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EN
The paper is dedicated to the robustness analysis of scalar multi-agent dynamical systems. The open problem we aim to address is the one related to the impact of additive disturbances. Set-theoretic methods are used to achieve the main results in terms of positive invariance and admissible bounds on the disturbances.
EN
Aiming at the problems of parameter disturbance and coupling disturbance in a vehicle drive axle loading test-bed, this paper used the adaptive backstepping sliding mode control (ABSMC) strategy to design the controller for the speed and torque system. The effectiveness of the controller has been verified by simulation and an experiment. The results show that the equivalent moment of inertia is increased by 5 times, and the step response overshoot of the speed system is 4.1%. By adding a random disturbance, the sinusoidal tracking errors of the speed and torque systems are 0.05 r/min and 0.09Nm, respectively.
EN
We consider in this work a class of finite dimensional time-varying linear disturbed systems. The main objective of this work is to studied the optimal control which ensures the remediability of a disturbance of time-varying disturbed systems. The remediability concept consist to find a convenient control which bringing back the corresponding observation of disturbed system to the normal one at the final time. We give firstly some characterisations of compensation and in second party we find a control which annul the output of the system and we show also that the Hilbert Uniqueness Method can be used to solve the optimal control which ensure the remediability. A general approach was given to minimize the linear quadratic problem. Examples and numerical simulations are given.
PL
W artykule przeanalizowano wpływ sterowników FACTS (PST oraz IPC) na pracę połączenia transgranicznego Polska-Niemcy. Stwierdzono, że przesuwnik fazowy PST spełnia podstawowe wymagania i tylko w niewielkim stopniu wpływa na automatykę zabezpieczeniową. Jego rozbudowa do układu międzyfazowego sterownika mocy IPC umożliwiłaby dodatkowo odcięcie się od zakłóceń pochodzących z niemieckiego systemu, jednakże wymagałaby istotnych zmian w automatyce zabezpieczeniowej.
EN
Unplanned energy flow from Germany via Poland to the Czech Republic caused overheating of transmission lines in the west of our country. In order to prevent the necessity to switch off these lines, phase shift transformers (PST) were placed on the border. However, the German system is highly saturated with wind electricity and therefore difficult to steer, which makes it a source of interference for neighbouring countries. The article analyses the impact of flexible AC transmission system (FACTS) drivers on the operation of the Poland-Germany cross-border electrical connection. It was found that the PST meets the basic requirements and has only a slight influence on the protection automatics. Expanding it to the interphase power controller (IPC) would additionally cut off the interference from the German system, however, it would require profound changes in the protection automatics.
EN
In pursuing numerous construction projects, investors and contractors regularly face construction delay problems, many of which are likely to have been avoidable. There is found that payment delays and project delays are the two most critical effects of risk factors of construction management. The paper presents the practical application of the Earned Value Management method, which was used to estimate the possible extension of the duration of construction works during which realization disturbances occurred on the example of selected construction investment. The realization disturbances are usually an inseparable element in the implementation of construction works. They are the result of, among others: additional works, changes or design defects, as well as a badly adopted logistics strategy regarding the supply of construction materials. Delays or increasing the total cost of investment is a problem often encountered in the implementation of construction investments, despite advanced construction technologies, including system technologies and proven tools supporting the management of the construction process. The EVM method is used to control investments. It allows you to control delays and acceleration of construction works as well as to estimate their cost and completion date. In the analyzed case it was used to determine the scale of delays arising in construction works and related effects with the specification of the participation of individual participants of the investment process for delays. This paper is a continuation and supplementation of the research presented in the article: “The influence of construction works disturbances on the EVM analysis outcomes - case study” [23].
PL
Realizując liczne projekty budowlane, inwestorzy i wykonawcy regularnie spotykają się z problemami dotyczącymi opóźnienia robót budowlanych, z których wielu prawdopodobnie można byłoby uniknąć. Stwierdzono, że opóźnienia w płatnościach i w realizacji inwestycji to dwa najbardziej krytyczne skutki czynników ryzyka związane z zarządzaniem budową. W artykule przedstawiono praktyczne zastosowanie metody Earned Value Management, która posłużyła do oszacowania możliwego wydłużenia czasu trwania robót budowlanych, podczas których wystąpiły zakłócenia budowlane na przykładzie wybranej inwestycji budowlanej. Nieodłącznym elementem realizacji robót budowlanych są zwykle zakłócenia budowlane. Są wynikiem m.in.: dodatkowych prac, zmian czy wad projektowych, a także źle przyjętej strategii logistycznej w zakresie dostaw materiałów budowlanych. Opóźnienia lub wzrost całkowitego kosztu inwestycji to problem często napotykany przy realizacji inwestycji budowlanych, pomimo zaawansowanych technologii budowlanych, w tym technologii systemowych i sprawdzonych narzędzi wspomagających zarządzanie procesem budowlanym. Do kontroli inwestycji stosowana jest metoda EVM. Pozwala kontrolować opóźnienia i przyspieszenie prac budowlanych oraz oszacować ich koszt i termin zakończenia. W analizowanym przypadku posłużył on do określenia skali opóźnień powstających w robotach budowlanych i związanych z nimi skutków. Niniejszy artykuł jest kontynuacją i uzupełnieniem badań przeprowadzonych na inwestycji budowlanej, przedstawionych w pracy: „Wpływ zakłóceń robót budowlanych na wyniki analizy EVM - studium przypadku” w 2020 r. [23].
EN
The West African continental margin belongs to the least known areas in terms of the ecology of benthic ecosystems. At the same time, this region is influenced by various threats associated with human activities, including industrialisation and oil excavation. Here, we analyse the abundance and distribution patterns of macrozoobenthic communities along the coast of Ghana. The material was collected in 2012 on nine transects at depths ranging from 25 to 1000 m. Over 200 quantitative samples were collected using a 0.1-m2 van Veen grab. Generally, the mean density of macrozoobenthos decreased gradually from the shallow zone (25 m: 231.4 ± 262.2 ind./0.1 m2) down to bathyal depths (1000 m: 55.4 ± 51.4 ind./0.1 m2), but we observed intermediate scale variability in distribution patterns among the transects along the Ghanaian coast. Analysis of environmental factors showed no evidence of substantial pollution, although levels of hydrocarbons, barium and some other toxic metals show some local increases at particular stations, especially on the continental slope. Cluster analysis based on Bray-Curtis similarity and abundance of higher taxonomic groups of macrofauna yielded five groups of stations, while SIMPER analysis demonstrated that polychaetes and amphipods contributed most significantly to within-group similarity. Canonical Correspondence Analysis demonstrated that PAH, THC and toxic metal levels (Ba, Cd, Pb), as well as oxygen concentration, were the most important factors structuring benthic communities.
EN
Military training areas, where ecosystems are shaped under a complex disturbance regime, are recognized to be favourable pieces of land for maintaining high biological diversity. Our study focused on explosion craters – a small-scale disturbance type of high severity, and their effect on species diversity including vascular plants, bryophytes and lichens. The research was carried out on an active military training area in Nowa Dęba (SE Poland). The examined vegetation represented open communities on nutrient-poor soils with a wide range of soil moisture conditions. We compared 76 pairs of vegetation samples, each pair consisting of a crater and a closely located control plot of the same size. Out of 135 species recorded (72 vascular plants, 33 mosses, 9 liverworts, 22 lichens), 37 were found only in craters, while 19 occurred only in control plots. Both, species number and diversity were significantly higher for craters than controls. In general, the positive effect of cratering on all studied groups rises from dry to wet habitats. The highest increase of diversity was observed in relation to bryophytes in the moist habitats. Moreover, craters within habitats of higher moisture turned out to be more resistant to alien colonization and at the same time were characterized by significantly higher number of red-listed species compared to the control plots. Differences in species composition between craters and undisturbed plots were most visible in moderately moist habitats. We found several species with a strong preference for craters, and the plants of the highest indicative value are Atrichum tenellum and Dicranella cerviculata.
EN
The objective of the present study was to document the knowledge about the biodiversity of benthic insect communities and their distribution patterns in the semi-arid bioclimatic stage in the streams of the Aurès Region (NE Algeria). The distribution patterns of communities were analyzed in relation to some environmental factors: physicochemical water parameters and global habitat characteristics, including human impact. The taxonomic biodiversity of six sampled streams (wadis) comprises 42 insect taxa, belonging to seven orders and 30 families, of which Coleoptera is the most diverse order (15 taxa), whereas Diptera, Trichoptera and Ephemeroptera dominate in terms of abundance. The human impact, flow velocity and some quality parameters of water (potential of hydrogen, nitrite, concentration of orthophosphates and conductivity) were identified as the most influential environmental variables, which allows the prediction of taxonomic diversity indicators. The classification and regression tree analysis (CART) for benthic insects shows the effect of environmental variables (habitat parameters and human impact in the arid region) on the diversity and distribution of insect orders. The RDA analysis showed that altitude, substrate type, human impact and physicochemical parameters of water (pH, flow velocity, conductivity and total dissolved solids) are the most important predictor variables that play an important role in the distribution patterns of benthic insects.
EN
The LQR (linear quadratic regulator) control problem subject to singular system constitutes a optimization problem in which one must be find an optimal control that satisfy the singular system and simultaneously to optimize the quadratic objective functional. In this paper we establish a sufficient condition to obtain the optimal control of discounted LQR optimization problem subject to disturbanced singular system where the disturbance is time varying. The considered problem is solved by transforming the discounted LQR control problem subject to disturbanced singular system into the normal LQR control problem. Some available results in literatures of the normal LQR control problem be used to find the sufficient conditions for the existence of the optimal control for discounted LQR control problem subject to disturbanced singular system. The final result of this paper is in the form a method to find the optimal control of discounted LQR optimization problem subject to disturbanced singular system. The result shows that the disturbance is vanish with the passage of time.
EN
A brief review of the evolution of denudation research since the 1960s is followed by a review of specific sediment yield variability in mountainous regions of the world as a function of spatial scale, relief, glaciation, lithology and disturbance type and location within the basin. A general model of scalar relations of suspended sediment yield for Canadian regions warns against comparing data from basins with areas ranging over several orders of magnitude. A regional summary of specific sediment yield in mountainous British Columbia confirms that in basins <1 km2 and >30,000 km2 specific sediment yield decreases with basin size whereas in basins of intermediate size (between 1 km˛ and 30,000 km˛) specific sediment yield increases with basin size. This effect is interpreted in terms of three distinct process zones in every mountain basin. These zones can be characterized as a) generally degrading hillslope zones, b) generally aggrading footslopes and valley sides, and c) channelized flows on valley floors demonstrating either net aggradation or degradation. These are identifiable repeating elements in such landscapes. Suspended sediment yield data from mountainous regions around the world are considered in light of the British Columbia model. Some support for the model is found where basins are stratified according to scale, relief, lithology, disturbance types, and location within each basin. Disturbance types include the presence of glaciers, land use activities of various kinds, such as increasing population pressure in the intertropical montane zone, changing population distribution and associated economic activities in the temperate montane zone, and potentially hydroclimate change.
EN
This paper presents a novel approach to the design of fuzzy state feedback controllers for continuous-time non-linear systems with input saturation under persistent perturbations. It is assumed that all the states of the Takagi–Sugeno (TS) fuzzy model representing a non-linear system are measurable. Such controllers achieve bounded input bounded output (BIBO) stabilisation in closed loop based on the computation of inescapable ellipsoids. These ellipsoids are computed with linear matrix inequalities (LMIs) that guarantee stabilisation with input saturation and persistent perturbations. In particular, two kinds of inescapable ellipsoids are computed when solving a multiobjective optimization problem: the maximum volume inescapable ellipsoids contained inside the validity domain of the TS fuzzy model and the smallest inescapable ellipsoids which guarantee a minimum *-norm (upper bound of the 1-norm) of the perturbed system. For every initial point contained in the maximum volume ellipsoid, the closed loop will enter the minimum *-norm ellipsoid after a finite time, and it will remain inside afterwards. Consequently, the designed controllers have a large domain of validity and ensure a small value for the 1-norm of closed loop.
EN
The cost-effectiveness of reactive distillation (RD) processes makes them highly attractive for industrial applications. However, their preliminary design and subsequent scale-up and operation are challenging. Specifically, the response of RD system during fluctuations in process parameters is of paramount importance to ensure the stability of the whole process. As a result of carrying out simulations using Aspen Plus, it is shown that the RD process for isoamyl acetate production was much more economical than conventional reactor distillation configuration under optimized process conditions due to lower utilities consumption, higher conversion and smaller sizes of condenser and reboiler. Rigorous dynamic modeling of RD system was performed to evaluate its sensitivity to disturbances in critical process parameters; the product flow was quite sensitive to disturbances. Even more sensitive was product composition when the disturbance in heat duties of condenser or reboiler led to a temperature decrease. However, positive disturbance in alcohol feed is of particular concern, which clearly made the system unstable.
13
PL
Wykonanie prac budowlanych w istniejących obiektach wymaga znajomości układu i rozmieszczenia pomieszczeń, ich wielkości oraz detali wykończeniowych. Budynki współczesne mają zwykle aktualną dokumentację, z której można skorzystać w przypadku remontu czy przebudowy. Inaczej jest z obiektami zabytkowymi. Ich dokumentacja budowlana jest praktycznie niedostępna, a mnogość detali i często rozczłonkowana bryła utrudnia pomiar inwentaryzacyjny takiego obiektu. Wówczas informacje o budynku można zebrać, stosując metodę skaningu laserowego 3D, która pozwala szybko i szczegółowo pomierzyć obiekt. Na podstawie tych danych możliwe jest opracowanie pełnej dokumentacji inwentaryzacyjnej. Przydatność danych z pomiaru uzależniona jest jednak od wielu czynników. W chmurze punktów, powstałej w wyniku pomiaru skanerem, mogą występować zakłócenia, zanieczyszczenia lub braki danych, co utrudnia pracę projektanta. W artykule przedstawiono niektóre problemy występujące podczas pomiarów skanerem laserowym 3D oraz obróbki uzyskanych danych.
EN
Construction works in existing buildings require the knowledge of not only the arrangement of particular rooms, but also their respective sizes or finishing details. When it comes to contemporary buildings, one can usually access their construction documentation to achieve this objective. However, when it comes to historical buildings, the situation is a bit more complicated as their construction documentation is practically unavailable and the multitude of details and often fragmented bodies hamper any survey works. This is when a 3D laser scanner comes into play. It allows for taking quick and detailed measurements based on which a complete survey documentation can be prepared. However, usefulness of such data depends on many factors. A point cloud created as a result of scanning may have certain disturbances, noise or simply miss some data, which makes the designer’s work difficult. The following paper presents some of the problems resulting from laser scanning and the computer processing of data obtained this way.
EN
Phase shifting transformers (PST) are new elements in the Polish power system. Their main task is to enable the transmission system operator to control the active power flows at the cross-border connection between the Polish and the German power systems. The paper presents the design characteristics of a 2-tank, 3-phase, symmetric phase shifting transformer (including key structural aspects) and the idea of its operation. A description of the structure of the automatic protection applied to this phase shifting transformer is included, with consideration of the measuring transducer locations and the protection criteria employed in the protection from the effects of high current short circuits.
PL
Przesuwniki fazowe są nowym elementem polskiego systemu elektroenergetycznego. Ich podstawowym zadaniem jest umożliwienie operatorowi systemu przesyłowego sterowania przepływami mocy czynnej na połączeniu transgranicznym polskiego i niemieckiego systemu elektroenergetycznego. W artykule przedstawiono charakterystykę budowy 2-kadziowego, 3-fazowego, symetrycznego przesuwnika fazowego (z uwzględnieniem kluczowych aspektów konstrukcyjnych) oraz ideę jego działania. Zamieszczono opis struktury elektroenergetycznej automatyki zabezpieczeniowej stosowanej dla takiego przesuwnika fazowego, uwzględniając umiejscowienie przetworników pomiarowych oraz kryteria zabezpieczeniowe wykorzystywane w zabezpieczeniach służących do jego ochrony przed skutkami zwarć wielkoprądowych.
EN
A problem of wave identification is formulated. We propose a diagnostic analysis of medium disturbances based on distinguishing of components of a wave vector that is specific for each kind of the wave mode. Mathematically it is realized by projection operator technique. An example is considered in conditions of a one-dimensional Cauchy problem for a conventional wave equation in the matrix form and its version with weakly x-dependent coefficients as a demonstration of the method application for the simplest adiabatic theory of one-dimensional acoustics. The case of acoustics in a gas with a dissipation account is also discussed from the point of view of the wave and entropy mode diagnostics.
PL
Zakłócenia od trakcji elektrycznej mają wpływ na prawidłową pracę układów sterowania ruchem kolejowym i automatyki kolejowej. Szczególnie wrażliwym na zakłócenia elementem układów srkjest obwód torowy. W konkretnych sytuacjach ruchowych, przy określonych, odległościach pojazdów trakcyjnych od podstacji może wystąpić wzrost zakłóceń powodowany istnieniem rezonansów w sieci trakcyjnej. W artykule omówiono symulacyjne i terenowe wyniki badań rezonansów w sieci trakcyjnej. Na podstawie wyników przeprowadzonych symulacji i badań można stwierdzić, że odcinek sieci trakcyjnej już o długości 5 km można traktować jako linię długą. Modelowanie sieci trakcyjnej jako łańcucha czwórników typu n jest dobrą metodą oceny zjawisk zachodzących w sieci trakcyjnej traktowanej jako linia długa. Przedstawiono również wpływ rezonansów na poziom zakłóceń w urządzeniach srk. Rezonanse w sieci trakcyjnej mają wpływ na poziom zakłóceń w obwodach torowych pracujących na częstotliwościach powyżej l kHz. Rezonanse w sieci trakcyjnej powinny być brane pod uwagę przy określaniu dopuszczalnych parametrów zakłóceń dla pojazdów trakcyjnych i obwodów torowych.
EN
The study pays attention to disturbances in early successional communities of wetland vegetation. We conducted artificial disturbances in a community of Suaeda salsa and Phragmites australis in the Yellow River Delta (China). Eight types of disturbances combining mowing treatments with species treatments were applied. Removal of the standing litters of P. australis or not was defined as mowing treatments, and removal of two species solo or both was defined as species treatments. We sampled 80 quadrats from the treatments plots at different intervals after the disturbance to investigate plant height, abundance, aboveground biomass, the distance between plants to reflect the effect of disturbance on composition, structure, productivity, and function of the plant communities. The strategies of seedling emergence and height growth differed as the canopy changed. Biomass contribution of different species, combined with disturbance intensity, was the main factors that affected the productivity. Homogeneity of disturbance was better for maintaining the functions of plant community in compared with the competitiveness (C), stress-tolerance (S) and ruderality (C-S-R) signatures with the control. Facilitations were reflected by the stagger arrangements in relative growth rates of the two species and in plant-plant interactions calculated by a modified function of competition. Adapting to symmetric disturbance and developing facilitative interactions are important requirements for early succession terrestrial vegetation to establish and stabilize in the seriously saline environments of wetlands.
EN
The present work is aimed at presenting the disturbance generated by a solar array drive assembly (SADA) driving a flexible system. Firstly, the vibration equation of SADA is obtained by simplifying and linearizing the electromagnetic torque. Secondly, the disturbance model of SADA driving a discrete flexible system is achieved based on the vibration equation established. Taking a two-dof flexible system as the study object, this disturbance model is simulated and analyzed. Lastly, a continuous flexible system, which is designed to simulate the solar array, is used to illustrate the simulation method of the disturbance emitted by SADA driving a continuous flexible system. All the achievements obtained from this project will provide a theoretical basis for the prediction of the disturbance emitted by the SADA driving solar array on the orbit.
19
Content available remote Półmostkowy tyrystorowy regulator napięcia
PL
W artykule przedstawiono układ półmostkowego regulatora napięcia dla kąta zapłonu tyrystora z przedziału 110-150°. Przesunięcie zapłonu tyrystora do kąta o wartości około 110° zrealizowano na transformatorze małej mocy – przesuwającym kąt o 180° oraz obniżającym napięcie sieciowe i przesuwniku fazy RC w układzie różniczkującym – przesuwającym napięcie o kąt -70°. Regulację kąta zapłonu w zakresie 110- 150° zrealizowano poprzez zmianę amplitudy napięcia sterującego, której wartość określa moment zapłonu tyrystora.
EN
A circuit with semi-bridge thyristor voltage regulator for thyristor ignition angle in the range 110-150 degrees is presented. A shift of the ignition angle equals about 110 degrees was realized on the low power transformer (which shifts ignition angle of 180 degrees and reduces line voltage) and RC phase shifter in a differentiation circuit, shifting voltage by an angle of -70 degrees. Regulation of ignition angle in the range between 110-150 degrees was accomplished by changing an amplitude of a control voltage, which specifies moment of thyristor’s ignition.
PL
W artykule przedstawiono możliwości generacji wysokoenergetycznych pól magnetycznych, ze szczególnym uwzględnieniem generatorów energoelektronicznych oraz magneto-kumulacyjnych. Omówiono oddziaływanie pola magnetycznego na urządzenia i systemy infrastruktury krytycznej. Zaprezentowano badania symulacyjne oddziaływania pól magnetycznych na podatne elementy urządzeń infrastruktury krytycznej. Wykonano weryfikację laboratoryjną dla wybranych urządzeń elektroenergetycznych. Przedstawiono stanowisko badawcze do badania odporności urządzeń na wysokoenergetyczne pole magnetyczne.
EN
The paper presents the possibility of generation of high-energy magnetic fields, with particular emphasis on generators, power electronics and magneto-cumulative . Discusses the influence of magnetic field on the devices and systems for critical infrastructure. Presented simulation study magnetic fields on vulnerable elements of critical infrastructure installations. Laboratory verification was performed for selected devices power. Presented test stand for testing devices at high-energy magnetic field.
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