This paper derives a distance-based formation control method to maintain the desired formation shape for spacecraft in a gravitational potential field. The method is an analogy of a virtual spring-damper mesh. Spacecr...This paper derives a distance-based formation control method to maintain the desired formation shape for spacecraft in a gravitational potential field. The method is an analogy of a virtual spring-damper mesh. Spacecraft are connected virtually by spring-damper pairs. Convergence analysis is performed using the energy method. Approximate expressions for the distance errors and control accelerations at steady state are derived by using algebraic graph representations and results of graph rigidity. Analytical results indicate that if the underlying graph of the mesh is rigid, the convergence to a static shape is assured, and higher formation control precision can be achieved by increasing the elastic coefficient without increasing the control accelerations. A numerical example of spacecraft formation in low Earth orbit confirms the theoretical analysis and shows that the desired formation shape can be well achieved using the presented method, whereas the orientation of the formation can be kept pointing to the center of the Earth by the gravity gradient. The method is decentralized, and uses only relative measurement information. Constructing a distributed virtual structure in space can be the general application area. The proposed method can serve as an active shape control law for the spacecraft formations using propellantless internal forces.展开更多
The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivale...The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivalent ＂spring-damper＂ system with an effective spring constant and an effective damping coefficient is used to model the moving mass suspended by the wire rope. The suddenly applied load is represented by a unitary Dirac Delta function. With the expansion method, a simple closed-form solution for the equation of motion with the replaced spring-damper-mass system is formulated. The characters of the rope are included in the derivation of the differential equation of motion for the system. The numerical examples show that the effects of the damping coefficient and the spring constant of the rope on the deflection have significant variations with the loading frequency. The effects of the damping coefficient and the spring constant under different beam lengths are also examined. The obtained results validate the presented approach, and provide significant references in the design process of bridgeerecting machines.展开更多
Traffic congestion and safety concerns pose major challenges in dense urban and highway networks,while vehicle platooning offers a promising solution by coordinating movements,reducing aerodynamic drag,and optimizing ...Traffic congestion and safety concerns pose major challenges in dense urban and highway networks,while vehicle platooning offers a promising solution by coordinating movements,reducing aerodynamic drag,and optimizing road utilization to enhance traffic efficiency and safety.Most existing multi-vehicle cooperative lane-change methods adopt a synchronous lane-change strategy,which could result in speed fluctuations and potential safety risks in dense traffic.To address these issues,this study proposes a forward-looking sequential asynchronous lane-change strategy,which dynamically computes the forward shift of vehicle trajectories using relative motion theory.Each following vehicle shifts its predecessor's trajectory forward by a calculated distance,ensuring lane changes occur precisely when the time headway(THW)to the preceding traffic vehicle(PTV)reaches a predefined threshold.Additionally,a spring-damper-based physical model is integrated to regulate longitudinal spacing,ensuring stable vehicle following dynamics.The proposed method is validated in CARLA simulations across various traffic densities,ranging from 2.5 to 10 veh/km/lane.Results show that it consistently outperforms the baseline synchronous strategy in lane travel time,speed fluctuation rate,and THW improvement.The best performance is observed at 5 veh/km/lane,where the proposed method reduces lane travel time by 7.5%,decreases speed fluctuation by 47.0%,and increases THW between the last platoon vehicle and the following traffic vehicle by 3.37 s compared to the baseline.These findings suggest that the proposed strategy could be a foundation for future advancements in cooperative driving,enabling more adaptive and resilient lane-changing behaviors in a cloud-vehicle-road integrated traffic environment.展开更多
Hydrostatic guideways are used as an alter- native to contact bearings due to high stiffness and high damping in heavy machine tools. To improve the dynamic characteristic of bearing structure, the dynamic modeling of...Hydrostatic guideways are used as an alter- native to contact bearings due to high stiffness and high damping in heavy machine tools. To improve the dynamic characteristic of bearing structure, the dynamic modeling of the hydrostatic guidway should be accurately known. This paper presents a ＂mass-spring-Maxwell＂ model considering the effects of inertia, squeeze, compressibility and static bearing. To determine the dynamic model coefficients, numerical simulation of different cases between displacement and dynamic force of oil film are performed with fluent code. Simulation results show that hydrostatic guidway can be taken as a linear system when it is subjected to a small oscillation amplitude. Based on a dynamic model and numerical simulation, every dynamic model＇s parameters are calculated by the Levenberg- Marquardt algorithm. Identification results show that ＂mass-spring-damper＂ model is the most appropriate dynamic model of the hydrostatic guidway. This paper provides a reference and preparation for the analysis of the dynamic model of the similar hydrostatic bearings.展开更多
A new artificial boundary condition for time domain analysis of a structure-unlimited-foundation system was proposed.The boundary condition was based on the damping-solvent extraction method.The principle of the dampi...A new artificial boundary condition for time domain analysis of a structure-unlimited-foundation system was proposed.The boundary condition was based on the damping-solvent extraction method.The principle of the damping-solvent extraction method was described.An artificial boundary condition was then established by setting two spring-damper systems and one artificial damping limited region.A test example was developed to verify that the proposed boundary condition and model had high precision.Compared with the damping-solvent extraction method,this boundary condition is easier to be applied to finite element method(FEM)-based numerical calculations.展开更多
基金supported by the National Natural Science Foundation of China (Nos. 61273351 and 61673390)
文摘This paper derives a distance-based formation control method to maintain the desired formation shape for spacecraft in a gravitational potential field. The method is an analogy of a virtual spring-damper mesh. Spacecraft are connected virtually by spring-damper pairs. Convergence analysis is performed using the energy method. Approximate expressions for the distance errors and control accelerations at steady state are derived by using algebraic graph representations and results of graph rigidity. Analytical results indicate that if the underlying graph of the mesh is rigid, the convergence to a static shape is assured, and higher formation control precision can be achieved by increasing the elastic coefficient without increasing the control accelerations. A numerical example of spacecraft formation in low Earth orbit confirms the theoretical analysis and shows that the desired formation shape can be well achieved using the presented method, whereas the orientation of the formation can be kept pointing to the center of the Earth by the gravity gradient. The method is decentralized, and uses only relative measurement information. Constructing a distributed virtual structure in space can be the general application area. The proposed method can serve as an active shape control law for the spacecraft formations using propellantless internal forces.
基金supported by the National Natural Science Foundation of China(No.11472179)
文摘The dynamic behavior of a bridge-erecting machine, carrying a moving mass suspended by a wire rope, is investigated. The bridge-erecting machine is modelled by a simply supported uniform beam, and a massless equivalent ＂spring-damper＂ system with an effective spring constant and an effective damping coefficient is used to model the moving mass suspended by the wire rope. The suddenly applied load is represented by a unitary Dirac Delta function. With the expansion method, a simple closed-form solution for the equation of motion with the replaced spring-damper-mass system is formulated. The characters of the rope are included in the derivation of the differential equation of motion for the system. The numerical examples show that the effects of the damping coefficient and the spring constant of the rope on the deflection have significant variations with the loading frequency. The effects of the damping coefficient and the spring constant under different beam lengths are also examined. The obtained results validate the presented approach, and provide significant references in the design process of bridgeerecting machines.
基金supported in part by the National Natural Science Foundation of China(No.52172393)Science Fund for Creative Research Groups(No.52221005)+1 种基金the National Key R&D Program of China(No.2023YFB4301800)Research and Development of Energy-efficient Driving Technology for Commercial Vehicle Platooning on Intelligent Highways with Vehicle-Road-Cloud Integration(No.20242000385).
文摘Traffic congestion and safety concerns pose major challenges in dense urban and highway networks,while vehicle platooning offers a promising solution by coordinating movements,reducing aerodynamic drag,and optimizing road utilization to enhance traffic efficiency and safety.Most existing multi-vehicle cooperative lane-change methods adopt a synchronous lane-change strategy,which could result in speed fluctuations and potential safety risks in dense traffic.To address these issues,this study proposes a forward-looking sequential asynchronous lane-change strategy,which dynamically computes the forward shift of vehicle trajectories using relative motion theory.Each following vehicle shifts its predecessor's trajectory forward by a calculated distance,ensuring lane changes occur precisely when the time headway(THW)to the preceding traffic vehicle(PTV)reaches a predefined threshold.Additionally,a spring-damper-based physical model is integrated to regulate longitudinal spacing,ensuring stable vehicle following dynamics.The proposed method is validated in CARLA simulations across various traffic densities,ranging from 2.5 to 10 veh/km/lane.Results show that it consistently outperforms the baseline synchronous strategy in lane travel time,speed fluctuation rate,and THW improvement.The best performance is observed at 5 veh/km/lane,where the proposed method reduces lane travel time by 7.5%,decreases speed fluctuation by 47.0%,and increases THW between the last platoon vehicle and the following traffic vehicle by 3.37 s compared to the baseline.These findings suggest that the proposed strategy could be a foundation for future advancements in cooperative driving,enabling more adaptive and resilient lane-changing behaviors in a cloud-vehicle-road integrated traffic environment.
文摘Hydrostatic guideways are used as an alter- native to contact bearings due to high stiffness and high damping in heavy machine tools. To improve the dynamic characteristic of bearing structure, the dynamic modeling of the hydrostatic guidway should be accurately known. This paper presents a ＂mass-spring-Maxwell＂ model considering the effects of inertia, squeeze, compressibility and static bearing. To determine the dynamic model coefficients, numerical simulation of different cases between displacement and dynamic force of oil film are performed with fluent code. Simulation results show that hydrostatic guidway can be taken as a linear system when it is subjected to a small oscillation amplitude. Based on a dynamic model and numerical simulation, every dynamic model＇s parameters are calculated by the Levenberg- Marquardt algorithm. Identification results show that ＂mass-spring-damper＂ model is the most appropriate dynamic model of the hydrostatic guidway. This paper provides a reference and preparation for the analysis of the dynamic model of the similar hydrostatic bearings.
基金This study was supported by Project supported by the National Natural Science Foundation of China(Grant Nos.51109029,51178081,51138001,51009020)the China Postdoctoral Science Foundation(Grant No.20110491535).
文摘A new artificial boundary condition for time domain analysis of a structure-unlimited-foundation system was proposed.The boundary condition was based on the damping-solvent extraction method.The principle of the damping-solvent extraction method was described.An artificial boundary condition was then established by setting two spring-damper systems and one artificial damping limited region.A test example was developed to verify that the proposed boundary condition and model had high precision.Compared with the damping-solvent extraction method,this boundary condition is easier to be applied to finite element method(FEM)-based numerical calculations.
