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Voltage Generation by Rotating an Arbitrary-Shaped Metal Loop around Arbitrary Axis in the Presence of an Axial Current Distribution
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作者 Constantinos A. Valagiannopoulos 《Journal of Electromagnetic Analysis and Applications》 2010年第6期395-401,共7页
A thin metallic wire loop of arbitrary curvature is rotated with respect to an arbitrary axis of its plane. The device is excited by an electric dipole of infinite length and constant current. The resistance of the lo... A thin metallic wire loop of arbitrary curvature is rotated with respect to an arbitrary axis of its plane. The device is excited by an electric dipole of infinite length and constant current. The resistance of the loop is computed rigorously as function of the position of the source. In this way, the induced voltage along the wire, under any kind of axial excitation, is given in the form of a superposition integral. The measured response is represented for various shapes of the coil, with respect to the time, the rotation angle and the position of the source. These diagrams lead to several technically applicable conclusions which are presented, discussed and justified. 展开更多
关键词 Electromagnetic Induction Arbitrary-shape loop AXIAL Current Excitation SUPERPOSITION Integral
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Triple Notched Band Characteristics UWB Antenna Using C-Shaped Slots and Slot-Type Capacitively-Loaded Loop (CLL)
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作者 Ahmed Zitouni Noureddine Boukli-Hacene 《Journal of Electromagnetic Analysis and Applications》 2013年第8期342-345,共4页
Ultra wide bands antennas with notched bands characteristics have recently been considered for efficient communication between devices. In this paper, a compact ultra-wideband antenna (UWB) for UWB applications with t... Ultra wide bands antennas with notched bands characteristics have recently been considered for efficient communication between devices. In this paper, a compact ultra-wideband antenna (UWB) for UWB applications with triple bandnotched characteristics is presented. The proposed antenna consists of a square patch with four truncated corners and a partial ground plane with a rectangular slit. The operation bandwidth of the designed antenna is from 2.66 GHz to more than 13.5 GHz. Band-notched characteristics of antenna to reject the frequency band of 3.18 - 3.59 GHz and 4.70 - 5.88 GHz, is realized by inserting two C-shaped slots in the patch, the third band of 9.54 - 12.22 GHz is achieved by slottype capacitively-loaded loop (CLL) inserted in the patch near the feed line. Details of the proposed antenna design and simulated results are presented and discussed. 展开更多
关键词 Microstrip ANTENNA Ultra-Wideband ANTENNA UWB C-shaped Slot Capacitively-Loaded loop (CLL) Three-Band Notched CHARACTERISTICS
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Industrial shape detecting system of cold rolling strip 被引量:9
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作者 杨利坡 于丙强 +1 位作者 丁栋 刘宏民 《Journal of Central South University》 SCIE EI CAS 2012年第4期994-1001,共8页
A high-precision shape detecting system of cold rolling strip is developed to meet industrial application, which mainly consists of the shape detecting roller, the collecting ring, the digital signal processing (DSP... A high-precision shape detecting system of cold rolling strip is developed to meet industrial application, which mainly consists of the shape detecting roller, the collecting ring, the digital signal processing (DSP) shape signal processing board and the shape control model. Based on the shape detecting principle, the shape detecting roller is designed with a new integral structure for improving the precision of shape detecting and avoiding scratching strip surface. Based on the DSP technology, the DSP shape signal processing circuit board is designed and embedded in the shape detecting system for the reliability and stability of shape signal processing. The shape detecting system was successfully used in Angang 1 250 mm HC 6-high reversible cold rolling mill. The precision of shape detecting is 0.2 I and the shape deviation is controlled within 6 1 after the close loop shape control is input. 展开更多
关键词 shape detecting digital signal processing (DSP) shape signal processing close loop shape control cold rolling strip
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形状可调的Loop细分曲面渐进插值方法
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作者 陈甜甜 闫迪 +1 位作者 王伟 赵罡 《图学学报》 CSCD 北大核心 2018年第3期395-401,共7页
针对Loop细分无法调整形状与不能插值的问题,提出了一种形状可调的Loop细分曲面渐进插值方法。首先给出了一个既能对细分网格顶点统一调整又便于引入权因子实现细分曲面形状可调的等价Loop细分模板。其次,通过渐进迭代调整初始控制网格... 针对Loop细分无法调整形状与不能插值的问题,提出了一种形状可调的Loop细分曲面渐进插值方法。首先给出了一个既能对细分网格顶点统一调整又便于引入权因子实现细分曲面形状可调的等价Loop细分模板。其次,通过渐进迭代调整初始控制网格顶点生成新网格,运用本文的两步Loop细分方法对新网格进行细分,得到插值于初始控制顶点的形状可调的Loop细分曲面。最后,证明了该方法的收敛性,并给出实例验证了该方法的有效性。 展开更多
关键词 loop细分 形状可调 渐进插值 权因子
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Transfigured Loop Shaping Controller and its Application to Underwater Vehicle 被引量:1
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作者 Xian-Ku Zhang Yi-Cheng Jin 《International Journal of Automation and computing》 EI 2005年第1期48-51,共4页
A kind of transfigured loop shaping controller is presented in this paper. A transfigured loop shaping system puts a controller K in a feedback loop, while putting the dc gain of the controller K on the reference sign... A kind of transfigured loop shaping controller is presented in this paper. A transfigured loop shaping system puts a controller K in a feedback loop, while putting the dc gain of the controller K on the reference signal line. It is shown through frequency domain analysis and simulation that a transfigured controller can improve the dynamic behavior of a system. The transfigured loop shaping controller method is simple and effective and corresponds to the mixed sensitivity method of robust control theory, which improves the behavior of a system by iterative tuning of weighting functions. Satisfactory control results are obtained when it is applied to the design of an underwater vehicle. Keywords Loop shaping controller - underwater vehicle - transfiguration Zhang Xianku graduated from Beijing Institute of Clothing Technology, China, in 1990. He received the M. S. degree from Dalian Maritime University (DMU), China, in 1993 and the Ph.D. degree from DMU, in 1998. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include ship motion control and robust control.Jin Yicheng graduated from Zhejiang University, China, in 1967. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include simulating system of ship steering and visual control. 展开更多
关键词 loop shaping controller underwater vehicle transfiguration
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H_∞Loop Shaping Control for Plasma Vertical Position Instability on QUEST
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作者 刘晓龙 Kazuo NAKAMURA +12 位作者 Tatsuya YOSHISUE Osamu MITARAI Makoto HASEGAWA Kazutoshi TOKUNAGA 薛二兵 Hideki ZUSHI Kazuaki HANADA Akihide FUJISAWA Hiroshi IDEI Shoji KAWASAKI Hisatoshi NAKASHIMA Aki HIGASHIJIMA Kuniaki ARAKI 《Plasma Science and Technology》 SCIE EI CAS CSCD 2013年第3期295-299,共5页
QUEST has a divertor configuration with a high and a negative n-index, and the problem of plasma vertical position instability control in QUEST is still under extensive study for achieving high efficiency plasma. The ... QUEST has a divertor configuration with a high and a negative n-index, and the problem of plasma vertical position instability control in QUEST is still under extensive study for achieving high efficiency plasma. The instability we considered is that the toroidal plasma moves either up or down in the vacuum chamber until it meets the vessel wall and is extinguished. The actively controlled coils (HCU and HCL) outside the vacuum vessel are serially connected in feedback with a measurement of the plasma vertical position to provide stabilizing control. In this work, a robust controller is employed by using the loop synthesis method, and provides robust stability over a wide range of n-index. Moreover, the gain of the robust controller is lower than that of a typical proportional derivative (PD) controller in the operational frequency range; it indicates that the robust controller needs less power consumption than the PD controller does. 展开更多
关键词 vertical position instability robust control loop shaping QUEST
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An experimental study of in-plane arch-shaped dampers 被引量:3
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作者 Chien-Liang Lee Yen-Po Wang Meng-Yan Cai 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2018年第4期849-867,共19页
As an effort to minimize material utilization, seismic steel dampers designed to deform inelastically in an in-plane flexural mode have attracted serious attention recently. This paper presents a new type of metallic ... As an effort to minimize material utilization, seismic steel dampers designed to deform inelastically in an in-plane flexural mode have attracted serious attention recently. This paper presents a new type of metallic yielding damper referred to as the in-plane arch-shaped damper modified from its portal frame-shaped counterpart by replacing the straight beam with a circular arch to minimize the effects of stress concentration and warping, and therefore to avoid premature failure. Component tests of both the portal frame-shaped and arch-shaped in-plane dampers were conducted for comparison. Hysteresis loops obtained from the component tests under cyclic loads indicate substantial improvement on the energydissipative characteristics of the proposed damper. Moreover, seismic performance assessment of the proposed damper was carried out further via shaking table tests of a five-story model frame. Encouraging results have been achieved in terms of acceleration reduction, damping enhancement and peak suppression of the frequency response functions, suggesting the potential of the proposed device to be used in earthquake-resisting systems. 展开更多
关键词 SEISMIC metallic yielding damper in-plane arch-shaped damper hysteresis loop shaking table test
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Noise behaviors of a closed-loop micro-electromechanical system capacitive accelerometer 被引量:1
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作者 马铭骏 金仲和 +1 位作者 刘义冬 马铁英 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第12期4634-4644,共11页
The noise of closed loop micro-electromechanical systems(MEMS) capacitive accelerometer is treated as one of the significant performance specifications.Traditional optimization of noise performance often focuses on de... The noise of closed loop micro-electromechanical systems(MEMS) capacitive accelerometer is treated as one of the significant performance specifications.Traditional optimization of noise performance often focuses on designing large capacitive sensitivity accelerometer and applying closed loop structure to shape total noise,but different noise sources in closed loop and their behaviors at low frequencies are seldom carefully studied,especially their behaviors with different electronic parameters.In this work,a thorough noise analysis is established focusing on the four noise sources transfer functions near 0 Hz with simplified electronic parameters in closed loop,and it is found that the total electronic noise equivalent acceleration varies differently at different frequency points,such that the noise spectrum shape at low frequencies can be altered from 1/f noise-like shape to flat spectrum shape.The bias instability changes as a consequence.With appropriate parameters settings,the 670 Hz resonant frequency accelerometer can reach resolution of 2.6 μg/(Hz)1/2 at 2 Hz and 6 μg bias instability,and 1300 Hz accelerometer can achieve 5μg/(Hz)1/2 at 2 Hz and 31 μg bias instability.Both accelerometers have flat spectrum profile from 2 Hz to 15 Hz. 展开更多
关键词 CLOSED-loop MEMS accelerometer noise spectrum shape electronic parameters bias instability
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Drag of a D-shaped bluff body under small amplitude harmonic actuation 被引量:1
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作者 Yaqing Li Honglei Bai Nan Gao 《Theoretical & Applied Mechanics Letters》 CAS CSCD 2015年第1期35-38,共4页
Open-loop flow control method was used to affect the development of a turbulent wake behind a D-shaped bluff body. Loud speakers were embedded inside the bluff body to produce two zero-net-mass- flux jets through 2 mm... Open-loop flow control method was used to affect the development of a turbulent wake behind a D-shaped bluff body. Loud speakers were embedded inside the bluff body to produce two zero-net-mass- flux jets through 2 mm-wide span-wise slots located along the upper and lower edges on the rear wall. The drag forces for different actuation amplitudes (Cμ, the ratio between the momentum of the actuating jets and the moment deficit caused by the bluff body) and frequencies (StA) were examined. The effects of the phase difference in the two jets (0 and π) were also studied. It was found that when Cμ was 0.1%, a drag reduction up to 5% was achieved when the velocities of the two jets varied in phase at a frequency of 5tA = 0.16. When the velocities of the two jets varied π out of phase, significant drag increase was observed. 展开更多
关键词 D-shaped bluff bodyOpen-loop flow controlSynthetic jet
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Loop-Shaping Based Control for Switch Mode DC-DC Power Converters
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作者 Ma Guadalupe Ortiz-Lopez Luis Humberto Diaz-Saldierna +1 位作者 Diego Langarica-Cordoba Jesus Leyva-Ramos 《Journal of Power and Energy Engineering》 2020年第10期66-83,共18页
Renewable energy sources require switching regulators as an interface to a load with high efficiency, small size, proper output regulation, and fast transient response. Moreover, due to the nonlinear behavior and swit... Renewable energy sources require switching regulators as an interface to a load with high efficiency, small size, proper output regulation, and fast transient response. Moreover, due to the nonlinear behavior and switching nature of DC-DC power electronic converters, there is a need for high-performance control strategies. This work summarized the dynamic behavior for the three basic switch-mode DC-DC power converters operating in continuous conduction mode, </span><i><span style="font-family:Verdana;">i.e.</span></i><span style="font-family:Verdana;"> buck, boost, and buck-boost. A controller was designed using loop-shaping based on current-mode control that consists of two feedback loops. A high-gain compensator with wide bandwidth was used in the inner current loop for fast transient response. A proportional-integral controller was used in the outer voltage loop for regulation purposes. A proce</span><span style="font-family:Verdana;">dure was proposed for the parameters of the controller that ensures closed-loop</span><span style="font-family:Verdana;"> stability and output voltage regulation. The design-oriented analysis was applied to the three basic switch-mode DC-DC power converters. Experimental results were obtained for a switching regulator with a boost converter of 150 W, which exhibits non-minimum phase behavior. The performance of the controller was tested for voltage regulation by applying large load changes. 展开更多
关键词 Renewable Energy Sources loop-Shaping Control Power Electronic Converters Current-Mode Control
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一种基于正反馈的液化天然气船液舱绝缘层压差的非线性修饰鲁棒控制
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作者 张显库 范佳明 尚翀 《中国航海》 北大核心 2025年第S1期105-111,共7页
为验证正反馈控制在船舶液舱压力控制中的有效性,采用镜像映射方法将液化天然气(LNG)船液舱绝缘层压差的不稳定系统映射成稳定系统,用闭环增益成形算法设计鲁棒控制器以降低纯滞后带来的模型摄动影响,运用S函数的非线性修饰技术减少控... 为验证正反馈控制在船舶液舱压力控制中的有效性,采用镜像映射方法将液化天然气(LNG)船液舱绝缘层压差的不稳定系统映射成稳定系统,用闭环增益成形算法设计鲁棒控制器以降低纯滞后带来的模型摄动影响,运用S函数的非线性修饰技术减少控制器输出的幅值,使用正反馈实现整个控制系统的控制。理论分析和仿真试验结果表明:正反馈控制可取得与负反馈控制同样的控制效果,所提出算法的控制效果优于已发表负反馈算法的控制效果。初步证明了正反馈控制在船舶控制系统应用的可行性和有效性,对正反馈控制进一步理论分析及实际工程应用具有一定的指导意义。 展开更多
关键词 正反馈 LNG船 非线性修饰 鲁棒控制 压力控制 闭环增益成形
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动力系统二项式控制模型
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作者 刘天云 《动力学与控制学报》 2025年第8期89-96,共8页
本文针对动力系统提出了直接时域整形的一种面向控制的二项式模型,即由标称模型与整形偏差模型构成.根据动力系统动力学特点、控制性能要求,建立二项式标称模型;动力系统实际性能与标称模型的偏差量,即未建模动态量、内整形量、外扰动... 本文针对动力系统提出了直接时域整形的一种面向控制的二项式模型,即由标称模型与整形偏差模型构成.根据动力系统动力学特点、控制性能要求,建立二项式标称模型;动力系统实际性能与标称模型的偏差量,即未建模动态量、内整形量、外扰动量等形成整形偏差模型.二项式控制模型有前馈、反馈、整形量三项输入,相应控制器有两个自由度,前馈实现动力系统控制性能要求,反馈则主动平衡整形偏差量.数值仿真结果表明,本文的二项式控制模型对含纯积分环节、线性与非线性等动力系统都能准确达到控制性能的要求. 展开更多
关键词 二项式模型 环路整形 动力系统 二自由度控制器
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基于运动姿态数据挖掘的泊船遭遇角控制方法
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作者 李宗锋 郑永果 齐林 《舰船科学技术》 北大核心 2025年第13期162-166,共5页
在环境风、浪的作用下,船舶在泊船过程中的运动姿态会发生显著变化,导致遭遇角出现偏差,从而无法按预期调整航向,进而降低泊船过程的安全性。因此,提出基于运动姿态数据挖掘的泊船遭遇角控制方法。利用FP-growth算法挖掘出运动姿态与遭... 在环境风、浪的作用下,船舶在泊船过程中的运动姿态会发生显著变化,导致遭遇角出现偏差,从而无法按预期调整航向,进而降低泊船过程的安全性。因此,提出基于运动姿态数据挖掘的泊船遭遇角控制方法。利用FP-growth算法挖掘出运动姿态与遭遇角控制间的关联关系。通过RBF神经网络构建泊船系统函数,由此使用Nomoto传递函数描述船舶航向响应特性,并将其输入至三阶闭环增益成形算法中,通过增益成形实时调整船舶运动状态,抑制外部环境干扰造成的遭遇角偏差,实现泊船遭遇角的精准控制。结果表明,所提方法各个时刻遭遇角控制结果与实际期望控制值高度吻合,可以稳定船舶的运动姿态,保证泊船过程的安全性。 展开更多
关键词 运动姿态数据挖掘 泊船遭遇角 FP-GROWTH算法 RBF神经网络 闭环增益成形算法
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一种双输入非线性修饰的船舶航向保持控制算法
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作者 雷云松 张显库 《船舶工程》 北大核心 2025年第3期87-92,共6页
[目的]为使船舶航向保持算法具有良好的鲁棒性和节能性,设计一种基于双输入非线性修饰的船舶航向保持控制算法。[方法]考虑到双输入非线性修饰技术能以更小的控制输入得到与其他常用技术几乎相同甚至更佳的控制效果,闭环增益成形算法具... [目的]为使船舶航向保持算法具有良好的鲁棒性和节能性,设计一种基于双输入非线性修饰的船舶航向保持控制算法。[方法]考虑到双输入非线性修饰技术能以更小的控制输入得到与其他常用技术几乎相同甚至更佳的控制效果,闭环增益成形算法具有较强的鲁棒性,且参数整定较为简洁,将二者相结合进行控制器设计,使其同时具有较强的鲁棒性和节能性。[结果]Simulink仿真结果表明,相比采用单输入非线性修饰技术,采用闭环增益成形算法与双输入非线性修饰技术相结合的方案时:若不考虑舵机特性,船舶产生的能量消耗性能指标可下降13.29%;若考虑舵机特性,该性能指标可下降12.98%,且当延迟时间设为5 s时,该性能指标可下降82%,间接达到节能的目的。[结论]研究采用的控制器能进一步降低鲁棒控制的能量,具有良好的鲁棒性。 展开更多
关键词 航向保持 非线性修饰 闭环增益成形
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高速线材常见不良卷形原因分析及改善措施
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作者 方琳 李晓鹏 +3 位作者 武旭正 樊智 雷虎 石跃 《包钢科技》 2025年第2期36-38,67,共4页
随着小规格产品的增量生产,卷形的控制逐渐成为制约质量效益的关键环节。不良的卷形不仅影响高速线材生产的作业率和经济技术指标,还会造成下游用户在使用放线过程不顺利等问题,影响下游加工的效率。文章主要结合生产实际,分析了高速线... 随着小规格产品的增量生产,卷形的控制逐渐成为制约质量效益的关键环节。不良的卷形不仅影响高速线材生产的作业率和经济技术指标,还会造成下游用户在使用放线过程不顺利等问题,影响下游加工的效率。文章主要结合生产实际,分析了高速线材生产线上影响线材吐丝状态的一些因素,并简要阐述了生产过程中卷形不良的几种情况,分析了产生问题的原因,提出解决方法,以提高产品的生产效率及产品质量。规则的卷形能够保证放线时的流畅,减少用户拉拔断丝率,实现全流程的质量提升。 展开更多
关键词 高速线材 吐丝机 卷型控制
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U型井干热岩超临界发电系统工质优选
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作者 孙斌 杜建国 +3 位作者 王令宝 卜宪标 龚宇烈 李华山 《化工进展》 北大核心 2025年第9期4945-4953,共9页
U型井超临界循环发电技术是开发干热岩的重要途径,其中循环工质是影响系统性能的重要因素之一。本文建立了U型井干热岩超临界发电系统模型,分析了7种制冷剂作为U型井超临界发电系统循环工质的应用潜力,研究了流体流量、垂直井深度、水... U型井超临界循环发电技术是开发干热岩的重要途径,其中循环工质是影响系统性能的重要因素之一。本文建立了U型井干热岩超临界发电系统模型,分析了7种制冷剂作为U型井超临界发电系统循环工质的应用潜力,研究了流体流量、垂直井深度、水平井长度、地温梯度和岩石热导率对系统发电能力和经济性能的影响规律,并将所得结果与CO_(2)进行对比,旨在选择出理想的循环工质。选用的性能指标为年均发电量和平准化度电成本。结果表明,工况条件发生变化时,不同工质年均发电量的变化规律非常相似,平准化度电成本则表现出不同的变化情况,7种备选流体中,R152a和R143a的性能表现优于CO_(2),R152a在所研究的工况范围内具有更大的年均发电量和更小的平准化度电成本,是一种较为理想的循环工质。 展开更多
关键词 超临界流体 U型井 闭式地热系统 地热发电 循环工质 传热
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基于SMART的光纤光谱望远镜中光纤定位闭环控制算法研究
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作者 杨浩杰 甘兆虚 +8 位作者 王安之 王佳斌 隋响 窦智 薛维玺 罗佳顺 严云翔 耿涛 孙伟民 《光谱学与光谱分析》 北大核心 2025年第12期3455-3464,共10页
基于大天区面积多目标光纤光谱天文望远镜(LAMOST)的焦面板上双旋转定位装置的光纤对准需求,结合可以实现光纤实时定位的异形微透镜瞄准器(SMART)结构,提出了一种可以实现光纤闭环定位的控制算法。在闭环控制过程中,当光纤与星象发生错... 基于大天区面积多目标光纤光谱天文望远镜(LAMOST)的焦面板上双旋转定位装置的光纤对准需求,结合可以实现光纤实时定位的异形微透镜瞄准器(SMART)结构,提出了一种可以实现光纤闭环定位的控制算法。在闭环控制过程中,当光纤与星象发生错位时,星光会偏离SMART的中心平板,进入异形微透镜,然后异形微透镜会将部分星光偏折进对应方向的反馈光纤中。根据六根反馈光纤收到的光强信号,计算相对反馈光纤的光强对比度,得出错位的方位信息,并发出控制信号反馈给光纤定位单元,驱动双旋转定位装置动态调整角度,从而实现高精度对准;其设计逻辑与双旋转定位装置的光纤对准需求高度契合,因为双旋转装置依赖两个独立旋转轴(中心轴和偏心轴)实现二维定位,而闭环控制通过实时反馈信号动态修正双轴角度,补偿机械误差和环境扰动,最终满足大规模光纤阵列对高精度、高效率对准的要求。首先分析了双旋转定位装置的旋转角度与移动距离的对应关系,设计了一种双旋转定位装置的两轮多步收敛方法。分析了在双转轴不同展开情况下,光纤与星像的对准路径的计算公式。在第一轮定位中单次步长设为30μm,设置对比度阈值为0.9;第二轮定位中单次步长设为10μm,对比度阈值根据标定确定。光纤从错位到对准需要经过多次的运动,定位单元每移动一次控制系统都会再次获取探测系统的实时反馈信号,来判断光纤是否达到了阈值要求。在实验室搭建了LAMOST的模拟光路,完成了双转轴长度的标定,对光纤闭环定位系统的定位精度及定位时间进行了测试。结果表明,利用该定位系统可以使任意错位的初始状态光纤在平均27.6 s的校正时间内回到与星像对准的状态,72.5%的光纤校正精度位于10μm以内,97.5%的光纤校正精度位于30μm以内。 展开更多
关键词 天文光谱 LAMOST 光纤定位 闭环控制 异形微透镜瞄准器(SMART)
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形状记忆合金驱动的外骨骼设计与控制研究 被引量:1
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作者 李忠凯 张佳琦 《组合机床与自动化加工技术》 北大核心 2025年第3期109-113,共5页
受限于驱动原理,主动外骨骼机器人体积大、结构复杂;被动外骨骼机器人助力能力较弱、不能主动调节功率密度与时间的匹配关系。针对上述问题,提出基于形状记忆合金丝(SMA)的半主动式踝关节外骨骼机器人。首先,分析人体步态进行过程中的... 受限于驱动原理,主动外骨骼机器人体积大、结构复杂;被动外骨骼机器人助力能力较弱、不能主动调节功率密度与时间的匹配关系。针对上述问题,提出基于形状记忆合金丝(SMA)的半主动式踝关节外骨骼机器人。首先,分析人体步态进行过程中的力和位移,确定设计参数;然后,对踝关节外骨骼机器人的整体与核心驱动源进行设计,构建基于形状记忆合金的半主动式踝关节外骨骼机器人,重约314 g,踝关节旋转15°;最后,通过实验研究,验证本外骨骼机器人能够储能1150 J,为踝关节提供有效助力。 展开更多
关键词 形状记忆合金 踝关节外骨骼机器人 开环控制 半主动外骨骼机器人
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恶劣海况下闭环增益成形算法在渔船航迹保持控制的应用
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作者 隋江华 郭特尔 宋纯羽 《中国舰船研究》 北大核心 2025年第1期272-277,共6页
[目的]为解决渔船在恶劣海况下的航迹保持问题,提出一种分离式航迹保持控制器。[方法]采用非线性反馈法对闭环增益成形算法进行改进,并引入反正切函数以有效解决系统控制能量过大的问题。同时,通过积分分离式设计,以解决常规PID控制器... [目的]为解决渔船在恶劣海况下的航迹保持问题,提出一种分离式航迹保持控制器。[方法]采用非线性反馈法对闭环增益成形算法进行改进,并引入反正切函数以有效解决系统控制能量过大的问题。同时,通过积分分离式设计,以解决常规PID控制器中积分项对系统暂态性能的影响。[结果]SDB8102型32.98m玻璃钢拖网渔船在蒲氏7级风下的仿真实验结果表明,该航迹保持算法的稳态误差小于3m,验证了其实用性与稳定性。[结论]该研究成果可为渔船航迹保持控制以及渔船装备的智能化水平提升提供参考。 展开更多
关键词 渔船 运动控制 航迹保持 反馈控制 非线性反馈 闭环增益成形算法 恶劣海况
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考虑网压谐波的单相ANPC整流器H_(∞)-LS控制策略
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作者 梅文庆 胡亮 刘浩然 《控制与信息技术》 2025年第2期14-21,共8页
单相有源中点箝位(Active Neutral-Point Clamped,ANPC)整流器电网侧等效电感的参数波动是导致控制对象模型不确定性的主要因素,这种不确定性会削弱系统的稳定性和适应性。为此,本研究从鲁棒控制的角度出发,设计了H_(∞)回路成形(H_(∞)... 单相有源中点箝位(Active Neutral-Point Clamped,ANPC)整流器电网侧等效电感的参数波动是导致控制对象模型不确定性的主要因素,这种不确定性会削弱系统的稳定性和适应性。为此,本研究从鲁棒控制的角度出发,设计了H_(∞)回路成形(H_(∞)-Loop Shaping,H_(∞)-LS)直接电流控制方法。该方法通过在电流控制回路中增加补偿器,构建出理想的系统幅频特性曲线模型,并在这一过程中,对目标控制系统进行了规范化的互质因式分解,进一步归纳出一个针对互质因式摄动模型的H_(∞)问题;此外,针对电网侧电压畸变或电压采样误差,引入了改进的二阶广义积分器来构建虚拟信号。通过实验平台的对比实验验证了所提出的H_(∞)-LS控制策略可以在电感参数变化30%情况下,将电流波动减小约50%,增强了ANPC整流器系统对电网侧电感参数变化的适应性。 展开更多
关键词 有源中点箝位型整流器 网压谐波 H_(∞)回路成形 互质因式分解
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