Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment.

This study develops an adaptive sliding mode control approach for a drilling tool attitude adjustment system, aiming at solving the problems of model uncertainties and insufficient ability of disturbance suppression during the regulation behavior. To further improve the performance of the position-tracking loop in terms of response time, tracking accuracy, and robustness, a state observer based on an improved radial basis function is designed to approximate the model uncertainties, a valve dead-zone compensate controller is used to reduce control deviation, an adaptive sliding mode controller is designed to improve the position-tracking precision and attenuate sliding mode chattering. Finally, simulation and experimental results are carried out to verify the observability of the model uncertainties and position-tracking errors of the drilling tool attitude adjustment system, which can effectively improve the position-tracking performance and robustness of the drilling tool attitude adjustment system.

Electrohydraulic proportional position and pressure loading control utilizing a state perception and processing method.

A new multifunctional proportional control triaxial stress loading apparatus is presented in this study, which can apply an output force on coal rock to simulate the conditions of triaxial stress loading, aiming at solving the problems of excessive consideration of static indices in the design and the incompleteness of the simulation and test verification system for the test parts at the performance analysis stage. This apparatus mainly combines the configuration of a triaxial stress loading system which can meet the stress loading requirements under different operating conditions, with the effective integration of multiple pressure loading operations based on the electrohydraulic proportional control method. In this context, a pressure and position combined control strategy based on the sliding mode is proposed to control the vertical and longitudinal loading hydraulic cylinders. Then, a co-simulation mode including the triaxial stress loading hydraulic system is established to verify the control strategy, system response characteristics and selection of the controller parameters. Furthermore, a multifunctional stress loading experimental platform is developed, and the stress loading characteristics with the proposed strategy are tested and analyzed. The results show that the triaxial stress loading hydraulic system can meet the response characteristics, the fluctuating deviation of the constant loading test can be restricted to 8.5%, the tracking error of the variable loading test is small, the minimum response time of instantaneous loading can reach 2.8 s, and the stress loading effect is noticeable. The experimental platform fully indicates that the stress loading system with the state perception and processing method as the core can meet a variety of verification indices of constant, variable and instantaneous loading tests. This research provides technical support for the smooth, synchronous control and intelligent operation of various types of hydraulic actuator machines.

Optimization of membrane filtration and cleaning strategy in a high solid thermophilic AnMBR treating food waste.

Anaerobic membrane bioreactor is advantageous over traditional processes for food waste treatment, i.e. short retention time, high loading rate, and particulate clean permeate. However, establishing a sustainable membrane filtration is a long-standing challenge because of its high viscosity and solids concentration characteristics. Therefore, this study investigated the changes in the membrane permeability before and after the cleaning during a 130-day thermophilic anaerobic experiment. Results show that the AnMBR system could maintain high stability even under a short HRT of 10 days and OLR of 9.0 kg-COD/(m3·d) with low volatile fatty acid of 50 mg/L. The membrane filtration deteriorates with the concurrence of a sharp increase of viscosity when the volatile solids reached 23 g/L. A critical flux was achieved at 5.5 L/(m2·h) under optimized operation conditions, membrane filtration/relaxing ratio with less than 4:1 at a hydraulic retention time of 15 d. Membrane fouling can be removed by soaking the membrane in NaClO (1 g/L, 15 h) and citric acid (2 g/L, 2 h). Conclusively, this work provides insight to establish the operation strategy for a thermophilic AnMBR treating food waste.