0引言DDC(Digital Down Converter)即数字下变频,主要功能是对大带宽信号中的特定信号进行降采样。本文所述的软件DDC算法可以实现任意采样率和带宽信号的数字下变频操作,又因为DDC输入的往往都是大带宽信号,数据量较大,因此支持数据分...0引言DDC(Digital Down Converter)即数字下变频,主要功能是对大带宽信号中的特定信号进行降采样。本文所述的软件DDC算法可以实现任意采样率和带宽信号的数字下变频操作,又因为DDC输入的往往都是大带宽信号,数据量较大,因此支持数据分包处理,以加快运行速度。这对于离线数据分析、信号处理类软件开发以及数字通信系统都具有重要意义。展开更多
In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a lar...In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.展开更多
以郑西客运专线为工程背景,分析DDC(Down Hole Dy-nam ic Compaction,简称DDC技术)桩法(孔内深层强夯技术)控制深厚湿陷性黄土地基工后沉降的机理及其技术优势,提出DDC桩法工后沉降计算及参数选取模式,结合具体工点进行设计分析,为铁路...以郑西客运专线为工程背景,分析DDC(Down Hole Dy-nam ic Compaction,简称DDC技术)桩法(孔内深层强夯技术)控制深厚湿陷性黄土地基工后沉降的机理及其技术优势,提出DDC桩法工后沉降计算及参数选取模式,结合具体工点进行设计分析,为铁路客运专线的设计提供参考。展开更多
文摘0引言DDC(Digital Down Converter)即数字下变频,主要功能是对大带宽信号中的特定信号进行降采样。本文所述的软件DDC算法可以实现任意采样率和带宽信号的数字下变频操作,又因为DDC输入的往往都是大带宽信号,数据量较大,因此支持数据分包处理,以加快运行速度。这对于离线数据分析、信号处理类软件开发以及数字通信系统都具有重要意义。
基金supported in part by the National Natural Science Foundation of China(62473142,62203161)Special Funding Support for the Construction of Innovative Provinces in Hunan Province(2021GK1010)+1 种基金Guangdong Basic and Applied Basic Research Foundation(2024A1515011579),Project of State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle(72275007).
文摘In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.
