Current Issue : January-March Volume : 2024 Issue Number : 1 Articles : 5 Articles
This paper introduces a controller unit for reactivity monitoring and automatic power control that was designed and constructed for the 500kW Dalat Nuclear Research Reactor (DNRR). For power control and reactivity calculations, frequency signals from neutron measurement channels of starting and working ranges of the reactor are used. Two abovementioned independent functions were combined in an Artix-7 FPGA board for determining reactivity values by solving the point reactor kinetics equations with six delayed neutron groups and for stabilizing the reactor power at preset levels by determining the unbalance voltage signal to control the automatic control rod. With real-time calculations, the newly developed controller can monitor the reactor reactivity and control the reactor power online. The developed controller unit’s reactivity measuring and power stabilizing capabilities were assessed using the DNRR in normal operation and assumed emergency conditions and compared with those of the preexisting imported BNO-102R1 module of the DNRR control and protection system, known as ASUZ-14R. The results of the experiments show that the produced FPGA-based unit and the BNO-102R1 unit have the same technical characteristics and features, with the disparities being less than 5% and 1%, respectively, in reactivity measurement and power stabilization. The experimental data of reactivity measurements by the FPGA-based unit and the calculation results were also compared and found that the relative deviations between those are also less than 10%. The developed controller unit is capable of carrying out a variety of training and operational experiments on the DNRR....
This study proposes a new methodology, based on the optimization procedure by a metaheuristic algorithm, for designing a hybrid vibration control system to mitigate the dynamic response of buildings under nonstationary artificial earthquakes (NSAEs). For illustration purposes, a 10-story shear building is studied. The hybrid control system involves the use of an MR damper (MR) and a tuned mass damper (TMD) located in different places of the structure. To describe the behavior of the MR, the modified Bouc–Wen model (MBW) was used. To calculate the damping force of the MR, the clipped optimal control associated with linear quadratic regulator (LQR), CO-LQR, was considered. The optimization was performed using the whale optimization algorithm (WOA) and seismic load generated by the Kanai–Tajimi spectrum. Different control scenarios were evaluated: MROFF, MR-ON, CO-LQR, STMD, and CO-LQR (MR + TMD) to determine the best control scenario that can effectively control the structure. Overall, the optimized hybrid control scenario (MR + TMD) was the only one able to adapt all story drifts to the control criterion of the consulted normative. Then, CO-LQR (MR + TMD), designed via the methodology proposed in this work, proved to be the best alternative to control the seismic response of this building....
Movement–process collaborative compound robots are an important part of intelligent factory logistics systems, and they usually have two control systems located in the movement platform and the process platform. Interaction between the two platforms often requires the central logistics execution system to work. This paper proposes a compound robot control system architecture that integrates movement control and process action control. Its hardware can be an industrial computer with movement- and process-related sensor interfaces, and its software with multi-process management completes the internal collaboration and external data exchange. This architecture can greatly reduce the cost of compound robots and the scheduling load on the central logistics system server, simplify the development of logistics control programs, improve real-time collaboration between movement and process control, and provide strong support for the realization of massive logistics devices’ collaborative management and control....
This paper studies the model-free robust adaptive cruise control problem of a vehicle with unknown nonlinear dynamics and disturbances. First, under backstepping control framework, the position tracking errors with different spacing strategies are used to design a virtual control law, which provides a velocity reference. Then, a novel data-driven sliding surface whose parameters are updated by designing estimation algorithm is developed to handle the unknown uncertainties and disturbances. Finally, the model-free robust backstepping adaptive cruise control (MFRB-ACC) method including PI control, model-free control, and robust control is designed. The novelty of the proposed control technique lies in its strong robustness, which is not based on the precise vehicle model. The designed data-driven sliding surface releases the necessity for the accurate mathematical model of the vehicle and guarantees the inherent robustness of the controller, in particular to uncertainties, modelling error, or external disturbance. Moreover, the designed controller contains three terms such that it has an effective decoupling ability and strong robustness. The effectiveness and superiority of the designed MFRB-ACC method are validated on MATLAB, and the simulation results show that compared to the PID algorithm, the designed MFRB-ACC algorithm can track its preceding vehicle with lower tracking error under different spacing strategies, different operating conditions, and low sampling frequencies. Especially at a sampling frequency of 0.1 s, the error under the PID-ACC increases from 0.2m at a sampling frequency of 0.01 s to 2 m, and the error under MFRB-ACC has little change compared to the error at a sampling frequency of 0.01 s....
This study considers the practical issue of severe noise observed in a multi-stage sleeve control valve within an engineering project. Employing computational fluid dynamics (CFD) methodology, we initially performed numerical simulations to analyze the steady-state flow field within the control valve. Subsequently, we identified the underlying factors contributing to the noise issue within the valve. To assess the aerodynamic noise of the control valve, we applied the FW-H acoustic analogy theory and determined the intensity and distribution characteristics of the aerodynamic noise. Finally, we validated the numerical simulation results of the aerodynamic noise against theoretical calculations. Our findings indicate that the steam medium experiences high-speed flow due to disturbances caused by various components within the valve, resulting in significant turbulence intensity. This intense turbulence leads to pressure fluctuations in the steam, serving as the main catalyst for noise generation. The aerodynamic noise of the control valve exhibits a roughly symmetrical distribution along the pipe–valve system, with noticeable increases in noise levels upstream and downstream of the valve compared to other regions. The distribution cloud map obtained from the numerical simulations serves as a valuable reference for analyzing the locations where aerodynamic noise is generated. Comparing the numerical simulation results with the theoretical calculations at the noise monitoring points, we found that the noise error of the monitoring points was less than 5%, which proves the effectiveness of the numerical simulation method. These results provide essential data support for the acoustic detection of aerodynamic noise in control valves, carrying significant practical implications for engineering applications....
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