A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechan...This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.展开更多
The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this prob...The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.展开更多
A four-level atomic system with a closed interaction loop connected by two coherent driving fields and a microwave field is investigated. The results show that inversionless gain can be achieved on a higher frequency ...A four-level atomic system with a closed interaction loop connected by two coherent driving fields and a microwave field is investigated. The results show that inversionless gain can be achieved on a higher frequency transition outside the closed interaction loop, and the gain behaviour can be modulated by the phase of the closed loop as well as the amplitude of the microwave field. The phase sensitivity property in such a scheme is similar to that in an analogous configuration with spontaneously generated coherence, but it is beyond the rigorous condition of near-degenerate levels with non-orthogonal dipole moments. Therefore this scheme is much more convenient in experimental realization.展开更多
The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-...The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.展开更多
A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increme...A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures： loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing （CRW） aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.展开更多
Maneuverability is a key factor to determine whether a helicopter could finish certain flight missions successfully or not. Inverse simulation is commonly used to calculate the pilot controls of a helicopter to comple...Maneuverability is a key factor to determine whether a helicopter could finish certain flight missions successfully or not. Inverse simulation is commonly used to calculate the pilot controls of a helicopter to complete a certain kind of maneuver flight and to assess its maneuverability.A general method for inverse simulation of maneuver flight for helicopters with the flight control system online is developed in this paper. A general mathematical describing function is established to provide mathematical descriptions of different kinds of maneuvers. A comprehensive control solver based on the optimal linear quadratic regulator theory is developed to calculate the pilot controls of different maneuvers. The coupling problem between pilot controls and flight control system outputs is well solved by taking the flight control system model into the control solver. Inverse simulation of three different kinds of maneuvers with different agility requirements defined in the ADS-33 E-PRF is implemented based on the developed method for a UH-60 helicopter. The results show that the method developed in this paper can solve the closed-loop inverse simulation problem of helicopter maneuver flight with high reliability as well as efficiency.展开更多
Spray cooling has proved its superior heat transfer performance in removing high heat flux for ground applications. However, the dissipation of vapor liquid mixture from the heat sur- face and the closed-loop circulat...Spray cooling has proved its superior heat transfer performance in removing high heat flux for ground applications. However, the dissipation of vapor liquid mixture from the heat sur- face and the closed-loop circulation of the coolant are two challenges in reduced or zero gravity space enviromnents. In this paper, an ejected spray cooling system for space closed-loop application was proposed and the negative pressure in the ejected condenser chamber was applied to sucking the two-phase mixture from the spray chamber. Its ground experimental setup was built and exper- imental investigations on the smooth circle heat surface with a diameter of 5 mm were conducted with distilled water as the coolant spraying from a nozzle of 0.51 mm orifice diameter at the inlet temperatures of 69.2 ℃ and 78.2 ℃ under the conditions of heat flux ranging from 69.76 W/cm2 to 311.45 W/cm2, volume flow through the spray nozzle varying from 11,22 L：h to 15.76 L·h. Work performance of the spray nozzle and heat transfer performance of the spray cooling system were analyzed; results show that this ejected spray cooling system has a good heat transfer performance and provides valid foundation for space closed-loop application in the near future.展开更多
Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. Th...Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.展开更多
This paper presents an experimental study including visualization on a flat plate closed loop pulsating heat pipes.It consists of a total of 40 channels with square cross section(2 mm×2 mm,165 mm long) machined d...This paper presents an experimental study including visualization on a flat plate closed loop pulsating heat pipes.It consists of a total of 40 channels with square cross section(2 mm×2 mm,165 mm long) machined directly on an aluminum plate(180 mm×120 mm×3 mm) covered by a transparent plate.The working fluid employed is ethanol.As a result,various flow patterns and their transitions are observed and found to be related to the fluid fill ratio,input heat load and the device orientation.Also the operational characteristics and working mechanism are discussed.展开更多
Objective： To evaluate the efficiency of an implanted chip system for the control of heart rate （HR）. Methods： The HR was recorded in six conscious Sprague-Dawley （SD） rats. An implanted chip system was designed...Objective： To evaluate the efficiency of an implanted chip system for the control of heart rate （HR）. Methods： The HR was recorded in six conscious Sprague-Dawley （SD） rats. An implanted chip system was designed to regulate the HR by stimulating the right cervical vagus nerve according to the feedback of real time HR. Each rat was subjected to 30-min regulation and 30-min recovery. The change of HR during the regulation period was compared with the control. The ECG was recorded during the experiment for 24 h. Results： The ECG signals were successfully recorded during the experiment. The HR was significantly decreased during the period of regulation compared with control （-79.3 ± 34.5, P 〈 0.01, n = 6） and then recovered to normal after regulation. Conclusion： The described implanted chip system can regulate the HR to a designated set point.展开更多
Using ethanol or acetone as the working fluid, visualization of oscillations in steady state was observed visually by high-speed cameras, and temperature oscillating and heat transfer characteristics of closed-loop pl...Using ethanol or acetone as the working fluid, visualization of oscillations in steady state was observed visually by high-speed cameras, and temperature oscillating and heat transfer characteristics of closed-loop plate oscillating heat pipe with parallel channels(POHP-PC) were experimentally investigated by varying liquid filled ratios(50%, 70%, 85%), section scales(1 mm×1 mm and 1 mm×1.5 mm), inclination angles, working fluids and heating inputs. It was found that during operating there was mixed flow consisting of plug flow and annular flow in channels of oscillating heat pipe at steady-state. There was an equilibrium position for working fluid of condenser during oscillating, and periodic oscillations occurred up and down in the vicinity of equilibrium position. With heat input increasing, equilibrium position rose slowly as a result of vapor pressure of evaporation.Evaporation temperature oscillating amplitude possessed a trend of small-large-small and frequency trend was of small-large during steady-state. It may be generally concluded that temperature, whether evaporator or condenser, fluctuated sharply or rose continuously when oscillating heat pipe coming to dry burning state. Simultaneously, it was found that temperature difference of cooling water possibly dropped with heat input rising during dry burning state. Thermal resistance of No. 2 with acetone was lower than that of No. 1 during experiments, but No. 2 achieving heat transfer limit was earlier than No. 1. However, with ethanol, thermal resistance of No. 1 and No. 2 were similar with the heating input less than 110-120 W and filling ratios of 50% and 70%. And with filling ratio of 85%, heating transfer performance of No. 2 was better compared to No. 1 during all the experiments.展开更多
The closed-loop reservoir management technique enables a dynamic and real-time optimal production schedule under the existing reservoir conditions to be achieved by adjusting the injection and production strategies. T...The closed-loop reservoir management technique enables a dynamic and real-time optimal production schedule under the existing reservoir conditions to be achieved by adjusting the injection and production strategies. This is one of the most effective ways to exploit limited oil reserves more economically and efficiently. There are two steps in closed-loop reservoir management： automatic history matching and reservoir production opti- mization. Both of the steps are large-scale complicated optimization problems. This paper gives a general review of the two basic techniques in closed-loop reservoir man- agement; summarizes the applications of gradient-based algorithms, gradient-free algorithms, and artificial intelligence algorithms; analyzes the characteristics and application conditions of these optimization methods; and finally discusses the emphases and directions of future research on both automatic history matching and reservoir production optimization.展开更多
The closed loop control model was built up for compensating the springback and enhancing the work piece precision.A coupled closed loop algorithm and a finite element method were developed to simulate and correct the ...The closed loop control model was built up for compensating the springback and enhancing the work piece precision.A coupled closed loop algorithm and a finite element method were developed to simulate and correct the springback of incremental sheet forming.A three-dimensional finite element model was established for simulation of springback in incremental sheet forming process.The closed loop algorithm of trajectory profile for the incremental sheet forming based on the wavelet transform combined with fast Fourier transform was constructed.The profile of processing tool path of shallow dishing with spherical surface was designed on the basis of the profile correction algorithm.The result shows that the algorithm can predict an ideal profile of processing track,and the springback error of incremental sheet forming is eliminated effectively.It has good convergence efficiency,and can improve the workpiece dimensional accuracy greatly.展开更多
This paper presents an experimental study on a flat plate closed loop pulsating heat pipes. It consisted of total 40 channels with square cross section （2 × 2 mm^2, 165 mm long） machined directly on an aluminum...This paper presents an experimental study on a flat plate closed loop pulsating heat pipes. It consisted of total 40 channels with square cross section （2 × 2 mm^2, 165 mm long） machined directly on an aluminum plate（180×120×3 nm^2）, which was covered by a transparent plate. The working fluid employed was ethanol. As the results, the influence parameters of thermal performance were investigated, such as filling ratio, heat load and operational orientations etc. Filling ratio was found to be a critical parameter, and its effect was rather complicated. According to its values the PHP plate could have four distinct working zones with different operational characteristics and heat transfer performance. The effect of heat load on thermal performance was found to be positive, and in general, iucrcasing the heat load would improve heat transfer performance. In order to analyze the effect of gravity on thermal performance, three different heat modes and total seven tilt angles were tested and compared. Successful operation at all orientations with respect to gravity was also achieved.展开更多
An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body sup...An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body supported by a fixed and frictionless pivot with three rotational degrees. In order to avoid the singular phenomenon of Euler＇s angular velocity equation, the quaternion kinematic equation is used to describe the motion of the 3D rigid pendulum. An OPCL controller for chaotic motion of a 3D rigid pendulum at equilibrium position is designed. This OPCL controller contains two parts： the open-loop part to construct an ideal trajectory and the closed-loop part to stabilize the 3D rigid pendulum. Simulation results show that the controller is effective and efficient.展开更多
In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communic...In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communication,and computing modules to support various requirements of robots.In the task process,different modules assist the robots to perform tasks in a closed-loop way,which is referred to as a sensing-communication-computing-control(SC3)loop.In this work,we investigate a UAV-aided system containing multiple SC^(3)loops,which leverages non-orthogonal multiple access(NOMA)for efficient resource sharing.We describe and compare three different modelling levels for the SC^(3)loop.Based on the entropy SC^(3)loop model,a sum linear quadratic regulator(LQR)control cost minimization problem is formulated by optimizing the communication power.Further for the assure-to-be-stable case,we show that the original problem can be approximated by a modified user fairness problem,and accordingly gain more insights into the optimal solutions.Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems,as well as the superiority of our proposed closed-loop-oriented design.展开更多
To improve the penetrating ability and the welding quality of keyhole plasma arc welding, a novel penetration closed loop control system was established. In the system, welding current and plasma gas flow rate were se...To improve the penetrating ability and the welding quality of keyhole plasma arc welding, a novel penetration closed loop control system was established. In the system, welding current and plasma gas flow rate were selected as adjusting variables. The wavelet method was used to detect penetration status from welding arc voltage in real time. The control strategy of one keyhole per pulse was adapted to fulfill stable and high quality welding process. Experimental results show that the developed system can apparently increase the penetrating force of plasma arc and keyhole plasma arc welding is realized successfully in stainless steel with 10 mm in thickness. Moreover, the disturbances of gradual change and break change from 3 mm to 6 mm in thickness are come over due to the good response property of the developed system.展开更多
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
基金by Fundamental Research Funds for the Central Universities(No.2018JBZ007).
文摘This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.
基金supported by the National Natural Science Foundation of China(Nos.51875287, 52075250)the Special Fund for Transformation of Scientific,and Technological Achievements of Jiangsu Province(No.BA2018053)
文摘The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.
基金Project supported by the Natural Science Foundation of Guangdong Province （Grant No 05301018）, the Research and Development Fund of Shenzhen University, China （Grant No 200549）, and the National Natural Science Foundation of China （Grant Nos 10334010 and 10404009）.
文摘A four-level atomic system with a closed interaction loop connected by two coherent driving fields and a microwave field is investigated. The results show that inversionless gain can be achieved on a higher frequency transition outside the closed interaction loop, and the gain behaviour can be modulated by the phase of the closed loop as well as the amplitude of the microwave field. The phase sensitivity property in such a scheme is similar to that in an analogous configuration with spontaneously generated coherence, but it is beyond the rigorous condition of near-degenerate levels with non-orthogonal dipole moments. Therefore this scheme is much more convenient in experimental realization.
基金Supported by Wuhan Technical College of Communications Fund(Q2018001)China Institute of Communications Education Fund(1602-248)Wuhan Technical College of Communications Innovation Team(CX2018A07)
文摘The classical washout algorithm had fixed gains and manually constructed filters, so that it led to poor adaptability. Furthermore, it lost the sustained acceleration cues of high-and mid-frequency in cross-over(tilt-coordination) channel, and the acceleration of cross-over frequency was also limited by angular velocity limiter, so the false cues in flight simulation process were clearly perceived by pilots. The paper studied the characteristics of the classical washout algorithm and flight simulator motion platform, tried to redesign the source of cross-over acceleration channel and translation acceleration channel, and transferred the part of cross-over acceleration that was unsimulated sustained acceleration to translation acceleration channel. Comparisons were mainly made between classical washout algorithm and revised algorithm in a longitudinal/pitch direction. The evaluation was based on the implementation of human vestibular perception system. The results demonstrated that the revised algorithm could significantly reduce the phase lag, and improved the spikes tracking performance. Furthermore, sensory angular velocity and the error of sensory acceleration were strictly controlled within the threshold of human perception system, and the displacement was a little broader than the classical washout algorithm. Therefore, it was proved that the new algorithm could diminish the filters parameters and heighten the self-adaptability for the washout algorithm. In addition, the magnitude of false cues was remarkably reduced during flight simulator, and the workspace utilization of the motion platform was developed by "closed-loop" control system.
基金Program for New Century Excellent Talents in University (NCET-10-0032)
文摘A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures： loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing （CRW） aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.
基金co-supported by the National Natural Science Foundation of China (No. 61503183)the Aeronautical Science Foundation of China (No. 2015ZA52002)
文摘Maneuverability is a key factor to determine whether a helicopter could finish certain flight missions successfully or not. Inverse simulation is commonly used to calculate the pilot controls of a helicopter to complete a certain kind of maneuver flight and to assess its maneuverability.A general method for inverse simulation of maneuver flight for helicopters with the flight control system online is developed in this paper. A general mathematical describing function is established to provide mathematical descriptions of different kinds of maneuvers. A comprehensive control solver based on the optimal linear quadratic regulator theory is developed to calculate the pilot controls of different maneuvers. The coupling problem between pilot controls and flight control system outputs is well solved by taking the flight control system model into the control solver. Inverse simulation of three different kinds of maneuvers with different agility requirements defined in the ADS-33 E-PRF is implemented based on the developed method for a UH-60 helicopter. The results show that the method developed in this paper can solve the closed-loop inverse simulation problem of helicopter maneuver flight with high reliability as well as efficiency.
基金supported by the National Natural Science Foundation of China(No.50506003)
文摘Spray cooling has proved its superior heat transfer performance in removing high heat flux for ground applications. However, the dissipation of vapor liquid mixture from the heat sur- face and the closed-loop circulation of the coolant are two challenges in reduced or zero gravity space enviromnents. In this paper, an ejected spray cooling system for space closed-loop application was proposed and the negative pressure in the ejected condenser chamber was applied to sucking the two-phase mixture from the spray chamber. Its ground experimental setup was built and exper- imental investigations on the smooth circle heat surface with a diameter of 5 mm were conducted with distilled water as the coolant spraying from a nozzle of 0.51 mm orifice diameter at the inlet temperatures of 69.2 ℃ and 78.2 ℃ under the conditions of heat flux ranging from 69.76 W/cm2 to 311.45 W/cm2, volume flow through the spray nozzle varying from 11,22 L：h to 15.76 L·h. Work performance of the spray nozzle and heat transfer performance of the spray cooling system were analyzed; results show that this ejected spray cooling system has a good heat transfer performance and provides valid foundation for space closed-loop application in the near future.
基金supported by the National Natural Science Foundation of China(Nos.61074027,61273083)
文摘Abstract A closed-loop fault detection problem is investigated for the full-envelope flight vehicle with measurement delays, where the flight dynamics are modeled as a switched system with delayed feedback signals. The mode-dependent observer-based fault detection filters and state estimation feedback controllers are derived by considering the delays＇ impact on the control system and fault detection system simultaneously. Then, considering updating lags of the controllers/filters＇ switching signals which are introduced by the delayed measurement of altitude and Mach number, an asynchronous H analysis method is proposed and the system model is further augmented to be an asynchronously switched time-delay system. Also, the global stability and desired performance of the augmented system are guaranteed by combining the switched delay-dependent Lyapunov Krasovskii functional method with the average dwell time method （ADT）, and the delaydependent existing conditions for the controllers and fault detection filters are obtained in the form of the linear matrix inequalities （LMIs）, Finally, numerical example based on the hypersonic vehicles and highly maneuverable technology （HiMAT） vehicle is given to demonstrate the merits of the proposed method.
基金the Ger man National Science Foundation (GR-412/33-2)Shanghai Leading Academic Discipline Project (No.B604)
文摘This paper presents an experimental study including visualization on a flat plate closed loop pulsating heat pipes.It consists of a total of 40 channels with square cross section(2 mm×2 mm,165 mm long) machined directly on an aluminum plate(180 mm×120 mm×3 mm) covered by a transparent plate.The working fluid employed is ethanol.As a result,various flow patterns and their transitions are observed and found to be related to the fluid fill ratio,input heat load and the device orientation.Also the operational characteristics and working mechanism are discussed.
基金supported by grant from National Nature Science Found (30670767)
文摘Objective： To evaluate the efficiency of an implanted chip system for the control of heart rate （HR）. Methods： The HR was recorded in six conscious Sprague-Dawley （SD） rats. An implanted chip system was designed to regulate the HR by stimulating the right cervical vagus nerve according to the feedback of real time HR. Each rat was subjected to 30-min regulation and 30-min recovery. The change of HR during the regulation period was compared with the control. The ECG was recorded during the experiment for 24 h. Results： The ECG signals were successfully recorded during the experiment. The HR was significantly decreased during the period of regulation compared with control （-79.3 ± 34.5, P 〈 0.01, n = 6） and then recovered to normal after regulation. Conclusion： The described implanted chip system can regulate the HR to a designated set point.
基金Project(51306198)supported by the National Natural Science Foundation of ChinaProject(NR2013K07)supported by Beijing Key Lab of Heating,Gas Supply,Ventilating and Air Conditioning Engineering,China+1 种基金Project(331614013)supported by Beijing University of Civil Engineering and Architecture,ChinaProject(00921915023)supported by Organization Department of Beijing,China
文摘Using ethanol or acetone as the working fluid, visualization of oscillations in steady state was observed visually by high-speed cameras, and temperature oscillating and heat transfer characteristics of closed-loop plate oscillating heat pipe with parallel channels(POHP-PC) were experimentally investigated by varying liquid filled ratios(50%, 70%, 85%), section scales(1 mm×1 mm and 1 mm×1.5 mm), inclination angles, working fluids and heating inputs. It was found that during operating there was mixed flow consisting of plug flow and annular flow in channels of oscillating heat pipe at steady-state. There was an equilibrium position for working fluid of condenser during oscillating, and periodic oscillations occurred up and down in the vicinity of equilibrium position. With heat input increasing, equilibrium position rose slowly as a result of vapor pressure of evaporation.Evaporation temperature oscillating amplitude possessed a trend of small-large-small and frequency trend was of small-large during steady-state. It may be generally concluded that temperature, whether evaporator or condenser, fluctuated sharply or rose continuously when oscillating heat pipe coming to dry burning state. Simultaneously, it was found that temperature difference of cooling water possibly dropped with heat input rising during dry burning state. Thermal resistance of No. 2 with acetone was lower than that of No. 1 during experiments, but No. 2 achieving heat transfer limit was earlier than No. 1. However, with ethanol, thermal resistance of No. 1 and No. 2 were similar with the heating input less than 110-120 W and filling ratios of 50% and 70%. And with filling ratio of 85%, heating transfer performance of No. 2 was better compared to No. 1 during all the experiments.
基金the Important National Science & Technology Specific Projects of China (Grant No. 2011ZX05024-004)the Natural Science Foundation for Distinguished Young Scholars of Shandong Province, China (Grant No. JQ201115)+2 种基金the Program for New Century Excellent Talents in University (Grant No. NCET-11-0734)the Fundamental Research Funds for the Central Universities (Grant No. 13CX05007A, 13CX05016A)the Program for Changjiang Scholars and Innovative Research Team in University (IRT1294)
文摘The closed-loop reservoir management technique enables a dynamic and real-time optimal production schedule under the existing reservoir conditions to be achieved by adjusting the injection and production strategies. This is one of the most effective ways to exploit limited oil reserves more economically and efficiently. There are two steps in closed-loop reservoir management： automatic history matching and reservoir production opti- mization. Both of the steps are large-scale complicated optimization problems. This paper gives a general review of the two basic techniques in closed-loop reservoir man- agement; summarizes the applications of gradient-based algorithms, gradient-free algorithms, and artificial intelligence algorithms; analyzes the characteristics and application conditions of these optimization methods; and finally discusses the emphases and directions of future research on both automatic history matching and reservoir production optimization.
基金Project(50175034) supported by the National Natural Science Foundation of China
文摘The closed loop control model was built up for compensating the springback and enhancing the work piece precision.A coupled closed loop algorithm and a finite element method were developed to simulate and correct the springback of incremental sheet forming.A three-dimensional finite element model was established for simulation of springback in incremental sheet forming process.The closed loop algorithm of trajectory profile for the incremental sheet forming based on the wavelet transform combined with fast Fourier transform was constructed.The profile of processing tool path of shallow dishing with spherical surface was designed on the basis of the profile correction algorithm.The result shows that the algorithm can predict an ideal profile of processing track,and the springback error of incremental sheet forming is eliminated effectively.It has good convergence efficiency,and can improve the workpiece dimensional accuracy greatly.
基金Supported by the Ger man National Science Foundation (DFG)(No. GR412/33)
文摘This paper presents an experimental study on a flat plate closed loop pulsating heat pipes. It consisted of total 40 channels with square cross section （2 × 2 mm^2, 165 mm long） machined directly on an aluminum plate（180×120×3 nm^2）, which was covered by a transparent plate. The working fluid employed was ethanol. As the results, the influence parameters of thermal performance were investigated, such as filling ratio, heat load and operational orientations etc. Filling ratio was found to be a critical parameter, and its effect was rather complicated. According to its values the PHP plate could have four distinct working zones with different operational characteristics and heat transfer performance. The effect of heat load on thermal performance was found to be positive, and in general, iucrcasing the heat load would improve heat transfer performance. In order to analyze the effect of gravity on thermal performance, three different heat modes and total seven tilt angles were tested and compared. Successful operation at all orientations with respect to gravity was also achieved.
基金supported by the National Natural Science Foundation of China(No.11072038)the Municipal Key Programs of Natural Science Foundation of Beijing(No.KZ201110772039)
文摘An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body supported by a fixed and frictionless pivot with three rotational degrees. In order to avoid the singular phenomenon of Euler＇s angular velocity equation, the quaternion kinematic equation is used to describe the motion of the 3D rigid pendulum. An OPCL controller for chaotic motion of a 3D rigid pendulum at equilibrium position is designed. This OPCL controller contains two parts： the open-loop part to construct an ideal trajectory and the closed-loop part to stabilize the 3D rigid pendulum. Simulation results show that the controller is effective and efficient.
基金supported in part by the National Key Research and Development Program of China under Grant 2020YFA0711301in part by the National Natural Science Foundation of China under Grant 62341110, Grant U22A2002, and Grant 62025110in part by the Suzhou Science and Technology Project
文摘In the areas without terrestrial communication infrastructures,unmanned aerial vehicles(UAVs)can be utilized to serve field robots for mission-critical tasks.For this purpose,UAVs can be equipped with sensing,communication,and computing modules to support various requirements of robots.In the task process,different modules assist the robots to perform tasks in a closed-loop way,which is referred to as a sensing-communication-computing-control(SC3)loop.In this work,we investigate a UAV-aided system containing multiple SC^(3)loops,which leverages non-orthogonal multiple access(NOMA)for efficient resource sharing.We describe and compare three different modelling levels for the SC^(3)loop.Based on the entropy SC^(3)loop model,a sum linear quadratic regulator(LQR)control cost minimization problem is formulated by optimizing the communication power.Further for the assure-to-be-stable case,we show that the original problem can be approximated by a modified user fairness problem,and accordingly gain more insights into the optimal solutions.Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems,as well as the superiority of our proposed closed-loop-oriented design.
文摘To improve the penetrating ability and the welding quality of keyhole plasma arc welding, a novel penetration closed loop control system was established. In the system, welding current and plasma gas flow rate were selected as adjusting variables. The wavelet method was used to detect penetration status from welding arc voltage in real time. The control strategy of one keyhole per pulse was adapted to fulfill stable and high quality welding process. Experimental results show that the developed system can apparently increase the penetrating force of plasma arc and keyhole plasma arc welding is realized successfully in stainless steel with 10 mm in thickness. Moreover, the disturbances of gradual change and break change from 3 mm to 6 mm in thickness are come over due to the good response property of the developed system.
