is placed in a linear differential inclusion. Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation. By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law, we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system. The equilibrium point corresponds to the desired set point for the system output. Thus, the location of the equilibrium point and the size of the domain of attraction determine, respectively, the set point that the output can achieve and the range of initial conditions from which this set point can be reached. Based on these conditions, the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities (LMIs). Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.      

气液螺旋环状流压降特性研究

考虑旋流衰减的影响，对气液螺旋环状流的压降特性进行研究并推导出了螺旋环状流压降预测模型。定义压降旋-直比系数为气液两相螺旋环状流和气液两相直流的压降之比，以此来表征旋流衰减对压降的影响。基于量纲分析的方法对压降旋-直比系数进行分析，推导出其表达式，压降旋-直比系数依赖于Lockhart-Martinelli 参数和气相Froude数变化。最终，得出了气液两相螺旋环状流的压降预测模型。在50 mm内径的水平管内对螺旋环状流的压降特性进行了实验研究，其中气相表观流速变化范围为10~16 m/s，体积含液率（LVF）变化范围为0.6%~4.8%。通过与实验数据进行对比，压降预测模型的相对误差在±15%以内，为工程应用提供了参考。     

采用自动双探边器降低芯片漏测率

半导体芯片的检测是芯片生产企业生产过程中的重要环节，芯片在检测过程中，由于圆形硅片的结构特点而造成的漏测又是困扰芯片生产企业不可小视的实际问题。本文介绍了利用双探边器解决由于硅圆片结构所造成的漏测的有效办法及具体操作方法。     

测距仪中新型的脉冲激光光源

针对现有测距仪中脉冲激光器存在寄生多脉冲的问题，提出并实现新型的采用同步泵浦声光调Q方法的测距仪用激光器、消除了寄生脉冲并提高了激光器的峰值功率。     

粪便水对大坦沙污水厂生产运行的影响及控制措施

广州市大坦沙污水处理厂承担着全市粪便水的处理任务。生产实践表明，由粪便水造成的水质冲击负荷对生产运行不利，导致设备维护率提高、运行成本增加。通过建造粪便水调节池、调整工艺参数、加大设备维修和技术改造力度、对恶臭源进行加盖除臭等措施可以降低粪便水对生产运行的影响。     

Global practical stabilization of planar linear systems in the presence of actuator saturation and input additive disturbance

In this note, we revisit the problem of global practical stabilization for planar linear systems subject to actuator saturation and input additive disturbances. A parameterized linear state feedback law is designed such that, by tuning the value of the parameter, all trajectories of the closed-loop system converge to an arbitrarily small neighborhood of the origin in a finite time and remain in there.     

A further result on global stabilization of oscillators with bounded delayed input

This note revisits the problem of globally stabilizing an oscillator with a bounded delayed input. It establishes that an oscillator with input saturation can be globally asymptotically stabilized by a linear state feedback even in the presence of an arbitrarily large delay in the input. This result strengthens a recent result in the literature, which shows that such an oscillator can be globally asymptotically stabilized with a sufficiently small control input and the magnitude of the control input goes to zero as the delay increases to infinity. The controller constructed in this note thus improves the efficiency of the closed-loop system by fully utilizing the actuator capacity.     

酸轧车间32/5 t起重机主梁的改造

2003年3月包钢集团酸轧车间急需1台32／5t电动双钩起重机作为大型设备的检修用车，而钢坯库有1台32／5t起重机已长期闲置不用，为节省费用，缩短制作周期，委托我公司对原钢坯库起重机进行改造和重新安装，对传动部件检修、除锈、重新喷漆。经现场观测检查，该起重机虽然投入使用多年，并且露天作业，但因使用不频繁，     

内外齿复合冷挤压成型实验研究

通过对轿车转向盘毂件内外齿进行的复合挤压实验研究 ,得到了新式复动式复合挤压模具结构 ,并确定了一种合理的成型工艺方案     

水库灌区抽水站水泵选型设计

在抽水站设计中,需对大量的基础数据处理后才能进行工况点的计算。此文试着在水泵选型设计计算时,对水泵工况点参数进行拟定和工况点计算的程序化,从而真正地利用计算机减少设计人员的工作量。