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不同温度下CL-20机械感度阈值的量化研究
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作者 方鸣坤 张宇 +4 位作者 马智勇 吴星亮 孙磊 曾丹 徐森 《爆破器材》 北大核心 2025年第4期9-14,共6页
在现有的感度试验方法中,特性落高法只能得出50%爆炸概率的特性落高,BAM试验结果只能得出临界撞击能量和载荷压力,而兰利-D最优化法能够得到不同发火概率下的机械感度。因此,采用兰利-D最优化法,研究CL-20在机械作用下的不同发火概率临... 在现有的感度试验方法中,特性落高法只能得出50%爆炸概率的特性落高,BAM试验结果只能得出临界撞击能量和载荷压力,而兰利-D最优化法能够得到不同发火概率下的机械感度。因此,采用兰利-D最优化法,研究CL-20在机械作用下的不同发火概率临界反应阈值及温度对临界反应阈值的影响。使用BAM撞击和摩擦感度仪,对ε型CL-20开展机械感度阈值研究;采用特性落高法和兰利-D最优化法,研究撞击能量阈值;采用BAM摩擦感度试验和兰利-D最优化法,研究载荷压力阈值。通过兰利-D最优化法,得到了CL-20在1%、0.0001%发火概率下的撞击能量阈值和载荷压力阈值,分析了火炸药1%、0.0001%发火概率在实际安全生产中的应用。结果显示:30、60℃和90℃温度下,采用特性落高法得到CL-20的50%发火概率的撞击能量阈值E 50分别为2434.32、2215.11、1955.36 mJ,兰利-D最优化法所得E 50分别为2504.40、2297.15、2014.63 mJ,撞击感度随温度的上升呈现升高趋势;采用BAM试验得到CL-20的载荷压力分别为64、56、48 N,兰利-D最优化法得到50%发火概率的载荷压力阈值p 50分别为100.35、92.77、78.86 N,摩擦感度随着温度的上升同样呈现升高趋势。 展开更多
关键词 cl-20 机械感度 温度 兰利-D最优化法 阈值量化
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静电喷雾技术制备Al@CL-20基复合含能微球的工艺研究
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作者 郭永卓 王重阳 +3 位作者 郝嘎子 肖磊 王苏炜 姜炜 《含能材料》 北大核心 2025年第11期1265-1273,共9页
针对铝粉燃烧不充分、释能效率慢以及点火延迟长等问题,采用静电喷雾法制备了纳米铝@聚偏二氟乙烯@六硝基六氮杂异伍兹烷(nAl@PVDF@CL-20)复合含能微球,通过调节溶剂种类、电场强度、粘结剂含量等参数来优化微球形貌结构及其粒径尺寸。... 针对铝粉燃烧不充分、释能效率慢以及点火延迟长等问题,采用静电喷雾法制备了纳米铝@聚偏二氟乙烯@六硝基六氮杂异伍兹烷(nAl@PVDF@CL-20)复合含能微球,通过调节溶剂种类、电场强度、粘结剂含量等参数来优化微球形貌结构及其粒径尺寸。结果表明,采用体积比为2:1的二甲基甲酰胺/乙酸乙酯(DMF/EAC)混合溶剂可在聚偏二氟乙烯(PVDF)含量为5%、电极电压为14 kV的情况下获得尺寸在2.37~2.67μm之间、元素映射显示组分均匀分散的微球样品。同时,微球内的CL-20在雾化、沉积过程中由于重结晶而发生晶型转变,由ɛ-CL-20转变为β-CL-20。此外,改为采用nAl可以显著改善微球的释能效率和燃烧性能,并在其含量达到40%时获得最大平衡压力1.17 MPa以及最大升压速率6.99×10^(3)kPa·ms^(-1)。 展开更多
关键词 静电喷雾法 纳米铝粉 六硝基六氮杂异伍兹烷(cl-20) 复合含能微球
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采用电量法测定碱液中的Cl^(-)含量
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作者 张辉 杜春燕 +1 位作者 吕鸣凤 张晓琳 《炼油与化工》 CAS 2024年第5期58-60,共3页
烟气脱硫装置需要测定烟气脱硫系统的碱液、脱硫塔循环液、滤清水样品中Cl^(-),但现有标准在检测范围和适用性上不能满足生产需求。为了使分析检测更加准确,对生产实际起到指导作用,采用电量法建立了适合某公司烟气脱硫装置碱液中Cl^(-... 烟气脱硫装置需要测定烟气脱硫系统的碱液、脱硫塔循环液、滤清水样品中Cl^(-),但现有标准在检测范围和适用性上不能满足生产需求。为了使分析检测更加准确,对生产实际起到指导作用,采用电量法建立了适合某公司烟气脱硫装置碱液中Cl^(-)浓度的分析方法,用标样和样品加标回收法进行了回收率验证,回收率在100%±5%范围内,准确度高,可检测Cl^(-)浓度范围为10~1000 mg/L内的碱液。通过对烟气脱硫装置碱液等测量结果进行重复性验证,满足95%概率水平要求,制定了测量结果在10~400 mg/L范围内的重复性限值,为测量未知样品的Cl^(-)含量提供参考。 展开更多
关键词 烟气脱硫 碱液 cl^(-) 电量法
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The least square particle finite element method for simulating large amplitude sloshing flows 被引量:2
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作者 Bo Tang Junfeng Li Tianshu Wang 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2008年第3期317-323,共7页
Large amplitude sloshing in tanks is simulated by the least square particle finite element method (LSPFEM) in this paper. The least square finite element method (LSFEM) is employed to spatially discrete the Navier... Large amplitude sloshing in tanks is simulated by the least square particle finite element method (LSPFEM) in this paper. The least square finite element method (LSFEM) is employed to spatially discrete the Navier-Stokes equations, and to avoid the stabilization issues due to the incompressibility condition for equal-order interpolation of the velocity and the pressure, as usually used in Galerkin method to satisfy the well-known LBB condition. The LSPFEM also uses the Lagrangian description to model the motion of nodes (particles). A mesh which connects these nodes is constructed by a triangulation algorithm to avoid the mesh distortion. A quasi a-shapes algorithm is used to identify the free surface boundary. The nodes are viewed as particles which can freely move and even separate from the main fluid domain. Finally this method is used to study the large amplitude sloshing evolution in two dimensional tanks. The results are compared with those obtained by Flow-3d with good agreement. 展开更多
关键词 Incompressible fluid Least square finiteelement method Lagrangian description Boundaryrecognition COLLAPSE IMPACT
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Estimation of Aqueous Solubility (-lgS_w) of All Polychlorinated Biphenyl (PCB) Congeners by Density Functional Theory and Position of Cl Substitution (NPCS) Method 被引量:3
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作者 WEI Xiao-Yan GE Zhi-Gang WANG Zun-Yao XU Jiao 《Chinese Journal of Structural Chemistry》 SCIE CAS CSCD 北大核心 2007年第5期519-528,共10页
Optimization calculations of 209 polychlorinated biphenyls (PCBs) were carried out at the B3LYP/6-31G^* level. It was found that there is significant correlation between the Cl substitution position and some struct... Optimization calculations of 209 polychlorinated biphenyls (PCBs) were carried out at the B3LYP/6-31G^* level. It was found that there is significant correlation between the Cl substitution position and some structural parameters. Consequently, Cl substitution positions were taken as theoretical descriptors to establish a novel QSPR model for predicting –lgSw of all PCB congeners. The model achieved in this work contains four variables, of which r^2 = 0.9527, q^2 = 0.9490 and SD = 0.25 with large t values. In addition, the variation inflation factors (VIFs) of variables in this model are all less than 5.0, suggesting high accuracy of the –lgSw predicting model. And the results of cross-validation test and method validation also show that the model exhibits optimum stability and better predictive capability than that from the AM1 method. 展开更多
关键词 polychlorinated biphenyls (PCBs) aqueous solubility (-lgSw) quantitativestructure-property relationship (QSPR) position of cl substitution (NPCS) method
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An Augmented Lagrangian based Semismooth Newton Method for a Class of Bilinear Programming Problems
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作者 HE Su-xiang LIU Yan WANG Chuan-mei 《Applied Mathematics(A Journal of Chinese Universities)》 SCIE CSCD 2019年第4期446-459,共14页
This paper proposes a semismooth Newton method for a class of bilinear programming problems(BLPs)based on the augmented Lagrangian,in which the BLPs are reformulated as a system of nonlinear equations with original va... This paper proposes a semismooth Newton method for a class of bilinear programming problems(BLPs)based on the augmented Lagrangian,in which the BLPs are reformulated as a system of nonlinear equations with original variables and Lagrange multipliers.Without strict complementarity,the convergence of the method is studied by means of theories of semismooth analysis under the linear independence constraint qualification and strong second order sufficient condition.At last,numerical results are reported to show the performance of the proposed method. 展开更多
关键词 SEMISMOOTH NEWTON method constrained BILINEAR programming problems AUGMENTED LAGRANGIAN STRICT complementarity
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双发CL-20基含铝装药水下爆炸载荷特性
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作者 张竞元 李海龙 +2 位作者 冯海云 王龙侃 张之凡 《火炸药学报》 EI CAS CSCD 北大核心 2024年第8期747-757,I0005,共12页
基于水下爆炸理论,采用耦合欧拉-拉格朗日(CEL)方法,建立了CL-20基含铝炸药水下爆炸模型,分析了冲击波载荷和气泡动力学特性;在此基础上探究了双发CL-20基含铝装药水下爆炸冲击波时空分布规律及气泡融合特性,讨论了不完整刚性边界附近双... 基于水下爆炸理论,采用耦合欧拉-拉格朗日(CEL)方法,建立了CL-20基含铝炸药水下爆炸模型,分析了冲击波载荷和气泡动力学特性;在此基础上探究了双发CL-20基含铝装药水下爆炸冲击波时空分布规律及气泡融合特性,讨论了不完整刚性边界附近双发CL-20基含铝装药水下爆炸气泡动力学特性,得到了装药种类、破口尺寸和爆距3种关键因素对双发装药水下爆炸气泡载荷特性的影响。结果表明,与TNT装药相比,CL-20基含铝装药水下爆炸气泡半径和脉动周期更大,气泡最大半径增大了27%,脉动周期提高了65%,但气泡脉动压力小于TNT。双发CL-20基含铝装药在水平和垂直位置具有特征尖锐波峰-波谷载荷曲线和特征双峰曲线,冲击波峰值压力大于单发装药,最大增长率可达48.26%。不完整刚性边界破口尺寸、爆距增大会增加双发装药气泡射流宽度和持续时间,CL-20会加剧不完整边界对气泡动力学的影响。 展开更多
关键词 爆炸力学 cl-20基含铝炸药 水下爆炸 冲击波 气泡动力学 不完整边界 耦合欧拉-拉格朗日(CEL)方法
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A Particle Method for the b-Equation
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作者 Zhiqiang Xing Yong Duan Huiyuan Wu 《Journal of Applied Mathematics and Physics》 2014年第11期981-986,共6页
In this paper, we apply the particle method to solve the numerical solution of a family of non-li-near Evolutionary Partial Differential Equations. It is called b-equation because of its bi-Hamiltonian structure. We i... In this paper, we apply the particle method to solve the numerical solution of a family of non-li-near Evolutionary Partial Differential Equations. It is called b-equation because of its bi-Hamiltonian structure. We introduce the particle method as an approximation of these equations in Lagrangian representation for simulating collisions between wave fronts. Several numerical examples will be set to illustrate the feasibility of the particle method. 展开更多
关键词 PARTIclE method b-Equation PEAKON SOLUTION LAGRANGIAN REPRESENTATION
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A STUDY OF THE XBS^+CATIONS(X=H,F,Cl)BY IMPROVED MS-X_α METHOD
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作者 Han Xing LIU Advanced Materials Research Institute,Wuhan University of Technology,Wuhan,430070 Chia Chung SUN Institute of Theoretical Chemistry,Jilin University,Changchun,130023 《Chinese Chemical Letters》 SCIE CAS CSCD 1992年第1期59-62,共4页
By means of improved overlapping Muffin-Tin X_a method recently developed the ground state ~2and the first excited state ~2Σ^+ of the XBS^+(X=H,F,Cl)cations are studied.The calculated energies are in good agreement w... By means of improved overlapping Muffin-Tin X_a method recently developed the ground state ~2and the first excited state ~2Σ^+ of the XBS^+(X=H,F,Cl)cations are studied.The calculated energies are in good agreement with experiment.The ionization potentials of sulphi- doborons,XBS(X=H,F,Cl,Br)are also computed and compared with photoelectron spectra re- sults. 展开更多
关键词 X=H F cl)BY IMPROVED MS-X CATIONS method X A STUDY OF THE XBS MS cl
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Deviation of the Lagrangian particle tracing method in the evaluation of the Southern Hemisphere annual subduction rate
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作者 Kai LIU Shan GAO Fan WANG 《Journal of Oceanology and Limnology》 SCIE CAS CSCD 2022年第3期891-906,共16页
The classical Lagrangian particle tracing method is widely used in the evaluation of the ocean annual subduction rate.However,our analysis indicates that in addition to neglecting the effect of mixing,there are two po... The classical Lagrangian particle tracing method is widely used in the evaluation of the ocean annual subduction rate.However,our analysis indicates that in addition to neglecting the effect of mixing,there are two possible deviations in the method:one is an overestimation due to not considering that the amount of subducted water at the source location may be inadequate during the late winter of the first year when the mixed layer becomes shallow;the other one is an underestimation due to the neglect of the effective subduction caused by strong vertical pumping.Quantitative analysis shows that these two deviations mainly exist in the low-latitude subduction areas of the South Pacific and South Atlantic.The two deviations have very similar distribution areas and can partially off set each other.However,the overall deviation is still large,and the maximum relative deviation ratio can reach 50%;therefore,it cannot be ignored. 展开更多
关键词 subduction rate Lagrangian particle tracing method mixed layer tropical water eastern subtropical mode water
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Examination of Potential Energy Curves of CFCl by Multi-reference Configuration Interaction Method
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作者 孙二平 刘启鑫 +3 位作者 任廷琦 单石敏 徐海峰 闫冰 《Chinese Physics Letters》 SCIE CAS CSCD 2015年第12期43-46,共4页
We give a detailed examination of potential energy curves of the singlet and triplet states of CFC1 correlated with the lowest three dissociation limits. The calculations are carried out at the internally contracted m... We give a detailed examination of potential energy curves of the singlet and triplet states of CFC1 correlated with the lowest three dissociation limits. The calculations are carried out at the internally contracted multi- reference configuration interaction/cc-pV(T+d)Z level with the other two geometric parameters fixed at the state equilibrium conformation. The vertical transition energy, the oscillator strength, the main configuration and the electron transition are also investigated at the same level. 展开更多
关键词 Examination of Potential Energy Curves of CFcl by Multi-reference Configuration Interaction method cl LENGTH CFC
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离子色谱法测定油田水中Cl^(-)、SO_(4)^(2-)含量不确定度的评定及改进
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作者 汤雨霖 刘卫丽 +2 位作者 闫旭 陈霞 孙强 《广东化工》 CAS 2024年第11期173-175,共3页
利用离子色谱法进行油田水中无机离子含量的测定操作简便,分析结果准确,在油田化学行业检测实验室中得到了广泛应用。但测试过程中不可避免地会引入不确定度。依据CNAS-CL01:2018《检测和校准实验室能力认可准则》的要求,所有从事检测... 利用离子色谱法进行油田水中无机离子含量的测定操作简便,分析结果准确,在油田化学行业检测实验室中得到了广泛应用。但测试过程中不可避免地会引入不确定度。依据CNAS-CL01:2018《检测和校准实验室能力认可准则》的要求,所有从事检测的实验室都必须进行测量不确定度的评定。本研究参考了CNAS-GL006:2019《化学分析中不确定度的评估指南》建立离子色谱法测定油田水中Cl^(-)、SO_(4)^(2-)含量的不确定度评定方法。依据SY/T 5523-2016《油田水分析方法》进行采样、运输和保存,依据GB/T 14642-2009进行油田水中Cl^(-)、SO_(4)^(2-)的测定,建立测量模型,确定不确定度来源,对各个不确定度分量进行评定,并计算合成标准不确定度。在95%置信区间下,油田水样品检测结果显示:Cl^(-)含量为(10.99±0.10)mg·L^(-1),SO_(4)^(2-)含量为(14.05±0.08)mg·L^(-1)。标准溶液配制过程中引入的相对标准不确定度和平行样重复性测定引入的相对标准不确定度较大,是提高该测定结果准确度的关键。 展开更多
关键词 离子色谱 油田水分析方法 不确定度 cl^(-) SO_(4)^(2-)
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An Updated Lagrangian Particle Hydrodynamics (ULPH)-NOSBPD Coupling Approach forModeling Fluid-Structure Interaction Problem
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作者 Zhen Wang Junsong Xiong +3 位作者 Shaofan Li Xin Lai Xiang Liu Lisheng Liu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第10期491-523,共33页
A fluid-structure interaction approach is proposed in this paper based onNon-Ordinary State-Based Peridynamics(NOSB-PD)and Updated Lagrangian Particle Hydrodynamics(ULPH)to simulate the fluid-structure interaction pro... A fluid-structure interaction approach is proposed in this paper based onNon-Ordinary State-Based Peridynamics(NOSB-PD)and Updated Lagrangian Particle Hydrodynamics(ULPH)to simulate the fluid-structure interaction problem with large geometric deformation and material failure and solve the fluid-structure interaction problem of Newtonian fluid.In the coupled framework,the NOSB-PD theory describes the deformation and fracture of the solid material structure.ULPH is applied to describe the flow of Newtonian fluids due to its advantages in computational accuracy.The framework utilizes the advantages of NOSB-PD theory for solving discontinuous problems and ULPH theory for solving fluid problems,with good computational stability and robustness.A fluidstructure coupling algorithm using pressure as the transmission medium is established to deal with the fluidstructure interface.The dynamic model of solid structure and the PD-ULPH fluid-structure interaction model involving large deformation are verified by numerical simulations.The results agree with the analytical solution,the available experimental data,and other numerical results.Thus,the accuracy and effectiveness of the proposed method in solving the fluid-structure interaction problem are demonstrated.The fluid-structure interactionmodel based on ULPH and NOSB-PD established in this paper provides a new idea for the numerical solution of fluidstructure interaction and a promising approach for engineering design and experimental prediction. 展开更多
关键词 Fluid-structure interaction(FSI) updated lagrangian particle hydrodynamics PERIDYNAMICS meshfree method
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Updated Lagrangian Particle Hydrodynamics (ULPH)Modeling of Natural Convection Problems
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作者 Junsong Xiong Zhen Wang +3 位作者 Shaofan Li Xin Lai Lisheng Liu Xiang Liu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第10期151-169,共19页
Natural convection is a heat transfer mechanism driven by temperature or density differences,leading to fluid motion without external influence.It occurs in various natural and engineering phenomena,influencing heat t... Natural convection is a heat transfer mechanism driven by temperature or density differences,leading to fluid motion without external influence.It occurs in various natural and engineering phenomena,influencing heat transfer,climate,and fluid mixing in industrial processes.This work aims to use the Updated Lagrangian Particle Hydrodynamics(ULPH)theory to address natural convection problems.The Navier-Stokes equation is discretized using second-order nonlocal differential operators,allowing a direct solution of the Laplace operator for temperature in the energy equation.Various numerical simulations,including cases such as natural convection in square cavities and two concentric cylinders,were conducted to validate the reliability of the model.The results demonstrate that the proposed model exhibits excellent accuracy and performance,providing a promising and effective numerical approach for natural convection problems. 展开更多
关键词 Updated Lagrangian particle hydrodynamics(ULPH) natural convection meshless methods higher order Laplacian model
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A Modified Lagrange Method for Solving Convex Quadratic Optimization Problems
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作者 Twum B. Stephen Avoka John Christian J. Etwire 《Open Journal of Optimization》 2024年第1期1-20,共20页
In this paper, a modified version of the Classical Lagrange Multiplier method is developed for convex quadratic optimization problems. The method, which is evolved from the first order derivative test for optimality o... In this paper, a modified version of the Classical Lagrange Multiplier method is developed for convex quadratic optimization problems. The method, which is evolved from the first order derivative test for optimality of the Lagrangian function with respect to the primary variables of the problem, decomposes the solution process into two independent ones, in which the primary variables are solved for independently, and then the secondary variables, which are the Lagrange multipliers, are solved for, afterward. This is an innovation that leads to solving independently two simpler systems of equations involving the primary variables only, on one hand, and the secondary ones on the other. Solutions obtained for small sized problems (as preliminary test of the method) demonstrate that the new method is generally effective in producing the required solutions. 展开更多
关键词 Quadratic Programming Lagrangian Function Lagrange Multipliers Optimality Conditions Subsidiary Equations Modified Lagrange method
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竖缝式鱼道内短须裂腹鱼上溯行为模拟 被引量:1
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作者 石小涛 邓星勇 +4 位作者 陈小龙 蒋永强 王宇 胡晓 谭均军 《农业工程学报》 北大核心 2025年第2期175-184,F0003,共11页
鱼类行为与水力因子之间的关系是鱼道结构优化的关键。为了探索鱼类行为与水力因子之间的关系,该研究基于欧拉-拉格朗日智能体方法(eulerian-lagrangian-agent method,ELAM),提出兼顾多种水力因子和鱼类变速游动的鱼类上溯行为预测模型... 鱼类行为与水力因子之间的关系是鱼道结构优化的关键。为了探索鱼类行为与水力因子之间的关系,该研究基于欧拉-拉格朗日智能体方法(eulerian-lagrangian-agent method,ELAM),提出兼顾多种水力因子和鱼类变速游动的鱼类上溯行为预测模型。首先,采用主成分分析方法计算流速、湍动能、涡量和应变率对短须裂腹鱼上溯行为的影响;然后,基于鱼类运动特点构建包含上溯、避障、惯性和随机行为的行为模型;并通过水流速度与鱼类游泳速度的响应关系构建鱼类可变游泳速度模型;最后,利用所提模型在竖缝式鱼道内模拟鱼类上溯轨迹,并对涡量、应变率、湍动能和流速对鱼类上溯行为的影响进行分析。结果表明:模拟特征轨迹与实测特征轨迹误差较小,R^(2)为0.935,模型预测精度较高;涡量在鱼类上溯过程中有关键作用,是确保鱼类上溯方向的关键水力因子。所提上溯鱼类行为预测模型可为鱼道设计和优化提供参考。 展开更多
关键词 过鱼设施 水力因子 上溯行为 短须裂腹鱼 欧拉-拉格朗日智能体方法
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基坑连续破坏对邻近盾构隧道影响研究
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作者 郑刚 韩思佳 +5 位作者 孙基斌 程雪松 刘永超 张雁 任东帅 骆天逸 《岩土工程学报》 北大核心 2025年第S2期1-6,共6页
基坑垮塌触发既有邻近隧道破坏的灾变机理等相关问题亟待深化研究。针对基坑垮塌对相邻隧道结构的影响进行研究,首先建立了基于耦合欧拉-拉格朗日(CEL)方法的数值模型,研究了不同位置条件下基坑垮塌对邻近盾构隧道不同结构的影响。结果... 基坑垮塌触发既有邻近隧道破坏的灾变机理等相关问题亟待深化研究。针对基坑垮塌对相邻隧道结构的影响进行研究,首先建立了基于耦合欧拉-拉格朗日(CEL)方法的数值模型,研究了不同位置条件下基坑垮塌对邻近盾构隧道不同结构的影响。结果表明:①基坑产生局部破坏后,相邻隧道结构的荷载模式发生改变,隧道结构产生向基坑靠近和整体沉降的过量变形,隧道结构中部分接头的内力超过相应的承载能力,对隧道结构的安全状态造成威胁;②既有隧道与基坑距离越近对结构安全性能的影响越大,且隧道埋深越浅隧道接头受破坏程度越严重,位于隧道结构底部的接头工作性能受影响最大;③在实际工程中,应将基坑破坏对隧道产生的不利影响传播路径进行隔断,可以考虑对土体进行加固或者增加隔离措施。 展开更多
关键词 基坑破坏 盾构隧道 耦合欧拉-拉格朗日方法 影响规律
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3-P(RR-RRR)SR运动冗余并联机器人动力学系统分解建模与控制
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作者 张海峰 何其臻 +1 位作者 陈巧红 叶伟 《机械工程学报》 北大核心 2025年第17期66-79,共14页
相较于常规并联机构,运动学冗余并联机器人具备更多的自由度与刚体数目,因此其动力学建模更加复杂与困难。针对3-P(RR-RRR)SR运动学冗余并联运动整体动力学模型复杂且计算量大的缺陷,提出了一种动力学系统分解建模策略。首先求解了驱动... 相较于常规并联机构,运动学冗余并联机器人具备更多的自由度与刚体数目,因此其动力学建模更加复杂与困难。针对3-P(RR-RRR)SR运动学冗余并联运动整体动力学模型复杂且计算量大的缺陷,提出了一种动力学系统分解建模策略。首先求解了驱动关节速度与球铰速度的支链雅可比矩阵,然后推导了支链内各构件的速度,并通过拉格朗日法建立了支链子系统动力学模型。接着推导动平台与冗余连杆的速度,求解了其与广义速度之间的雅可比矩阵,并运用虚功原理建立了动平台子系统动力学模型。之后由球铰处虚拟力,通过力雅可比映射到关节空间的方法将一个动平台子系统与三个支链子系统相关联,形成整体的动力学模型,并利用ADAMS验证模型正确性。最后基于该子系统动力学模型设计了一种计算力矩控制器,将其应用于实物样机轨迹跟踪控制并与PD控制进行对比,通过对误差数据的分析证明了该控制器有效提高了轨迹跟踪的精度与响应速度。研究结果可为该机构动力学特性的深入分析和控制策略的研究提供了参考。 展开更多
关键词 运动学冗余 并联机构 子系统动力学建模 拉格朗日法 虚功原理 计算力矩控制
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基于误差扩展卡尔曼滤波的火箭回收索状态估计
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作者 宋晓东 孔芝权 +2 位作者 陈彤 周立梁 张欢 《宇航学报》 北大核心 2025年第6期1252-1262,共11页
针对火箭回收索的高维非线性时变柔性特性和强干扰问题,提出了一种基于多体动力学模型和广义-α积分法的误差扩展卡尔曼状态估计器,用于火箭回收索的捕获状态精准估计。基于任意拉格朗日欧拉(ALE)描述的索单元,建立火箭回收索多体动力... 针对火箭回收索的高维非线性时变柔性特性和强干扰问题,提出了一种基于多体动力学模型和广义-α积分法的误差扩展卡尔曼状态估计器,用于火箭回收索的捕获状态精准估计。基于任意拉格朗日欧拉(ALE)描述的索单元,建立火箭回收索多体动力学事件驱动动态模型,给出了时变尾焰冲击作用和动态非物质状态估计点的动态网格直接表达形式,降低了模型规模的同时保证了状态变量的拓扑不变性。对回收索上可能捕获位置和速度进行状态估计,基于误差扩展卡尔曼滤波框架对状态变量和误差变量采用不同的预测更新策略。状态变量采用广义-α积分法在满足约束条件前提下进行一步预测精准计算,误差变量和误差协方差矩阵采用扩展卡尔曼方法进行预测和更新。状态误差更新后再次进行约束违约修正提高估计准确性。仿真分析表明,所提状态估计器在不改造多体动力学模型的前提下,实现了高维非线性时变火箭回收索的高效精准状态估计。 展开更多
关键词 误差扩展卡尔曼滤波 多体动力学模型 状态估计 任意拉格朗日欧拉法 广义-α积分法
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沙尘暴环境中低矮建筑风压特性的数值研究
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作者 胡荻 黄宁 +2 位作者 裴斌斌 Rezaali Pakzad 张洁 《中国沙漠》 北大核心 2025年第1期32-43,共12页
基于欧拉-拉格朗日模型研究了风沙环境中低矮建筑的风压分布特征。结果表明:风场中沙颗粒的存在减小了平均风速,增大脉动风速,沙粒运动使小尺度涡的能量增加;与净风场相比,挟沙风场中的平均风压系数无明显变化,脉动风压系数增大显著;沙... 基于欧拉-拉格朗日模型研究了风沙环境中低矮建筑的风压分布特征。结果表明:风场中沙颗粒的存在减小了平均风速,增大脉动风速,沙粒运动使小尺度涡的能量增加;与净风场相比,挟沙风场中的平均风压系数无明显变化,脉动风压系数增大显著;沙粒的扰动使湍流脉动增强、气流不稳定性增加,屋面的极值风压系数增大6%~10%,且屋面测点间的风压相关性有增大趋势,局部联动出现负压极值而造成围护结构破坏的概率增加;0°和45°风向角模型的非高斯区域均增大50%以上,因此沙尘暴环境中有更多区域的围护结构易发生局部撕裂破坏。 展开更多
关键词 低矮建筑 沙尘暴 风沙两相流 拉格朗日粒子追踪法 风压系数
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