Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4...Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4WIS)vehicles,the steering systems of the four wheels are relatively independent,and there are differences and uncertainties in individual steering dynamics,which lead to challenges for all four wheels in simultaneously satisfying the ASP and may deteriorate the vehicle path tracking performance.In response to this problem,this paper introduces a four-wheel consistent coordinated steering control for 4WIS vehicles.The algorithm innovatively reconfigures the Ackerman steering relationships as coupling constraints among the wheels,and utilizes the constraint-following method to design controller.The controller achieves uniform boundedness(UB)and uniform ultimate boundedness(UUB)of ASP constraint error.The Carsim/Simulink joint simulation results demonstrate that the algorithm guarantees the approximate satisfaction of ASP in both the transient and steady-state of the vehicle path tracking.Also,it significantly improves the path tracking performance.展开更多
This study investigates a consistent fusion algorithm for distributed multi-rate multi-sensor systems operating in feedback-memory configurations, where each sensor's sampling period is uniform and an integer mult...This study investigates a consistent fusion algorithm for distributed multi-rate multi-sensor systems operating in feedback-memory configurations, where each sensor's sampling period is uniform and an integer multiple of the state update period. The focus is on scenarios where the correlations among Measurement Noises(MNs) from different sensors are unknown. Firstly, a non-augmented local estimator that applies to sampling cases is designed to provide unbiased Local Estimates(LEs) at the fusion points. Subsequently, a measurement-equivalent approach is then developed to parameterize the correlation structure between LEs and reformulate LEs into a unified form, thereby constraining the correlations arising from MNs to an admissible range. Simultaneously, a family of upper bounds on the joint error covariance matrix of LEs is derived based on the constrained correlations, avoiding the need to calculate the exact error cross-covariance matrix of LEs. Finally, a sequential fusion estimator is proposed in the sense of Weighted Minimum Mean Square Error(WMMSE), and it is proven to be unbiased, consistent, and more accurate than the well-known covariance intersection method. Simulation results illustrate the effectiveness of the proposed algorithm by highlighting improvements in consistency and accuracy.展开更多
In real industrial scenarios, equipment cannot be operated in a faulty state for a long time, resulting in a very limited number of available fault samples, and the method of data augmentation using generative adversa...In real industrial scenarios, equipment cannot be operated in a faulty state for a long time, resulting in a very limited number of available fault samples, and the method of data augmentation using generative adversarial networks for smallsample data has achieved a wide range of applications. However, the current generative adversarial networks applied in industrial processes do not impose realistic physical constraints on the generation of data, resulting in the generation of data that do not have realistic physical consistency. To address this problem, this paper proposes a physical consistency-based WGAN, designs a loss function containing physical constraints for industrial processes, and validates the effectiveness of the method using a common dataset in the field of industrial process fault diagnosis. The experimental results show that the proposed method not only makes the generated data consistent with the physical constraints of the industrial process, but also has better fault diagnosis performance than the existing GAN-based methods.展开更多
The 13-node quadrilateral and 39-node hexahedral cubic serendipity elements produce nodally integrated positive-definite lumped heat capacity matrices in higher-order finite element analysis.However,these elements dis...The 13-node quadrilateral and 39-node hexahedral cubic serendipity elements produce nodally integrated positive-definite lumped heat capacity matrices in higher-order finite element analysis.However,these elements display severe convergence deterioration in explicit transient heat conduction analysis with lumped heat ca-pacity matrices.This convergence decay is due to the violation of variational integration consistency by the standard Galerkin formulation with lumped heat capacity matrices.This issue is resolved by introducing the boundary-enhanced Galerkin weak form that incorporates the elemental boundary contribution in the discrete finite element formulation.Subsequently,it is theoretically proven that a direct nodal integration identically fulfills the variational integration consistency in the context of the boundary-enhanced Galerkin weak form.The proposed variationally consistent nodal integration therefore enables optimal convergence for explicit transient heat conduction analysis with lumped heat capacity matrices.The efficacy of the proposed variationally con-sistent nodal integration formulation for the 13-node quadrilateral and 39-node hexahedral cubic elements is thoroughly demonstrated via numerical examples.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52222216,52202493,52202466,U24B20124)Hunan Provincial Natural Science Foundation of China(Grant No.2022JJ40059).
文摘Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4WIS)vehicles,the steering systems of the four wheels are relatively independent,and there are differences and uncertainties in individual steering dynamics,which lead to challenges for all four wheels in simultaneously satisfying the ASP and may deteriorate the vehicle path tracking performance.In response to this problem,this paper introduces a four-wheel consistent coordinated steering control for 4WIS vehicles.The algorithm innovatively reconfigures the Ackerman steering relationships as coupling constraints among the wheels,and utilizes the constraint-following method to design controller.The controller achieves uniform boundedness(UB)and uniform ultimate boundedness(UUB)of ASP constraint error.The Carsim/Simulink joint simulation results demonstrate that the algorithm guarantees the approximate satisfaction of ASP in both the transient and steady-state of the vehicle path tracking.Also,it significantly improves the path tracking performance.
基金supported by the National Natural Science Foundation of China (Nos. 62276204, 62203343)。
文摘This study investigates a consistent fusion algorithm for distributed multi-rate multi-sensor systems operating in feedback-memory configurations, where each sensor's sampling period is uniform and an integer multiple of the state update period. The focus is on scenarios where the correlations among Measurement Noises(MNs) from different sensors are unknown. Firstly, a non-augmented local estimator that applies to sampling cases is designed to provide unbiased Local Estimates(LEs) at the fusion points. Subsequently, a measurement-equivalent approach is then developed to parameterize the correlation structure between LEs and reformulate LEs into a unified form, thereby constraining the correlations arising from MNs to an admissible range. Simultaneously, a family of upper bounds on the joint error covariance matrix of LEs is derived based on the constrained correlations, avoiding the need to calculate the exact error cross-covariance matrix of LEs. Finally, a sequential fusion estimator is proposed in the sense of Weighted Minimum Mean Square Error(WMMSE), and it is proven to be unbiased, consistent, and more accurate than the well-known covariance intersection method. Simulation results illustrate the effectiveness of the proposed algorithm by highlighting improvements in consistency and accuracy.
文摘In real industrial scenarios, equipment cannot be operated in a faulty state for a long time, resulting in a very limited number of available fault samples, and the method of data augmentation using generative adversarial networks for smallsample data has achieved a wide range of applications. However, the current generative adversarial networks applied in industrial processes do not impose realistic physical constraints on the generation of data, resulting in the generation of data that do not have realistic physical consistency. To address this problem, this paper proposes a physical consistency-based WGAN, designs a loss function containing physical constraints for industrial processes, and validates the effectiveness of the method using a common dataset in the field of industrial process fault diagnosis. The experimental results show that the proposed method not only makes the generated data consistent with the physical constraints of the industrial process, but also has better fault diagnosis performance than the existing GAN-based methods.
基金supported by the National Natural Science Foundation of China(Grant Nos.12372201 and 12072302).
文摘The 13-node quadrilateral and 39-node hexahedral cubic serendipity elements produce nodally integrated positive-definite lumped heat capacity matrices in higher-order finite element analysis.However,these elements display severe convergence deterioration in explicit transient heat conduction analysis with lumped heat ca-pacity matrices.This convergence decay is due to the violation of variational integration consistency by the standard Galerkin formulation with lumped heat capacity matrices.This issue is resolved by introducing the boundary-enhanced Galerkin weak form that incorporates the elemental boundary contribution in the discrete finite element formulation.Subsequently,it is theoretically proven that a direct nodal integration identically fulfills the variational integration consistency in the context of the boundary-enhanced Galerkin weak form.The proposed variationally consistent nodal integration therefore enables optimal convergence for explicit transient heat conduction analysis with lumped heat capacity matrices.The efficacy of the proposed variationally con-sistent nodal integration formulation for the 13-node quadrilateral and 39-node hexahedral cubic elements is thoroughly demonstrated via numerical examples.
