Discusses the stability of adaptive control using dynamic linearization and gives the sufficient condition for the stability of the closed loop system under the action of the adaptive control by using the small gain t...Discusses the stability of adaptive control using dynamic linearization and gives the sufficient condition for the stability of the closed loop system under the action of the adaptive control by using the small gain theory.展开更多
Linearized equations of fluid dynamics of cell two phase flow for one dimensional case are proposed. Based on the equations, an analytic solution is derived, in which the frequency of wave is observed. The frequency f...Linearized equations of fluid dynamics of cell two phase flow for one dimensional case are proposed. Based on the equations, an analytic solution is derived, in which the frequency of wave is observed. The frequency formula consists of all important parameters of the fluid dynamics. In our observation, the group velocity and phase velocity of the motion of wave propagation are explicitly exhibited as well.展开更多
It is a complicated nonlinear controlling problem to conduct a two-dimensional trajectory correction of rockets.By establishing the aerodynamic correction force mathematical model of rockets on nose cone swinging,the ...It is a complicated nonlinear controlling problem to conduct a two-dimensional trajectory correction of rockets.By establishing the aerodynamic correction force mathematical model of rockets on nose cone swinging,the linear control is realized by the dynamic inverse nonlinear controlling theory and the three-time-scale separation method.The control ability and the simulation results are also tested and verified.The results show that the output responses of system track the expected curve well and the error is controlled in a given margin.The maximum correction is about±314 m in the lengthwise direction and±1 212 m in the crosswise direction from the moment of 5 s to the drop-point time when the angle of fire is 55°.Thus,based on the dynamic inverse control of feedback linearization,the trajectory correction capability of nose cone swinging can satisfy the requirements of two-dimensional ballistic correction,and the validity and effectiveness of the method are proved.展开更多
Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based c...Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based controller.This paper,the second part of a two-part series of surveys on INDI,aims to summarize the modern trends in INDI and its related components.Besides a comprehensive components specification,it addresses their most common challenges,compares different variants,and discusses proposed advances.Further important aspects of INDI are gain design,stability,and robustness.This paper also provides an overview of research conducted concerning these aspects.This paper is written in a tutorial style to familiarize researchers with the essential specifics and pitfalls of INDI and its components.At the same time,it can also serve as a reference for readers already familiar with INDI.展开更多
This paper establishes a method for identifying and locating dynamic loads in time-varying systems.The proposed method linearizes time-varying parameters within small time units and uses the Wilson-θ inverse analysis...This paper establishes a method for identifying and locating dynamic loads in time-varying systems.The proposed method linearizes time-varying parameters within small time units and uses the Wilson-θ inverse analysis method to solve modal loads of each order at each time step.It then uses an exhaustive method to determine the load position.Finally,it calculates the time history of the load.Simulation examples demonstrate how the number of measuring points and step size affect load identi-fication accuracy,verifying that this algorithm achieves good identification accuracy for loads under resonance conditions.Additionally,it explores how noise affects load position and recognition accuracy,while providing a solution.Simulation examples and experimental results demonstrate that the proposed method can identify both the time history and position of loads simultaneously with high identification accuracy.展开更多
The precision of dynamic reserve calculations in gas reservoirs is crucial for the rational and efficient development of oil and gas fields and the formulation of gas well production plans.The Shaximiao gas reservoir ...The precision of dynamic reserve calculations in gas reservoirs is crucial for the rational and efficient development of oil and gas fields and the formulation of gas well production plans.The Shaximiao gas reservoir in the ZT block of northwestern Sichuan is densely packed and highly heterogeneous,featuring complex gas-water distribution,substantial variations in test production among gas wells,and a rapid decline rate.To precisely determine the dynamic reserves of these tight water-bearing gas wells,this study focuses on the water-tight gas reservoirs in the ZT block of northwestern Sichuan,conducting core X-ray diffraction,constant-rate mercury injection,and reservoir rock stress sensitivity experiments.Utilizing the experimental findings,the porosity and permeability of the rock samples under effective stress conditions are adjusted via binary linear regression.These adjusted parameters are then incorporated into the water-sealed gas material balance method,thereby establishing a novel approach for calculating dynamic reserves in water-tight gas reservoirs under stress sensitivity conditions.The results show that:(1)the rock porosity ranges from 6.08%to 10.22%,permeability ranges from 0.035 mD to 0.547 mD,clay mineral content ranges from 6.58%to 19.14%,pore radius distribution ranges from 90μm to 180μm,throat radius distribution ranges from 0.61μm to 3.41μm,with significant differences in throat distribution,indicating poor reservoir fluid flow capacity and strong tightness;(2)after aging experiments,rock samples exhibit plastic deformation,with porosity and permeability unable to fully recover after pressure relief.The stress sensitivity curve of rock samples shows a two-stage characteristic,with moderate to strong stress sensitivity;(3)porosity stress sensitivity is mainly influenced by pore radius and mineral composition-larger pore radius and higher clay content lead to stronger stress sensitivity,with porosity loss rates ranging from 8.26%to 23.69%.Permeability stress sensitivity is mainly influenced by throat radius and mineral composition-smaller throat radius and higher clay content result in stronger stress sensitivity,with permeability loss rates ranging from 47.91%to 62.03%;(4)a comparative analysis between the traditional dynamic reserve calculation method for gas wells and the new method considering stress sensitivity shows a relative error between 0.90%and 2.41%,with the new method demonstrating better accuracy.This study combines physical experimental results with an effective stress model of reservoir rocks to develop a new method for calculating dynamic reserves of water-bearing tight gas reservoirs under effective stress conditions,providing experimental data and example calculation results to support subsequent dynamic evaluation of gas reservoirs and the establishment of rational well allocation plans.展开更多
This work reviews models and methods for determining the dynamic response of pavements to moving vehicle loads in the framework of continuum-based three dimensional models and linear theories.This review emphasizes th...This work reviews models and methods for determining the dynamic response of pavements to moving vehicle loads in the framework of continuum-based three dimensional models and linear theories.This review emphasizes the most representative models and methods of analysis in the existing literature and illustrates all of them by numerical examples.Thus,13 such examples are presented here in some detail.Both flexible and rigid(concrete)pavement models involving simple and elaborate cases with respect to geometry and material behavior are considered.Thus,homogeneous or layered half-spaces with isotropic or cross-anisotropic and elastic,viscoelastic or poroelastic properties are considered.The vehicles are modeled as simple point or distributed loads or discrete spring-mass-dashpot system moving with constant or variable velocity.The dynamic response of the above pavement-vehicle systems is obtained by analytical/numerical or purely numerical methods of solution.Analytical/numerical methods have mainly to do with Fourier transforms or complex Fourier series with respect to both space and time.Purely numerical methods involve the finite element method(FEM)and the boundary element method(BEM)working in time or frequency domain.Critical discussions on the advantages and disadvantages of the various pavement-vehicle models and their methods of analysis are provided and the effects of the main parameters on the pavement response are determined through parametric studies and presented in the examples.Finally,conclusions are provided and suggestions for future research are made.展开更多
This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents differe...This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents different basic INDI variants and their specifics,such as modelbased INDI,sensor-based INDI,and hybrid INDI.Furthermore,it sets these different approaches in context with each other.Later developments of INDI explicitly consider actuator dynamics.Those concepts are summarized and discussed in detail.Subsequently,studies that relate INDI to other control methods are summarized.Finally,an overview of various applications of INDI is given,covering different types of control loops and various types of vehicles and plants.This paper seeks to set these developments into context with each other.The purpose of this paper is twofold.INDI is already well-known in the domain of flight control but less so in other fields.Therefore,the paper is written in a comprehensive tutorial style to provide easy access to readers unfamiliar with the topic.On the other hand,the paper can serve as a reference for readers familiar with the topic.展开更多
1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ...1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.展开更多
作战任务和平台资源的合理匹配是战役作战准备阶段的主要内容。考虑平台资源能力在作战过程中的损耗,在问题建模的过程中引入了资源能力的损耗系数,使得所建模型更加符合实际作战。提出了基于动态列表调度(dynamic list scheduling,DLS...作战任务和平台资源的合理匹配是战役作战准备阶段的主要内容。考虑平台资源能力在作战过程中的损耗,在问题建模的过程中引入了资源能力的损耗系数,使得所建模型更加符合实际作战。提出了基于动态列表调度(dynamic list scheduling,DLS)和遗传算法(genetic algorithm,GA)的模型求解方法,使用DLS选择处理的任务,使用GA为选定任务分配平台资源,给出了该方法具体的设计思路和流程。最后结合联合作战的战役算例,验证了所提方法的优越性和适用性。展开更多
Aim To present a simple and effective method for the design of nonlinear and time varying control system. Methods A new concept of dynamic equilibrium of a system and its stability were presented first. It was poin...Aim To present a simple and effective method for the design of nonlinear and time varying control system. Methods A new concept of dynamic equilibrium of a system and its stability were presented first. It was pointed out that what is controlled directly by the input of a control system is the system's dynamic equilibrium rather than the states. Based on it, a new feedback linearization method for nonlinear system based on the Lyapunov direct method was given. Simulation studies were also carried out. Results The example and simulation show that by use of the method, the controller design becomes very simple and the control effect is quite satisfying. Conclusion The new method unifies the stabilizing problem(regulating problem) with the tracking problem. It is a very simple and effective method for the design of nonlinear and time varying control system.展开更多
文摘Discusses the stability of adaptive control using dynamic linearization and gives the sufficient condition for the stability of the closed loop system under the action of the adaptive control by using the small gain theory.
基金Supported by the National Natural Science Foundation of China(10672022)
文摘Linearized equations of fluid dynamics of cell two phase flow for one dimensional case are proposed. Based on the equations, an analytic solution is derived, in which the frequency of wave is observed. The frequency formula consists of all important parameters of the fluid dynamics. In our observation, the group velocity and phase velocity of the motion of wave propagation are explicitly exhibited as well.
基金Project(9140A05030109HK01)supported by Equipment Pre-research Foundation,China
文摘It is a complicated nonlinear controlling problem to conduct a two-dimensional trajectory correction of rockets.By establishing the aerodynamic correction force mathematical model of rockets on nose cone swinging,the linear control is realized by the dynamic inverse nonlinear controlling theory and the three-time-scale separation method.The control ability and the simulation results are also tested and verified.The results show that the output responses of system track the expected curve well and the error is controlled in a given margin.The maximum correction is about±314 m in the lengthwise direction and±1 212 m in the crosswise direction from the moment of 5 s to the drop-point time when the angle of fire is 55°.Thus,based on the dynamic inverse control of feedback linearization,the trajectory correction capability of nose cone swinging can satisfy the requirements of two-dimensional ballistic correction,and the validity and effectiveness of the method are proved.
文摘Incremental Nonlinear Dynamic Inversion(INDI)is a control approach that has gained popularity in flight control over the past decade.Besides the INDI law,several common additional components complement an INDI-based controller.This paper,the second part of a two-part series of surveys on INDI,aims to summarize the modern trends in INDI and its related components.Besides a comprehensive components specification,it addresses their most common challenges,compares different variants,and discusses proposed advances.Further important aspects of INDI are gain design,stability,and robustness.This paper also provides an overview of research conducted concerning these aspects.This paper is written in a tutorial style to familiarize researchers with the essential specifics and pitfalls of INDI and its components.At the same time,it can also serve as a reference for readers already familiar with INDI.
基金supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions.
文摘This paper establishes a method for identifying and locating dynamic loads in time-varying systems.The proposed method linearizes time-varying parameters within small time units and uses the Wilson-θ inverse analysis method to solve modal loads of each order at each time step.It then uses an exhaustive method to determine the load position.Finally,it calculates the time history of the load.Simulation examples demonstrate how the number of measuring points and step size affect load identi-fication accuracy,verifying that this algorithm achieves good identification accuracy for loads under resonance conditions.Additionally,it explores how noise affects load position and recognition accuracy,while providing a solution.Simulation examples and experimental results demonstrate that the proposed method can identify both the time history and position of loads simultaneously with high identification accuracy.
基金supported by CNPC Southwest Oil and Gas Field Branch's 2023 Scientific Research Program Project(20230303-14).
文摘The precision of dynamic reserve calculations in gas reservoirs is crucial for the rational and efficient development of oil and gas fields and the formulation of gas well production plans.The Shaximiao gas reservoir in the ZT block of northwestern Sichuan is densely packed and highly heterogeneous,featuring complex gas-water distribution,substantial variations in test production among gas wells,and a rapid decline rate.To precisely determine the dynamic reserves of these tight water-bearing gas wells,this study focuses on the water-tight gas reservoirs in the ZT block of northwestern Sichuan,conducting core X-ray diffraction,constant-rate mercury injection,and reservoir rock stress sensitivity experiments.Utilizing the experimental findings,the porosity and permeability of the rock samples under effective stress conditions are adjusted via binary linear regression.These adjusted parameters are then incorporated into the water-sealed gas material balance method,thereby establishing a novel approach for calculating dynamic reserves in water-tight gas reservoirs under stress sensitivity conditions.The results show that:(1)the rock porosity ranges from 6.08%to 10.22%,permeability ranges from 0.035 mD to 0.547 mD,clay mineral content ranges from 6.58%to 19.14%,pore radius distribution ranges from 90μm to 180μm,throat radius distribution ranges from 0.61μm to 3.41μm,with significant differences in throat distribution,indicating poor reservoir fluid flow capacity and strong tightness;(2)after aging experiments,rock samples exhibit plastic deformation,with porosity and permeability unable to fully recover after pressure relief.The stress sensitivity curve of rock samples shows a two-stage characteristic,with moderate to strong stress sensitivity;(3)porosity stress sensitivity is mainly influenced by pore radius and mineral composition-larger pore radius and higher clay content lead to stronger stress sensitivity,with porosity loss rates ranging from 8.26%to 23.69%.Permeability stress sensitivity is mainly influenced by throat radius and mineral composition-smaller throat radius and higher clay content result in stronger stress sensitivity,with permeability loss rates ranging from 47.91%to 62.03%;(4)a comparative analysis between the traditional dynamic reserve calculation method for gas wells and the new method considering stress sensitivity shows a relative error between 0.90%and 2.41%,with the new method demonstrating better accuracy.This study combines physical experimental results with an effective stress model of reservoir rocks to develop a new method for calculating dynamic reserves of water-bearing tight gas reservoirs under effective stress conditions,providing experimental data and example calculation results to support subsequent dynamic evaluation of gas reservoirs and the establishment of rational well allocation plans.
文摘This work reviews models and methods for determining the dynamic response of pavements to moving vehicle loads in the framework of continuum-based three dimensional models and linear theories.This review emphasizes the most representative models and methods of analysis in the existing literature and illustrates all of them by numerical examples.Thus,13 such examples are presented here in some detail.Both flexible and rigid(concrete)pavement models involving simple and elaborate cases with respect to geometry and material behavior are considered.Thus,homogeneous or layered half-spaces with isotropic or cross-anisotropic and elastic,viscoelastic or poroelastic properties are considered.The vehicles are modeled as simple point or distributed loads or discrete spring-mass-dashpot system moving with constant or variable velocity.The dynamic response of the above pavement-vehicle systems is obtained by analytical/numerical or purely numerical methods of solution.Analytical/numerical methods have mainly to do with Fourier transforms or complex Fourier series with respect to both space and time.Purely numerical methods involve the finite element method(FEM)and the boundary element method(BEM)working in time or frequency domain.Critical discussions on the advantages and disadvantages of the various pavement-vehicle models and their methods of analysis are provided and the effects of the main parameters on the pavement response are determined through parametric studies and presented in the examples.Finally,conclusions are provided and suggestions for future research are made.
文摘This paper,the first-part of a two part series of surveys on Incremental Nonlinear Dynamic Inversion(INDI),provides an overview of the evolution and developments in INDI.Written in a tutorial style,it presents different basic INDI variants and their specifics,such as modelbased INDI,sensor-based INDI,and hybrid INDI.Furthermore,it sets these different approaches in context with each other.Later developments of INDI explicitly consider actuator dynamics.Those concepts are summarized and discussed in detail.Subsequently,studies that relate INDI to other control methods are summarized.Finally,an overview of various applications of INDI is given,covering different types of control loops and various types of vehicles and plants.This paper seeks to set these developments into context with each other.The purpose of this paper is twofold.INDI is already well-known in the domain of flight control but less so in other fields.Therefore,the paper is written in a comprehensive tutorial style to provide easy access to readers unfamiliar with the topic.On the other hand,the paper can serve as a reference for readers familiar with the topic.
基金supported by the National Natural Science Foundation of China(No.12332023)the Zhejiang Provincial Natural Science Foundation of China(No.LY23E050010).
文摘1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
文摘作战任务和平台资源的合理匹配是战役作战准备阶段的主要内容。考虑平台资源能力在作战过程中的损耗,在问题建模的过程中引入了资源能力的损耗系数,使得所建模型更加符合实际作战。提出了基于动态列表调度(dynamic list scheduling,DLS)和遗传算法(genetic algorithm,GA)的模型求解方法,使用DLS选择处理的任务,使用GA为选定任务分配平台资源,给出了该方法具体的设计思路和流程。最后结合联合作战的战役算例,验证了所提方法的优越性和适用性。
文摘Aim To present a simple and effective method for the design of nonlinear and time varying control system. Methods A new concept of dynamic equilibrium of a system and its stability were presented first. It was pointed out that what is controlled directly by the input of a control system is the system's dynamic equilibrium rather than the states. Based on it, a new feedback linearization method for nonlinear system based on the Lyapunov direct method was given. Simulation studies were also carried out. Results The example and simulation show that by use of the method, the controller design becomes very simple and the control effect is quite satisfying. Conclusion The new method unifies the stabilizing problem(regulating problem) with the tracking problem. It is a very simple and effective method for the design of nonlinear and time varying control system.
