Using path analysis, correlation analysis, partial correlation analysis and system dynamics method to study the driving force of cultivated land in Qinghai Lake Area, and using gradually regression analysis to establi...Using path analysis, correlation analysis, partial correlation analysis and system dynamics method to study the driving force of cultivated land in Qinghai Lake Area, and using gradually regression analysis to establish the driving force model of utilized change of cultivated land. Driving factors, action mechanism and process of utilized change of cultivated land were analyzed, and the differences during all factors were compared. The study provides some decision basis for sustainable utilization and management of land resources in Qinghai Lake Area.展开更多
The previous sensitivity analysis researches are not accurate enough and also have the limited reference value, because those mathematical models are relatively simple and the change of the load and the initial displa...The previous sensitivity analysis researches are not accurate enough and also have the limited reference value, because those mathematical models are relatively simple and the change of the load and the initial displacement changes of the piston are ignored, even experiment verification is not conducted. Therefore, in view of deficiencies above, a nonlinear mathematical model is established in this paper, including dynamic characteristics of servo valve, nonlinear characteristics of pressure-flow, initial displacement of servo cylinder piston and friction nonlinearity. The transfer function block diagram is built for the hydraulic drive unit closed loop position control, as well as the state equations. Through deriving the time-varying coefficient items matrix and time-varying free items matrix of sensitivity equations respectively, the expression of sensitivity equations based on the nonlinear mathematical model are obtained. According to structure parameters of hydraulic drive unit, working parameters, fluid transmission characteristics and measured friction-velocity curves, the simulation analysis of hydraulic drive unit is completed on the MATLAB/Simulink simulation platform with the displacement step 2 mm, 5 mm and 10 mm, respectively. The simulation results indicate that the developed nonlinear mathematical model is sufficient by comparing the characteristic curves of experimental step response and simulation step response under different constant load. Then, the sensitivity function time-history curves of seventeen parameters are obtained, basing on each state vector time-history curve of step response characteristic. The maximum value of displacement variation percentage and the sum of displacement variation absolute values in the sampling time are both taken as sensitivity indexes. The sensitivity indexes values above are calculated and shown visually in histograms under different working conditions, and change rules are analyzed. Then the sensitivity indexes values of four measurable parameters, such as supply pressure, proportional gain, initial position of servo cylinder piston and load force, are verified experimentally on test platform of hydraulic drive unit, and the experimental research shows that the sensitivity analysis results obtained through simulation are approximate to the test results. This research indicates each parameter sensitivity characteristics of hydraulic drive unit, the performance-affected main parameters and secondary parameters are got under different working conditions, which will provide the theoretical foundation for the control compensation and structure optimization of hydraulic drive unit.展开更多
In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided...In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.展开更多
Based on the survey research of poverty controlling model of "Three Drives, Four Joints" in Zhen'an County, its forming motives, implementing mechanism, and constraint factors have been explored to testi...Based on the survey research of poverty controlling model of "Three Drives, Four Joints" in Zhen'an County, its forming motives, implementing mechanism, and constraint factors have been explored to testify its enlightenment and applicability, establishing a promotable, applicable, and effective poverty alleviation model. "Three Drives, Four Joints" model is linked to the poor who lacks ability of self-development. Relying on the drives from key leading companies, the capable and the rich, a community with shared interests by the poor and the subjects of the "three drives" could be formed through "Joint Production, Joint Resources, Joint Community of Stock, and Joint Operation". The linked poverty alleviation development model of "the influential and the rich bring along the poor" and "A rich household would help the others" come into being. It is found out that the model of "Three Drives, Four Joints" is in essence a poverty alleviation method focusing on the increase of the income and diversified ways of increasing the earnings. Problems of poverty alleviation carrier and joint mechanism have been solved in the poverty alleviation process. The model is innovative in activating the resource elements, helping to move the poor out of poverty. A referential, copyable, and applicable model is offered to advance the poverty alleviation in mountainous areas in China.展开更多
The introduction of automated driving systems raised questions about how the human driver interacts with the automated system. Non-cooperative game theory is increasingly used for modelling and understanding such inte...The introduction of automated driving systems raised questions about how the human driver interacts with the automated system. Non-cooperative game theory is increasingly used for modelling and understanding such interaction, while its counterpart, cooperative game theory is rarely discussed for similar applications despite it may be potentially more suitable. This paper describes the modelling of a human driver’s steering interaction with an automated steering system using cooperative game theory. The distributed Model Predictive Control approach is adopted to derive the driver’s and the automated steering system’s strategies in a Pareto equilibrium sense, namely their cooperative Pareto steering strategies. Two separate numerical studies are carried out to study the influence of strategy parameters, and the influence of strategy types on the driver’s and the automated system’s steering performance. It is found that when a driver interacts with an automated steering system using a cooperative Pareto steering strategy, the driver can improve his/her performance in following a target path through increasing his/her effort in pursuing his/her own interest under the driver-automation cooperative control goal. It is also found that a driver’s adoption of cooperative Pareto steering strategy leads to a reinforcement in the driver’s steering angle control, compared to the driver’s adoption of non-cooperative Nash strategy. This in turn enables the vehicle to return from a lane-change maneuver to straight-line driving swifter.展开更多
In the proposed paper, the new experimental results are described obtained from the laboratory stand and the model developed by the authors. A method of acquiring characteristics of a pump motor drive using a hardware...In the proposed paper, the new experimental results are described obtained from the laboratory stand and the model developed by the authors. A method of acquiring characteristics of a pump motor drive using a hardware-in-the-loop simulation approach is explained. To explore the centrifugal pumps manufactured by ABB, their own control system is used whereas an industrial pump is replaced with the specially designed simulator. To clarify the model topology and parameters, a double-machine assembly was designed and used as universal pump prototype. A library of reference and disturbance signals used in pumping was applied as a modeling tool. In this way, the advantages of mathematical and physical simulations have been combined with optimal interaction of both approaches.展开更多
为明晰水肥耦合对炭基质栽培番茄产量品质的提升效应,将生物炭混掺到由酒糟、秸秆等农业废弃物拌制成的基质模块中,设置2个灌溉量(I_(1):100%ET_(c),I_(2):80%ET_(c),ET_(c)为作物蒸发蒸腾量),2个施肥量(N-P_(2)O_(5)-K_(2)O)(F_(1):240...为明晰水肥耦合对炭基质栽培番茄产量品质的提升效应,将生物炭混掺到由酒糟、秸秆等农业废弃物拌制成的基质模块中,设置2个灌溉量(I_(1):100%ET_(c),I_(2):80%ET_(c),ET_(c)为作物蒸发蒸腾量),2个施肥量(N-P_(2)O_(5)-K_(2)O)(F_(1):240-180-200 kg/hm^(2),F2:180-135-150 kg/hm^(2))及基质中4个生物炭添加量(B0:0,B1:1%,B3:3%,B5:5%),共16组处理,研究水肥耦合对炭基质栽培番茄叶面积指数(leaf area index,LAI)、叶绿素相对含量(soil and plant analyzer development,SPAD)、植株养分(全氮、全钾、有机碳)吸收量、化学计量特征(氮钾比、碳氮比)、产量及品质(可溶性固形物含量、维生素C含量、硝酸盐含量、可溶性糖含量、可滴定酸含量、糖酸比)的影响,揭示炭基质栽培番茄产量及品质的关键驱动因子,构建以番茄产量、品质及其关键驱动因子为目标的熵权-TOPSIS多目标综合评价模型,提出水肥与炭基质耦合的最优方案。结果表明:炭基质对番茄LAI、SPAD值、养分吸收量、产量及品质影响显著(P<0.05);在相同灌溉和施肥条件下,炭基质增加了番茄整株钾吸收量、整株碳同化量、产量及维生素C含量,降低了硝酸盐含量;基于结构方程模型,番茄整株碳同化量是产量的关键驱动因子,其增加有助于提高番茄产量,氮钾比是品质的关键驱动因子,其降低有助于改善番茄品质;采用熵权-TOPSIS多目标综合评价模型,筛选出I_(1)F_(2)B_(3)处理是水肥与炭基质耦合的最优方案。研究可为农业废弃物高效利用及高品质果蔬的水肥炭有效管理提供理论依据。展开更多
Aimed at the requirements for electric transmission system of a military tracked vehicle, the motor's design indexes were analysed and calculated. A model based on saturate inductance parameter of interior permane...Aimed at the requirements for electric transmission system of a military tracked vehicle, the motor's design indexes were analysed and calculated. A model based on saturate inductance parameter of interior permanent magnet (IPM) synchronous motor was brought forward by using finite element analysis. And its control strategy based on the largest running capability was studied also. The experiment results for a scale model show that the modelling method improves the model's accuracy, and the motor's control strategy is effective.展开更多
The transmission system is a critical power component of helicopters, playing an indispensable role in power transmission. Among its key elements, the planetary gear system is an essential part of the helicopter trans...The transmission system is a critical power component of helicopters, playing an indispensable role in power transmission. Among its key elements, the planetary gear system is an essential part of the helicopter transmission architecture. Establishing a dynamic model of the helicopter transmission system and analyzing the dynamic response of the planetary gear system under varying flight conditions are crucial for enhancing the system’s performance and safety. In this study, the transmission system is modeled comprehensively using the lumped mass method and the finite element method, and the dynamic characteristics of the planetary gear system, as reflected on the main gearbox casing under different flight scenarios, are examined. The findings reveal that the resonance frequencies of the planetary gear system remain consistent across various flight conditions, indicating that these frequencies are governed by the inherent structural and dynamic properties of the system. However, the vibration amplitudes at resonance points differ depending on the flight condition. Specifically, the resonance amplitudes at 0.057 kHz and 0.093 kHz during Hovering are significantly lower than those in other conditions, demonstrating that operational scenarios directly influence vibration response.展开更多
To increase the competition of the solar energy collection system, the size of the solar panel module during the manufacturing process is being increased continuously. As the size of the solar panel increases, the siz...To increase the competition of the solar energy collection system, the size of the solar panel module during the manufacturing process is being increased continuously. As the size of the solar panel increases, the size of the robot to handle the panel increased also. The change in scale of the robot inevitably results ill the amplification of the adverse effect of tile flexure. The main source of the flexure in the large scale solar cell panel handling system is the long and thin fork fingers of the [land and the solar cell panel. In addition, tile belt-driven actuator system used by most of the large scale panel handling robot is another significant source of the vibration. In this paper, the flexible multi body dynamic model of a large scale solar cell panel handling robot, which is being designed and constructed with the help of Kyung Hee University, is developed. The belt-driven system in the robot is also modeled as flexible system and included ill the robot to represent the actual vibration characteristics of the actuator system. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi： 10.1063/2.1301310]展开更多
基金Supported by The Regional Sustainable Development of the Qing-TibetPlateau(2004)~~
文摘Using path analysis, correlation analysis, partial correlation analysis and system dynamics method to study the driving force of cultivated land in Qinghai Lake Area, and using gradually regression analysis to establish the driving force model of utilized change of cultivated land. Driving factors, action mechanism and process of utilized change of cultivated land were analyzed, and the differences during all factors were compared. The study provides some decision basis for sustainable utilization and management of land resources in Qinghai Lake Area.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)Hebei Provincial Applied Basic Research Program(Grant No.12962147D)National Natural Science Foundation of China(Grant No.51375423)
文摘The previous sensitivity analysis researches are not accurate enough and also have the limited reference value, because those mathematical models are relatively simple and the change of the load and the initial displacement changes of the piston are ignored, even experiment verification is not conducted. Therefore, in view of deficiencies above, a nonlinear mathematical model is established in this paper, including dynamic characteristics of servo valve, nonlinear characteristics of pressure-flow, initial displacement of servo cylinder piston and friction nonlinearity. The transfer function block diagram is built for the hydraulic drive unit closed loop position control, as well as the state equations. Through deriving the time-varying coefficient items matrix and time-varying free items matrix of sensitivity equations respectively, the expression of sensitivity equations based on the nonlinear mathematical model are obtained. According to structure parameters of hydraulic drive unit, working parameters, fluid transmission characteristics and measured friction-velocity curves, the simulation analysis of hydraulic drive unit is completed on the MATLAB/Simulink simulation platform with the displacement step 2 mm, 5 mm and 10 mm, respectively. The simulation results indicate that the developed nonlinear mathematical model is sufficient by comparing the characteristic curves of experimental step response and simulation step response under different constant load. Then, the sensitivity function time-history curves of seventeen parameters are obtained, basing on each state vector time-history curve of step response characteristic. The maximum value of displacement variation percentage and the sum of displacement variation absolute values in the sampling time are both taken as sensitivity indexes. The sensitivity indexes values above are calculated and shown visually in histograms under different working conditions, and change rules are analyzed. Then the sensitivity indexes values of four measurable parameters, such as supply pressure, proportional gain, initial position of servo cylinder piston and load force, are verified experimentally on test platform of hydraulic drive unit, and the experimental research shows that the sensitivity analysis results obtained through simulation are approximate to the test results. This research indicates each parameter sensitivity characteristics of hydraulic drive unit, the performance-affected main parameters and secondary parameters are got under different working conditions, which will provide the theoretical foundation for the control compensation and structure optimization of hydraulic drive unit.
基金Project(2006AA04Z201,2012AA041601)supported by the National High-Tech Research and Development Program of China
文摘In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.
基金supported by National Natural Science Funds for Distinguished Young Scholar (Grant No. 71503202)the Fundamental Research Funds for the Central Universities (Grant No. 2017RWYB14)
文摘Based on the survey research of poverty controlling model of "Three Drives, Four Joints" in Zhen'an County, its forming motives, implementing mechanism, and constraint factors have been explored to testify its enlightenment and applicability, establishing a promotable, applicable, and effective poverty alleviation model. "Three Drives, Four Joints" model is linked to the poor who lacks ability of self-development. Relying on the drives from key leading companies, the capable and the rich, a community with shared interests by the poor and the subjects of the "three drives" could be formed through "Joint Production, Joint Resources, Joint Community of Stock, and Joint Operation". The linked poverty alleviation development model of "the influential and the rich bring along the poor" and "A rich household would help the others" come into being. It is found out that the model of "Three Drives, Four Joints" is in essence a poverty alleviation method focusing on the increase of the income and diversified ways of increasing the earnings. Problems of poverty alleviation carrier and joint mechanism have been solved in the poverty alleviation process. The model is innovative in activating the resource elements, helping to move the poor out of poverty. A referential, copyable, and applicable model is offered to advance the poverty alleviation in mountainous areas in China.
文摘The introduction of automated driving systems raised questions about how the human driver interacts with the automated system. Non-cooperative game theory is increasingly used for modelling and understanding such interaction, while its counterpart, cooperative game theory is rarely discussed for similar applications despite it may be potentially more suitable. This paper describes the modelling of a human driver’s steering interaction with an automated steering system using cooperative game theory. The distributed Model Predictive Control approach is adopted to derive the driver’s and the automated steering system’s strategies in a Pareto equilibrium sense, namely their cooperative Pareto steering strategies. Two separate numerical studies are carried out to study the influence of strategy parameters, and the influence of strategy types on the driver’s and the automated system’s steering performance. It is found that when a driver interacts with an automated steering system using a cooperative Pareto steering strategy, the driver can improve his/her performance in following a target path through increasing his/her effort in pursuing his/her own interest under the driver-automation cooperative control goal. It is also found that a driver’s adoption of cooperative Pareto steering strategy leads to a reinforcement in the driver’s steering angle control, compared to the driver’s adoption of non-cooperative Nash strategy. This in turn enables the vehicle to return from a lane-change maneuver to straight-line driving swifter.
文摘In the proposed paper, the new experimental results are described obtained from the laboratory stand and the model developed by the authors. A method of acquiring characteristics of a pump motor drive using a hardware-in-the-loop simulation approach is explained. To explore the centrifugal pumps manufactured by ABB, their own control system is used whereas an industrial pump is replaced with the specially designed simulator. To clarify the model topology and parameters, a double-machine assembly was designed and used as universal pump prototype. A library of reference and disturbance signals used in pumping was applied as a modeling tool. In this way, the advantages of mathematical and physical simulations have been combined with optimal interaction of both approaches.
文摘为明晰水肥耦合对炭基质栽培番茄产量品质的提升效应,将生物炭混掺到由酒糟、秸秆等农业废弃物拌制成的基质模块中,设置2个灌溉量(I_(1):100%ET_(c),I_(2):80%ET_(c),ET_(c)为作物蒸发蒸腾量),2个施肥量(N-P_(2)O_(5)-K_(2)O)(F_(1):240-180-200 kg/hm^(2),F2:180-135-150 kg/hm^(2))及基质中4个生物炭添加量(B0:0,B1:1%,B3:3%,B5:5%),共16组处理,研究水肥耦合对炭基质栽培番茄叶面积指数(leaf area index,LAI)、叶绿素相对含量(soil and plant analyzer development,SPAD)、植株养分(全氮、全钾、有机碳)吸收量、化学计量特征(氮钾比、碳氮比)、产量及品质(可溶性固形物含量、维生素C含量、硝酸盐含量、可溶性糖含量、可滴定酸含量、糖酸比)的影响,揭示炭基质栽培番茄产量及品质的关键驱动因子,构建以番茄产量、品质及其关键驱动因子为目标的熵权-TOPSIS多目标综合评价模型,提出水肥与炭基质耦合的最优方案。结果表明:炭基质对番茄LAI、SPAD值、养分吸收量、产量及品质影响显著(P<0.05);在相同灌溉和施肥条件下,炭基质增加了番茄整株钾吸收量、整株碳同化量、产量及维生素C含量,降低了硝酸盐含量;基于结构方程模型,番茄整株碳同化量是产量的关键驱动因子,其增加有助于提高番茄产量,氮钾比是品质的关键驱动因子,其降低有助于改善番茄品质;采用熵权-TOPSIS多目标综合评价模型,筛选出I_(1)F_(2)B_(3)处理是水肥与炭基质耦合的最优方案。研究可为农业废弃物高效利用及高品质果蔬的水肥炭有效管理提供理论依据。
文摘Aimed at the requirements for electric transmission system of a military tracked vehicle, the motor's design indexes were analysed and calculated. A model based on saturate inductance parameter of interior permanent magnet (IPM) synchronous motor was brought forward by using finite element analysis. And its control strategy based on the largest running capability was studied also. The experiment results for a scale model show that the modelling method improves the model's accuracy, and the motor's control strategy is effective.
文摘The transmission system is a critical power component of helicopters, playing an indispensable role in power transmission. Among its key elements, the planetary gear system is an essential part of the helicopter transmission architecture. Establishing a dynamic model of the helicopter transmission system and analyzing the dynamic response of the planetary gear system under varying flight conditions are crucial for enhancing the system’s performance and safety. In this study, the transmission system is modeled comprehensively using the lumped mass method and the finite element method, and the dynamic characteristics of the planetary gear system, as reflected on the main gearbox casing under different flight scenarios, are examined. The findings reveal that the resonance frequencies of the planetary gear system remain consistent across various flight conditions, indicating that these frequencies are governed by the inherent structural and dynamic properties of the system. However, the vibration amplitudes at resonance points differ depending on the flight condition. Specifically, the resonance amplitudes at 0.057 kHz and 0.093 kHz during Hovering are significantly lower than those in other conditions, demonstrating that operational scenarios directly influence vibration response.
基金supported by the Korean Ministry of Knowledge and Economics(10035218)
文摘To increase the competition of the solar energy collection system, the size of the solar panel module during the manufacturing process is being increased continuously. As the size of the solar panel increases, the size of the robot to handle the panel increased also. The change in scale of the robot inevitably results ill the amplification of the adverse effect of tile flexure. The main source of the flexure in the large scale solar cell panel handling system is the long and thin fork fingers of the [land and the solar cell panel. In addition, tile belt-driven actuator system used by most of the large scale panel handling robot is another significant source of the vibration. In this paper, the flexible multi body dynamic model of a large scale solar cell panel handling robot, which is being designed and constructed with the help of Kyung Hee University, is developed. The belt-driven system in the robot is also modeled as flexible system and included ill the robot to represent the actual vibration characteristics of the actuator system. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi： 10.1063/2.1301310]
