The effect of drive laser wavelength on the growth of ablative Rayleigh–Taylor instability(ARTI)in inertial confinemen fusion(ICF)is studied with two-dimensional numerical simulations.The results show that in the pla...The effect of drive laser wavelength on the growth of ablative Rayleigh–Taylor instability(ARTI)in inertial confinemen fusion(ICF)is studied with two-dimensional numerical simulations.The results show that in the plasma acceleration phase,shorter wavelengths lead to more efficien coupling between the laser and the kinetic energy of the implosion fluid Under the condition that the laser energy coupled to the implosion flui is constant,the ARTI growth rate decreases as the laser wavelength moves toward the extreme ultraviolet band,reaching its minimum value near λ=65 nm,and when the laser wavelength continuously moves toward the X-ray band,the ARTI growth rate increases rapidly.It is found that the results deviate from the theoretical ARTI growth rate.As the laser intensity benchmark increases,the position of the minimum ARTI growth rate shifts toward shorter wavelengths.As the initial sinusoidal perturbation wavenumber decreases,the position of the minimum ARTI growth rate shifts toward longer wavelengths.We believe that the conclusions drawn from the present simulations and analysis will help provide a better understanding of the ICF process and improve the theory of ARTI growth.展开更多
Hydrodynamic instability growth at the deuterium-tritium(DT)fuel-ablator interface plays a critical role in determining the performance of inertial confinement fusion implosions.During the late stages of implosion,ins...Hydrodynamic instability growth at the deuterium-tritium(DT)fuel-ablator interface plays a critical role in determining the performance of inertial confinement fusion implosions.During the late stages of implosion,insufficient doping of the ablator material can result in highenergy X-ray preheat,which may trigger the development of a classical-like Rayleigh-Taylor instability(RTI)at the fuel-ablator interface.In implosion experiments at the Shenguang 100 kJ-level laser facility,the primary source of perturbation is the roughness of the inner DT ice interface.In this study,we propose an analytical model to describe the feed-out process of the initial roughness of the inner DT ice interface.The perturbation amplitude derived from this model serves as the initial seed for the late-time RTI during the acceleration phase.Our findings confirm the presence of classical-like RTI at the fuel-ablator interface.Numerical simulations conducted using a radiation hydrodynamic code validate the proposed analytical model and demonstrate the existence of a peak mode number in both the feed-out process and the classical-like RTI.It provides an alternative bridge between the current target fabrication limitations and the unexpected implosion performance.展开更多
Visual inertial odometry(VIO)problems have been extensively investigated in recent years.Existing VIO methods usually consider the localization or navigation issues of robots or autonomous vehicles in relatively small...Visual inertial odometry(VIO)problems have been extensively investigated in recent years.Existing VIO methods usually consider the localization or navigation issues of robots or autonomous vehicles in relatively small areas.This paper considers the problem of vision-aided inertial navigation(VIN)for aircrafts equipped with a strapdown inertial navigation system(SINS)and a downward-viewing camera.This is different from the traditional VIO problems in a larger working area with more precise inertial sensors.The goal is to utilize visual information to aid SINS to improve the navigation performance.In the multistate constraint Kalman filter(MSCKF)framework,we introduce an anchor frame to construct necessary models and derive corresponding Jacobians to implement a VIN filter to directly update the position in the Earth-centered Earth-fixed(ECEF)frame and the velocity and attitude in the local level frame by feature measurements.Due to its filtering-based property,the proposed method is naturally low computational demanding and is suitable for applications with high real-time requirements.Simulation and real-world data experiments demonstrate that the proposed method can considerably improve the navigation performance relative to the SINS.展开更多
Thermal vibrational convection(TVC)refers to the time-averaged convection of a non-isothermal fluid subjected to oscillating force fields.It serves as an effective mechanism for heat transfer control,particularly unde...Thermal vibrational convection(TVC)refers to the time-averaged convection of a non-isothermal fluid subjected to oscillating force fields.It serves as an effective mechanism for heat transfer control,particularly under microgravity conditions.A key challenge in this field is understanding the effect of rotation on TVC,as fluid oscillations in rotating systems exhibit unique and specific characteristics.In this study,we examine TVC in a vertical flat layer with boundaries at different temperatures,rotating around a horizontal axis.The distinctive feature of this study is that the fluid oscillations within the cavity are not induced by vibrations of the cavity itself,but rather by the gravity field,giving them a tidal nature.Our findings reveal that inertial waves generated in the rotating layer qualitatively alter the TVC structure,producing time-averaged flows in the form of toroidal vortices.Experimental investigations of the structure of oscillatory and time-averaged flows,conducted using Particle Image Velocimetry(PIV)for flow velocity visualization,are complemented by theoretical calculations of inertial modes in a cavity with this geometry.To the best of our knowledge,this study represents the first of its kind.The agreement between experimental results and theoretical predictions confirms that the formation of convective structures in the form of toroidal vortices is driven by inertial waves induced by the gravity field.A decrease in the rotational velocity leads to a transformation of the convective structures,shifting from toroidal vortices of inertial-wave origin to classical cellular TVC.We present dimensionless parameters that define the excitation thresholds for both cellular convection and toroidal structures.展开更多
Time-averaged thermal convection in a rotating horizontal annulus with a higher temperature at its inner boundary is studied.The centrifugal force plays a stabilizing role,while thermal convection is determined by the...Time-averaged thermal convection in a rotating horizontal annulus with a higher temperature at its inner boundary is studied.The centrifugal force plays a stabilizing role,while thermal convection is determined by the“thermovibrational mechanism”.Convective flow is excited due to oscillations of a non-isothermal rotating fluid.Thermal vibrational convectionmanifests in the form of two-dimensional vortices elongated along the axis of rotation,which develop in a threshold manner with an increase in the amplitude of fluid oscillations.The objective of the present study is to clarify the nature of another phenomenon,i.e.,three-dimensional convective vortices observed in the experiments both before the excitation of the convection described above and in the supercritical region.The experimental study of the oscillatory and the time-averaged flow fields by particle image velocimetry is accompanied by the theoretical research of inertial waves.It is found that three-dimensional fluid flows owe their origin to inertial waves.This is confirmed by a high degree of agreement between the experimental and theoretical results.Experiments with cavities of different lengths indicate that the vortices are clearly seen in cavities thatmeet the conditions of resonant excitation of inertial modes.Furthermore,the length of the cavity has no effect on heat transfer,which is explained by the comparatively low intensity of the wave-induced flows.The main contribution to heat transfer is due to vortices elongated along the axis of rotation.The novel results are of significant practical importance in various fields.展开更多
Rockfall kinematic characteristics exhibit significant randomness and are influenced by factors such as rock mass properties,slope morphology,impact angle,and slope materials.Accurately determining the key parameters ...Rockfall kinematic characteristics exhibit significant randomness and are influenced by factors such as rock mass properties,slope morphology,impact angle,and slope materials.Accurately determining the key parameters of rockfall movement is critical for understanding motion patterns and effectively preventing and controlling rockfall hazards.In this study,a monitoring system consisting of selfdeveloped inertial navigation equipment,high-speed cameras,and an unmanned aerial vehicle was used to conduct onsite motion tests involving four differently shaped rock specimens on three types of slopes(bedrock,detritus,and clast bedding).The selfdeveloped inertial navigation system integrated a highdynamic-range accelerometer(±400 g)and a shockresistant gyroscope(±4000°/s),capable of robustly collecting data during the test.The data collected from these tests were processed to extract key kinematic parameters such as velocity,trajectory,restitution coefficients,and friction coefficients.The test results demonstrated that the inertial navigation system accurately recorded the acceleration and angular velocity of the rocks during motion,with these measurements closely aligning with the field data.The normal and tangential restitution coefficients were found to be influenced primarily by the slope material and impact angle,with higher normal restitution coefficients observed for low-angle impacts.The normal restitution coefficients ranged from 0.35 to 0.86,whereas the tangential restitution coefficients ranged from 0.46 to 0.91,depending on the slope materials.Additionally,the sliding friction coefficient was calculated to be between 0.66 and 0.78,whereas the rolling friction coefficient for the slab-shaped specimen was determined to be 0.53.These findings provide valuable data for improving the accuracy of rockfall trajectory predictions and the design of protective structures.展开更多
In this paper,an algorithm on measurement noise with adaptive strong tracking unscented Kalman filter(ASTUKF)is advanced to improve the precision of pose estimation and the stability for data computation.To suppress h...In this paper,an algorithm on measurement noise with adaptive strong tracking unscented Kalman filter(ASTUKF)is advanced to improve the precision of pose estimation and the stability for data computation.To suppress high-frequency noise,an infinite impulse response filter(IIRF)is introduced at the front end of ASTUKF to preprocess the original data.Then the covariance matrix of the error is corrected and the measurement noise is estimated in the process of filtering.After that,the data from the experiment were tested on the hardware experiment platform.The experimental results show that compared to the traditional extended Kalman filter(EKF)and unscented Kalman filter(UKF)algorithms,the root mean square error(RMSE)of the roll axis results from the algorithm proposed in this paper is respectively reduced by approximately 57.5%and 36.1%;the RMSE of the pitch axis results decreases by nearly 58.4%and 51.5%,respectively;and the RMSE of the yaw axis results decreases almost 62.8%and 50.9%,correspondingly.The above results indicate that the algorithm enhances the ability of resisting high-frequency vibration interference and improves the accuracy of attitude solution.展开更多
This study experimentally investigates the oscillatory dynamics of wind-driven droplets using high-speed imaging to capture droplet profiles within the symmetry plane and to characterize their natural oscillation freq...This study experimentally investigates the oscillatory dynamics of wind-driven droplets using high-speed imaging to capture droplet profiles within the symmetry plane and to characterize their natural oscillation frequencies.Results reveal that the eigenfrequencies vary spatially due to distinct oscillation modes occurring at different droplet locations.Notably,the fundamental eigenfrequency decreases with reducing droplet volume,while droplet viscosity exerts minimal influence on this frequency.Prior to the onset of motion,the dynamic contact angle consistently remains between the advancing and receding angles.The inertial forces generated by droplet oscillation are found to be significantly greater than the adhesion forces,indicating that classical static models are inadequate for capturing inertial contributions to droplet motion.These findings offer new insights into the role of oscillatory behavior in influencing the dynamics of droplet motion,and contribute to a more detailed understanding of wind-driven droplet transport phenomena.展开更多
In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.T...In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.展开更多
We investigate the inertial domain wall(DW)dynamics driven by spin-polarized current in ferromagnets.The exact solutions reveal an upper limit for DW velocity,given by V≤1/√ατ.This indicates that damping and inert...We investigate the inertial domain wall(DW)dynamics driven by spin-polarized current in ferromagnets.The exact solutions reveal an upper limit for DW velocity,given by V≤1/√ατ.This indicates that damping and inertia become the key factors in achieving higher DW speeds.For the case of uniaxial anisotropy,we analyze the effects of inertia and current on DW dynamics.Due to inertia,the DW velocity,width,rotation frequency,and wave number are mutually coupled.When the DW width varies slightly,the velocity decreases rapidly while the magnetization precession frequency increases sharply with the inertia term.However,once the rotation frequency exceeds its maximum value,both the DW velocity and rotation frequency gradually decline.Regarding current-driven dynamics,we identify a critical current j1cthat directly triggers the Walker breakdown.For currents below this threshold j_(1)<j_(1c),the absolute DW velocity increases with current,whereas it decreases for j_(1)>j_(1c).During this process,the DW velocity rapidly peaks under current drive,accompanied by the magnetization rotation frequency nearing its maximum and minimal variation in DW width.These results suggest that the DW behaves like a classical rigid body,reaching its maximum velocity as it approaches peak rotational speed.For biaxial anisotropy,we derive analytical solutions.The competition between hard-axis anisotropy and inertia causes the DW magnetization to lose its spiral structure and rotational symmetry.The inertia effect leads to a slow initial decrease followed by a rapid increase in DW width,whereas current modulation gradually widens the DW.The analytical solution also reveals another critical current,j_(1 max)=√(α/τ)/β,which scales with the square root of the inertia-to-damping ratio and is inversely proportional to the nonadiabatic spin-transfer torque parameterβ.展开更多
Sensorless control of switched reluctance motors(SRMs) often requires a hybrid mode combining low-speed pulse injection methods and high-speed model-based estimation.However,pulse injection causes unwanted audible noi...Sensorless control of switched reluctance motors(SRMs) often requires a hybrid mode combining low-speed pulse injection methods and high-speed model-based estimation.However,pulse injection causes unwanted audible noises and torque ripples.This article proposes an enhanced model-based sensorless approach to extend downwards the speed range in which sensorless control can work without injection.An inertial phase-locked loop (IPLL) based on a stator flux observer is introduced for position estimation.Compared to the conventional phase-locked loop scheme,the IPLL offers a more robust disturbance rejection capability and thus reduces the flux model errors at lower speeds.Experimental results substantiate the feasibility of the extended low-speed operation using the model-based sensorless control approach.展开更多
The principle of the inertial navigation system（INS） with rotating inertial measurement unit （IMU） is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error model...The principle of the inertial navigation system（INS） with rotating inertial measurement unit （IMU） is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.展开更多
Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy...Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.展开更多
A brand new method of automatic north seeking/sight stabilizing is introduced for usage in land fighting vehicles such as tank, etc. Some inertial devices are installed additionally on the platform along with relat...A brand new method of automatic north seeking/sight stabilizing is introduced for usage in land fighting vehicles such as tank, etc. Some inertial devices are installed additionally on the platform along with relative control circuits to make its function of North seeking possible. Double position calculation is adopted in this method, and by alignment at two sites the azimuth angle can be figured out. Also the orientation and the horizontal shifts of the gyro are simultaneously measured and compensated so as to improve the accuracy of north seeking. The system can automatically seek north when the vehicle is immobile. And the time consumption is no more than 5.5 min. Besides, the system can keep azimuth angle and provide tilt angle and pitch angle of the vehicle.展开更多
Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of ...Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of INS self alignment. Through observability analysis and computer simulation, it is demonstrated that the azimuth alignment is as quick as horizontal alignment, the accuracy of horizontal alignment is improved, and the gyros errors can be estimated quickly and precisely.展开更多
The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance char...The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance characteristics, we study the rate azimuth platforminertial navigation system (RAPINS), give the system navigation algorithm, error equations of theattitude, velocity and position of the rate azimuth platform, and random error models of theaccelerometer and gyro. Using the MATLAB/Simulink tools, we study the RAPINS and RAPINS withvelocity damping. Simulation results demonstrate that the RAPINS with velocity damping has smallerrors in platform attitude and position and satisfies gravity measurement and navigationrequirement.展开更多
A new method is illustrated for processing the output of a set of triad orthogonal rate gyros and accelerometers to reconstruct vehicle navigation parameters(attitude, velocity, and position). The paper introduces two...A new method is illustrated for processing the output of a set of triad orthogonal rate gyros and accelerometers to reconstruct vehicle navigation parameters(attitude, velocity, and position). The paper introduces two vectors with dimensions 4×1 as velocity and position quaternions.The navigation equations for strapdown systems are nonlinear but after using these parameters, the navigation equations are converted into a pseudo-linear system. The new set of navigation equations has an analytical solution and the state transition matrix is used to solve the linear timevarying differential equations through time series. The navigation parameters are updated using the new formulation for strapdown navigation equations. Finally, the quaternions of velocity and position are converted into the original position and velocity vectors. The combination of the coning motion and a translational oscillatory trajectory is used to evaluate the accuracy of the proposed algorithm. The simulations show significant improvement in the accuracy of the inertial navigation system, which is achieved through the mentioned algorithm.展开更多
The dual-axis rotational inertial navigation system(INS)with dithered ring laser gyro(DRLG)is widely used in high precision navigation.The major inertial sensor errors such as drift errors of gyro and accelerometer ca...The dual-axis rotational inertial navigation system(INS)with dithered ring laser gyro(DRLG)is widely used in high precision navigation.The major inertial sensor errors such as drift errors of gyro and accelerometer can be averaged out,but the G-sensitive drifts of laser gyro cannot be averaged out by indexing.A 16-position rotational simulation experiment proves the G-sensitive drift will affect the long-term navigation error for the rotational INS quantitatively.The vibration coupling and asymmetric structure of the DRLG are the main errors.A new dithered mechanism and optimized DRLG is designed.The validity and efficiency of the optimized design are conformed by 1 g sinusoidal vibration experiments.An optimized inertial measurement unit(IMU)is formulated and measured experimentally.Laboratory and vehicle experimental results show that the divergence speed of longitude errors can be effectively slowed down in the optimized IMU.In long term independent navigation,the position accuracy of dual-axis rotational INS is improved close to 50%,and the G-sensitive drifts of laser gyro in the optimized IMU are less than 0.0002°/h.These results have important theoretical significance and practical value for improving the structural dynamic characteristics of DRLG INS,especially the highprecision inertial system.展开更多
To improve the precision of inertial navigation system（INS） during long time operation,the rotation modulated technique（RMT） was employed to modulate the errorr of the inertial sensors into periodically varied sig...To improve the precision of inertial navigation system（INS） during long time operation,the rotation modulated technique（RMT） was employed to modulate the errorr of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of INS errors.The principle of the RMT was introduced and the error propagating functions were derived from the rotary navigation equation.Effects of the measurement error for the rotation angle of the platform on the system precision were analyzed.The simulation and experimental results show that the precision of INS was ① dramatically improved with the use of the RMT,and ② hardly reduced when the measurement error for the rotation angle was in arc-second level.The study results offer a theoretical basis for engineering design of rotary INS.展开更多
In this paper, we study the long-time behavior of a class of generalized nonlinear Kichhoff equation under the condition of n dimension. Firstly, the Lipschitz property and squeezing property of the nonlinear semigrou...In this paper, we study the long-time behavior of a class of generalized nonlinear Kichhoff equation under the condition of n dimension. Firstly, the Lipschitz property and squeezing property of the nonlinear semigroup related to the initial-boundary value problem are proved, and then the existence of its exponential attractor is obtained. By extending the space <em>E</em><sub>0</sub> to <em>E<sub>k</sub></em>, a family of the exponential attractors of the initial-boundary value problem is obtained. In the second part, we consider the long-time behavior for a system of generalized Kirchhoff type with strong damping terms. Using the Hadamard graph transformation method, we obtain the existence of a family of the inertial manifolds while such equations satisfy the spectrum interval condition.展开更多
基金supported by the National Natural Science Foundation of China(NSFC)(Grant Nos.12074399,12204500,and 12004403)the Key Projects of the Intergovernmental International Scientifi and Technological Innovation Cooperation(Grant No.2021YFE0116700)+1 种基金the Shanghai Natural Science Foundation(Grant No.20ZR1464400)the Shanghai Sailing Program(Grant No.22YF1455300)。
文摘The effect of drive laser wavelength on the growth of ablative Rayleigh–Taylor instability(ARTI)in inertial confinemen fusion(ICF)is studied with two-dimensional numerical simulations.The results show that in the plasma acceleration phase,shorter wavelengths lead to more efficien coupling between the laser and the kinetic energy of the implosion fluid Under the condition that the laser energy coupled to the implosion flui is constant,the ARTI growth rate decreases as the laser wavelength moves toward the extreme ultraviolet band,reaching its minimum value near λ=65 nm,and when the laser wavelength continuously moves toward the X-ray band,the ARTI growth rate increases rapidly.It is found that the results deviate from the theoretical ARTI growth rate.As the laser intensity benchmark increases,the position of the minimum ARTI growth rate shifts toward shorter wavelengths.As the initial sinusoidal perturbation wavenumber decreases,the position of the minimum ARTI growth rate shifts toward longer wavelengths.We believe that the conclusions drawn from the present simulations and analysis will help provide a better understanding of the ICF process and improve the theory of ARTI growth.
基金funded by the National Key R&D Program of China(Grant No.2023YFA1608400)the National Natural Science Foundation of China(Grant No.12302281).
文摘Hydrodynamic instability growth at the deuterium-tritium(DT)fuel-ablator interface plays a critical role in determining the performance of inertial confinement fusion implosions.During the late stages of implosion,insufficient doping of the ablator material can result in highenergy X-ray preheat,which may trigger the development of a classical-like Rayleigh-Taylor instability(RTI)at the fuel-ablator interface.In implosion experiments at the Shenguang 100 kJ-level laser facility,the primary source of perturbation is the roughness of the inner DT ice interface.In this study,we propose an analytical model to describe the feed-out process of the initial roughness of the inner DT ice interface.The perturbation amplitude derived from this model serves as the initial seed for the late-time RTI during the acceleration phase.Our findings confirm the presence of classical-like RTI at the fuel-ablator interface.Numerical simulations conducted using a radiation hydrodynamic code validate the proposed analytical model and demonstrate the existence of a peak mode number in both the feed-out process and the classical-like RTI.It provides an alternative bridge between the current target fabrication limitations and the unexpected implosion performance.
基金supported by the National Natural Science Foundation of China(61773306).
文摘Visual inertial odometry(VIO)problems have been extensively investigated in recent years.Existing VIO methods usually consider the localization or navigation issues of robots or autonomous vehicles in relatively small areas.This paper considers the problem of vision-aided inertial navigation(VIN)for aircrafts equipped with a strapdown inertial navigation system(SINS)and a downward-viewing camera.This is different from the traditional VIO problems in a larger working area with more precise inertial sensors.The goal is to utilize visual information to aid SINS to improve the navigation performance.In the multistate constraint Kalman filter(MSCKF)framework,we introduce an anchor frame to construct necessary models and derive corresponding Jacobians to implement a VIN filter to directly update the position in the Earth-centered Earth-fixed(ECEF)frame and the velocity and attitude in the local level frame by feature measurements.Due to its filtering-based property,the proposed method is naturally low computational demanding and is suitable for applications with high real-time requirements.Simulation and real-world data experiments demonstrate that the proposed method can considerably improve the navigation performance relative to the SINS.
基金funded by the Ministry of Education of the Russian Federation within the framework of a state assignment,number 1023032300071-6-2.3.1.
文摘Thermal vibrational convection(TVC)refers to the time-averaged convection of a non-isothermal fluid subjected to oscillating force fields.It serves as an effective mechanism for heat transfer control,particularly under microgravity conditions.A key challenge in this field is understanding the effect of rotation on TVC,as fluid oscillations in rotating systems exhibit unique and specific characteristics.In this study,we examine TVC in a vertical flat layer with boundaries at different temperatures,rotating around a horizontal axis.The distinctive feature of this study is that the fluid oscillations within the cavity are not induced by vibrations of the cavity itself,but rather by the gravity field,giving them a tidal nature.Our findings reveal that inertial waves generated in the rotating layer qualitatively alter the TVC structure,producing time-averaged flows in the form of toroidal vortices.Experimental investigations of the structure of oscillatory and time-averaged flows,conducted using Particle Image Velocimetry(PIV)for flow velocity visualization,are complemented by theoretical calculations of inertial modes in a cavity with this geometry.To the best of our knowledge,this study represents the first of its kind.The agreement between experimental results and theoretical predictions confirms that the formation of convective structures in the form of toroidal vortices is driven by inertial waves induced by the gravity field.A decrease in the rotational velocity leads to a transformation of the convective structures,shifting from toroidal vortices of inertial-wave origin to classical cellular TVC.We present dimensionless parameters that define the excitation thresholds for both cellular convection and toroidal structures.
基金funded by the Ministry of Education of the Russian Federation within the framework of a state assignment,number 1023032300071-6-2.3.1.
文摘Time-averaged thermal convection in a rotating horizontal annulus with a higher temperature at its inner boundary is studied.The centrifugal force plays a stabilizing role,while thermal convection is determined by the“thermovibrational mechanism”.Convective flow is excited due to oscillations of a non-isothermal rotating fluid.Thermal vibrational convectionmanifests in the form of two-dimensional vortices elongated along the axis of rotation,which develop in a threshold manner with an increase in the amplitude of fluid oscillations.The objective of the present study is to clarify the nature of another phenomenon,i.e.,three-dimensional convective vortices observed in the experiments both before the excitation of the convection described above and in the supercritical region.The experimental study of the oscillatory and the time-averaged flow fields by particle image velocimetry is accompanied by the theoretical research of inertial waves.It is found that three-dimensional fluid flows owe their origin to inertial waves.This is confirmed by a high degree of agreement between the experimental and theoretical results.Experiments with cavities of different lengths indicate that the vortices are clearly seen in cavities thatmeet the conditions of resonant excitation of inertial modes.Furthermore,the length of the cavity has no effect on heat transfer,which is explained by the comparatively low intensity of the wave-induced flows.The main contribution to heat transfer is due to vortices elongated along the axis of rotation.The novel results are of significant practical importance in various fields.
基金supported by Guizhou Provincial Basic Research Program(Natural Science,Grant No.QKHJC-ZK[2022]YB075)the National Natural Science Foundation of China(Grant No.42067046)+2 种基金the Guizhou Provincial Program on Commercialization of Scientific and Technological Achievements(N0.QKHCG-LH2024-ZD025)the Science and Technology Planning Project of Guiyang City(Grant No.ZKHT[2023]13-10)Undergraduate Training Program for Innovation and Entrepreneurship of Guizhou Province(Project No.S202110657053)。
文摘Rockfall kinematic characteristics exhibit significant randomness and are influenced by factors such as rock mass properties,slope morphology,impact angle,and slope materials.Accurately determining the key parameters of rockfall movement is critical for understanding motion patterns and effectively preventing and controlling rockfall hazards.In this study,a monitoring system consisting of selfdeveloped inertial navigation equipment,high-speed cameras,and an unmanned aerial vehicle was used to conduct onsite motion tests involving four differently shaped rock specimens on three types of slopes(bedrock,detritus,and clast bedding).The selfdeveloped inertial navigation system integrated a highdynamic-range accelerometer(±400 g)and a shockresistant gyroscope(±4000°/s),capable of robustly collecting data during the test.The data collected from these tests were processed to extract key kinematic parameters such as velocity,trajectory,restitution coefficients,and friction coefficients.The test results demonstrated that the inertial navigation system accurately recorded the acceleration and angular velocity of the rocks during motion,with these measurements closely aligning with the field data.The normal and tangential restitution coefficients were found to be influenced primarily by the slope material and impact angle,with higher normal restitution coefficients observed for low-angle impacts.The normal restitution coefficients ranged from 0.35 to 0.86,whereas the tangential restitution coefficients ranged from 0.46 to 0.91,depending on the slope materials.Additionally,the sliding friction coefficient was calculated to be between 0.66 and 0.78,whereas the rolling friction coefficient for the slab-shaped specimen was determined to be 0.53.These findings provide valuable data for improving the accuracy of rockfall trajectory predictions and the design of protective structures.
基金supported by the Key Research and Development Program of Shaanxi Province(No.2024NC-YBXM-246)the Shaanxi Provincial Science and Technology Department(No.2024JC-YBQN-0725)+1 种基金the Education Department of Shaanxi Province(No.23JK0371)the Shaanxi University of Technology(No.SLGRCQD2318).
文摘In this paper,an algorithm on measurement noise with adaptive strong tracking unscented Kalman filter(ASTUKF)is advanced to improve the precision of pose estimation and the stability for data computation.To suppress high-frequency noise,an infinite impulse response filter(IIRF)is introduced at the front end of ASTUKF to preprocess the original data.Then the covariance matrix of the error is corrected and the measurement noise is estimated in the process of filtering.After that,the data from the experiment were tested on the hardware experiment platform.The experimental results show that compared to the traditional extended Kalman filter(EKF)and unscented Kalman filter(UKF)algorithms,the root mean square error(RMSE)of the roll axis results from the algorithm proposed in this paper is respectively reduced by approximately 57.5%and 36.1%;the RMSE of the pitch axis results decreases by nearly 58.4%and 51.5%,respectively;and the RMSE of the yaw axis results decreases almost 62.8%and 50.9%,correspondingly.The above results indicate that the algorithm enhances the ability of resisting high-frequency vibration interference and improves the accuracy of attitude solution.
基金supported by the National Natural Science Foundation ofChina(GrantNo.12402291)the Beijing Natural Science Foundation(No.3244043)the Research Start-up Funds of Hangzhou International Innovation Institute of Beihang University(Grant Nos.2024KQ008,2024KQ062).
文摘This study experimentally investigates the oscillatory dynamics of wind-driven droplets using high-speed imaging to capture droplet profiles within the symmetry plane and to characterize their natural oscillation frequencies.Results reveal that the eigenfrequencies vary spatially due to distinct oscillation modes occurring at different droplet locations.Notably,the fundamental eigenfrequency decreases with reducing droplet volume,while droplet viscosity exerts minimal influence on this frequency.Prior to the onset of motion,the dynamic contact angle consistently remains between the advancing and receding angles.The inertial forces generated by droplet oscillation are found to be significantly greater than the adhesion forces,indicating that classical static models are inadequate for capturing inertial contributions to droplet motion.These findings offer new insights into the role of oscillatory behavior in influencing the dynamics of droplet motion,and contribute to a more detailed understanding of wind-driven droplet transport phenomena.
基金supported by the National Natural Science Foundation of China(61803015).
文摘In order to enhance the dynamic control precision of inertial stabilization platform(ISP),a disturbance sliding mode observer(DSMO)is proposed in this paper suppressing disturbance torques inherent within the system.The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft.Therefore,a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame.Subsequently,an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated.Finally,the proposed DSMO is integrated into a classical proportional-integral-derivative(PID)control scheme,utilizing feedforward approach to compensate the composite disturbance in the control loop online.The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation,demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.
基金supported by the Program of State Key Laboratory of Quantum Optics and Quantum Optics Devices,Shanxi University,China(Grant No.KF202203)the Tianjin Natural Science(Grant No.25JCQNJC00990)。
文摘We investigate the inertial domain wall(DW)dynamics driven by spin-polarized current in ferromagnets.The exact solutions reveal an upper limit for DW velocity,given by V≤1/√ατ.This indicates that damping and inertia become the key factors in achieving higher DW speeds.For the case of uniaxial anisotropy,we analyze the effects of inertia and current on DW dynamics.Due to inertia,the DW velocity,width,rotation frequency,and wave number are mutually coupled.When the DW width varies slightly,the velocity decreases rapidly while the magnetization precession frequency increases sharply with the inertia term.However,once the rotation frequency exceeds its maximum value,both the DW velocity and rotation frequency gradually decline.Regarding current-driven dynamics,we identify a critical current j1cthat directly triggers the Walker breakdown.For currents below this threshold j_(1)<j_(1c),the absolute DW velocity increases with current,whereas it decreases for j_(1)>j_(1c).During this process,the DW velocity rapidly peaks under current drive,accompanied by the magnetization rotation frequency nearing its maximum and minimal variation in DW width.These results suggest that the DW behaves like a classical rigid body,reaching its maximum velocity as it approaches peak rotational speed.For biaxial anisotropy,we derive analytical solutions.The competition between hard-axis anisotropy and inertia causes the DW magnetization to lose its spiral structure and rotational symmetry.The inertia effect leads to a slow initial decrease followed by a rapid increase in DW width,whereas current modulation gradually widens the DW.The analytical solution also reveals another critical current,j_(1 max)=√(α/τ)/β,which scales with the square root of the inertia-to-damping ratio and is inversely proportional to the nonadiabatic spin-transfer torque parameterβ.
基金supported in part by the National Natural Science Foundation of China 52307069in part by 2024 Tertiary Education Scientific Research Project of Guangzhou Municipal Education Bureau under Grant2024312176in part by the Project of Hetao Shenzhen-Hong Kong Science and Technology Innovation Cooperation Zone under Grant HZQB-KCZYB-2020083。
文摘Sensorless control of switched reluctance motors(SRMs) often requires a hybrid mode combining low-speed pulse injection methods and high-speed model-based estimation.However,pulse injection causes unwanted audible noises and torque ripples.This article proposes an enhanced model-based sensorless approach to extend downwards the speed range in which sensorless control can work without injection.An inertial phase-locked loop (IPLL) based on a stator flux observer is introduced for position estimation.Compared to the conventional phase-locked loop scheme,the IPLL offers a more robust disturbance rejection capability and thus reduces the flux model errors at lower speeds.Experimental results substantiate the feasibility of the extended low-speed operation using the model-based sensorless control approach.
基金Supported by the National Natural Science Foundation of China(60702003)~~
文摘The principle of the inertial navigation system（INS） with rotating inertial measurement unit （IMU） is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.
文摘Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.
文摘A brand new method of automatic north seeking/sight stabilizing is introduced for usage in land fighting vehicles such as tank, etc. Some inertial devices are installed additionally on the platform along with relative control circuits to make its function of North seeking possible. Double position calculation is adopted in this method, and by alignment at two sites the azimuth angle can be figured out. Also the orientation and the horizontal shifts of the gyro are simultaneously measured and compensated so as to improve the accuracy of north seeking. The system can automatically seek north when the vehicle is immobile. And the time consumption is no more than 5.5 min. Besides, the system can keep azimuth angle and provide tilt angle and pitch angle of the vehicle.
文摘Due to the poor observability of INS ground self alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of INS self alignment. Through observability analysis and computer simulation, it is demonstrated that the azimuth alignment is as quick as horizontal alignment, the accuracy of horizontal alignment is improved, and the gyros errors can be estimated quickly and precisely.
文摘The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance characteristics, we study the rate azimuth platforminertial navigation system (RAPINS), give the system navigation algorithm, error equations of theattitude, velocity and position of the rate azimuth platform, and random error models of theaccelerometer and gyro. Using the MATLAB/Simulink tools, we study the RAPINS and RAPINS withvelocity damping. Simulation results demonstrate that the RAPINS with velocity damping has smallerrors in platform attitude and position and satisfies gravity measurement and navigationrequirement.
文摘A new method is illustrated for processing the output of a set of triad orthogonal rate gyros and accelerometers to reconstruct vehicle navigation parameters(attitude, velocity, and position). The paper introduces two vectors with dimensions 4×1 as velocity and position quaternions.The navigation equations for strapdown systems are nonlinear but after using these parameters, the navigation equations are converted into a pseudo-linear system. The new set of navigation equations has an analytical solution and the state transition matrix is used to solve the linear timevarying differential equations through time series. The navigation parameters are updated using the new formulation for strapdown navigation equations. Finally, the quaternions of velocity and position are converted into the original position and velocity vectors. The combination of the coning motion and a translational oscillatory trajectory is used to evaluate the accuracy of the proposed algorithm. The simulations show significant improvement in the accuracy of the inertial navigation system, which is achieved through the mentioned algorithm.
基金supported by the National Natural Science Foundation of China(61503399).
文摘The dual-axis rotational inertial navigation system(INS)with dithered ring laser gyro(DRLG)is widely used in high precision navigation.The major inertial sensor errors such as drift errors of gyro and accelerometer can be averaged out,but the G-sensitive drifts of laser gyro cannot be averaged out by indexing.A 16-position rotational simulation experiment proves the G-sensitive drift will affect the long-term navigation error for the rotational INS quantitatively.The vibration coupling and asymmetric structure of the DRLG are the main errors.A new dithered mechanism and optimized DRLG is designed.The validity and efficiency of the optimized design are conformed by 1 g sinusoidal vibration experiments.An optimized inertial measurement unit(IMU)is formulated and measured experimentally.Laboratory and vehicle experimental results show that the divergence speed of longitude errors can be effectively slowed down in the optimized IMU.In long term independent navigation,the position accuracy of dual-axis rotational INS is improved close to 50%,and the G-sensitive drifts of laser gyro in the optimized IMU are less than 0.0002°/h.These results have important theoretical significance and practical value for improving the structural dynamic characteristics of DRLG INS,especially the highprecision inertial system.
基金Sponsored by the National Natural Science Foundation of China(60604011)
文摘To improve the precision of inertial navigation system（INS） during long time operation,the rotation modulated technique（RMT） was employed to modulate the errorr of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of INS errors.The principle of the RMT was introduced and the error propagating functions were derived from the rotary navigation equation.Effects of the measurement error for the rotation angle of the platform on the system precision were analyzed.The simulation and experimental results show that the precision of INS was ① dramatically improved with the use of the RMT,and ② hardly reduced when the measurement error for the rotation angle was in arc-second level.The study results offer a theoretical basis for engineering design of rotary INS.
文摘In this paper, we study the long-time behavior of a class of generalized nonlinear Kichhoff equation under the condition of n dimension. Firstly, the Lipschitz property and squeezing property of the nonlinear semigroup related to the initial-boundary value problem are proved, and then the existence of its exponential attractor is obtained. By extending the space <em>E</em><sub>0</sub> to <em>E<sub>k</sub></em>, a family of the exponential attractors of the initial-boundary value problem is obtained. In the second part, we consider the long-time behavior for a system of generalized Kirchhoff type with strong damping terms. Using the Hadamard graph transformation method, we obtain the existence of a family of the inertial manifolds while such equations satisfy the spectrum interval condition.
