86results about How to "Meet the needs of practical engineering" patented technology

The invention discloses a harmonic characteristic analytical method of an MMC (Modular Multilevel Converter). The harmonic characteristic analytical method comprises utilizing operation conditions and system parameters of the MMC and considering a second harmonic component of the bridge arm current to calculate the bridge arm current of every bridge arm of the MMC; calculating the average capacitive current of sub-modules of the MMC through an average switching function model under the actual condition; calculating the average capacitive voltage of the sub-modules of the MMC according to the relationship between the voltage at two ends of a capacitor and the current which flows through the capacitor; calculating the total voltage of phase bridge arms of the MMC through the average switching function model under the actual condition; utilizing the fourier series harmonic analysis method and extracting second harmonics to perform analysis to calculate the double frequency circular current of the bridge arms. According to the harmonic characteristic analytical method of the MMC, a harmonic component of every electric parameter of the MMC can be calculated, so that the computation commonality is strong, the application range is wide, and the accuracy is greatly improved in comparison with the existing methods.

The invention relates to an ecological-floating-bed-based water body ecological restoration method which comprises the following steps: 1) establishing an ecological floating bed, adding biological activated carbon into each growing basket, and suspending rope-shaped carbon fiber ecological grass on the bottom of the floating bed; 2) growing emerging plants in a first aquatic plant growing region, wherein the emerging plants are composed of more than two of Canna generalis, Thalia dealbata, Iris wilsonii, calamus, purple loosestrife, bamboo reed, reed, cyperus altrnlifolius and Pontederia corda; growing a floating leaf plant or submerged plant in a second aquatic plant growing region, wherein the floating leaf plant is Ludwigia stipulacea, and the submerged plant is watermilfoil; and 3) reaping: carrying out periodical reaping according to the growth condition of the aquatic plants. The multiple ornamental plants and plant species with higher synergic decontamination capacity are reasonably blended and grown to establish a stable floating bed phytocommunity, thereby enhancing the synergistic actions among organisms, enhancing the restorability of the ecological floating bed for the water ecological environment, effectively enhancing the purifying effect of the ecological floating bed, and having stabler purifying effects.

The invention discloses a subway tunnel appearance detection method, which comprises the steps of: acquiring high-definition images from all cross sections of subway structure at a certain speed alonga path of the subway through a subway rail image data acquisition platform; horizontally putting high-definition image acquired from each section, and vertically putting images acquired from certainnumber of stations at a certain speed to form image matrixes, vertically and horizontally stitching the image matrixes to form a complete and full section subway high definition image; correcting thestitched image by using a subway segment CAD vector diagram to obtain a roaming map with position coordinates; marking defects such as cracks and infiltration and the like on the roaming map, automatically calculating sizes and positions of defects, and automatically classifying and counting. According to the subway tunnel appearance detection method, all surface apparent defect information of thesubway tunnel surface can be obtained, information of submillimeter scale defect such as water seepage, cracks, erosion, leakage, peeling, dislocation and other defects on the surface can be observed, scientific and comprehensive data is provided for electronic management and maintenance of subway tunnels.

The invention discloses a lightning current detecting device which comprises a signal conditioning unit, an energy taking unit and a collecting unit. The lightning current detecting device can directly use lightning stroke energy on overhead transmission lines or lightning conductors, and the lightning stroke energy can be coupled by an energy taking coil to obtain power finally. Monitoring equipment can be driven without external power supply to provide energy. The lightning current detecting device can guarantee stable, continuous and real-time monitoring for a long time without taking the situation where the lighting stroke cannot be monitored due to the fact that external power is insufficient to cause equipment failure into consideration. The lightning current detecting device can accurately record time, amplitude and polarity of the lightning stroke. The lightning current detecting device removes a special trigger circuit and has the advantages of being high in accuracy, simple in structure, small in size, low in cost, high in safety and the like. In addition, the lightning current detecting device has the advantages of being simple in structure, small in size, light in weight, capable of taking energy conveniently, convenient to install, flexible to adjustable and the like.

The invention discloses a bridge cable appearance detecting method. According to the method, a structure image is subjected to matrix splicing and image straightening in sequence, so as to realize one-one correspondence between the coordinate of the image pixel and the coordinate of an actual CAD drawing; a structure high-definition map is formed, and is subjected to defect measurement, positioning, labeling, classification, statistics and the like. The method has the advantages that not only can defect information on the surface of a bridge cable obtained, but also the precision and the objectivity of the detection are ensured, the sub-millimeter scale defects can be observed, and the actual engineering requirements are met.

The invention provides an ultra-low temperature resistant and high-strength rubber asphalt waterproof material and a preparation and construction method thereof. The ultra-low temperature resistant and high-strength rubber asphalt waterproof material is composed of anionic emulsified asphalt, rubber emulsion, plasticizer and additives, the weight parts of the anionic emulsified asphalt is 60-40, and the weight parts of the rubber emulsion is 40 ~60, the parts by weight of the plasticizer are 0.1~10, the parts by weight of the additives are 3~7; the glass transition temperature of the rubber emulsion is lower than -20°C; the plasticizer is o Phthalate esters and / or phthalates; the material does not break at a low temperature of -40°C to -50°C after being cured into a film.

The invention relates to a reactive power optimization method for the distribution network based on a random matrix and intelligent scene matching and belongs to the field of AC distribution network operation control technology. The method comprises steps that load data generated by the distribution network in operation, photovoltaic power generation data and electric vehicle charging data and even environmental data such as temperature, illumination, wind speed, etc., are utilized to respectively construct random matrixes; according to the single-ring limit theorem, the distribution law of acharacteristic root of each random matrix is calculated, and statistical characteristics such as the average spectral radius, the maximum / minimum spectral radius and outer / ring / intra-ring characteristic root distribution ratios are extracted; the principal component analysis method is utilized to integrate the above statistical characteristics to obtain principal components representing an operating state of the distribution network; scene characteristic matching is performed according to the obtained principal components, and the control strategy under the matching scene is used as the reactive power optimization control strategy of the current time period. The method is advantaged in that distribution network reactive power optimization and voltage management based on data driving are realized, and a new approach is provided for optimization operation of the distribution network.

The invention discloses a novel intelligent lightning arrester monitoring device which is used for being matched with a lightning arrester device to realize a function of monitoring a lightning arrester. The novel intelligent lightning arrester monitoring device comprises an energy obtaining device, a singechip control unit, a hardware clock unit and a data storage unit, wherein the energy obtaining device is arranged on a lightning arresting device and is used for obtaining electric energy form a power transmission line; the hardware clock unit and the data storage unit are connected with corresponding ports of the singe chip microcomputer control unit respectively; an energy obtaining coil can be used for providing the obtained electric energy to the singechip control unit. According to the novel intelligent lightning arrester monitoring device, the condition of whether a lightning conductor of the power transmission line or a building is subjected to lightning stroke or not and the frequency of being subjected to the lightning stroke can be monitored continuously; a special triggering circuit is not needed; the novel intelligent lightning arrester monitoring device has the characteristics of high precision, simple structure, small volume, low cost, high safety and the like.

The invention discloses a thunder current population parameter on-line detecting system and work procedures thereof, which relates to the thunder resisting technology of an electrical device of an electric system. The detecting system has the structure that a current sensor (1), a thunder strike signal sampling unit (9), a data receiver, a GPRS, a BT transmission unit (5), the Internet (6) and a user terminal (7) are orderly communicated; an FTP server (8) is connected with the Internet (6); a solar panel (4), a storage battery (3) and a voltage changer (2) are orderly connected; and the voltage changer (2) is respectively connected with the thunder strike signal sampling unit (9), the data receiver, the GPRS and the BT transmission unit (5). The invention has the advantages of simple structure, automatic operation, stable detection and accurate data, thunder strike data which is processed by a single chip can be transmitted to the Internet through a mobile network, and the transmitting data of the Internet can be directly transferred by a user.

The invention belongs to the technical field of permanent magnet synchronous motor position tracking control, and particularly discloses a permanent magnet synchronous motor random command filtering neural network control method capable of considering iron losses. The method introduces a command filtering technology into a traditional backstepping method by aiming at the control accuracy requirements of the permanent magnet synchronous motor and random disturbance and nonlinear problems in a driving system so as to solve the problem of ''calculation explosion'' in a calculation process. Meanwhile, a nonlinear function in a neural network approximation system is used for constructing a neural network adaptive position tracking controller. By use of the method, the tracking error of a systemcan be guaranteed to converge into a small-enough neighbourhood of an origin point. Compared with an existing method, the method disclosed by the invention is higher in working efficiency and anti-jamming capability and has a better control effect.

The invention relates to a combined multi-relay selection and time slot resource configuration method for a large-scale MIMO system. According to the method, the advantages of a quantum optimization mechanism and a termite swarm optimization mechanism are combined, the complex hybrid optimization problem of multi-relay selection and time slot resource configuration of the Massive MIMO system is solved by using the quantum termite swarm optimization method, and the method has the advantages of high search speed and high global search capability. According to the invention, a wireless energy collection technology is combined; the energy consumption in the information transmission process of the Massive MIMO cooperative communication system can be obviously reduced; The user terminal and theinterference relay respectively send the interference signal to the stealer to reduce the signal to interference plus noise ratio of the stealer, so that the confidentiality capacity of the Massive MIMO system can be effectively improved, and the safety and the reliability of the communication system are ensured.

The invention discloses a total geometric primary defect measuring method of a structural element, which belongs to the field of defect measurement of structural elements. The method comprises the followings steps that: routine measuring tools, namely an ordinary optical theodolite and a vernier calliper, are adopted; the theodolite is arranged on a tripod, the vertical axis of the theodolite is fixed, and a virtual reference line is positioned around the element by a cross wire intersection point by using a lens barrel rotating around a horizontal axis; and the vernier calliper is used for measuring the distance between an edge of the element at different cross sections of the element and the reference line. The element can be transversely or vertically fixed on the ground without special requirements on the field and element auxiliary fixing devices; the measurement precision is greatly improved; and the method is simple and practical.

The invention discloses a variable-water-volume operation regulating method for an open multi-water-pump transmission and distribution system. The operation regulating method comprises the following steps: fitting the single-water-pump equipment performance constants, so as to obtain the single-water-pump head as well as the relation between the single-water-pump efficiency and the flow rate variation; according to a pipeline resistance expression, calculating the pipeline network impedance; drawing a single-water-pump characteristic curve, a single-water-pump efficiency curve, a multi-water-pump parallel characteristic curve, as well as a transmission and distribution system pipeline network characteristic curve; according to the determined flow rate of the transmission and distribution system, acquiring different corresponding non-designed operating points and calculating the quantity of applied water pumps by adopting a valve throttling control method and a water pump variable-speed control method respectively; calculating the water pump efficiency of the different operating points, so as to obtain the energy consumption values of the transmission and distribution system; and comparing the energy consumption values based on the different control methods, and selecting the control method with the minimum energy consumption as the operation regulating method. By adoption of the operation regulating method, the energy consumption of the transmission and distribution system is effectively lowered, the operation expense is reduced, the equipment service life is prolonged, the energy-saving and economical effects are remarkable, and the application prospect is very good.

The invention discloses a fatigue test crack monitoring method and device, and the method comprises the steps: building a crack evaluation information base, calculating the length, number, position and form of a crack, and comprehensively evaluating the danger level of the crack according to the information in the crack evaluation information base. According to the fatigue test crack monitoring method and device, crack monitoring is achieved through the visual processing technology, the fatigue damage critical point can be accurately judged, and test piece failure information and data accuracyare more completely reserved; in addition, a crack evaluation information base is established, after the length, the number, the positions and the forms of the cracks are calculated, the danger levels of the cracks are comprehensively evaluated according to information in the crack evaluation information base, the actual harmfulness of the cracks to the components is comprehensively evaluated, and the requirements of actual engineering under various component testing conditions and application scenes are met.

The invention discloses a single-end fast distributed Brillouin optical time domain reflectometer based on an optical chirp chain, relates to the technology of the single-end fast measurement of the strain and temperature of distributed optical fibers, and aims at solving a problem that a conventional Brillouin optical time domain reflectometer is long in measurement time. According to the invention, one path of light is modulated into pulsed light through a first electrooptical modulator, and the pulsed light is amplified by an erbium-doped optic fiber amplifier as pump light, enabling the pump light to sequentially pass through a first port and a second port of a circulator, and then inputting the light through one end of a to-be-tested optical fiber. The other path of light is modulatedinto optical chirp signal light through a second electrooptical modulator, and the lower sideband of the optical chirp signal light is filtered by a first filter as reference light. A spontaneous Brillouin signal outputted by the circulator and the reference light perform the beat frequency operation, and a balance detector detects a beat frequency signal and performs the photoelectric conversion. An electric signal is filtered and detected by a filter detection module, and a collection module collects an output signal of the filter detection module. The Brillouin optical time domain reflectometer is suitable for the measurement of superfast single-end distributed Brillouin temperature and strain.

The invention discloses a collaborative optimization operation method of a regenerated water source heat pump heating system. The lowest energy consumption of the regenerated water source heat pump heating system under different load rates is used as a target function for building a regenerated heat source heat pump heating system collaborative optimization model and determining collaborative factors; and known parameters are introduced to calculate according to the collaborative optimization model to obtain regenerated water source heat pump heating system optimization solutions under different load rates and corresponding operation methods. The collaborative optimization operation method can preferably satisfy actual engineering demands, effectively reduces the energy consumption of the heat pump system, saves the operation cost, is convenient for managers to operate, and is excellent in application prospect.

The invention relates to a conversion method for power system power flow input data from PSD-BPA to pandapower, and belongs to the field of power system simulation. The method comprises the followingsteps: S1, reading configuration files describing various data card formats in a BPA power flow input data file; S2, reading BPA power flow input data; and S3, converting the power flow input data ofthe BPA into a power flow data object specified by the power, and storing the power flow data object in a disk file in a serialized manner. According to the method, a function provided by the power isused for creating the power flow data, and the power flow input data of the BPA are successfully converted into a data structure required by power flow calculation. The problem that actual power griddata are lacked in the process of using the power is solved, so that the requirements of actual engineering are met.

The invention provides a method for guided missile overall multi-disciplinary design oriented to multi-level performance. Shape design, power device design, part arrangement, trajectory design, guidance control system design, structural design, heat protection scheme design and warhead design are integrated. The method is supportive to scheme construction in a large range design space from the disciplines of shapes, power, layouts, trajectories, heat protection, structures, guidance control, warheads, invisibility and the like, and the performance analysis on three levels of guided missile flight performance, guidance accuracy and the kill probability can be achieved.

The invention discloses a construction method based on an interlocking type ecological geogrid. The interlocking type ecological geogrid is composed of an upper layer geogrid, a lower layer geogrid, an ecological protection layer, a connecting device and an anchoring device, the upper layer geogrid is a biaxial tension polypropylene geogrid, the ecological protection layer is turf or an ecologicalbag filled with nutrient soil and grass seeds, the lower layer geogrid is a steel-plastic geogrid, the upper layer geogrid and the lower layer geogrid are the same in size and specification except for materials, and circular through holes consistent in size and specification are formed in rib belt lap joint positions. The construction method based on the interlocking type ecological geogrid comprises eight steps. The structure is simple, the construction method is convenient, the reinforcing effect and greening effect of the geogrid on a rock-soil side slope can be effectively improved, waterand soil loss can be effectively treated, meanwhile, double benefits of side slope reinforcing and ecological protection can be achieved, the requirement for modern green engineering development is met, and important engineering significance is achieved.

The invention discloses a rock aging deformation prediction method and system based on LSTM deep learning. The rock aging deformation prediction method comprises the following steps: S100, obtaining existing data of rock aging deformation; S200, after existing data is cleaned, carrying out the data set division to obtain a training set, a verification set and a test set; S300, establishing a timesequence network prediction model; S400, inputting the verification set and the test set into the time sequence network prediction training model, performing testing to obtain a test result, optimizing the model according to the test result, increasing the training speed of the optimization model, and performing hyper-parameter debugging to obtain a rock aging deformation prediction model; S500, inputting actual measurement parameters into the rock aging deformation prediction model to obtain a rock aging deformation prediction result. By processing existing data such as an indoor rock rheological test, effective and accurate prediction of a rock aging deformation result is realized.

The invention discloses a portable taper gauge for measuring crystallizer and a working process thereof, relating to a taper gauge for measuring crystallizer. The structure of the taper gauge is as follows: an aligning platform is integrally connected with a transducer bracket at the left and right; an upright post display box is arranged on the aligning platform and is connected with the transducer bracket through a connecting pressing plate and a hexagon socket head cap screw; a tilt angle sensor is arranged on the transducer bracket; a digital display circuit is arranged in the upright post display box; the tilt angle sensor and the digital display circuit are electrically connected through a helical cable. The taper gauge has simple structure, small space occupied and wide application range, can be applied to measurement of a sheet billet crystallizer, has more accurately measurements with the combination of a digital circuit and program control which is up to 0.01mm, can finely regulate measuring range on line, and records and writes the measuring range into flash so as to meet requirements of real engineering.

The invention relates to a radar and communication integrated waveform design method based on multi-objective ant lion optimization, which comprises the steps of establishing a fitness function of theradar and communication integrated waveform design; initializing an ant population and an ant lion population, and determining the number of multi-objective ant lion optimization iterations; initializing a fitness value of each ant, and initializing the elite ant position; updating the ant position; calculating a fitness value of each ant in the population; updating a storage space, and dealing with a condition of exceeding the capacity of the storage space; updating the ant lion position and the elite ant lion position; judging whether the number of multi-objective ant lion optimization iterations is reached or not, if so, stopping the search, and randomly selecting a group of Pareto optimal solutions to serve as integrated waveform parameters; and if not, repeating the execution. The radar and communication integrated waveform design method takes the blind area range and information transmission rate in the integrated waveform application into consideration, thereby being more capable of meeting practical engineering requirements. The ant lions and elite ant lions guide together in the ant evolution process, thereby effectively avoiding falling into local optimum in the optimization process, and improving the convergence accuracy.

The invention provides a method for determining optimal dosage of emulsified asphalt in an emulsified asphalt mixture. The method comprises the following steps: performing grading on multiple grades of aggregates and mineral powder; determining the optimal water content OWC of the emulsified asphalt mixture; determining an equivalent lubrication coefficient gamma of the asphalt particles in relative to the water; determining the optimal dosage OEC of the emulsifier asphalt in the emulsified asphalt mixture, wherein the optimal water content OWC is determined according to the condition that thebulk volume relative density, splitting strength at 15 DEG C and asphalt attaching rate of a Marshall test piece are relatively high, the equivalent lubrication coefficient gamma is determined according to a principle that the void content change of the Marshall test piece is small, and the emulsified asphalt optimal dosage OEC is determined by taking small void content of the mixture and large splitting strength at 15 DEG C as the principle. Compared with the existing method, the method disclosed by the invention eliminates the different of the dry-wet degrees in the mixture under differentemulsified asphalt dosage, thereby reducing the test error, and the determination method for the optimal dosage OEC of the current emulsified asphalt is optimized.

The invention discloses a dynamic optimization and intelligent regulation and control configuration method for a wide-source cementing material of a cemented dam, which comprises the following steps of: firstly, carrying out site selection on a sand gravel yard based on a space-time Kriging interpolation method, carrying out a sampling test, and then determining a mixing ratio control range of the cementing material of the cemented dam according to a sampling test sample; and then comparing the real-time mixing ratio of the cementing material mixed on site with the control range of the mixing ratio of the cementing material, giving an alarm for the cementing material with a relatively large error value, and finally constructing a statistical model of multiple factors on compressive strength by adopting a grey correlation method according to the performance index of the cementing material so as to predict the compressive strength of the cementing dam, and evaluating the mixing quality through the compressive strength of the cemented dam. According to the invention, digital and intelligent regulation and control of the cementing material mixing process are realized, and the problem that in the prior art, the cementing damming material with performance indexes meeting requirements is difficult to prepare by using a local material with high dispersion, wide grading and maximum particle size of 300mm is solved.

The invention discloses a lossy compression algorithm based on peak clipping and tail insertion technology and geometrical progression companding transform. According to the simple and practical lossy compression algorithm, a direct relationship between an ADC quantification bit width and a signal-to-noise ratio is deduced at first, a lossy compression model is provided accordingly, then the peak clipping and tail insertion technology and the geometrical progression companding transform in the lossy compression model are analyzed and described in detail, algorithm complexity analysis of the lossy compression model is provided, simulation tests of three aspects, namely, the signal-to-noise ratio, a compression ratio and a bit error rate, are carried out in Matlab, and the results show that the compression model has good compression performance and high practicability.

The invention relates to the field of floor system ultimate load calculation methods, and discloses a concrete floor system bearing capacity calculation method considering beam and plate interaction, which considers the influence of torsional deformation and vertical deformation of a beam on floor system bearing capacity, quantifies the constraint effect of the beam on the plate, and is applied to a floor system ultimate bearing capacity calculation formula. The method has the advantages of sufficient theoretical basis, simple process and reliable result, the calculation result can meet the requirements of actual engineering, and the method has wide adaptability.

The invention discloses a mixing material separation and dust-reduction device and application scenarios thereof. The device comprises a multi-channel bionic swirler and an ejector, wherein the multi-channel bionic swirler comprises an overflow tube, a swirl chamber, a shrinking hopper and a sample discharge tube, which are fixedly connected with each other from top to bottom; bionic non-smooth units are distributed on the inner wall surface of the multi-channel bionic swirler; an inlet channel is disposed at the upper end of a side wall of the swirl chamber; the ejector comprises a spray nozzle, a mixing chamber, a throat tube and a diffusion chamber; one end of the spray nozzle is connected with a high-pressure pump, and the other end of the spray nozzle stretches into the interior of the mixing chamber; the mixing chamber is connected with the overflow tube in a closing manner; two ends of the throat tube are respectively connected with the mixing chamber and the diffusion chamber in a closing manner; and the diffusion chamber is connected with a dust-reduction box through a pipeline. The device is mainly used in scenarios in which a large amount of dust is generated such as drilling, geotechnical engineering, grouting engineering, geological disaster control engineering, mining, tunnel piercing and the like, and is capable of solving the technical problems that the existingdevice is low in separation efficiency on mixing materials, unsatisfactory in dust-reduction effect, serious in abrasion, short in service life and the like.

The invention relates to a cover structure for improving the cooling efficiency of a horizontal gas film on the downstream of an open slotted hole. The cover structure comprises a gas film hole, a horizontal open slot, a wall, protrusions and caps. The gas film hole is formed in the upstream area of the wall. The horizontal open slot is formed in an air outlet of the gas film hole. The protrusions are arranged in the downstream area of the wall and are distributed with the central line of the wall passing through the center of the air outlet of the gas film hole as the axis of symmetry. The face, facing the air outlet of the gas film hole, of each protrusion is a protrusion air inlet, and the opposite is a protrusion air outlet. The ratio of the length of each protrusion air inlet to the aperture of the gas film hole ranges from 2.0 to 5.0, and the length of each protrusion air inlet is 1.5-5.0 times that of the corresponding protrusion air outlet. The distance from each protrusion air inlet to the center of the air outlet of the gas film hole is 10-30 times the aperture of the gas film hole. The ratio of the height of the protrusions to the aperture of the gas film hole ranges from 0.25 to 3.0. The cover structure is characterized by further comprising the caps which cover the protrusions; the two sides of each cap are fixedly connected with the top of the corresponding protrusion; and the thickness of the caps is not greater than one fifth of the aperture of the gas film hole.

The invention relates to a structural dynamic response safety monitoring system and method based on a BIM, and the system comprises a structure response information integration module which is used for the integration and visualization of monitoring data based on a BIM platform; and a dynamic real-time safety monitoring module which is used for tracking the structural response of a key member during actual structural construction and application so as to dynamically monitor the structural safety state in real time, to timely give an alarm against a structural behavior abnormality and track andlocate the structural member that has an abnormality. The system and method solve a problem of dynamically tracking and monitoring the structural safety state in real time, improve the structural response and model interactivity, improves the safety monitoring level of the structural construction and application process, and provides a theoretical method and a feasible solution for the safety monitoring and early warning of actual engineering.

The invention belongs to the technical field of permanent magnet synchronous motor position tracking control, and particularly discloses a permanent magnet synchronous motor stochastic system fuzzy adaptive control method based on state constraints. Aiming at the problems that a traditional backstepping method cannot restrain the state quantity of a permanent magnet synchronous motor and random disturbance exists in the system, a constraint Lyapunov function is constructed to ensure that the state quantities such as the rotor angular velocity and the stator current of the stochastic system ofthe permanent magnet synchronous motor are always in a given state interval; and according to the method, a fuzzy logic system is adopted to approach an unknown stochastic nonlinear term in the system. Simulation results show that the method not only can achieve an ideal position tracking control effect, but also can restrain the state variables such as the angular velocity of the rotor and the current of the stator in a given constraint interval, avoids safety problems caused by violation of state constraints, and can effectively guarantee safety specifications and system performance.