The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
The performance of vehicle suspension is evaluated based on three conflicting indexes:body acceleration,suspension deflection,and dynamic tire load,which vary across different frequency bands.The suspension control st...The performance of vehicle suspension is evaluated based on three conflicting indexes:body acceleration,suspension deflection,and dynamic tire load,which vary across different frequency bands.The suspension control strategy faces the challenge to strike a balance among these indexes.This research analyzes the fundamental mechanism of control phase deviation effects on skyhook damper control,groundhook damper control,and acceleration drive damper control.From the perspective of complex domain mechanical impedance with the support of the inertial suspension,a structure-based compensation approach is proposed to address for the control phase deviation.The simulation analysis demonstrates that the coordination of inertial suspension structure and control strategy can effectively enhance the comprehensive suspension performance across entire frequency range.Finally,a semi-active inertial suspension bench is implemented.The experimental results indicate that the suspension with the semi-active inertial suspension has outstanding vibration isolation ability,and enhances the suspension performance at ride comfort,suspension deflection,and road friendly significantly.展开更多
X-ray fluorescence (XRF) analysis utilizes particle size which is resulted from milling of a material. The milling ensures uniform and fine grained powder. The finer and more uniform the particle size is, the better t...X-ray fluorescence (XRF) analysis utilizes particle size which is resulted from milling of a material. The milling ensures uniform and fine grained powder. The finer and more uniform the particle size is, the better the result and easier it is for material quality control. To ensure uniformity in particle size and finer powder, a comparative analysis was conducted with different grinding aids and pressed pellet method was used in obtaining analysis results. Pressed pellets of cement raw meal sample milled with different grinding aids (graphite, aspirin and lithium borate) were subjected to XRF. Graphite produced better particle size uniformity with a corresponding standard deviation that made quality control of raw meal easier and better than aspirin and lithium borate.展开更多
Dear Editor,This letter proposes a deep synchronization control(DSC) method to synchronize grid-forming converters with power grids. The method involves constructing a novel controller for grid-forming converters base...Dear Editor,This letter proposes a deep synchronization control(DSC) method to synchronize grid-forming converters with power grids. The method involves constructing a novel controller for grid-forming converters based on the stable deep dynamics model. To enhance the performance of the controller, the dynamics model is optimized within the deep reinforcement learning(DRL) framework. Simulation results verify that the proposed method can reduce frequency deviation and improve active power responses.展开更多
Combined with the advantages and disadvantages of tuned liquid damper (TLD) and tuned mass damper (TMD),a double tuned liquid mass damper (TLMD) is proposed by replacing the rigid connection of TLD with the spring str...Combined with the advantages and disadvantages of tuned liquid damper (TLD) and tuned mass damper (TMD),a double tuned liquid mass damper (TLMD) is proposed by replacing the rigid connection of TLD with the spring structure.The motion equation of a single-degree-of-freedom structure with a TLMD attached at its top is found under harmonic excitation.Comparing the energy consumption and amplitude of primary structure with equal mass ratio TMD,it is found that the energy dissipation performance of TLMD is better in the effective phase region.The interaction process between TLMD and structure is analyzed,and the formula of phase deviation between the relative velocity of tank and the displacement of primary structure is deduced.By analyzing the influence of mass ratio,frequency ratio,damping ratio and water depth ratio on the damping effect,the results show that the frequency ratio and liquid depth ratio have great influence on the size and location of deep resonance peak,and the mass ratio and damping ratio have great influence on the width of the effective frequency band.The formula of equivalent damping ratio is proposed based on the principle of energy and it is found that the equivalent damping ratio is related to the phase deviation and change with the frequency ratio of the external excitation.展开更多
AIM： To compare four methods to approximate mean and standard deviation （SD） when only medians and interquartile ranges are provided.METHODS： We performed simulated meta-analyses on six datasets of 15, 30, 50, 100...AIM： To compare four methods to approximate mean and standard deviation （SD） when only medians and interquartile ranges are provided.METHODS： We performed simulated meta-analyses on six datasets of 15, 30, 50, 100, 500, and 1000 trials, respectively. Subjects were iteratively generated from one of the following seven scenarios： five theoreti-cal continuous distributions [Normal, Normal （0, 1）, Gamma, Exponential, and Bimodal] and two real-life distributions of intensive care unit stay and hospital stay. For each simulation, we calculated the pooled estimates assembling the study-specific medians and SD approximations： Conservative SD, less conservativeSD, mean SD, or interquartile range. We provided a graphical evaluation of the standardized differences.To show which imputation method produced the best estimate, we ranked those differences and calculated the rate at which each estimate appeared as the best, second-best, third-best, or fourth-best.RESULTS： Our results demonstrated that the best pooled estimate for the overall mean and SD was provided by the median and interquartile range （mean standardized estimates： 4.5 ± 2.2, P = 0.14） or by the median and the SD conservative estimate （mean standardized estimates： 4.5 ± 3.5, P = 0.13）. The less conservative approximation of SD appeared to be the worst method, exhibiting a significant difference from the reference method at the 90% confidence level. The method that ranked first most frequently is the interquartile range method （23/42 = 55%）, particularly when data were generated according to the Standard Normal, Gamma, and Exponential distributions. The second-best is the conservative SD method （15/42 = 36%）, particularly for data from a bimodal distributionand for the intensive care unit stay variable. CONCLUSION： Meta-analytic estimates are not signi-fcantly affected by approximating the missing values ofmean and SD with the correspondent values for medianand interquartile range.展开更多
On the basis of high precision requirement for input signals in the power system protection and control system,this paper,only for the influence of power system frequency deviation on extracting fundamental harmonic,s...On the basis of high precision requirement for input signals in the power system protection and control system,this paper,only for the influence of power system frequency deviation on extracting fundamental harmonic,studies the amplitude error of Fourier algorithm,presents a method of correcting frequency deviation,and further derives the formulas of improved Fourier algorithm.The simulation results verified the effectiveness of the algorithm,it not only can greatly weaken the influence of frequency deviation,but also increase the precision of the power system protection and control.As a result the study in this paper has practical application value.展开更多
Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adja...Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.展开更多
Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- a...Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.展开更多
CO2 flooding is regarded as an important method for enhanced oil recovery （EOR） and greenhouse gas control. However, the heterogeneity prevalently dis- tributed in reservoirs inhibits the performance of this technol...CO2 flooding is regarded as an important method for enhanced oil recovery （EOR） and greenhouse gas control. However, the heterogeneity prevalently dis- tributed in reservoirs inhibits the performance of this technology. The sweep efficiency can be significantly reduced especially in the presence of ＂thief zones＂. Hence, gas channeling blocking and mobility control are important technical issues for the success of CO2 injection. Normally, crosslinked gels have the potential to block gas channels, but the gelation time control poses challenges to this method. In this study, a new method for selectively blocking CO2 channeling is proposed, which is based on a type of CO2-sensitive gel system （modified polyacry- lamide-methenamine-resorcinol gel system） to form gel in situ. A CO2-sensitive gel system is when gelation or solidification will be triggered by CO2 in the reservoir to block gas channels. The CO2-sensitivity of the gel system was demonstrated in parallel bottle tests of gel in N2 and CO2 atmospheres. Sand pack flow experiments were con- ducted to investigate the shutoff capacity of the gel system under different conditions. The injectivity of the gel system was studied via viscosity measurements. The results indi- cate that this gel system was sensitive to CO2 and had good performance of channeling blocking in porous media. Advantageous viscosity-temperature characteristics were achieved in this work. The effectiveness for EOR in heterogeneous formations based on this gel system was demonstrated using displacement tests conducted in double sand packs. The experimental results can provide guideli- nes for the deployment of theCO2-sensitive gel system for field applications.展开更多
For contact dominated numerical control(NC) bending process of tube, the effect of friction on bending deformation behaviors should be focused on to achieve precision bending forming. A three dimensional(3D) elastic-p...For contact dominated numerical control(NC) bending process of tube, the effect of friction on bending deformation behaviors should be focused on to achieve precision bending forming. A three dimensional(3D) elastic-plastic finite element(FE) model of NC bending process was established under ABAQUS/Explicit platform, and its reliability was validated by the experiment. Then, numerical study on bending deformation behaviors under different frictions between tube and various dies was explored from multiple aspects such as wrinkling, wall thickness change and cross section deformation. The results show that the large friction of wiper die-tube reduces the wrinkling wave ratio η and cross section deformation degree ΔD and increases the wall thinning degree Δt. The large friction of mandrel-tube causes large η, Δt and ΔD, and the onset of wrinkling near clamp die. The large friction of pressure die-tube reduces Δt and ΔD, and the friction on this interface has little effect on η. The large friction of bending die-tube reduces η and ΔD, and the friction on this interface has little effect on Δt. The reasonable friction coefficients on wiper die-tube, mandrel-tube, pressure die-tube and bending die-tube of 21-6-9(0Cr21Ni6Mn9N) stainless steel tube in NC bending are 0.05-0.15, 0.05-0.15, 0.25-0.35 and 0.25-0.35, respectively. The results can provide a guideline for applying the friction conditions to establish the robust bending environment for stable and precise bending deformation of tube bending.展开更多
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
In situ pressure-preserved coring(IPP-Coring)technology is considered one of the most efficient methods for assessing resources.However,seal failure caused by the rotation of pressure controllers greatly affects the s...In situ pressure-preserved coring(IPP-Coring)technology is considered one of the most efficient methods for assessing resources.However,seal failure caused by the rotation of pressure controllers greatly affects the success of pressure coring.In this paper,a novel spherical-cylindrical shell pressure controller was proposed.The finite element analysis model was used to analyze the stress distribution and deformation characteristics of the pressure controller at different rotation angles.The seal failure mechanism caused by the rotation of the pressure controller was discussed.The stress deviation rate was defined to quantitatively characterize the stress concentration.Based on the test equipment designed in this laboratory,the ultimate bearing strength of the pressure controller was tested.The results show that the rotation of the valve cover causes an increase in the deformation on its lower side.Furthermore,the specific sealing pressure in the weak zone is greatly reduced by a statistically significant amount,resulting in seal failure.When the valve cover rotates 5°around the major axis,the stress deviation rate is-92.6%.To prevent rotating failure of the pressure controller,it is necessary to control the rotation angle of the valve cover within 1°around the major axis.The results of this research can help engineers reduce failure-related accidents,provide countermeasures for pressure coring,and contribute to the exploration and evaluation of deep oil and gas resources.展开更多
This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ...This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.展开更多
A self-tuning reaching law based sliding mode control(SMC)theory is proposed to stabilize the nonlinear continuous stirred tank reactor(CSTR).T-S fuzzy logic is used to build a global fuzzy state-space linear model.Co...A self-tuning reaching law based sliding mode control(SMC)theory is proposed to stabilize the nonlinear continuous stirred tank reactor(CSTR).T-S fuzzy logic is used to build a global fuzzy state-space linear model.Combing the traits of SMC and CSTR,three fuzzy rules can meet the requirements of controlled system.The self-tuning switch control law which can drive the state variables to the sliding surface as soon as possible is designed to ensure the robustness of uncertain fuzzy system.Lyapunov equation is applied to proving the stability of the sliding surface.The simulations show that the proposed approach can achieve desired performance with less chattering problem.展开更多
This paper presents a multi-interface embedded server architecture for remote real-time monitoring system and distributed monitoring applications. In the scheme,an embedded microprocessor( LPC3250 from NXP) is chosen ...This paper presents a multi-interface embedded server architecture for remote real-time monitoring system and distributed monitoring applications. In the scheme,an embedded microprocessor( LPC3250 from NXP) is chosen as the CPU of the embedded server with a linux operation system( OS) environment. The embedded server provides multiple interfaces for supporting various application scenarios. The whole network is based on local area network and adopts the Browser / Server( B / S) model. The monitoring and control node is as a browser endpoint and the remote node with an embedded server is as a server endpoint. Users can easily acquire various sensors information through writing Internet protocol address of remote node on the computer browser. Compared with client / server( C / S) mode,B / S model needs less maintain and can be applicable to large user group. In addition,a simple network management protocol( SNMP) is used for management of devices in Internet protocol( IP) networks. The results of the demonstration experiment show that the proposed system gives good support to manage the network from different user terminals and allows the users to better interact with the ambient environment.展开更多
The development of subsea all-electric Christmas trees is an area of focus in the offshore oil industry worldwide.The main difficulties are associated with the development and control strategies for subsea all-electri...The development of subsea all-electric Christmas trees is an area of focus in the offshore oil industry worldwide.The main difficulties are associated with the development and control strategies for subsea all-electric actuators,which are the most criti-cal components of subsea Christmas trees.A single-motor-level fuzzy PID control with an integrated working condition detection mod-ule and a three-motor redundant-level deviation strategy with coupled joint synchronous control were proposed in this paper to real-ize the real time determination of algorithm parameters according to the working conditions,solve the rapid redistribution problems,and maintain the fast speed of the servo motor of the subsea all-electric tree valve actuator.A synchronous control electrical system was built,tested,and verified through simulation analysis.Test results show that the two redundant servo motors can still control the all-electric valve actuator and provide good synchronization control capabilities despite the failure of one servo motor,and the verti-cal and horizontal vibration values of the system are within reasonable ranges.The synchronous control strategy can be applied to the synchronous control problem of subsea all-electric production systems,which is of considerable importance for the development of subsea all-electric production systems.展开更多
Gap acceptance theory is broadly used for evaluating unsignalized intersections in developed coun tries. Intersections with no specific priority to any move ment, known as uncontrolled intersections, are common in Ind...Gap acceptance theory is broadly used for evaluating unsignalized intersections in developed coun tries. Intersections with no specific priority to any move ment, known as uncontrolled intersections, are common in India. Limited priority is observed at a few intersections, where priorities are perceived by drivers based on geom etry, traffic volume, and speed on the approaches of intersection. Analyzing such intersections is complex because the overall traffic behavior is the result of drivers, vehicles, and traffic flow characteristics. Fuzzy theory has been widely used to analyze similar situations. This paper describes the application of adaptive neurofuzzy interface system （ANFIS） to the modeling of gap acceptance behavior of rightturning vehicles at limited priority Tintersections （in India, vehicles are driven on the left side of a road）. Field data are collected using video cameras at four Tintersections having limited priority. The data extracted include gap/lag, subject vehicle type, conflicting vehicle type, and driver＇s decision （accepted/rejected）. ANFIS models are developed by using 80 % of the extracted data （total data observations for major road right turning vehicles are 722 and 1,066 for minor road right turning vehicles） and remaining are used for model vali dation. Four different combinations of input variables are considered for major and minor road right turnings sepa rately. Correct prediction by ANFIS models ranges from 75.17 % to 82.16 % for major road right turning and 87.20 % to 88.62 % for minor road right turning. Themodels developed in this paper can be used in the dynamic estimation of gap acceptance in traffic simulation models.展开更多
This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum pha...This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum phase system by a operator. According to the minimum phase system, the controller and the adaptive algorithm we designed ensures the stability of system and holds that the mean-square deviation from the sliding surface is minimized.展开更多
The analytical structure of a typical fuzzy on - off controller that employs three or more triangular Input fuzzy sets, Zadeh fuzzy logic AND operator, fuzzy rules with singleton output fuzzy sets, and the centriod de...The analytical structure of a typical fuzzy on - off controller that employs three or more triangular Input fuzzy sets, Zadeh fuzzy logic AND operator, fuzzy rules with singleton output fuzzy sets, and the centriod defuzzifier is Investigated in this paper. The analytical expressions of the variable gains of the fuzzy controller are derived. The resulting explicit structure shows that the fuzzy controller is accurately a nonlinear PD - like controller with gains continuously changing with system output in different regions of input space.展开更多
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
基金supported by the National Natural Science Foundation of China(Grant No.52202471)the National Natural Science Foundation of China:Regional Innovation and Development Joint Fund(Grant No.U20A20331)+2 种基金Jiangsu Funding Program for Excellent Postdoctoral Talent(Grant No.2022ZB659)the National Natural Science Foundation of China(Grant No.52002156 and 52072157)the Postgraduate Education Reform Project of Jiangsu Province(Grant No.KYCX21_3333).
文摘The performance of vehicle suspension is evaluated based on three conflicting indexes:body acceleration,suspension deflection,and dynamic tire load,which vary across different frequency bands.The suspension control strategy faces the challenge to strike a balance among these indexes.This research analyzes the fundamental mechanism of control phase deviation effects on skyhook damper control,groundhook damper control,and acceleration drive damper control.From the perspective of complex domain mechanical impedance with the support of the inertial suspension,a structure-based compensation approach is proposed to address for the control phase deviation.The simulation analysis demonstrates that the coordination of inertial suspension structure and control strategy can effectively enhance the comprehensive suspension performance across entire frequency range.Finally,a semi-active inertial suspension bench is implemented.The experimental results indicate that the suspension with the semi-active inertial suspension has outstanding vibration isolation ability,and enhances the suspension performance at ride comfort,suspension deflection,and road friendly significantly.
文摘X-ray fluorescence (XRF) analysis utilizes particle size which is resulted from milling of a material. The milling ensures uniform and fine grained powder. The finer and more uniform the particle size is, the better the result and easier it is for material quality control. To ensure uniformity in particle size and finer powder, a comparative analysis was conducted with different grinding aids and pressed pellet method was used in obtaining analysis results. Pressed pellets of cement raw meal sample milled with different grinding aids (graphite, aspirin and lithium borate) were subjected to XRF. Graphite produced better particle size uniformity with a corresponding standard deviation that made quality control of raw meal easier and better than aspirin and lithium borate.
基金supported in part by the National Natural Science Foundation of China(62033005,62273270)the Natural Science Foundation of Shaanxi Province(2023JC-XJ17)
文摘Dear Editor,This letter proposes a deep synchronization control(DSC) method to synchronize grid-forming converters with power grids. The method involves constructing a novel controller for grid-forming converters based on the stable deep dynamics model. To enhance the performance of the controller, the dynamics model is optimized within the deep reinforcement learning(DRL) framework. Simulation results verify that the proposed method can reduce frequency deviation and improve active power responses.
基金the National Natural Science Foundation of China(Nos.51578434 and 51378500)。
文摘Combined with the advantages and disadvantages of tuned liquid damper (TLD) and tuned mass damper (TMD),a double tuned liquid mass damper (TLMD) is proposed by replacing the rigid connection of TLD with the spring structure.The motion equation of a single-degree-of-freedom structure with a TLMD attached at its top is found under harmonic excitation.Comparing the energy consumption and amplitude of primary structure with equal mass ratio TMD,it is found that the energy dissipation performance of TLMD is better in the effective phase region.The interaction process between TLMD and structure is analyzed,and the formula of phase deviation between the relative velocity of tank and the displacement of primary structure is deduced.By analyzing the influence of mass ratio,frequency ratio,damping ratio and water depth ratio on the damping effect,the results show that the frequency ratio and liquid depth ratio have great influence on the size and location of deep resonance peak,and the mass ratio and damping ratio have great influence on the width of the effective frequency band.The formula of equivalent damping ratio is proposed based on the principle of energy and it is found that the equivalent damping ratio is related to the phase deviation and change with the frequency ratio of the external excitation.
文摘AIM： To compare four methods to approximate mean and standard deviation （SD） when only medians and interquartile ranges are provided.METHODS： We performed simulated meta-analyses on six datasets of 15, 30, 50, 100, 500, and 1000 trials, respectively. Subjects were iteratively generated from one of the following seven scenarios： five theoreti-cal continuous distributions [Normal, Normal （0, 1）, Gamma, Exponential, and Bimodal] and two real-life distributions of intensive care unit stay and hospital stay. For each simulation, we calculated the pooled estimates assembling the study-specific medians and SD approximations： Conservative SD, less conservativeSD, mean SD, or interquartile range. We provided a graphical evaluation of the standardized differences.To show which imputation method produced the best estimate, we ranked those differences and calculated the rate at which each estimate appeared as the best, second-best, third-best, or fourth-best.RESULTS： Our results demonstrated that the best pooled estimate for the overall mean and SD was provided by the median and interquartile range （mean standardized estimates： 4.5 ± 2.2, P = 0.14） or by the median and the SD conservative estimate （mean standardized estimates： 4.5 ± 3.5, P = 0.13）. The less conservative approximation of SD appeared to be the worst method, exhibiting a significant difference from the reference method at the 90% confidence level. The method that ranked first most frequently is the interquartile range method （23/42 = 55%）, particularly when data were generated according to the Standard Normal, Gamma, and Exponential distributions. The second-best is the conservative SD method （15/42 = 36%）, particularly for data from a bimodal distributionand for the intensive care unit stay variable. CONCLUSION： Meta-analytic estimates are not signi-fcantly affected by approximating the missing values ofmean and SD with the correspondent values for medianand interquartile range.
文摘On the basis of high precision requirement for input signals in the power system protection and control system,this paper,only for the influence of power system frequency deviation on extracting fundamental harmonic,studies the amplitude error of Fourier algorithm,presents a method of correcting frequency deviation,and further derives the formulas of improved Fourier algorithm.The simulation results verified the effectiveness of the algorithm,it not only can greatly weaken the influence of frequency deviation,but also increase the precision of the power system protection and control.As a result the study in this paper has practical application value.
基金supported by National Natural Science Foundation of China(52222215, 52272420, 52072051)。
文摘Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.
基金supported by the National Natural Science Foundation of China(10172095 and 10672183)
文摘Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.
基金financial support from the National Basic Research Program of China(2015CB251201)the Fundamental Research Funds for the Central Universities(15CX06024A)the Program for Changjiang Scholars and Innovative Research Team in University(IRT1294 and IRT1086)
文摘CO2 flooding is regarded as an important method for enhanced oil recovery （EOR） and greenhouse gas control. However, the heterogeneity prevalently dis- tributed in reservoirs inhibits the performance of this technology. The sweep efficiency can be significantly reduced especially in the presence of ＂thief zones＂. Hence, gas channeling blocking and mobility control are important technical issues for the success of CO2 injection. Normally, crosslinked gels have the potential to block gas channels, but the gelation time control poses challenges to this method. In this study, a new method for selectively blocking CO2 channeling is proposed, which is based on a type of CO2-sensitive gel system （modified polyacry- lamide-methenamine-resorcinol gel system） to form gel in situ. A CO2-sensitive gel system is when gelation or solidification will be triggered by CO2 in the reservoir to block gas channels. The CO2-sensitivity of the gel system was demonstrated in parallel bottle tests of gel in N2 and CO2 atmospheres. Sand pack flow experiments were con- ducted to investigate the shutoff capacity of the gel system under different conditions. The injectivity of the gel system was studied via viscosity measurements. The results indi- cate that this gel system was sensitive to CO2 and had good performance of channeling blocking in porous media. Advantageous viscosity-temperature characteristics were achieved in this work. The effectiveness for EOR in heterogeneous formations based on this gel system was demonstrated using displacement tests conducted in double sand packs. The experimental results can provide guideli- nes for the deployment of theCO2-sensitive gel system for field applications.
基金Project(51164030)supported by the National Natural Science Foundation of China
文摘For contact dominated numerical control(NC) bending process of tube, the effect of friction on bending deformation behaviors should be focused on to achieve precision bending forming. A three dimensional(3D) elastic-plastic finite element(FE) model of NC bending process was established under ABAQUS/Explicit platform, and its reliability was validated by the experiment. Then, numerical study on bending deformation behaviors under different frictions between tube and various dies was explored from multiple aspects such as wrinkling, wall thickness change and cross section deformation. The results show that the large friction of wiper die-tube reduces the wrinkling wave ratio η and cross section deformation degree ΔD and increases the wall thinning degree Δt. The large friction of mandrel-tube causes large η, Δt and ΔD, and the onset of wrinkling near clamp die. The large friction of pressure die-tube reduces Δt and ΔD, and the friction on this interface has little effect on η. The large friction of bending die-tube reduces η and ΔD, and the friction on this interface has little effect on Δt. The reasonable friction coefficients on wiper die-tube, mandrel-tube, pressure die-tube and bending die-tube of 21-6-9(0Cr21Ni6Mn9N) stainless steel tube in NC bending are 0.05-0.15, 0.05-0.15, 0.25-0.35 and 0.25-0.35, respectively. The results can provide a guideline for applying the friction conditions to establish the robust bending environment for stable and precise bending deformation of tube bending.
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
基金supported by the Program for Guangdong Introducing Innovative and Enterpreneurial Teams(No.2019ZT08G315)National Natural Science Foundation of China No.51827901 and U2013603
文摘In situ pressure-preserved coring(IPP-Coring)technology is considered one of the most efficient methods for assessing resources.However,seal failure caused by the rotation of pressure controllers greatly affects the success of pressure coring.In this paper,a novel spherical-cylindrical shell pressure controller was proposed.The finite element analysis model was used to analyze the stress distribution and deformation characteristics of the pressure controller at different rotation angles.The seal failure mechanism caused by the rotation of the pressure controller was discussed.The stress deviation rate was defined to quantitatively characterize the stress concentration.Based on the test equipment designed in this laboratory,the ultimate bearing strength of the pressure controller was tested.The results show that the rotation of the valve cover causes an increase in the deformation on its lower side.Furthermore,the specific sealing pressure in the weak zone is greatly reduced by a statistically significant amount,resulting in seal failure.When the valve cover rotates 5°around the major axis,the stress deviation rate is-92.6%.To prevent rotating failure of the pressure controller,it is necessary to control the rotation angle of the valve cover within 1°around the major axis.The results of this research can help engineers reduce failure-related accidents,provide countermeasures for pressure coring,and contribute to the exploration and evaluation of deep oil and gas resources.
基金supported by the Key Project of Chinese Ministry of Education(108037)the National Natural Science Foundation of China(10402008 and 50535010)
文摘This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.
文摘A self-tuning reaching law based sliding mode control(SMC)theory is proposed to stabilize the nonlinear continuous stirred tank reactor(CSTR).T-S fuzzy logic is used to build a global fuzzy state-space linear model.Combing the traits of SMC and CSTR,three fuzzy rules can meet the requirements of controlled system.The self-tuning switch control law which can drive the state variables to the sliding surface as soon as possible is designed to ensure the robustness of uncertain fuzzy system.Lyapunov equation is applied to proving the stability of the sliding surface.The simulations show that the proposed approach can achieve desired performance with less chattering problem.
基金Sponsored by the National High Technology Research and Development Program(Grant No.2012AA02A604)
文摘This paper presents a multi-interface embedded server architecture for remote real-time monitoring system and distributed monitoring applications. In the scheme,an embedded microprocessor( LPC3250 from NXP) is chosen as the CPU of the embedded server with a linux operation system( OS) environment. The embedded server provides multiple interfaces for supporting various application scenarios. The whole network is based on local area network and adopts the Browser / Server( B / S) model. The monitoring and control node is as a browser endpoint and the remote node with an embedded server is as a server endpoint. Users can easily acquire various sensors information through writing Internet protocol address of remote node on the computer browser. Compared with client / server( C / S) mode,B / S model needs less maintain and can be applicable to large user group. In addition,a simple network management protocol( SNMP) is used for management of devices in Internet protocol( IP) networks. The results of the demonstration experiment show that the proposed system gives good support to manage the network from different user terminals and allows the users to better interact with the ambient environment.
基金support of the Shandong Provincial Natural Science Foundation(No.ZR2021QE059)the National Natural Science Foundation of China(No.51974169)the Key R&D Program of Shandong Province(No.2019GGX101020).
文摘The development of subsea all-electric Christmas trees is an area of focus in the offshore oil industry worldwide.The main difficulties are associated with the development and control strategies for subsea all-electric actuators,which are the most criti-cal components of subsea Christmas trees.A single-motor-level fuzzy PID control with an integrated working condition detection mod-ule and a three-motor redundant-level deviation strategy with coupled joint synchronous control were proposed in this paper to real-ize the real time determination of algorithm parameters according to the working conditions,solve the rapid redistribution problems,and maintain the fast speed of the servo motor of the subsea all-electric tree valve actuator.A synchronous control electrical system was built,tested,and verified through simulation analysis.Test results show that the two redundant servo motors can still control the all-electric valve actuator and provide good synchronization control capabilities despite the failure of one servo motor,and the verti-cal and horizontal vibration values of the system are within reasonable ranges.The synchronous control strategy can be applied to the synchronous control problem of subsea all-electric production systems,which is of considerable importance for the development of subsea all-electric production systems.
基金partially funded by Department of Science and Technology (DST), Govt. of Indiaproject SR/ FTP/ETA-61/2010
文摘Gap acceptance theory is broadly used for evaluating unsignalized intersections in developed coun tries. Intersections with no specific priority to any move ment, known as uncontrolled intersections, are common in India. Limited priority is observed at a few intersections, where priorities are perceived by drivers based on geom etry, traffic volume, and speed on the approaches of intersection. Analyzing such intersections is complex because the overall traffic behavior is the result of drivers, vehicles, and traffic flow characteristics. Fuzzy theory has been widely used to analyze similar situations. This paper describes the application of adaptive neurofuzzy interface system （ANFIS） to the modeling of gap acceptance behavior of rightturning vehicles at limited priority Tintersections （in India, vehicles are driven on the left side of a road）. Field data are collected using video cameras at four Tintersections having limited priority. The data extracted include gap/lag, subject vehicle type, conflicting vehicle type, and driver＇s decision （accepted/rejected）. ANFIS models are developed by using 80 % of the extracted data （total data observations for major road right turning vehicles are 722 and 1,066 for minor road right turning vehicles） and remaining are used for model vali dation. Four different combinations of input variables are considered for major and minor road right turnings sepa rately. Correct prediction by ANFIS models ranges from 75.17 % to 82.16 % for major road right turning and 87.20 % to 88.62 % for minor road right turning. Themodels developed in this paper can be used in the dynamic estimation of gap acceptance in traffic simulation models.
文摘This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum phase system by a operator. According to the minimum phase system, the controller and the adaptive algorithm we designed ensures the stability of system and holds that the mean-square deviation from the sliding surface is minimized.
文摘The analytical structure of a typical fuzzy on - off controller that employs three or more triangular Input fuzzy sets, Zadeh fuzzy logic AND operator, fuzzy rules with singleton output fuzzy sets, and the centriod defuzzifier is Investigated in this paper. The analytical expressions of the variable gains of the fuzzy controller are derived. The resulting explicit structure shows that the fuzzy controller is accurately a nonlinear PD - like controller with gains continuously changing with system output in different regions of input space.
