The roll angular rate is much crucial for the guidance and control of the projectile.Yet the high-speed rotation of the projectile brings severe challenges to the direct measurement of the roll angular rate.Neverthele...The roll angular rate is much crucial for the guidance and control of the projectile.Yet the high-speed rotation of the projectile brings severe challenges to the direct measurement of the roll angular rate.Nevertheless,the radial magnetometer signal is modulated by the high-speed rotation,thus the roll angular rate can be achieved by extracting the instantaneous frequency of the radial magnetometer signal.The objective of this study is to find out a precise instantaneous frequency extraction method to obtain an accurate roll angular rate.To reach this goal,a modified spline-kernelled chirplet transform(MSCT)algorithm is proposed in this paper.Due to the nonlinear frequency modulation characteristics of the radial magnetometer signal,the existing time-frequency analysis methods in literature cannot obtain an excellent energy concentration in the time-frequency plane,thereby leading to a terrible instantaneous frequency extraction accuracy.However,the MSCT can overcome the problem of bad energy concentration by replacing the short-time Fourier transform operator with the Chirp Z-transform operator based on the original spline-kernelled chirplet transform.The introduction of Chirp Z-transform can improve the construction accuracy of the transform kernel.Since the construction accuracy of the transform kernel determines the concentration of time-frequency distribution,the MSCT can obtain a more precise instantaneous frequency.The performance of the MSCT was evaluated by a series of numerical simulations,high-speed turntable experiments,and real flight tests.The evaluation results show that the MSCT has an excellent ability to process the nonlinear frequency modulation signal,and can accurately extract the roll angular rate for the high spinning projectiles.展开更多
To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most ...To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.展开更多
It is found that when the parity–time symmetry phenomenon is introduced into the resonant optical gyro system and it works near the exceptional point,the sensitivity can in theory be significantly amplified at low an...It is found that when the parity–time symmetry phenomenon is introduced into the resonant optical gyro system and it works near the exceptional point,the sensitivity can in theory be significantly amplified at low angular rate.However,in fact,the exceptional point is easily disturbed by external environmental variables,which means that it depends on harsh experimental environment and strong control ability,so it is difficult to move towards practical application.Here,we propose a new angular rate sensor structure based on exceptional surface,which has the advantages of high sensitivity and high robustness.The system consists of two fiber-optic ring resonators and two optical loop mirrors,and one of the resonators contains a variable ratio coupler and a variable optical attenuator.We theoretically analyze the system response,and the effects of phase and coupling ratio on the system response.Finally,compared with the conventional resonant gyro,the sensitivity of this exceptional surface angular rate sensor can be improved by about 300 times at low speed.In addition,by changing the loss coefficient in the ring resonator,we can achieve a wide range of 600 rad/s.This scheme provides a new approach for the development of ultra-high sensitivity and wide range angular rate sensors in the future.展开更多
A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of nav...A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional aceelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.展开更多
In recent years,a large number of small volume,low cost micro electro mechanical systems（MEMS）digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields.However,these...In recent years,a large number of small volume,low cost micro electro mechanical systems（MEMS）digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields.However,these kinds of gyroscopes have poor performances in initial zero-bias,temperature drift,In-Run bias stability,bias repeatability,etc.,their output errors need to be compensated before being used.Based on a lot of experiments,the temperature drift and the initial zero-bias are the major error sources in the MEMS gyroscopes output data.Due to the poor repeatability of temperature drift,the temperature compensation coefficients need to be recalculated every time before using.In order to recalculate parameters of the temperature compensation model quickly,a 1st-order polynomial model of temperature is established,then a forgetting factor recursive least squares estimator will be adopted to identify the model parameters in real time.Static and dynamic experimental data shows that this method removed/compensated the temperature drift and initial zero-bias from the output of the gyroscopes effectively.展开更多
A drive signal frequency-lock method for quartz angular-rate sensor is presented. The calculation result obtained by the equivalent volume force analytic method indicated that when taking the inherent frequency of the...A drive signal frequency-lock method for quartz angular-rate sensor is presented. The calculation result obtained by the equivalent volume force analytic method indicated that when taking the inherent frequency of the drive tines as the drive signal frequency the phase of the reference vibration is 90° behind that of the drive signal, and the square of amplitude is less than that of the maximal amplitude by 1/(4Q~2_d) merely. The curves derived from the finite element analytic method proved that near the inherent frequency the phase shift of the feedback voltage is identical to that of the reference vibration, and the amplitude is proportional to that of the reference vibration, and the phase shift is linear approximatively with the frequency shift. The frequency shift could be calculated according to the phase shift obtained by quadrature correlation detection, so the drive signal frequency could be locked at the inherent frequency of the drive tines by means of iteration.展开更多
This paper analyzes fender selection process in berth design and focuses on the case of a rigid berth with rubber cone fenders.Fender types and performance comparison methods are studied along with current numerical m...This paper analyzes fender selection process in berth design and focuses on the case of a rigid berth with rubber cone fenders.Fender types and performance comparison methods are studied along with current numerical models.Berth design methods are analyzed with a focus on berthing energy calculation and fender selection.A new approach to determine the required fender capacity is suggested.A finite elements rubber cone model is tested and used in simulations of angular side berthing.Results show that the energy absorbed by the fender can be much higher than what can be calculated with the current berth design method.A new form for the expression of the energy that must be absorbed by the fender during angular berthing impact is suggested.展开更多
A quasi-classical trajectory（QCT） calculation is used to investigate the vector and scalar properties of the D ＋ Br O → DBr ＋ O reaction based on an ab initio potential energy surface（X1A state） with collision ...A quasi-classical trajectory（QCT） calculation is used to investigate the vector and scalar properties of the D ＋ Br O → DBr ＋ O reaction based on an ab initio potential energy surface（X1A state） with collision energy ranging from 0.1 kcal/mol to 6 kcal/mol. The reaction probability, the cross section, and the rate constant are studied. The probability and the cross section show decreasing behaviors as the collision energy increases. The distribution of the rate constant indicates that the reaction favorably occurs in a relatively low-temperature region（T 〈 100 K）. Meanwhile, three product angular distributions P（θr）, P（φr）, and P（θr, φr） are presented, which reflect the positive effect on the rotational angular momentum j＇ polarization of the DBr product molecule. In addition, two of the polarization-dependent generalized differential cross sections（PDDCSs）, PDDCS00 and PDDCS20, are computed as well. Our results demonstrate that both vector and scalar properties have strong energy dependence.展开更多
We determine the structure parameters for the asymmetric heteronuclear diatomic molecule HeH2＋ at several internuclear distances with the molecular wavefunctions obtained by solving the time-independent Schr6dinger e...We determine the structure parameters for the asymmetric heteronuclear diatomic molecule HeH2＋ at several internuclear distances with the molecular wavefunctions obtained by solving the time-independent Schr6dinger equation with B-spline basis. Then the angular dependence of strong-field ionization rates of HeH2＋ are investigated with the molecular tunneling ionization theory. We show that the shape of several lowly excited states （i.e. 2pσ, 2pπ, 3dσ） for HeH2＋ are reflected in the orientation dependent ionization rates very well, however, the angle-dependent ionization rate fails to follow the angular distribution of the asymptotic electron density for the ground state lsσ. We also show that the internuclear distance dependent ionization probabilities are in a good agreement with the more accurate result obtained from the numerical solution of the time-dependent Schr6dinger equation.展开更多
For starved-oil or solid lubrication of high-speed instrument angular contact ball bearings, friction heating and wear are the main reasons of bearing failures. This paper presents a dynamic wear simulation model to i...For starved-oil or solid lubrication of high-speed instrument angular contact ball bearings, friction heating and wear are the main reasons of bearing failures. This paper presents a dynamic wear simulation model to investigate the impacts of different preload methods and the changes of preload caused by wear on bearing wear life. The integral value QV of stress and sliding velocity in the contact ellipses between a ball and the inner and outer races determines friction heating and wear. The changes of QV with the friction coefficient and the wear volume under constantforce preload and fixed-position preload are analyzed. Results show that under the same initial preload, the QV decreases with an increase of the friction coefficient for both preload methods, and the latter is slightly larger. The wear of the ball and the race is equivalent to the ball diameter reduction.The QV of constant-force preload is almost not changed with a decrease of the ball diameter, but for fixed-position preload, the value decreases firstly and then increases substantially due to insufficient preload, and slipping occurs, the ball diameter is reduced by 0.025%, while the preload is reduced by 60.33%. An estimation of the bearing wear life under different preload methods requires a consideration of the changes in the wear rate of bearing parts.展开更多
In this paper, we derive non-classical continuum theory for physics of compressible and incompressible thermoviscous non-classical fluent continua using the conservation and balance laws (CBL) by incorporating additio...In this paper, we derive non-classical continuum theory for physics of compressible and incompressible thermoviscous non-classical fluent continua using the conservation and balance laws (CBL) by incorporating additional physics of internal rotation rates arising from the velocity gradient tensor as well as their time varying rates and the rotational inertial effects. In this non-classical continuum theory time dependent deformation of fluent continua results in time varying rotation rates i.e., angular velocities and angular accelerations at material points. Resistance offered to these by deforming fluent continua results in additional moments, angular momenta and inertial effects due to rotation rates i.e., angular velocities and angular accelerations at the material points. Currently, this physics due to internal rotation rates and inertial effects is neither considered in classical continuum mechanics (CCM) nor in non-classical continuum mechanics (NCCM). In this paper, we present a derivation of conservation and balance laws in Eulerian description: conservation of mass (CM), balance of linear momenta (BLM), balance of angular momenta (BAM), balance of moment of moments (BMM), first and second laws of thermodynamics (FLT, SLT) that include: (i) Physics of internal rotation rates resulting from the velocity gradient tensor;(ii) New physics resulting due to angular velocities and angular accelerations due to spatially varying and time dependent rotation rates. The balance laws derived here are compared with those that only consider the rotational rates but neglect rotational inertial effects and angular accelerations to demonstrate the influence of the new physics. Constitutive variables and their argument tensors are established using conjugate pairs in the entropy inequality, additional desired physics and principle of equipresence when appropriate. Constitutive theories are derived using Helmholtz free energy density as well as representation theorem and integrity (complete basis). It is shown that the mathematical model consisting of the conservation and balance laws and constitutive theories presented in this paper has closure. Influence of new physics in the conservation and balance laws on compressible and incompressible thermoviscous fluent continua is demonstrated due to presence of angular velocities and angular accelerations arising from time varying rotation rates when the deforming fluent continua offer rotational inertial resistance. The fluent continua are considered homogeneous and isotropic. Model problem studies are considered in a follow-up paper.展开更多
MEMS gyroscope is a new inertial navigation sensor,which can measure the input angular rate of sensitive axis using Coriolis effect.Compared to the conventional gyroscope,it owns many unique advantages.A novel structu...MEMS gyroscope is a new inertial navigation sensor,which can measure the input angular rate of sensitive axis using Coriolis effect.Compared to the conventional gyroscope,it owns many unique advantages.A novel structure of vibrating ring gyroscope is proposed and the finite element model of the oscillator is established based on MEMS technology.Through the modal analysis,the natural frequency and mode shapes of the oscillator are obtained.By analyzing the effects of the structural parameters on the mode shapes and frequency of the harmonic oscillator,the optimal design parameters are got.The frequency difference between the operating mode and the other modes is greater than 1kHz after optimization,which can avoid the frequency coupling of the operating mode and other vibrating modes of the oscillator.The simulation results show that the performance parameters of the ring structure meet the design requirements and have obvious advantages.展开更多
基金National Natural Science Foundation(NNSF)of China under Grant 61771059National Natural Science Foundation(NNSF)of China under Grant 61471046Beijing Natural Science Foundation under Grant 4172022 to provide fund for conducting experiments。
文摘The roll angular rate is much crucial for the guidance and control of the projectile.Yet the high-speed rotation of the projectile brings severe challenges to the direct measurement of the roll angular rate.Nevertheless,the radial magnetometer signal is modulated by the high-speed rotation,thus the roll angular rate can be achieved by extracting the instantaneous frequency of the radial magnetometer signal.The objective of this study is to find out a precise instantaneous frequency extraction method to obtain an accurate roll angular rate.To reach this goal,a modified spline-kernelled chirplet transform(MSCT)algorithm is proposed in this paper.Due to the nonlinear frequency modulation characteristics of the radial magnetometer signal,the existing time-frequency analysis methods in literature cannot obtain an excellent energy concentration in the time-frequency plane,thereby leading to a terrible instantaneous frequency extraction accuracy.However,the MSCT can overcome the problem of bad energy concentration by replacing the short-time Fourier transform operator with the Chirp Z-transform operator based on the original spline-kernelled chirplet transform.The introduction of Chirp Z-transform can improve the construction accuracy of the transform kernel.Since the construction accuracy of the transform kernel determines the concentration of time-frequency distribution,the MSCT can obtain a more precise instantaneous frequency.The performance of the MSCT was evaluated by a series of numerical simulations,high-speed turntable experiments,and real flight tests.The evaluation results show that the MSCT has an excellent ability to process the nonlinear frequency modulation signal,and can accurately extract the roll angular rate for the high spinning projectiles.
文摘To compensate the coning error of Strap-down Inertial Navigation Systems (SINS) under high dynamic angular motion, many rotation vector algorithms have been developed using angle increments information. However, most SINS use angular rate gyros. Aimed at this problem, 18 algorithms are derived based on analysis of the conventional algorithms, and corresponding coning error expressions are given. At last simulation is made which indicates that the new algorithms have much higher precision.
基金supported in part by the National Natural Science Foundation of China (Grant Nos.62273314,U21A20141,and 51821003)Fundamental Research Program of Shanxi Province (Grant No.202303021224008)Shanxi Province Key Laboratory of Quantum Sensing and Precision Measure-ment (Grant No.201905D121001).
文摘It is found that when the parity–time symmetry phenomenon is introduced into the resonant optical gyro system and it works near the exceptional point,the sensitivity can in theory be significantly amplified at low angular rate.However,in fact,the exceptional point is easily disturbed by external environmental variables,which means that it depends on harsh experimental environment and strong control ability,so it is difficult to move towards practical application.Here,we propose a new angular rate sensor structure based on exceptional surface,which has the advantages of high sensitivity and high robustness.The system consists of two fiber-optic ring resonators and two optical loop mirrors,and one of the resonators contains a variable ratio coupler and a variable optical attenuator.We theoretically analyze the system response,and the effects of phase and coupling ratio on the system response.Finally,compared with the conventional resonant gyro,the sensitivity of this exceptional surface angular rate sensor can be improved by about 300 times at low speed.In addition,by changing the loss coefficient in the ring resonator,we can achieve a wide range of 600 rad/s.This scheme provides a new approach for the development of ultra-high sensitivity and wide range angular rate sensors in the future.
基金Sponsored by the National Natural Science Foundation of China (Grant No.60901042)the Natural Science Foundation of Heilongjiang Province(Grant No.F2007-08)
文摘A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional aceelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.
文摘In recent years,a large number of small volume,low cost micro electro mechanical systems（MEMS）digital three-axis angular rate gyroscopes have been developed and widely used in civil and military fields.However,these kinds of gyroscopes have poor performances in initial zero-bias,temperature drift,In-Run bias stability,bias repeatability,etc.,their output errors need to be compensated before being used.Based on a lot of experiments,the temperature drift and the initial zero-bias are the major error sources in the MEMS gyroscopes output data.Due to the poor repeatability of temperature drift,the temperature compensation coefficients need to be recalculated every time before using.In order to recalculate parameters of the temperature compensation model quickly,a 1st-order polynomial model of temperature is established,then a forgetting factor recursive least squares estimator will be adopted to identify the model parameters in real time.Static and dynamic experimental data shows that this method removed/compensated the temperature drift and initial zero-bias from the output of the gyroscopes effectively.
文摘A drive signal frequency-lock method for quartz angular-rate sensor is presented. The calculation result obtained by the equivalent volume force analytic method indicated that when taking the inherent frequency of the drive tines as the drive signal frequency the phase of the reference vibration is 90° behind that of the drive signal, and the square of amplitude is less than that of the maximal amplitude by 1/(4Q~2_d) merely. The curves derived from the finite element analytic method proved that near the inherent frequency the phase shift of the feedback voltage is identical to that of the reference vibration, and the amplitude is proportional to that of the reference vibration, and the phase shift is linear approximatively with the frequency shift. The frequency shift could be calculated according to the phase shift obtained by quadrature correlation detection, so the drive signal frequency could be locked at the inherent frequency of the drive tines by means of iteration.
基金the National Natural Science Foundation of China(Nos.41172251 and 41330633)
文摘This paper analyzes fender selection process in berth design and focuses on the case of a rigid berth with rubber cone fenders.Fender types and performance comparison methods are studied along with current numerical models.Berth design methods are analyzed with a focus on berthing energy calculation and fender selection.A new approach to determine the required fender capacity is suggested.A finite elements rubber cone model is tested and used in simulations of angular side berthing.Results show that the energy absorbed by the fender can be much higher than what can be calculated with the current berth design method.A new form for the expression of the energy that must be absorbed by the fender during angular berthing impact is suggested.
基金supported by the Jilin University,China(Grant No.419080106440)the Chinese National Fusion Project for the International Thermonuclear Experimental Reactor(ITER)(Grant No.2010GB104003)the National Natural Science Foundation of China(Grant No.10974069)
文摘A quasi-classical trajectory（QCT） calculation is used to investigate the vector and scalar properties of the D ＋ Br O → DBr ＋ O reaction based on an ab initio potential energy surface（X1A state） with collision energy ranging from 0.1 kcal/mol to 6 kcal/mol. The reaction probability, the cross section, and the rate constant are studied. The probability and the cross section show decreasing behaviors as the collision energy increases. The distribution of the rate constant indicates that the reaction favorably occurs in a relatively low-temperature region（T 〈 100 K）. Meanwhile, three product angular distributions P（θr）, P（φr）, and P（θr, φr） are presented, which reflect the positive effect on the rotational angular momentum j＇ polarization of the DBr product molecule. In addition, two of the polarization-dependent generalized differential cross sections（PDDCSs）, PDDCS00 and PDDCS20, are computed as well. Our results demonstrate that both vector and scalar properties have strong energy dependence.
基金Supported by the National Natural Science Foundation of China under Grant Nos.11164025,11044007,11064013the Specialized Research Fund for the Doctoral Program of Higher Education of China under Grant Nos.20096203110001,20116203120001the Foundation of Northwest Normal University under Grant No.NWNU-KJCXGC-03-62
文摘We determine the structure parameters for the asymmetric heteronuclear diatomic molecule HeH2＋ at several internuclear distances with the molecular wavefunctions obtained by solving the time-independent Schr6dinger equation with B-spline basis. Then the angular dependence of strong-field ionization rates of HeH2＋ are investigated with the molecular tunneling ionization theory. We show that the shape of several lowly excited states （i.e. 2pσ, 2pπ, 3dσ） for HeH2＋ are reflected in the orientation dependent ionization rates very well, however, the angle-dependent ionization rate fails to follow the angular distribution of the asymptotic electron density for the ground state lsσ. We also show that the internuclear distance dependent ionization probabilities are in a good agreement with the more accurate result obtained from the numerical solution of the time-dependent Schr6dinger equation.
基金supported by the National ‘the twelfth five-year’ Projects of Science and Technology of China
文摘For starved-oil or solid lubrication of high-speed instrument angular contact ball bearings, friction heating and wear are the main reasons of bearing failures. This paper presents a dynamic wear simulation model to investigate the impacts of different preload methods and the changes of preload caused by wear on bearing wear life. The integral value QV of stress and sliding velocity in the contact ellipses between a ball and the inner and outer races determines friction heating and wear. The changes of QV with the friction coefficient and the wear volume under constantforce preload and fixed-position preload are analyzed. Results show that under the same initial preload, the QV decreases with an increase of the friction coefficient for both preload methods, and the latter is slightly larger. The wear of the ball and the race is equivalent to the ball diameter reduction.The QV of constant-force preload is almost not changed with a decrease of the ball diameter, but for fixed-position preload, the value decreases firstly and then increases substantially due to insufficient preload, and slipping occurs, the ball diameter is reduced by 0.025%, while the preload is reduced by 60.33%. An estimation of the bearing wear life under different preload methods requires a consideration of the changes in the wear rate of bearing parts.
文摘In this paper, we derive non-classical continuum theory for physics of compressible and incompressible thermoviscous non-classical fluent continua using the conservation and balance laws (CBL) by incorporating additional physics of internal rotation rates arising from the velocity gradient tensor as well as their time varying rates and the rotational inertial effects. In this non-classical continuum theory time dependent deformation of fluent continua results in time varying rotation rates i.e., angular velocities and angular accelerations at material points. Resistance offered to these by deforming fluent continua results in additional moments, angular momenta and inertial effects due to rotation rates i.e., angular velocities and angular accelerations at the material points. Currently, this physics due to internal rotation rates and inertial effects is neither considered in classical continuum mechanics (CCM) nor in non-classical continuum mechanics (NCCM). In this paper, we present a derivation of conservation and balance laws in Eulerian description: conservation of mass (CM), balance of linear momenta (BLM), balance of angular momenta (BAM), balance of moment of moments (BMM), first and second laws of thermodynamics (FLT, SLT) that include: (i) Physics of internal rotation rates resulting from the velocity gradient tensor;(ii) New physics resulting due to angular velocities and angular accelerations due to spatially varying and time dependent rotation rates. The balance laws derived here are compared with those that only consider the rotational rates but neglect rotational inertial effects and angular accelerations to demonstrate the influence of the new physics. Constitutive variables and their argument tensors are established using conjugate pairs in the entropy inequality, additional desired physics and principle of equipresence when appropriate. Constitutive theories are derived using Helmholtz free energy density as well as representation theorem and integrity (complete basis). It is shown that the mathematical model consisting of the conservation and balance laws and constitutive theories presented in this paper has closure. Influence of new physics in the conservation and balance laws on compressible and incompressible thermoviscous fluent continua is demonstrated due to presence of angular velocities and angular accelerations arising from time varying rotation rates when the deforming fluent continua offer rotational inertial resistance. The fluent continua are considered homogeneous and isotropic. Model problem studies are considered in a follow-up paper.
文摘MEMS gyroscope is a new inertial navigation sensor,which can measure the input angular rate of sensitive axis using Coriolis effect.Compared to the conventional gyroscope,it owns many unique advantages.A novel structure of vibrating ring gyroscope is proposed and the finite element model of the oscillator is established based on MEMS technology.Through the modal analysis,the natural frequency and mode shapes of the oscillator are obtained.By analyzing the effects of the structural parameters on the mode shapes and frequency of the harmonic oscillator,the optimal design parameters are got.The frequency difference between the operating mode and the other modes is greater than 1kHz after optimization,which can avoid the frequency coupling of the operating mode and other vibrating modes of the oscillator.The simulation results show that the performance parameters of the ring structure meet the design requirements and have obvious advantages.
