A new method for the determination of aniline in environmental water based on oscillopolarographic titration was presented in this paper. Several factors including the kind, concentration, and volume of acid, the dosa...A new method for the determination of aniline in environmental water based on oscillopolarographic titration was presented in this paper. Several factors including the kind, concentration, and volume of acid, the dosage of potassium bromide, the temperature and concentration of concomitant substances were investigated in detail. The experimental results indicated that this method was simple, rapid, and sensitive. The linear range was 8.367 × 10(?4) to 2.789 × 10(?2) mol L(?1), the relative standard deviation (R.S.D.) was lower than 0.96%, and the spiked recoveries of aniline in environmental water samples were in the range of 99.4–106.9% under the optimal conditions. The results indicated that the present method could be used as an alternative method for aniline determination in realworld water samples.展开更多
A rapid, simple and sensitive method was demonstrated for the determination of phenolic compounds in water samples by alternating-current oscillopolarographic titration. With the presence of sulfuric acid, phenol coul...A rapid, simple and sensitive method was demonstrated for the determination of phenolic compounds in water samples by alternating-current oscillopolarographic titration. With the presence of sulfuric acid, phenol could be transferred into a nitroso-compound by reacting with NaNO2. The titration end-point was obtained by the formation of a sharp cut in the oscillopolarographic with infinitesimal NaNO2 on double platinum electrodes. The results showed that phenol had an excellent linear relationship over the range of 4.82×10^-6 -9.65×10^-3 mol/L, the RSD of the proposed method was lower than 1.5%, and the spiked recoveries of three real water samples were in the range of 95.6%-106.9%.展开更多
The anchoring property of the substrate surface of liquid crystal cells plays an important role in display and nondisplay fields. This property directly affects the deformation of liquid crystal molecules to change th...The anchoring property of the substrate surface of liquid crystal cells plays an important role in display and nondisplay fields. This property directly affects the deformation of liquid crystal molecules to change the phase difference through liquid crystal cells. In this paper, a test method based on the alternating-current bridge is proposed to determine the capacitance of liquid crystal cells and thus measure the anchoring energy of the substrate surface. The anchoring energy can be obtained by comparing the capacitance-voltage curves of twisted nematic liquid crystal cells with different anchoring properties in experimental and theoretical results simulated on the basis of Frank elastic theory. Compared with the other methods to determine the anchoring energy, our proposed method requires a simple treatment of liquid crystal cells and allows easy and high-accuracy measurements, thereby expanding the test ideas on the performance parameters of liquid crystal devices.展开更多
A new dimmer using a mental-oxide-semiconductor field-effect transistor (MOSFET) for alternating-current (AC) directly driven light-emitting-diode (LED) lamp was presented. The control method of proposed dimmer is pul...A new dimmer using a mental-oxide-semiconductor field-effect transistor (MOSFET) for alternating-current (AC) directly driven light-emitting-diode (LED) lamp was presented. The control method of proposed dimmer is pulse width control (PWM) method. Compared with the conventional phase-controlled dimmer, the proposed PWM dimmer can produce sine wave and did not cause harmonics problem. Furthermore, the proposed control method did not amplify the light flicker due to the independence of input voltage. Therefore, the PWM dimmer can be used as the dimmer of the AC LED lamp instead of the conventional phase-controlled dimmer. The experimental result shows that the proposed PWM dimmer has good performances.展开更多
Alternating-current losses in a two-layer superconducting cable, each layer being composed of 15 closely-spaced rectangular wires made up of second-generation superconductors when the ends of wires are coated by eithe...Alternating-current losses in a two-layer superconducting cable, each layer being composed of 15 closely-spaced rectangular wires made up of second-generation superconductors when the ends of wires are coated by either a non-magnetic or strong ferromagnetic material having a U profile is numerically investigated. Computations are carried out through the finite-element method. The alternating-current losses do not increase significantly if the relative permeability of the coating is increased three orders of magnitude, provided that the current amplitude is less than half of the critical current in a superconducting wire. However, the losses are much higher for ferromagnetic coating if the amplitude of the applied current oscillating at 50 Hz is close to the critical current. The ferromagnetic coating is seen to accumulate the magnetic field lines normally on its surfaces, while the field lines are parallel to the long axes of the wires, leading to more significant flux penetration in the coated regions. This facilitates a uniform low-loss current flow in the uncoated regions of the wires. In contrast, coating with a non-magnetic material gives rise to a considerably smaller current flow in the uncoated regions, whereas the low-loss flow is maintained in the coated regions. Moreover, the current flows in opposite directions in the coated and uncoated regions, where the direction in each region is converse for the two materials.展开更多
In this article, an organic thin-film field-effect transistor （OTFFET） with top-gate and bottom-contact geometry based on pentacene as the active layer is fabricated. The experimental data of the I-V are obtained fr...In this article, an organic thin-film field-effect transistor （OTFFET） with top-gate and bottom-contact geometry based on pentacene as the active layer is fabricated. The experimental data of the I-V are obtained from the OTFFET device. The alternating-current （AC） resistance value of the OTFFET device is calculated using the derivation method from the experimental data, and the AC resistance trend curves of the OTFFET device are obtained with the region fitting method. We analyse the characteristics of the OTFFET device with an AC resistance trend curve. To discover whether it has a high resistance, it is proposed to judge the region of the source/drain voltage （VDs） less than the transition voltage, thereby determining whether the contact between the metal electrode and the organic semiconductor layer of the OTFFET device is Ohmic or non-Ohmic. The theoretical analysis shows that the field-effect mobility and the AC resistance are in reverse proportion. Therefore, we point out that reducing AC resistance is necessary if field-effect mobility is to be improved.展开更多
Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The...This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.展开更多
To enhance the robustness and real-time performance of robotic arm visual servoing in complex environments such as space,this study proposes Di FA-DETR,a modified object detection framework based on the DETR architect...To enhance the robustness and real-time performance of robotic arm visual servoing in complex environments such as space,this study proposes Di FA-DETR,a modified object detection framework based on the DETR architecture.The proposed model incorporates an improved Res Net50 Bottleneck structure with spatial dimensionality reduction and sparse interaction mechanisms,alongside a redesigned self-attention module featuring downsampling optimization and adaptive feature enhancement.A custom-annotated satellite component dataset was constructed to train and evaluate the system.Experimental results demonstrate that Di FA-DETR achieves an AP50 of 79.9%,outperforming existing DETR variants while reducing computational complexity by 31.9%and nearly doubling the inference speed.The method was further validated in a ground-based visual servoing system using an industrial robotic arm and camera setup.The system successfully tracked satellite targets under dynamic motion scenarios,maintaining millimeter-level positioning accuracy.These results confirm the feasibility and effectiveness of the proposed method in supporting future space robotic applications requiring precision tracking and fast response.展开更多
A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the...A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.展开更多
This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanis...This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.展开更多
The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular gro...The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular groove and U-groove structure is established firstly,and the structure size of the two buffer grooves with better pressure drop effect is obtained by Matlab.Secondly,an established pressure gradient model is developed for the sealed canisters for electric motors using a combined groove structure.The bird swarm optimization algorithm is used to obtain the optimal dimensions for the combined depth and angle of the pressure groove.The flow field in the motor seal chamber is simulated and calculated by Fluent.This study compared the pressure field distributions in the motors sealing chamber using triangular and combined groove structures.It investigated the combined grooves effect on the pressure impact during the commutation of a continuously rotating electro-hydraulic servo motor.It is found that the combined groove structure has a positive impact on reducing the pressure impact.The results indicate that the combined groove structure significantly enhances the efficiency of mitigating pressure shocks when the motor switches between high-and low-pressure chambers.展开更多
Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation...Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation link in three dimensions.At present,common image-guided surgical techniques such as computed tomography(CT)and X-ray imaging(X-ray)will cause radiation damage to the human body during the imaging process.To address this,we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe.To address the limitations of Kalman filteringmethods based on position and velocity,our method of Kalman filtering uses the position and relative velocity of the puncture needle-point instead,and the ultrasonic probe is controlled by a Proportional Integral(PI)controller in X-axis direction and Proportional Derivative(PD)controller in the Y-axis direction.The motion of the ultrasonic probe can be servo-controlled by whether the image information of the puncture needle-point can be detected by the ultrasonic image so that the ultrasonic probe can track the puncture needle-point in real time.The experiment results show that this method has better tracking performance.展开更多
Hydraulic technology has the outstanding advantages of easy pressure compensation and high power density.It is an indispensable part of subsea equipment,such as deep-sea operations and submersible propulsion.There are...Hydraulic technology has the outstanding advantages of easy pressure compensation and high power density.It is an indispensable part of subsea equipment,such as deep-sea operations and submersible propulsion.There are few studies on electrohydraulic servo valves(EHSVs)in the deep sea.In this work,a novel electro-hydraulic servo rotary valve is designed,and its mathematical model is established.The analysis considers the variations in physical parameters such as temperature,ambient pressure,and oil viscosity resulting from changes in sea depth.This study focuses on the deformation of the rotary valve and the consequent alterations in leakage and friction torque.The findings indicate that at a depth of 12000 m,the fit clearance between the valve spool and the valve sleeve is 0.00413 mm,representing a 17%reduction compared with the clearance in a land environment.Then,the response of the rotary valve to depth is analyzed.The results indicate that the bandwidth of the rotary valve decreases with increasing depth.This study provides a reference for the use of the EHSV in the deep sea.展开更多
An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rot...An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.展开更多
In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized...In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.展开更多
Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varietie...Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.展开更多
文摘A new method for the determination of aniline in environmental water based on oscillopolarographic titration was presented in this paper. Several factors including the kind, concentration, and volume of acid, the dosage of potassium bromide, the temperature and concentration of concomitant substances were investigated in detail. The experimental results indicated that this method was simple, rapid, and sensitive. The linear range was 8.367 × 10(?4) to 2.789 × 10(?2) mol L(?1), the relative standard deviation (R.S.D.) was lower than 0.96%, and the spiked recoveries of aniline in environmental water samples were in the range of 99.4–106.9% under the optimal conditions. The results indicated that the present method could be used as an alternative method for aniline determination in realworld water samples.
基金Project supported by the Creative Talented Person's Fund of Henan Province (High Teaching [2005]-126)the Natural Science Foundation of Henan Province (No. 0511053000)+1 种基金the Youth Science Foundation of Henan Normal University (No. 2004005)the Henan Key Laboratory for Environmental Pollution Control.
文摘A rapid, simple and sensitive method was demonstrated for the determination of phenolic compounds in water samples by alternating-current oscillopolarographic titration. With the presence of sulfuric acid, phenol could be transferred into a nitroso-compound by reacting with NaNO2. The titration end-point was obtained by the formation of a sharp cut in the oscillopolarographic with infinitesimal NaNO2 on double platinum electrodes. The results showed that phenol had an excellent linear relationship over the range of 4.82×10^-6 -9.65×10^-3 mol/L, the RSD of the proposed method was lower than 1.5%, and the spiked recoveries of three real water samples were in the range of 95.6%-106.9%.
基金supported by the National Natural Science Foundation of China(Grant Nos.11374087 and 11504080)the Natural Science Foundation of Hebei Province,China(Grant Nos.A2014202123 and A2017202004)+2 种基金the Research Project of the Education Department of Hebei Province,China(Grant No.QN2014130)the Key Subject Construction Project of Hebei Provincial Universitythe Undergraduate Innovation and Entrepreneurship Training Program,China(Grant No.201610080016)
文摘The anchoring property of the substrate surface of liquid crystal cells plays an important role in display and nondisplay fields. This property directly affects the deformation of liquid crystal molecules to change the phase difference through liquid crystal cells. In this paper, a test method based on the alternating-current bridge is proposed to determine the capacitance of liquid crystal cells and thus measure the anchoring energy of the substrate surface. The anchoring energy can be obtained by comparing the capacitance-voltage curves of twisted nematic liquid crystal cells with different anchoring properties in experimental and theoretical results simulated on the basis of Frank elastic theory. Compared with the other methods to determine the anchoring energy, our proposed method requires a simple treatment of liquid crystal cells and allows easy and high-accuracy measurements, thereby expanding the test ideas on the performance parameters of liquid crystal devices.
文摘A new dimmer using a mental-oxide-semiconductor field-effect transistor (MOSFET) for alternating-current (AC) directly driven light-emitting-diode (LED) lamp was presented. The control method of proposed dimmer is pulse width control (PWM) method. Compared with the conventional phase-controlled dimmer, the proposed PWM dimmer can produce sine wave and did not cause harmonics problem. Furthermore, the proposed control method did not amplify the light flicker due to the independence of input voltage. Therefore, the PWM dimmer can be used as the dimmer of the AC LED lamp instead of the conventional phase-controlled dimmer. The experimental result shows that the proposed PWM dimmer has good performances.
基金Project supported by the Fund from the Scientific and Technological Research Council of Turkey(TüB˙ITAK)(Grant No.110T876)
文摘Alternating-current losses in a two-layer superconducting cable, each layer being composed of 15 closely-spaced rectangular wires made up of second-generation superconductors when the ends of wires are coated by either a non-magnetic or strong ferromagnetic material having a U profile is numerically investigated. Computations are carried out through the finite-element method. The alternating-current losses do not increase significantly if the relative permeability of the coating is increased three orders of magnitude, provided that the current amplitude is less than half of the critical current in a superconducting wire. However, the losses are much higher for ferromagnetic coating if the amplitude of the applied current oscillating at 50 Hz is close to the critical current. The ferromagnetic coating is seen to accumulate the magnetic field lines normally on its surfaces, while the field lines are parallel to the long axes of the wires, leading to more significant flux penetration in the coated regions. This facilitates a uniform low-loss current flow in the uncoated regions of the wires. In contrast, coating with a non-magnetic material gives rise to a considerably smaller current flow in the uncoated regions, whereas the low-loss flow is maintained in the coated regions. Moreover, the current flows in opposite directions in the coated and uncoated regions, where the direction in each region is converse for the two materials.
基金Project supported by the National Grand Fundamental Research 973 Program of China (Grant No. 2010CB327704)the National Natural Science Foundation of China (Grant Nos. 10974013 and 60978060)+3 种基金the Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20090009110027)the Natural Science Foundation of Beijing,China (Grant No. 1102028)the National Natural Science Foundation for Distinguished Young Scholars (Grant No. 60825407)Beijing Municipal Science and Technology Commission (Grant No. Z090803044009001)
文摘In this article, an organic thin-film field-effect transistor （OTFFET） with top-gate and bottom-contact geometry based on pentacene as the active layer is fabricated. The experimental data of the I-V are obtained from the OTFFET device. The alternating-current （AC） resistance value of the OTFFET device is calculated using the derivation method from the experimental data, and the AC resistance trend curves of the OTFFET device are obtained with the region fitting method. We analyse the characteristics of the OTFFET device with an AC resistance trend curve. To discover whether it has a high resistance, it is proposed to judge the region of the source/drain voltage （VDs） less than the transition voltage, thereby determining whether the contact between the metal electrode and the organic semiconductor layer of the OTFFET device is Ohmic or non-Ohmic. The theoretical analysis shows that the field-effect mobility and the AC resistance are in reverse proportion. Therefore, we point out that reducing AC resistance is necessary if field-effect mobility is to be improved.
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
基金supported by the National Natural Science Foundation of China(62303350).
文摘This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.
基金supported by the Foundation of National Key Laboratory of Human Factors Engineering,China(No.HFNKL2023 WWO5)。
文摘To enhance the robustness and real-time performance of robotic arm visual servoing in complex environments such as space,this study proposes Di FA-DETR,a modified object detection framework based on the DETR architecture.The proposed model incorporates an improved Res Net50 Bottleneck structure with spatial dimensionality reduction and sparse interaction mechanisms,alongside a redesigned self-attention module featuring downsampling optimization and adaptive feature enhancement.A custom-annotated satellite component dataset was constructed to train and evaluate the system.Experimental results demonstrate that Di FA-DETR achieves an AP50 of 79.9%,outperforming existing DETR variants while reducing computational complexity by 31.9%and nearly doubling the inference speed.The method was further validated in a ground-based visual servoing system using an industrial robotic arm and camera setup.The system successfully tracked satellite targets under dynamic motion scenarios,maintaining millimeter-level positioning accuracy.These results confirm the feasibility and effectiveness of the proposed method in supporting future space robotic applications requiring precision tracking and fast response.
文摘A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.
基金supported by the National Natural Science Foundation under Grant 62273189the Shandong Province Natural Science Foundation under Grant ZR2021MF005Systems Science Plus Joint Research Program of Qingdao University under Grant XT2024201 of China supporting this research work.
文摘This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Masters Innovation Project of Beijing University of Civil Engineering and Architecture(No.PG2024142)+1 种基金the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC20220801)the Breeding Program Funding of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular groove and U-groove structure is established firstly,and the structure size of the two buffer grooves with better pressure drop effect is obtained by Matlab.Secondly,an established pressure gradient model is developed for the sealed canisters for electric motors using a combined groove structure.The bird swarm optimization algorithm is used to obtain the optimal dimensions for the combined depth and angle of the pressure groove.The flow field in the motor seal chamber is simulated and calculated by Fluent.This study compared the pressure field distributions in the motors sealing chamber using triangular and combined groove structures.It investigated the combined grooves effect on the pressure impact during the commutation of a continuously rotating electro-hydraulic servo motor.It is found that the combined groove structure has a positive impact on reducing the pressure impact.The results indicate that the combined groove structure significantly enhances the efficiency of mitigating pressure shocks when the motor switches between high-and low-pressure chambers.
基金supported by the Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004).
文摘Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation link in three dimensions.At present,common image-guided surgical techniques such as computed tomography(CT)and X-ray imaging(X-ray)will cause radiation damage to the human body during the imaging process.To address this,we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe.To address the limitations of Kalman filteringmethods based on position and velocity,our method of Kalman filtering uses the position and relative velocity of the puncture needle-point instead,and the ultrasonic probe is controlled by a Proportional Integral(PI)controller in X-axis direction and Proportional Derivative(PD)controller in the Y-axis direction.The motion of the ultrasonic probe can be servo-controlled by whether the image information of the puncture needle-point can be detected by the ultrasonic image so that the ultrasonic probe can track the puncture needle-point in real time.The experiment results show that this method has better tracking performance.
基金supported by the National Key Research and Development Program of China(Grant No.2022YFC2805703)the Major Training Program of University Research and Innovation Platform of Gansu Provincial Department of Education(Grant No.2024CXPT-09).
文摘Hydraulic technology has the outstanding advantages of easy pressure compensation and high power density.It is an indispensable part of subsea equipment,such as deep-sea operations and submersible propulsion.There are few studies on electrohydraulic servo valves(EHSVs)in the deep sea.In this work,a novel electro-hydraulic servo rotary valve is designed,and its mathematical model is established.The analysis considers the variations in physical parameters such as temperature,ambient pressure,and oil viscosity resulting from changes in sea depth.This study focuses on the deformation of the rotary valve and the consequent alterations in leakage and friction torque.The findings indicate that at a depth of 12000 m,the fit clearance between the valve spool and the valve sleeve is 0.00413 mm,representing a 17%reduction compared with the clearance in a land environment.Then,the response of the rotary valve to depth is analyzed.The results indicate that the bandwidth of the rotary valve decreases with increasing depth.This study provides a reference for the use of the EHSV in the deep sea.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC 20220801)+1 种基金the Graduate Innovation Fund Project of Beijing University of Civil Engineering and Architecture(No.PG2025160)the Special Fund for Cultivation Projects of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.
文摘In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.
文摘Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.
