Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and ev...Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.展开更多
Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of tra...Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of traffic conflicts.Traditional methods of detecting abnormal driving behavior include using wearable devices to monitor blood pressure,pulse,heart rate,blood oxygen,and other vital signs,and using eye trackers to monitor eye activity(such as eye closure,blinking frequency,etc.)to estimate whether the driver is excited,anxious,or distracted.Traditional monitoring methods can detect abnormal driving behavior to a certain extent,but they will affect the driver’s normal driving state,thereby introducing additional driving risks.This research uses the combined method of support vector machine and dlib algorithm to extract 68 facial feature points from the human face,and uses an SVM model as a strong classifier to classify different abnormal driving statuses.The combined method reaches high accuracy in detecting road anger and fatigue status and can be used in an intelligent vehicle cabin to improve the driving safety level.展开更多
Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security ...Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security of the Loess Plateau(LP) by integrating ecosystem health and ecosystem services, explores the varying impacts of ecosystem structure, quality, and services on ecological security index(ESI), and identifies the key driving factors of ESI using the Geodetector model. The results show that:(1) the average ESI indicates a relatively safe ecological status in LP with a significant increase in ESI observed in 50.21% of the region, largely due to the ecological restoration programs.(2) Natural factors predominantly influence ESI, although human factors play a significant role in the earthy-rocky mountain region and plateau wind-sand region.(3) The interactions between driving factors have a much greater impact on ESI than any single factor, with the interactions between precipitation and human factors being the most influential combination. This study provides a novel perspective on assessing ecological security in LP. We recommend that future ecological restoration efforts should consider the varying roles of ecosystem structure, quality, and services in ESI while tailoring strategies to the primary driving factors based on local conditions.展开更多
This paper deeply discusses the causes of gear howling noise,the identification and analysis of multi-source excitation,the transmission path of dynamic noise,simulation and experimental research,case analysis,optimiz...This paper deeply discusses the causes of gear howling noise,the identification and analysis of multi-source excitation,the transmission path of dynamic noise,simulation and experimental research,case analysis,optimization effect,etc.,aiming to better provide a certain guideline and reference for relevant researchers.展开更多
This paper focuses on the high-voltage safety of drive motor systems in new energy vehicles and conducts standardized research on functional safety design in the concept phase. In view of the lack of high-voltage haza...This paper focuses on the high-voltage safety of drive motor systems in new energy vehicles and conducts standardized research on functional safety design in the concept phase. In view of the lack of high-voltage hazard analysis for drive motor systems in existing standards, based on theories such as GB/T 34590 and ISO 26262, the safety levels are deeply analyzed. The HAZOP method is innovatively used, and 16 types of guidewords are combined to comprehensively analyze the system functions, identifying vehicle hazards such as high-voltage electric shock caused by functional abnormalities, including high-voltage interlock function failure and abnormal active discharge. Subsequently, safety goals such as preventing high-voltage electric shock are set, functional safety requirements such as accurately obtaining collision signals and timely discharging high-voltage electricity are formulated, and requirements for external signal sources and other technologies are clearly defined, constructing a complete high-voltage safety protection system. The research results provide important technical support and standardized references for the high-voltage safety functional design of drive motor systems in new energy vehicles, and are of great significance for improving the high-voltage safety level of the new energy vehicle industry, expecting to play a key role in subsequent product development and standard improvement.展开更多
ENN He Long-2(EHL-2)is the next-generation large mega-Ampere(MA)spherical torus(ST)proposed and funded by the ENN company.The design parameters are:Ti0>30 keV,n_(e0)~1×10^(20)m^(-3),Ip~3 MA,Bt~3 T.One of the b...ENN He Long-2(EHL-2)is the next-generation large mega-Ampere(MA)spherical torus(ST)proposed and funded by the ENN company.The design parameters are:Ti0>30 keV,n_(e0)~1×10^(20)m^(-3),Ip~3 MA,Bt~3 T.One of the biggest challenges of EHL-2 is how to achieve several MA current flat-tops with limited voltage-seconds(Vs)of the center solenoid(CS)coils.In order to minimize the consumption of Vs,a fully non-inductive start-up by electron cyclotron resonance heating(ECRH)will be applied in EHL-2.The ramp-up phase will be accomplished with the synergetic mode between the CS and non-inductive methods.The strategy of non-inductive start-up and ramp-up with synergetic mode has been verified on EXL-50U’s experiments.Based on this strategy,numerical simulations indicate the feasibility of EHL-2 achieving 3 MA plasma current.A high-performance steady-state scenario with Ip~1.5 MA is also designed.In this scenario,the bootstrap current fraction fBS>70%,the safety factor q at the magnetic axis q0>2,the minimum safety factor qmin>1,the poloidal betaβp>3 and normalized betaβN>2.3.Each design iteration integrates the validation of physical models with the constraints of engineering implementation,gradually optimizing the performance of the heating and current drive(H&CD)systems.Numerical simulation results for general auxiliary H&CD systems such as neutral beam injection(NBI),electron cyclotron(EC)wave,ion cyclotron wave(ICW),and lower hybrid wave(LHW)are presented.These simulation results ensure that the 31 MW H&CD systems comprehensively cover all scenarios while maintaining engineering feasibility.展开更多
Agrowing number of Chinese firms have begun to adopt driverless delivery vehicles in autonomous driving demonstration areas in big cities like Beijing,Shanghai and Shenzhen to enhance logistics efficiency,reduce logis...Agrowing number of Chinese firms have begun to adopt driverless delivery vehicles in autonomous driving demonstration areas in big cities like Beijing,Shanghai and Shenzhen to enhance logistics efficiency,reduce logistics costs and improve user experience.Violations by these vehicles.including obstructing traffic,running red lights and failing to yield in time.展开更多
In order to effectively control the working state of the gyroscope in drive mode, the drive characteristics of the micro electromechanical system （MEMS） gyroscope are analyzed in principle. A novel drive circuit for...In order to effectively control the working state of the gyroscope in drive mode, the drive characteristics of the micro electromechanical system （MEMS） gyroscope are analyzed in principle. A novel drive circuit for the MEMS gyroscope in digital closed-loop control is proposed, which utilizes a digital phase-locked loop （PLL） in frequency control and an automatic gain control （AGC） method in amplitude control. A digital processing circuit with a field programmable gate array （FPGA） is designed and the experiments are carried out. The results indicate that when the temperature changes, the drive frequency can automatically track the resonant frequency of gyroscope in drive mode and that of the oscillating amplitude holds at a set value. And at room temperature, the relative deviation of the drive frequency is 0.624 ×10^-6 and the oscillating amplitude is 8.0 ×10^-6, which are 0. 094% and 18. 39% of the analog control program, respectively. Therefore, the control solution of the digital PLL in frequency and the AGC in amplitude is feasible.展开更多
The jointed shaft in the drivelines of the rolling mill, with its angle continuously varying in the production, has obvious impact on the stability of the main drive system. Considering the effect caused by the joint ...The jointed shaft in the drivelines of the rolling mill, with its angle continuously varying in the production, has obvious impact on the stability of the main drive system. Considering the effect caused by the joint angle and friction force of roller gap, the nonlinear vibration model of the main drive system which contains parametric excitation stiffness and nonlinear friction damping was established. The amplitude-frequency characteristic equation and bifurcation response equation were obtained by using the method of multiple scales. Depending on the bifurcation response equation, the transition set and the topology structure of bifurcation curve of the system were obtained by using the singularity theory. The transition set can separate the system into seven areas, which has different bifurcation forms respectively. By taking the 1 780 rolling mill of Chengde Steel Co for example, the simulation and analysis were performed. The amplitude-frequency curves under different joint angles, damping coefficients, and nonlinear stiffness were given. The variations of these parameters have strong influences on the stability of electromechanical resonances and the characteristic of the response curves. The best angle of the jointed shaft is 4.761 3° in this rolling mill.展开更多
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force con...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
Drive system is the key device of armored chassis. Its working state and reliability influence the maneuver performance of armored chassis directly. In order to simulate the failure process and evaluate the service re...Drive system is the key device of armored chassis. Its working state and reliability influence the maneuver performance of armored chassis directly. In order to simulate the failure process and evaluate the service reliability of drive system in training or battle missions,a new kind of dynamic simulation model and driving simulation platform of the complete drive system were established based on virtual prototype and finite element technology in this paper. Using the platform, the kinematics and dynamic characteristics of drive system were studied and analyzed in detail,the dynamic load spectrum of key components was obtained,the service life was predicted, and the service reliability evaluation results were provided. A simulation example of transmission gear was shown to illustrate the simulation and evaluation process. The result proves that the simulation method not only can be used to compute and evaluate the service reliability of complex mechanical mechanism, but also has high precision and reasonable computational cost. Therefore,simulation and reliability analysis based on virtual prototype of the armored chassis drive system will provide scientific reference for the formulation of armored chassis reasonable repair cycle.展开更多
Framework and basic parameters of a test bench for motor drive system of electric vehicle (EV) are illuminated. Two kinds of electric drive models, one was for the electric vehicle drived on real road, the other was f...Framework and basic parameters of a test bench for motor drive system of electric vehicle (EV) are illuminated. Two kinds of electric drive models, one was for the electric vehicle drived on real road, the other was for that on test bench, are put forward. Then, dynamic analysis of these models is made in detail. Inertia matching method of the test bench is researched and some useful formulas and graphs are brought forward. The experiment of an electric bus is introduced in order to explain the usage of this inertia matching method.展开更多
The arc tooth gear spindle (ATGS) is the key structure of the drive system of hot finishing rolling mills. To investigate the dynamic characteristics of ATGS of the drive system of hot finishing rolling mills, a dynam...The arc tooth gear spindle (ATGS) is the key structure of the drive system of hot finishing rolling mills. To investigate the dynamic characteristics of ATGS of the drive system of hot finishing rolling mills, a dynamic mechanical model of ATGS was established. The influences of dynamic displacement and dynamic torque on dynamic load (meshing force, additional torque and friction torque) were studied during the non-steady-state operation of ATGS. On this basis, a dynamic model of rolling mill drive system was established considering the arc tooth gear dynamic characteristics. The dynamic response of the drive system was simulated and analyzed. The results showed that the nonlinear characteristics of ATGS were obvious;the meshing force (PX and PZ) could restrain the increase in dynamic displacement, which reflected the positive stiffness of ATGS;there was a coupling among the vertical, horizontal and torsional directions in the drive system model considering the dynamic characteristics of the arc tooth gear;the vibration intensity of ATGS in the horizontal direction is greater than that in the vertical direction when the self-excited torsional vibration happens;the greater the axial inclination angle was, the more complex the vibration mode was, and the lower the stability of the drive system was.展开更多
Synchronization errors directly deteriorate the machining accuracy of metal parts and the existed method cannot keep high synchronization precision because of external disturbances. A new double position servo synchro...Synchronization errors directly deteriorate the machining accuracy of metal parts and the existed method cannot keep high synchronization precision because of external disturbances. A new double position servo synchronous driving scheme based on semi-closed-loop cross- coupling integrated feedforward control is proposed. The scheme comprises a position error cross-coupling feedfor-ward control and a load torque identification with feed- forward control. A digital integrated simulation system for the dual servo synchronous drive system is established. Using a 20 t servo broacher, performance analysis of the scheme is conducted based on this simulation system and the simulation results show that systems with traditional parallel or single control have problems when the work- table works with an unbalanced load. However, the system with proposed scheme shows good synchronous perfor- mance and positional accuracy. Broaching tests are performed and the experimental results show that the maximum dual axis synchronization error of the system is only 8μm during acceleration and deceleration processes and the error between the actual running position and the given position is almost zero. A double position servo synchronous driving scheme is presented based on crosscoupled integrated feedforward compensation control, which can improve the synchronization precision.展开更多
To diagnose the Open-Circuit(OC)fault in the novel fault-tolerant electric drive system,based on d-q-axis current signal,a strong robustness diagnosis strategy is proposed and investigated.Fewer independent power supp...To diagnose the Open-Circuit(OC)fault in the novel fault-tolerant electric drive system,based on d-q-axis current signal,a strong robustness diagnosis strategy is proposed and investigated.Fewer independent power supplies and converters are required in the novel fault-tolerant electric drive system based on Dual-Winding Permanent Magnet Motor(DWPMM),and the system’s reliability,usage ratio and power density have been improved compared to the conventional fault-tolerant motor drive system.However,the novel fault-tolerant electric drive system has the OC fault diagnostic false alarms issue when load changes suddenly or under light-load condition.And it lacks the research on the diagnostic method when the system encounters intermittent OC fault in power switches.By theory derivation,simulation and experimental verification,it can be concluded that the proposed strong robustness OC fault diagnosis strategy based on d-q-axis current signal can overcome the OC fault diagnostic false alarms issue when load changes suddenly or under light-load condition.And it can detect and locate the OC fault of single-phase winding in real time,and diagnose the intermittent OC fault of power switches.展开更多
The modal method is applied to analyze coupled vibration of belt drive systems. A belt drive system is a hybrid system consisting of continuous belts modeled as strings as well as discrete pulleys and a tensioner arm....The modal method is applied to analyze coupled vibration of belt drive systems. A belt drive system is a hybrid system consisting of continuous belts modeled as strings as well as discrete pulleys and a tensioner arm. The characteristic equation of the system is derived from the governing equation. Numerical results demenstrate the effects of the transport speed and the initial tension on natural frequencies.展开更多
Conventional reliability models of belt drive systems in the failure mode of fatigue are mainly based on the static stress strength interference model and its extended models, which cannot consider dynamic factors in ...Conventional reliability models of belt drive systems in the failure mode of fatigue are mainly based on the static stress strength interference model and its extended models, which cannot consider dynamic factors in the operational duration and be used for further availability analysis. In this paper, time-dependent reliability models, failure rate models and availability models of belt drive systems are developed based on the system dynamic equations with the dynamic stress and the material property degradation taken into account. In the proposed models, dynamic failure dependence and imperfect maintenance are taken into consideration. Furthermore, the issue of time scale inconsistency between system failure rate and system availability is proposed and addressed in the proposed system availability models. Besides, Monte Carlo simulations are carried out to validate the established models. The results from the proposed models and those from the Monte Carlo simulations show a consistency. Furthermore, the case studies show that the failure dependence, imperfect maintenance and the time scale inconsistency have significant influences on system availability. The independence assumption about the belt drive systems results in underestimations of both reliability and availability. Moreover, the neglect of the time scale inconsistency causes the underestimate of the system availability. Meanwhile, these influences show obvious time-dependent characteristics.展开更多
A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to...A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.展开更多
A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertaint...A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods.展开更多
With the occurrence of an adding driving field, the properties of the dispersion and the absorption of a four-level system are changed greatly. The system can produce the normal and anomalous dispersion regions with p...With the occurrence of an adding driving field, the properties of the dispersion and the absorption of a four-level system are changed greatly. The system can produce the normal and anomalous dispersion regions with proper parameters. Here, the driving fields can be seemed as knobs to manipulate the group velocity of a weak probe field between subluminal and superluminal.展开更多
基金Supported by the National Natural Science Foundation of China (11161027)。
文摘Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.
文摘Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of traffic conflicts.Traditional methods of detecting abnormal driving behavior include using wearable devices to monitor blood pressure,pulse,heart rate,blood oxygen,and other vital signs,and using eye trackers to monitor eye activity(such as eye closure,blinking frequency,etc.)to estimate whether the driver is excited,anxious,or distracted.Traditional monitoring methods can detect abnormal driving behavior to a certain extent,but they will affect the driver’s normal driving state,thereby introducing additional driving risks.This research uses the combined method of support vector machine and dlib algorithm to extract 68 facial feature points from the human face,and uses an SVM model as a strong classifier to classify different abnormal driving statuses.The combined method reaches high accuracy in detecting road anger and fatigue status and can be used in an intelligent vehicle cabin to improve the driving safety level.
基金National Natural Science Foundation of China,No.42371103Natural Science Basic Research Plan in Shaanxi Province of China,No.2023-JC-YB-229。
文摘Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security of the Loess Plateau(LP) by integrating ecosystem health and ecosystem services, explores the varying impacts of ecosystem structure, quality, and services on ecological security index(ESI), and identifies the key driving factors of ESI using the Geodetector model. The results show that:(1) the average ESI indicates a relatively safe ecological status in LP with a significant increase in ESI observed in 50.21% of the region, largely due to the ecological restoration programs.(2) Natural factors predominantly influence ESI, although human factors play a significant role in the earthy-rocky mountain region and plateau wind-sand region.(3) The interactions between driving factors have a much greater impact on ESI than any single factor, with the interactions between precipitation and human factors being the most influential combination. This study provides a novel perspective on assessing ecological security in LP. We recommend that future ecological restoration efforts should consider the varying roles of ecosystem structure, quality, and services in ESI while tailoring strategies to the primary driving factors based on local conditions.
文摘This paper deeply discusses the causes of gear howling noise,the identification and analysis of multi-source excitation,the transmission path of dynamic noise,simulation and experimental research,case analysis,optimization effect,etc.,aiming to better provide a certain guideline and reference for relevant researchers.
文摘This paper focuses on the high-voltage safety of drive motor systems in new energy vehicles and conducts standardized research on functional safety design in the concept phase. In view of the lack of high-voltage hazard analysis for drive motor systems in existing standards, based on theories such as GB/T 34590 and ISO 26262, the safety levels are deeply analyzed. The HAZOP method is innovatively used, and 16 types of guidewords are combined to comprehensively analyze the system functions, identifying vehicle hazards such as high-voltage electric shock caused by functional abnormalities, including high-voltage interlock function failure and abnormal active discharge. Subsequently, safety goals such as preventing high-voltage electric shock are set, functional safety requirements such as accurately obtaining collision signals and timely discharging high-voltage electricity are formulated, and requirements for external signal sources and other technologies are clearly defined, constructing a complete high-voltage safety protection system. The research results provide important technical support and standardized references for the high-voltage safety functional design of drive motor systems in new energy vehicles, and are of great significance for improving the high-voltage safety level of the new energy vehicle industry, expecting to play a key role in subsequent product development and standard improvement.
基金supported by ENN Group and ENN Energy Research Institute.The authors would like to express their gratitude for the contributions of the ENN fusion team and collaborators,such as Tiantian Sun,Haojie Ma,and Yong Guo,in supporting these endeavours.The authors also acknowledge the support of the National SuperComputer Center in Tianjin and Beijing PARATERA Tech Corp.,Ltd.,for providing HPC resources that have contributed to the research results reported in this paper.This work was partly supported by National Natural Science Fundation of China(Nos.12375215 and 12475210).
文摘ENN He Long-2(EHL-2)is the next-generation large mega-Ampere(MA)spherical torus(ST)proposed and funded by the ENN company.The design parameters are:Ti0>30 keV,n_(e0)~1×10^(20)m^(-3),Ip~3 MA,Bt~3 T.One of the biggest challenges of EHL-2 is how to achieve several MA current flat-tops with limited voltage-seconds(Vs)of the center solenoid(CS)coils.In order to minimize the consumption of Vs,a fully non-inductive start-up by electron cyclotron resonance heating(ECRH)will be applied in EHL-2.The ramp-up phase will be accomplished with the synergetic mode between the CS and non-inductive methods.The strategy of non-inductive start-up and ramp-up with synergetic mode has been verified on EXL-50U’s experiments.Based on this strategy,numerical simulations indicate the feasibility of EHL-2 achieving 3 MA plasma current.A high-performance steady-state scenario with Ip~1.5 MA is also designed.In this scenario,the bootstrap current fraction fBS>70%,the safety factor q at the magnetic axis q0>2,the minimum safety factor qmin>1,the poloidal betaβp>3 and normalized betaβN>2.3.Each design iteration integrates the validation of physical models with the constraints of engineering implementation,gradually optimizing the performance of the heating and current drive(H&CD)systems.Numerical simulation results for general auxiliary H&CD systems such as neutral beam injection(NBI),electron cyclotron(EC)wave,ion cyclotron wave(ICW),and lower hybrid wave(LHW)are presented.These simulation results ensure that the 31 MW H&CD systems comprehensively cover all scenarios while maintaining engineering feasibility.
文摘Agrowing number of Chinese firms have begun to adopt driverless delivery vehicles in autonomous driving demonstration areas in big cities like Beijing,Shanghai and Shenzhen to enhance logistics efficiency,reduce logistics costs and improve user experience.Violations by these vehicles.including obstructing traffic,running red lights and failing to yield in time.
基金The National Natural Science Foundation of China(No. 60974116 )the Research Fund of Aeronautics Science (No.20090869007)Specialized Research Fund for the Doctoral Program of Higher Education (No. 200902861063)
文摘In order to effectively control the working state of the gyroscope in drive mode, the drive characteristics of the micro electromechanical system （MEMS） gyroscope are analyzed in principle. A novel drive circuit for the MEMS gyroscope in digital closed-loop control is proposed, which utilizes a digital phase-locked loop （PLL） in frequency control and an automatic gain control （AGC） method in amplitude control. A digital processing circuit with a field programmable gate array （FPGA） is designed and the experiments are carried out. The results indicate that when the temperature changes, the drive frequency can automatically track the resonant frequency of gyroscope in drive mode and that of the oscillating amplitude holds at a set value. And at room temperature, the relative deviation of the drive frequency is 0.624 ×10^-6 and the oscillating amplitude is 8.0 ×10^-6, which are 0. 094% and 18. 39% of the analog control program, respectively. Therefore, the control solution of the digital PLL in frequency and the AGC in amplitude is feasible.
基金Item Sponsored by National Natural Science Foundation of China(51005196)Natural Science Foundation of Hebei Province of China(F2010001317,E2012203194)
文摘The jointed shaft in the drivelines of the rolling mill, with its angle continuously varying in the production, has obvious impact on the stability of the main drive system. Considering the effect caused by the joint angle and friction force of roller gap, the nonlinear vibration model of the main drive system which contains parametric excitation stiffness and nonlinear friction damping was established. The amplitude-frequency characteristic equation and bifurcation response equation were obtained by using the method of multiple scales. Depending on the bifurcation response equation, the transition set and the topology structure of bifurcation curve of the system were obtained by using the singularity theory. The transition set can separate the system into seven areas, which has different bifurcation forms respectively. By taking the 1 780 rolling mill of Chengde Steel Co for example, the simulation and analysis were performed. The amplitude-frequency curves under different joint angles, damping coefficients, and nonlinear stiffness were given. The variations of these parameters have strong influences on the stability of electromechanical resonances and the characteristic of the response curves. The best angle of the jointed shaft is 4.761 3° in this rolling mill.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
文摘Drive system is the key device of armored chassis. Its working state and reliability influence the maneuver performance of armored chassis directly. In order to simulate the failure process and evaluate the service reliability of drive system in training or battle missions,a new kind of dynamic simulation model and driving simulation platform of the complete drive system were established based on virtual prototype and finite element technology in this paper. Using the platform, the kinematics and dynamic characteristics of drive system were studied and analyzed in detail,the dynamic load spectrum of key components was obtained,the service life was predicted, and the service reliability evaluation results were provided. A simulation example of transmission gear was shown to illustrate the simulation and evaluation process. The result proves that the simulation method not only can be used to compute and evaluate the service reliability of complex mechanical mechanism, but also has high precision and reasonable computational cost. Therefore,simulation and reliability analysis based on virtual prototype of the armored chassis drive system will provide scientific reference for the formulation of armored chassis reasonable repair cycle.
文摘Framework and basic parameters of a test bench for motor drive system of electric vehicle (EV) are illuminated. Two kinds of electric drive models, one was for the electric vehicle drived on real road, the other was for that on test bench, are put forward. Then, dynamic analysis of these models is made in detail. Inertia matching method of the test bench is researched and some useful formulas and graphs are brought forward. The experiment of an electric bus is introduced in order to explain the usage of this inertia matching method.
文摘The arc tooth gear spindle (ATGS) is the key structure of the drive system of hot finishing rolling mills. To investigate the dynamic characteristics of ATGS of the drive system of hot finishing rolling mills, a dynamic mechanical model of ATGS was established. The influences of dynamic displacement and dynamic torque on dynamic load (meshing force, additional torque and friction torque) were studied during the non-steady-state operation of ATGS. On this basis, a dynamic model of rolling mill drive system was established considering the arc tooth gear dynamic characteristics. The dynamic response of the drive system was simulated and analyzed. The results showed that the nonlinear characteristics of ATGS were obvious;the meshing force (PX and PZ) could restrain the increase in dynamic displacement, which reflected the positive stiffness of ATGS;there was a coupling among the vertical, horizontal and torsional directions in the drive system model considering the dynamic characteristics of the arc tooth gear;the vibration intensity of ATGS in the horizontal direction is greater than that in the vertical direction when the self-excited torsional vibration happens;the greater the axial inclination angle was, the more complex the vibration mode was, and the lower the stability of the drive system was.
基金Supported by National Natural Science Foundation of China(Grant No.51307151)Zhejiang Provincial Public Welfare Technology Application Research Project of China(Grant No.2015C31078)+2 种基金Zhejiang Provincial Natural Science Foundation of China(Grant No.LY14E070008)Zhejiang Postdoctoral Science Foundation of China(Grant No.BSH1402065)Science Foundation of Zhejiang SciTech University(Grant No.13022151-Y)
文摘Synchronization errors directly deteriorate the machining accuracy of metal parts and the existed method cannot keep high synchronization precision because of external disturbances. A new double position servo synchronous driving scheme based on semi-closed-loop cross- coupling integrated feedforward control is proposed. The scheme comprises a position error cross-coupling feedfor-ward control and a load torque identification with feed- forward control. A digital integrated simulation system for the dual servo synchronous drive system is established. Using a 20 t servo broacher, performance analysis of the scheme is conducted based on this simulation system and the simulation results show that systems with traditional parallel or single control have problems when the work- table works with an unbalanced load. However, the system with proposed scheme shows good synchronous perfor- mance and positional accuracy. Broaching tests are performed and the experimental results show that the maximum dual axis synchronization error of the system is only 8μm during acceleration and deceleration processes and the error between the actual running position and the given position is almost zero. A double position servo synchronous driving scheme is presented based on crosscoupled integrated feedforward compensation control, which can improve the synchronization precision.
基金supported by the National Natural Science Foundation of China(No.51807094)China Postdoctoral Science Foundation(No.2020M671499)+2 种基金Program for HighLevel Entrepreneurial and Innovative Talents Introduction of Jiangsu Province,China(No.[2019]20)Aeronautical Science Foundation of China(No.20200028059001)Jiangsu Planned Projects for Postdoctoral Research Funds,China(No.2020Z145)。
文摘To diagnose the Open-Circuit(OC)fault in the novel fault-tolerant electric drive system,based on d-q-axis current signal,a strong robustness diagnosis strategy is proposed and investigated.Fewer independent power supplies and converters are required in the novel fault-tolerant electric drive system based on Dual-Winding Permanent Magnet Motor(DWPMM),and the system’s reliability,usage ratio and power density have been improved compared to the conventional fault-tolerant motor drive system.However,the novel fault-tolerant electric drive system has the OC fault diagnostic false alarms issue when load changes suddenly or under light-load condition.And it lacks the research on the diagnostic method when the system encounters intermittent OC fault in power switches.By theory derivation,simulation and experimental verification,it can be concluded that the proposed strong robustness OC fault diagnosis strategy based on d-q-axis current signal can overcome the OC fault diagnostic false alarms issue when load changes suddenly or under light-load condition.And it can detect and locate the OC fault of single-phase winding in real time,and diagnose the intermittent OC fault of power switches.
基金Project supported by the National Natural Science Foundation of China(Nos.10672092 and 10725209)Scientific Research Project of Shanghai Municipal Education Commission(No.07ZZ07)Shanghai Leading Academic Discipline Project(No.Y0103)
文摘The modal method is applied to analyze coupled vibration of belt drive systems. A belt drive system is a hybrid system consisting of continuous belts modeled as strings as well as discrete pulleys and a tensioner arm. The characteristic equation of the system is derived from the governing equation. Numerical results demenstrate the effects of the transport speed and the initial tension on natural frequencies.
基金Supported by Program for Liaoning Innovative Talents in University(Grant No.LR2017070)National Natural Science Foundation of China(Grant No.51505207)+1 种基金Open Foundation of Zhejiang Provincial Top Key Academic Discipline of Mechanical Engineering(Grant No.ZSTUME02A01)National Natural Science Foundation of China(Grant No.U1708255)
文摘Conventional reliability models of belt drive systems in the failure mode of fatigue are mainly based on the static stress strength interference model and its extended models, which cannot consider dynamic factors in the operational duration and be used for further availability analysis. In this paper, time-dependent reliability models, failure rate models and availability models of belt drive systems are developed based on the system dynamic equations with the dynamic stress and the material property degradation taken into account. In the proposed models, dynamic failure dependence and imperfect maintenance are taken into consideration. Furthermore, the issue of time scale inconsistency between system failure rate and system availability is proposed and addressed in the proposed system availability models. Besides, Monte Carlo simulations are carried out to validate the established models. The results from the proposed models and those from the Monte Carlo simulations show a consistency. Furthermore, the case studies show that the failure dependence, imperfect maintenance and the time scale inconsistency have significant influences on system availability. The independence assumption about the belt drive systems results in underestimations of both reliability and availability. Moreover, the neglect of the time scale inconsistency causes the underestimate of the system availability. Meanwhile, these influences show obvious time-dependent characteristics.
基金National Natural Science Foundation of China(No.61463025)Opening Foundation of Key Laboratory of Opto-technology and Intelligent Control(Lanzhou Jiaotong University),Ministry of Education(No.KFKT2018-8)
文摘A novel double extended state observer(DESO)based on model predictive torque control(MPTC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive system without current sensor.In general,to achieve high-precision control,two-phase current sensors are necessary for successful implementation of MPTC.For this purpose,two ESOs are used to estimate q-axis current and stator resistance respectively,and then based on this,d-axis current is estimated.Moreover,to reduce torque and flux ripple and to improve the performance of the torque and speed,MPTC strategy is designed.The simulation results validate the feasibility and effectiveness of the proposed scheme.
文摘A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods.
基金Supported by National Natural Science Foundation of China under Grant Nos.61008063 and 10547108the Key Project of National Natural Science Foundation of China under Grant No.60837004+1 种基金Natural Science Foundation of Education Department of Guangdong Province of China under Grant No.LYM08099Natural Science Foundation of Foshan University
文摘With the occurrence of an adding driving field, the properties of the dispersion and the absorption of a four-level system are changed greatly. The system can produce the normal and anomalous dispersion regions with proper parameters. Here, the driving fields can be seemed as knobs to manipulate the group velocity of a weak probe field between subluminal and superluminal.
