http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Jianqi Huang (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
-
Nonlinear Anti-swing Control of Underactuated Tower Crane Based on Improved Energy Function
Huaitao Shi,Jianqi Huang,Xiaotian Bai,Xiang Huang,Jie Sun 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.12
The control system of tower crane exhibits strong nonlinearity in the process of control execution, which is prone to the problems of inaccurate positioning control of the payload and difficult anti-swing control. Aiming at the problems, this paper proposes a control law based on improved energy coupling analysis for suppressing the payload swing in the tower cranes. A three-dimensional dynamic model of tower crane system with considering friction is established, and an improved energy coupling signal is designed. The coupling relationship of trolley movement and payload swing, jib rotation and payload swing are considered, then a nonlinear anti-swing controller is established in order to reduce the swing. The closed-loop stability of the system with the controller is verified by the Lyapunov method and LaSalle invariance principle, simulations and experimental analyses are performed to verify the controller performance. The control performance of the controller is compared with other classic and typical current control methods, and the proposed controller outperformed other controllers. The anti-swing controller proposed in this paper has accurate positioning, and can achieve precise control when the payload is transported, reaching the set target position in a little time and eliminating residual swing angle. Meanwhile the proposed controller has a good control robustness, which can restore stability in around a very short time when the rope length and payload mass of the system’s inherent property are changed and external interference is added. In addition, when different target position parameters are uncertain, the proposed control law has good robust performance.
-
Impact of acid-base conditions on defluoridation by induced crystallization
Linyu Deng,Ying Wang,Jianqi Zhou,Ting Lin Huang,Xin Sun 한국공업화학회 2020 Journal of Industrial and Engineering Chemistry Vol.83 No.-
Defluoridation by induced crystallization under extreme pH and bicarbonate/carbonate alkalinity of anaquatic environment was researched. At the conditions of initial pH 4–10 and alkalinity of less than9.92 mM, the F could be successfully removed by the induced crystallization of Ca5(PO4)3F on the PRsurface within 1 h. With a prolonged time of 144 h, the F could be also removed by the formation ofCa5(PO4)3F at initial pH 2 and alkalinity 9.92 mM. However, in extreme base aquatic environments, suchas pH 12 or alkalinity 17.12 mM, the F was partially removed by the induced crystallization of FCO3-apatite (Ca9.316Na0.36Mg0.144(PO4)4.8(CO3)1.2F2.48) and the F could be completely removed by adjustingpH to a range of 4–10. Additionally, the safe disposal of spent crystal seed is successfully achieved as anextra benefit.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
