Aiming at node deployment in the monitoring area of the field observation instrument network in the cold and arid regions,we propose a virtual force algorithm based on Voronoi diagram(VFAVD),which adopts probabilistic...Aiming at node deployment in the monitoring area of the field observation instrument network in the cold and arid regions,we propose a virtual force algorithm based on Voronoi diagram(VFAVD),which adopts probabilistic sensing model that is more in line with the actual situation.First,the Voronoi diagram is constructed in the monitoring area to determine the Thiessen polygon of each node.Then,the virtual force on each node is calculated,and the node update its position according to the direction and size of the total force,so as to achieve the purpose of improving the network coverage rate.The simulation results show that the proposed algorithm can effectively improve the coverage rate of the network,and also has a good effect on the coverage uniformity.展开更多
In the deployment of wireless networks in two-dimensional outdoor campus spaces,aiming at the problem of efficient coverage of the monitoring area by limited number of access points(APs),this paper proposes a deployme...In the deployment of wireless networks in two-dimensional outdoor campus spaces,aiming at the problem of efficient coverage of the monitoring area by limited number of access points(APs),this paper proposes a deployment method of multi-objective optimization with virtual force fusion bat algorithm(VFBA)using the classical four-node regular distribution as an entry point.The introduction of Lévy flight strategy for bat position updating helps to maintain the population diversity,reduce the premature maturity problem caused by population convergence,avoid the over aggregation of individuals in the local optimal region,and enhance the superiority in global search;the virtual force algorithm simulates the attraction and repulsion between individuals,which enables individual bats to precisely locate the optimal solution within the search space.At the same time,the fusion effect of virtual force prompts the bat individuals to move faster to the potential optimal solution.To validate the effectiveness of the fusion algorithm,the benchmark test function is selected for simulation testing.Finally,the simulation result verifies that the VFBA achieves superior coverage and effectively reduces node redundancy compared to the other three regular layout methods.The VFBA also shows better coverage results when compared to other optimization algorithms.展开更多
This article proposes a novel fuzzy virtual force （FVF） method for unmanned aerial vehicle （UAV） path planning in compli-cated environment. An integrated mathematical model of UAV path planning based on virtual fo...This article proposes a novel fuzzy virtual force （FVF） method for unmanned aerial vehicle （UAV） path planning in compli-cated environment. An integrated mathematical model of UAV path planning based on virtual force （VF） is constructed and the corresponding optimal solving method under the given indicators is presented. Specifically,a fixed step method is developed to reduce computational cost and the reachable condition of path planning is proved. The Bayesian belief network and fuzzy logic reasoning theories are applied to setting the path planning parameters adaptively,which can reflect the battlefield situation dy-namically and precisely. A new way of combining threats is proposed to solve the local minima problem completely. Simulation results prove the feasibility and usefulness of using FVF for UAV path planning. Performance comparisons between the FVF method and the A＊ search algorithm demonstrate that the proposed approach is fast enough to meet the real-time requirements of the online path planning problems.展开更多
Cross-section deformation is one of important factors affecting the quality of tube formation, and the tube＇s capability of transporting liquid and gas will be reduced because of the cross-section ellipse deformation...Cross-section deformation is one of important factors affecting the quality of tube formation, and the tube＇s capability of transporting liquid and gas will be reduced because of the cross-section ellipse deformation due to the effect of shear load in plastic bending process. When the tube is bent, the extrados-wall bears the tension stress and the intrados-wall bears the compression stress, synchronously the cross-section is affected by the circumferential stress. According to the above, the distribution function and curve of tangential stress can be obtained according to force balance differential equations on circumferential direction and Trasca rule. Subsequently the real state and virtual state moment equations were established, a new method was presented adopting the virtual principle of deformation system to calculate the x-axis and y-axis displacement of arbitrary point on cross-section. So the major and minor axes of deformed cross-section can be calculated according to the displacements of each point, and the variety value of major and minor axes will be obtained further. Finally the theoretical calculating result is compared with NC tube rotary-bending experiment results to verify the rationality of theoretical analysis, and the cross-section deformation rule of thin-walled tube can be received.展开更多
A distributed self-control coverage method for mobile multi-target based on virtual force(MMTVF)is proposed to monitor dynamic targets using a mobile sensor network(MSN).The dynamic coverage method is introduced to ma...A distributed self-control coverage method for mobile multi-target based on virtual force(MMTVF)is proposed to monitor dynamic targets using a mobile sensor network(MSN).The dynamic coverage method is introduced to maintain network connectivity and optimize the coverage of moving targets.The method consists of two parts,one is the virtual force model which is proposed for motion control,and the other is the whale optimization algorithm which is improved to optimize node positions and achieve a steady state quickly.The virtual resultant force stretches the network towards uncovered targets using its multi-target attractive force,maintains network connectivity during network stretching using its attractive force,and prevents node collisions while nodes are moving using its repulsive force.The operating mechanism of the multi-target attractive force and other forces is thoroughly analyzed.Adjustment criteria for the model in different application scenarios are also provided.The comparisons demonstrate MMTVF has significant advantages over other similar approaches.展开更多
A new method of both analysis and graphics is presented for solving the problem of velocity analysis of a spatial four-bar mechanism. Central to the method is how to use the principle of virtual forces equilibrium sys...A new method of both analysis and graphics is presented for solving the problem of velocity analysis of a spatial four-bar mechanism. Central to the method is how to use the principle of virtual forces equilibrium system connected with the principle of virtual velocity to solve the velocity analysis of a mechanism. The method is accurate in principle and much simpler than the conventional method. It can be applied to both planar and spatial mechanisms. For brevity an example of a spatial mechanism only is presented.展开更多
The dynamic modeling, finite-time trajectory tracking control and vibration suppression of a flexible two-link space robot are studied. Firstly, the dynamic model of the system is established by combining Lagrange met...The dynamic modeling, finite-time trajectory tracking control and vibration suppression of a flexible two-link space robot are studied. Firstly, the dynamic model of the system is established by combining Lagrange method with assumed mode method. In order to ensure that the base attitude and the joints of space robot can reach the desired positions within a limited time, a non-singular fast terminal sliding mode(NFTSM) controller is designed, which realizes the finite-time convergence of the trajectory tracking errors. Subsequently, for the sake of suppressing the vibrations of flexible links, a hybrid trajectory based on the concept of the virtual control force is developed, which can reflect the flexible modes and the trajectory tracking errors simultaneously. By modifying the original control scheme, a NFTSM hybrid controller is proposed. The hybrid control scheme can not only realized attitude stabilization and trajectory tracking of joints in finite time, but also provide a new method of vibration suppression. The simulation results verify the effectiveness of the designed hybrid control strategy.展开更多
Virtual mass force is an indispensable component in the momentum balance involved with dispersed particles in a multiphase system.In this work the accelerating motion of a single solid particle is mathematically formu...Virtual mass force is an indispensable component in the momentum balance involved with dispersed particles in a multiphase system.In this work the accelerating motion of a single solid particle is mathematically formulated and solved using the vorticity-stream function formulation in an orthogonal curvilinear coordinate system.The total drag coefficient was evaluated from the numerical simulation in a range of the Reynolds number(Re)from 10 to 200 and the dimensionless acceleration(A)between2.0 to 2.0.The simulation demonstrates that the total drag is heavily correlated with A,and large deceleration even drops the drag force to a negative value.It is found that the value of virtual mass force coefficient(CV)of a spherical particle is a variable in a wide range and difficult to be correlated with A and Re.However,the total drag coefficient(CDV)is successfully correlated as a function of Re and A,and it increases as A is increased.The proposed correlation of total drag coefficient may be used for simulation of solid–liquid flow with better accuracy.展开更多
An exoskeleton force feedback dataglove is developed, which uses the pneumatic artificial muscles as actuators. On the basis of the simplified hand model, the motion equation is deduced according to the theory of Dena...An exoskeleton force feedback dataglove is developed, which uses the pneumatic artificial muscles as actuators. On the basis of the simplified hand model, the motion equation is deduced according to the theory of Denavit-Hartenberg. The model of the equivalent contact forces exerted by the object on the finger is proposed. By the principle of virtual work, the static equilibrium of finger is established. The force Jacobian matrix of finger is calculated, and then the joint torques of the finger when grasping objects are obtained. The theory and structure of the force feedback datagolve are introduced. Based on the theory of motion stabilization of four-bar linkage, the flexion angles of joints are measured. The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated. The output forces of pneumatic artificial muscle, whose values are controlled by its inner pressure, can be calculated by the joint torques of the finger when grasping objects. The arms of force, driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger. The criterion of output force of pneumatic muscle is given.展开更多
Localization is one of the substantial issues in wireless sensor networks. The key problem for the mobile beacon localization is how to choose the appropriate beacon trajectory. However, little research has been done ...Localization is one of the substantial issues in wireless sensor networks. The key problem for the mobile beacon localization is how to choose the appropriate beacon trajectory. However, little research has been done on it. In this paper, firstly, we deduce the number of positions for a beacon to send a packet according to the acreage of ROI (region of interest); and next we present a novel method based on virtual force to arrange the positions in arbitrary ROI; then we apply TSP (travelling salesman problem) algorithm to the positions sequence to obtain the optimal touring path, i.e. the reduced beacon trajectory. When a mobile beacon moves along the touring path, sending RF signals at every position, the sensors in ROI can work out their position with trilateration. Experimental results demonstrate that the localization method, based on the beacon reduced path, is efficient and has flexible accuracy.展开更多
A kind of new obstacle space expression is proposed in this paper, in which a virtual force field (VFF) is built. Using the torque and joint optimization acted by the virtual force field on the anthropomorphic weld ar...A kind of new obstacle space expression is proposed in this paper, in which a virtual force field (VFF) is built. Using the torque and joint optimization acted by the virtual force field on the anthropomorphic weld arm, the real-time selection of a redundant join (R-joint) is done and its equivalent virtual torque is obtained, thus the redundant joint can be controlled with whose force feedback. An inverse kinematics solution of a 6-DOF robot is applied to other six joints of the arm. Simulation experiments indicate the new inverse kinematics solution has perfect collision avoidance effect, and it is well simplified. Therefore, it can be applied to a welding task in complex operation space.展开更多
The aim of this paper is to investigate the effect of heaving and pitching of ship motion due to springing bending moment. The investigation was conducted both experimentally and validated theoretically. Series of exp...The aim of this paper is to investigate the effect of heaving and pitching of ship motion due to springing bending moment. The investigation was conducted both experimentally and validated theoretically. Series of experiment were carried out using a container model-ship of which length was 3 meter, and the possibility of the so-called nth resonant springing vibration is tested by taking n from n = 2 to n = 4. The bending moment due- to vibration is also measured. The following conclusions were obtained： （l） Occurance of the higher order resonant vibration between 2nd-4th is recognized experimentally; （2） The results indicated that heaving and pitching of ship motion influenced the springing bending moment accurately.展开更多
When gas invasion,especially overflow,occurs at the bottom hole in the process of managed pressure drilling(MPD),it is common to apply backpressure on the wellbore by adjusting the backpressure pump and throttle valve...When gas invasion,especially overflow,occurs at the bottom hole in the process of managed pressure drilling(MPD),it is common to apply backpressure on the wellbore by adjusting the backpressure pump and throttle valve,so as to rebuild bottom hole pressure balance.If it is still thought that the wellhead backpressure is loaded to the bottom hole instantaneously,there will be larger errors between the calculated wellbore parameters and the actual wellbore flow parameters,which will result in well control failure and even well blowout.In this paper,a pressure wave propagation equation suitable for the gaseliquid two-phase flow in the annulus was established based on the global averaged gaseliquid two-phase flow model to investigate the propagation velocity and time of backpressure wave in the wellbore.Then,gaseliquid interaction was introduced to carry out coupling solution on the equation set.It is shown that pressure wave velocity increases with the increase of drilling mud density,but decreases with the increase of void fraction and virtual mass force coefficient.It changes drastically at first,and then slows down.What's more,when the void fraction is greater than 0.1 or the virtual mass force coefficient exceeds 0.2,the momentum between gas phase and liquid phase is fully exchanged,and the pressure wave velocity decreases slowly,approaching a stable value.In Well Penglai 9 in the Sichuan Basin,for example,the average time of single pressure wave propagation is about 50 s,and the total propagation time of 4 rounds is about 200 s,which accounts for more than 67%of the total time of system control response.It is indicated that the propagation velocity and time of the pressure wave in the annulus calculated by this method can greatly improve the accuracy of managed pressure response time of MPD drilling system and the control precision of adaptive throttle valve.展开更多
基金supported by National Natural Science Foundation of China(No.61862038)Lanzhou Talent Innovation and Entrepreneurship Technology Plan Project(No.2019-RC-14).
文摘Aiming at node deployment in the monitoring area of the field observation instrument network in the cold and arid regions,we propose a virtual force algorithm based on Voronoi diagram(VFAVD),which adopts probabilistic sensing model that is more in line with the actual situation.First,the Voronoi diagram is constructed in the monitoring area to determine the Thiessen polygon of each node.Then,the virtual force on each node is calculated,and the node update its position according to the direction and size of the total force,so as to achieve the purpose of improving the network coverage rate.The simulation results show that the proposed algorithm can effectively improve the coverage rate of the network,and also has a good effect on the coverage uniformity.
基金supported in part by the National Natural Science Foundation of China under Grant No.62271453in part by the National Natural Science Foundation of China No.62101512+2 种基金in part by the Central Support for Local Projects under Grant No.YDZJSX2024D031in part by Project supported by the Shanxi Provincial Foundation for Leaders of Disciplines in Science,China under Grant No.2024Q022in part by Shanxi Province Patent Conversion Special Plan Funding Projects under Grant No.202405004。
文摘In the deployment of wireless networks in two-dimensional outdoor campus spaces,aiming at the problem of efficient coverage of the monitoring area by limited number of access points(APs),this paper proposes a deployment method of multi-objective optimization with virtual force fusion bat algorithm(VFBA)using the classical four-node regular distribution as an entry point.The introduction of Lévy flight strategy for bat position updating helps to maintain the population diversity,reduce the premature maturity problem caused by population convergence,avoid the over aggregation of individuals in the local optimal region,and enhance the superiority in global search;the virtual force algorithm simulates the attraction and repulsion between individuals,which enables individual bats to precisely locate the optimal solution within the search space.At the same time,the fusion effect of virtual force prompts the bat individuals to move faster to the potential optimal solution.To validate the effectiveness of the fusion algorithm,the benchmark test function is selected for simulation testing.Finally,the simulation result verifies that the VFBA achieves superior coverage and effectively reduces node redundancy compared to the other three regular layout methods.The VFBA also shows better coverage results when compared to other optimization algorithms.
基金National Natural Science Foundation of China (60975073)Aeronautical Science Foundation of China (2008ZC13011)+1 种基金Research Foundation for Doctoral Program of Higher Education of China (20091102110006)Fundamental Research Funds for the Central Universities
文摘This article proposes a novel fuzzy virtual force （FVF） method for unmanned aerial vehicle （UAV） path planning in compli-cated environment. An integrated mathematical model of UAV path planning based on virtual force （VF） is constructed and the corresponding optimal solving method under the given indicators is presented. Specifically,a fixed step method is developed to reduce computational cost and the reachable condition of path planning is proved. The Bayesian belief network and fuzzy logic reasoning theories are applied to setting the path planning parameters adaptively,which can reflect the battlefield situation dy-namically and precisely. A new way of combining threats is proposed to solve the local minima problem completely. Simulation results prove the feasibility and usefulness of using FVF for UAV path planning. Performance comparisons between the FVF method and the A＊ search algorithm demonstrate that the proposed approach is fast enough to meet the real-time requirements of the online path planning problems.
基金supported by "Eleven Five Years Plan" Basic Research Item of National Defense of China (Grant No. B2220060048)
文摘Cross-section deformation is one of important factors affecting the quality of tube formation, and the tube＇s capability of transporting liquid and gas will be reduced because of the cross-section ellipse deformation due to the effect of shear load in plastic bending process. When the tube is bent, the extrados-wall bears the tension stress and the intrados-wall bears the compression stress, synchronously the cross-section is affected by the circumferential stress. According to the above, the distribution function and curve of tangential stress can be obtained according to force balance differential equations on circumferential direction and Trasca rule. Subsequently the real state and virtual state moment equations were established, a new method was presented adopting the virtual principle of deformation system to calculate the x-axis and y-axis displacement of arbitrary point on cross-section. So the major and minor axes of deformed cross-section can be calculated according to the displacements of each point, and the variety value of major and minor axes will be obtained further. Finally the theoretical calculating result is compared with NC tube rotary-bending experiment results to verify the rationality of theoretical analysis, and the cross-section deformation rule of thin-walled tube can be received.
文摘A distributed self-control coverage method for mobile multi-target based on virtual force(MMTVF)is proposed to monitor dynamic targets using a mobile sensor network(MSN).The dynamic coverage method is introduced to maintain network connectivity and optimize the coverage of moving targets.The method consists of two parts,one is the virtual force model which is proposed for motion control,and the other is the whale optimization algorithm which is improved to optimize node positions and achieve a steady state quickly.The virtual resultant force stretches the network towards uncovered targets using its multi-target attractive force,maintains network connectivity during network stretching using its attractive force,and prevents node collisions while nodes are moving using its repulsive force.The operating mechanism of the multi-target attractive force and other forces is thoroughly analyzed.Adjustment criteria for the model in different application scenarios are also provided.The comparisons demonstrate MMTVF has significant advantages over other similar approaches.
文摘A new method of both analysis and graphics is presented for solving the problem of velocity analysis of a spatial four-bar mechanism. Central to the method is how to use the principle of virtual forces equilibrium system connected with the principle of virtual velocity to solve the velocity analysis of a mechanism. The method is accurate in principle and much simpler than the conventional method. It can be applied to both planar and spatial mechanisms. For brevity an example of a spatial mechanism only is presented.
基金supported by the National Natural Science Foundation of China (No. 11372073)。
文摘The dynamic modeling, finite-time trajectory tracking control and vibration suppression of a flexible two-link space robot are studied. Firstly, the dynamic model of the system is established by combining Lagrange method with assumed mode method. In order to ensure that the base attitude and the joints of space robot can reach the desired positions within a limited time, a non-singular fast terminal sliding mode(NFTSM) controller is designed, which realizes the finite-time convergence of the trajectory tracking errors. Subsequently, for the sake of suppressing the vibrations of flexible links, a hybrid trajectory based on the concept of the virtual control force is developed, which can reflect the flexible modes and the trajectory tracking errors simultaneously. By modifying the original control scheme, a NFTSM hybrid controller is proposed. The hybrid control scheme can not only realized attitude stabilization and trajectory tracking of joints in finite time, but also provide a new method of vibration suppression. The simulation results verify the effectiveness of the designed hybrid control strategy.
基金supported by the National Key Research and Development Program(2020YFA0906804)the National Natural Science Foundation of China(22035007,91934301)+1 种基金External Cooperation Program of BIC,Chinese Academy of Sciences(122111KYSB20190032)Chemistry and Chemical Engineering Guangdong Laboratory,Shantou(No.1922006).
文摘Virtual mass force is an indispensable component in the momentum balance involved with dispersed particles in a multiphase system.In this work the accelerating motion of a single solid particle is mathematically formulated and solved using the vorticity-stream function formulation in an orthogonal curvilinear coordinate system.The total drag coefficient was evaluated from the numerical simulation in a range of the Reynolds number(Re)from 10 to 200 and the dimensionless acceleration(A)between2.0 to 2.0.The simulation demonstrates that the total drag is heavily correlated with A,and large deceleration even drops the drag force to a negative value.It is found that the value of virtual mass force coefficient(CV)of a spherical particle is a variable in a wide range and difficult to be correlated with A and Re.However,the total drag coefficient(CDV)is successfully correlated as a function of Re and A,and it increases as A is increased.The proposed correlation of total drag coefficient may be used for simulation of solid–liquid flow with better accuracy.
基金This project is supported by National Natural Science Foundation of China(No.50375034).
文摘An exoskeleton force feedback dataglove is developed, which uses the pneumatic artificial muscles as actuators. On the basis of the simplified hand model, the motion equation is deduced according to the theory of Denavit-Hartenberg. The model of the equivalent contact forces exerted by the object on the finger is proposed. By the principle of virtual work, the static equilibrium of finger is established. The force Jacobian matrix of finger is calculated, and then the joint torques of the finger when grasping objects are obtained. The theory and structure of the force feedback datagolve are introduced. Based on the theory of motion stabilization of four-bar linkage, the flexion angles of joints are measured. The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated. The output forces of pneumatic artificial muscle, whose values are controlled by its inner pressure, can be calculated by the joint torques of the finger when grasping objects. The arms of force, driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger. The criterion of output force of pneumatic muscle is given.
基金the National Natural Science Foundation of China (Nos. 60603025 and 60503018)the National Basic Research Program (973) of China (No. 2006CB303000)+2 种基金the National Key Technology R&D Program of China (No. 2006BAH02A01)the China Postdoctoral Science Foundation (Nos. 20060401039 and 20060400316)the Natural Science Foundation of Zhejiang Province (No. Y105463), China
文摘Localization is one of the substantial issues in wireless sensor networks. The key problem for the mobile beacon localization is how to choose the appropriate beacon trajectory. However, little research has been done on it. In this paper, firstly, we deduce the number of positions for a beacon to send a packet according to the acreage of ROI (region of interest); and next we present a novel method based on virtual force to arrange the positions in arbitrary ROI; then we apply TSP (travelling salesman problem) algorithm to the positions sequence to obtain the optimal touring path, i.e. the reduced beacon trajectory. When a mobile beacon moves along the touring path, sending RF signals at every position, the sensors in ROI can work out their position with trilateration. Experimental results demonstrate that the localization method, based on the beacon reduced path, is efficient and has flexible accuracy.
文摘A kind of new obstacle space expression is proposed in this paper, in which a virtual force field (VFF) is built. Using the torque and joint optimization acted by the virtual force field on the anthropomorphic weld arm, the real-time selection of a redundant join (R-joint) is done and its equivalent virtual torque is obtained, thus the redundant joint can be controlled with whose force feedback. An inverse kinematics solution of a 6-DOF robot is applied to other six joints of the arm. Simulation experiments indicate the new inverse kinematics solution has perfect collision avoidance effect, and it is well simplified. Therefore, it can be applied to a welding task in complex operation space.
文摘The aim of this paper is to investigate the effect of heaving and pitching of ship motion due to springing bending moment. The investigation was conducted both experimentally and validated theoretically. Series of experiment were carried out using a container model-ship of which length was 3 meter, and the possibility of the so-called nth resonant springing vibration is tested by taking n from n = 2 to n = 4. The bending moment due- to vibration is also measured. The following conclusions were obtained： （l） Occurance of the higher order resonant vibration between 2nd-4th is recognized experimentally; （2） The results indicated that heaving and pitching of ship motion influenced the springing bending moment accurately.
基金Project supported by General Program of National Natural Science Foundation of China“Wellbore Multi-phase Flow Coupling Mechanism Research-Formations Based on Precise Backpressure Control”(No.:51474073)“Research on Wellbore Temperature Field and Pressure Field Distribution Laws of Deep Unbalanced Drilling Based on Thermal-fluid Coupling”(No.:51374077).
文摘When gas invasion,especially overflow,occurs at the bottom hole in the process of managed pressure drilling(MPD),it is common to apply backpressure on the wellbore by adjusting the backpressure pump and throttle valve,so as to rebuild bottom hole pressure balance.If it is still thought that the wellhead backpressure is loaded to the bottom hole instantaneously,there will be larger errors between the calculated wellbore parameters and the actual wellbore flow parameters,which will result in well control failure and even well blowout.In this paper,a pressure wave propagation equation suitable for the gaseliquid two-phase flow in the annulus was established based on the global averaged gaseliquid two-phase flow model to investigate the propagation velocity and time of backpressure wave in the wellbore.Then,gaseliquid interaction was introduced to carry out coupling solution on the equation set.It is shown that pressure wave velocity increases with the increase of drilling mud density,but decreases with the increase of void fraction and virtual mass force coefficient.It changes drastically at first,and then slows down.What's more,when the void fraction is greater than 0.1 or the virtual mass force coefficient exceeds 0.2,the momentum between gas phase and liquid phase is fully exchanged,and the pressure wave velocity decreases slowly,approaching a stable value.In Well Penglai 9 in the Sichuan Basin,for example,the average time of single pressure wave propagation is about 50 s,and the total propagation time of 4 rounds is about 200 s,which accounts for more than 67%of the total time of system control response.It is indicated that the propagation velocity and time of the pressure wave in the annulus calculated by this method can greatly improve the accuracy of managed pressure response time of MPD drilling system and the control precision of adaptive throttle valve.
