Optimal and robust control for linear state-delay systems     

Michael Basin  Jesus Rodriguez-Gonzalez 《Journal of The Franklin Institute》2007,344(6):830-845

This paper presents the optimal regulator for a linear system with state delay and a quadratic criterion. The optimal regulator equations are obtained using the maximum principle. Performance of the obtained optimal regulator is verified in the illustrative example against the best linear regulator available for linear systems without delays. Simulation graphs demonstrating better performance of the obtained optimal regulator are included. The paper then presents a robustification algorithm for the obtained optimal regulator based on integral sliding mode compensation of disturbances. The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time-delay systems, which is then applied to robustify the optimal regulator. As a result, the sliding mode compensating control leading to suppression of the disturbances from the initial time moment is designed. The obtained robust control algorithm is verified by simulations in the illustrative example.  相似文献   

关于摩擦力的教学探讨     

汪育瑾  何伴寿 《铜仁学院学报》2001,3(2):90-92

学生在学习摩擦力时会产生认识误解,但只要围绕演示实验,讲清摩擦力产生的四个条件,结合实例培养学生分析能力,学生会正确认识摩擦力的.  相似文献   

Assessing tackle performance using a novel collision sport simulator in comparison to a “live” one-on-one tackling drill     

Nicholas Burger  Michael Ian Lambert  Harry Hall  Sharief Hendricks 《Journal of sports sciences》2019,37(1):74-81

It is necessary to study the rugby tackle as it is associated with successful performance outcomes and is responsible for the majority of contact injuries. A novel collision sport simulator was developed to study tackle performance. The main aim of this validation study was to assess tackle technique performance between two different conditions: simulator versus a standardised one-on-one tackle drill previously used to assess technique. Tackling proficiency was assessed using a list of technical criteria. Mean scores, standard deviations and Cohen’s d effect sizes were calculated. Mean overall score for dynamic i.e. running simulator tackles was 7.78 (95%CI 7.58–7.99) (out of 9) or 87% (standard deviation or SD±8.94), and mean overall score for dynamic “live” tackles was 7.85 (95%CI 7.57–8.13) (out of 9) or 87% (SD±9.60) (effect size = 0.08; trivial; p > 0.05). Mean overall score for static i.e. standing simulator tackles was 7.45 (95%CI 7.20–7.69) (out of 9) or 83% (SD±10.71), and mean overall score for static “live” tackles was 8.05 (95%CI 7.83–8.27) (out of 9) or 89% (SD±7.53) (effect size = 0.72; moderate; p < 0.001). The simulator replicates dynamic tackle technique comparable to real-life tackle drills. It may be used for research analysing various aspects of the tackle in rugby and other contact sports.  相似文献   

Incidence and characteristics of injury in under-19 academy level rugby league match play: A single season prospective cohort study     

Jason C. Tee  Kevin Till  Ben Jones 《Journal of sports sciences》2019,37(10):1181-1188

Academy rugby league competition is an important step along the pathway to professional status, but little is known about injury at this level of the game. The aim of this research was to establish the nature, incidence and burden of injury in English academy rugby league. Using an observational prospective cohort study design, and a time-loss injury definition, the injury outcomes of three professional rugby league academies were recorded during the 2017 season. A total of 87 injuries occurred in 59 matches for an overall injury incidence of 85 (95%CI 67–103) injuries per 1000 hours played. The mean severity of injury was 22 ± 19 days resulting in an overall injury burden of 1898 (95%CI 1813–1983) days lost per 1000 hours. The tackle event was the most common cause of injury (77% of all injuries). Forwards sustained a greater proportion of injuries than backs (forwards 67% vs. backs 33% of injuries). Concussion (13 (6–20) per 1000 hours) and ankle sprains (11 (4–17) per 1000 hours) were the most commonly diagnosed injuries. The shoulder joint was the most commonly injured site (17 (9–25) per 1000 hours). The incidence of injury for academy rugby league is similar to senior professional rugby league.  相似文献   

高频振动筛技术改造攻关   总被引：2，自引：0，他引：2  

王学东 《河北能源职业技术学院学报》2006,6(3):78-79

就高频振动筛在使用中轴承发热、噪声过高、主螺栓断题的产生原因,改进方案和使用效果.  相似文献   

A ROBUST GAIN-SCHEDULING CONTROL BASED ON VSC AND FUZZY LOCAL CONTROLLER NETWORK     

胡剑波  苏宏业  褚健 《Journal of Zhejiang University. Science. B》2000,(3)

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显微镜镜外光源的改进和安装     

姜宏钟 《思茅师范高等专科学校学报》1999,15(4):49-50

用自制滑轮改进了生物实验室的日光灯照装置,从而保证了各种自然光线条件下,均能使显微镜获得充足的照明光源。并且达到了投资少,安全,美观,实用的目的,对中学生物中教室瘘实验室改善显微镜照明条件有普遍的借鉴意义。  相似文献   

短距离滑坡规模估算方法研究   总被引：1，自引：0，他引：1  

李松 《贵州教育学院学报》2013,(9):49-52

将滑坡分为长滑距滑坡和短滑距滑坡,长滑距滑坡的滑坡体完全滑离原来的位置,而短滑距滑坡体部分滑离原来的位置。依据滑坡地学原理,以四川省古蔺县蔺双路滑坡为例,以二元多项式拟合短滑距滑坡的滑动面和滑坡表面,以SVD拟合滑坡周界的投影面,然后以滑动面和滑坡表面表达式作为被积函数,以滑坡周界投影面表达式作为积分区域,构建积分算法模型,分析滑坡体积算法的实现。计算结果为12．18万m3,而传统的估算结果是7万m3。结果表明,滑坡体积二重积分算法具有更高的精度,能够为滑坡紧急救灾和灾害防治提供更科学的信息支持。  相似文献   

基于透明土试验的黏土边坡土体变形特征试验          下载免费PDF全文

刘强  吴能森  许旭堂 《福建工程学院学报》2022,(6):532-536

利用透明土模型试验非介入式、可视化的优点,结合PIV(粒子图像测速)技术研究坡顶分级荷载下黏土边坡土体变形规律。试验结果表明:黏土边坡在滑移过程中,土体位移量加速积累,土体变形主要分为稳定、加速和破坏3个阶段;黏土边坡在失稳过程中土体沿坡顶至坡脚半径最大圆弧面滑动,随荷载不断增加,会在边坡内部形成半扇形区域滑裂带。  相似文献   

一种基于数据平滑技术的回归预测算法     

龙浩  霍娜 《河北软件职业技术学院学报》2014,(4):47-50

在基于固定窗口宽度滑动窗口模型的基础上。提出了一种基于回归参数存储的预测模型,该模型设置了计算区、数据区和参数区。计算区用于获得最近一个滑动窗口中的数据。数据区用于接收新数据,参数区存储最近若干组滑动窗口数据所计算得到的线性回归参数值,作为计算预测结果的原始数据集。按照这种模型的处理思路。提出了一种基于数据平滑技术的回归预测算法,随着窗口的滑动。对数据区中的数据进行回归分析,获得前面若干组滑动窗口数据的回归函数并存入参数区中,检验当前窗口中数据获得的回归函数预测效果。实验分析表明。通过修正当前回归函数的参数。可以使预测函数的预测精度得到很大程度的提高。  相似文献