In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
Accurately simulating mesoscale convective systems(MCSs)is essential for predicting global precipitation patterns and extreme weather events.Despite the ability of advanced models to reproduce MCS climate statistics,c...Accurately simulating mesoscale convective systems(MCSs)is essential for predicting global precipitation patterns and extreme weather events.Despite the ability of advanced models to reproduce MCS climate statistics,capturing extreme storm cases over complex terrain remains challenging.This study utilizes the Global–Regional Integrated Forecast System(GRIST)with variable resolution to simulate an eastward-propagating MCS event.The impact of three microphysics schemes,including two single-moment schemes(WSM6,Lin)and one double-moment scheme(Morrison),on the model sensitivity of MCS precipitation simulations is investigated.The results demonstrate that while all the schemes capture the spatial distribution and temporal variation of MCS precipitation,the Morrison scheme alleviates overestimated precipitation compared to the Lin and WSM6 schemes.The ascending motion gradually becomes weaker in the Morrison scheme during the MCS movement process.Compared to the runs with convection parameterization,the explicit-convection setup at 3.5-km resolution reduces disparities in atmospheric dynamics due to microphysics sensitivity in terms of vertical motions and horizontal kinetic energy at the high-wavenumber regimes.The explicit-convection setup more accurately captures the propagation of both main and secondary precipitation centers during the MCS development,diminishing the differences in both precipitation intensity and propagation features between the Morrison and two single-moment schemes.These findings underscore the importance of microphysics schemes for global nonhydrostatic modeling at the kilometer scale.The role of explicit convection for reducing model uncertainty is also outlined.展开更多
In precision machining of complex curved surface parts with high performance, geometry accuracy is not the only constraint, but the performance should also be met. Performance of this kind of parts is closely related ...In precision machining of complex curved surface parts with high performance, geometry accuracy is not the only constraint, but the performance should also be met. Performance of this kind of parts is closely related to the geometrical and physical parameters, so the final actual size and shape are affected by multiple source constraints, such as geometry, physics, and performance. These parts are rather difficult to be manufactured and new manufacturing method according to performance requirement is urgently needed. Based on performance and manufacturing requirements for complex curved surface parts, a new classification method is proposed, which divided the complex curved surface parts into two categories： surface re-design complex curved surface parts with multi-source constraints（PRCS） and surface unique complex curved surface parts with pure geometric constraints（PUCS）. A correlation model is constructed between the performance and multi-source constraints for PRCS, which reveals the correlation between the performance and multi-source constraints. A re-design method is also developed. Through solving the correlation model of the typical paws performance-associated surface, the mapping relation between the performance-associated surface and the related removal amount is obtained. The explicit correlation model and the method for the corresponding related removal amount of the performance-associated surface are built based on the classification of surface re-design complex curved surface parts with multi-source constraints. Research results have been used in the actual processing of the typical parts such as radome, common bottom components, nozzle, et al., which shows improved efficiency and accuracy of the precision machining for the surface re-design parts with complex curved surface.展开更多
The implicit Colebrook equation has been the standard for estimating pipe friction factor in a fully developed turbulent regime. Several alternative explicit models to the Colebrook equation have been proposed. To dat...The implicit Colebrook equation has been the standard for estimating pipe friction factor in a fully developed turbulent regime. Several alternative explicit models to the Colebrook equation have been proposed. To date, most of the accurate explicit models have been those with three logarithmic functions, but they require more computational time than the Colebrook equation. In this study, a new explicit non-linear regression model which has only two logarithmic functions is developed. The new model, when compared with the existing extremely accurate models, gives rise to the least average and maximum relative errors of 0.0025% and 0.0664%, respectively. Moreover, it requires far less computational time than the Colebrook equation. It is therefore concluded that the new explicit model provides a good trade-off between accuracy and relative computational efficiency for pipe friction factor estimation in the fully developed turbulent flow regime.展开更多
This paper briefly reviews the characteristics and major processes of the explicit finite element method in modeling the near-fault ground motion field. The emphasis is on the finite element-related problems in the fi...This paper briefly reviews the characteristics and major processes of the explicit finite element method in modeling the near-fault ground motion field. The emphasis is on the finite element-related problems in the finite fault source modeling. A modified kinematic source model is presented, in which vibration with some high frequency components is introduced into the traditional slip time function to ensure that the source and ground motion include sufficient high frequency components. The model presented is verified through a simple modeling example. It is shown that the predicted near-fault ground motion field exhibits similar characteristics to those observed in strong motion records, such as the hanging wall effect, vertical effect, fling step effect and velocity pulse effect, etc.展开更多
The elevated-temperature deformation behavior of Ti2AlNb superalloy was observed by isothermal compression experiments in a wide range of temperatures(950–1200°C)and strain rates(0.001–10 s^(-1)).The flow behav...The elevated-temperature deformation behavior of Ti2AlNb superalloy was observed by isothermal compression experiments in a wide range of temperatures(950–1200°C)and strain rates(0.001–10 s^(-1)).The flow behavior is nonlinear,strongly coupled,and multivariable.The constitutive models,namely the double multivariate nonlinear regression model,artificial neural network model,and modified artificial neural network model with an explicit expression,were applied to describe the Ti2AlNb superalloy plastic deformation behavior.The comparative predictability of those constitutive models was further evaluated by considering the correlation coefficient and average absolute relative error.The comparative results show that the modified artificial network model can describe the flow stress of Ti2AlNb superalloy more accurately than the other developed constitutive models.The explicit expression obtained from the modified artificial neural network model can be directly used for finite element simulation.The modified artificial neural network model solves the problems that the double multivariate nonlinear regression model cannot describe the nonlinear,strongly coupled,and multivariable flow behavior of Ti2AlNb superalloy accurately,and the artificial neural network model cannot be embedded into the finite element software directly.However,the modified artificial neural network model is mainly dependent on the quantity of high-quality experimental data and characteristic variables,and the modified artificial neural network model has not physical meanings.Besides,the processing maps were applied to obtain the optimum processing parameters.展开更多
An explicit algebraic stress model (EASM) has been formulated for two-dimensional turbulent buoyant flows using a five-term tensor representation in a prior study. The derivation was based on partitioning the buoyant ...An explicit algebraic stress model (EASM) has been formulated for two-dimensional turbulent buoyant flows using a five-term tensor representation in a prior study. The derivation was based on partitioning the buoyant flux tensor into a two-dimensional and a three-dimensional component. The five-term basis was formed with the two-dimensional component of the buoyant flux tensor. As such, the derived EASM is limited to two-dimensional flows only. In this paper, a more general approach using a seven-term representation without partitioning the buoyant flux tensor is used to derive an EASM valid for two- and three-dimensional turbulent buoyant flows. Consequently, the basis tensors are formed with the fully three-dimensional buoyant flux tensor. The derived EASM has the two-dimensional flow as a special case. The matrices and the representation coefficients are further simplified using a four-term representation. When this four-term representation model is applied to calculate two-dimensional homogeneous buoyant flows, the results are essentially identical with those obtained previously using the two-dimensional component of the buoyant flux tensor. Therefore, the present approach leads to a more general EASM formulation that is equally valid for two- and three-dimensional turbulent buoyant flows.展开更多
An economical explicit scheme of time integration is implemented in a regional model over Indian region to achieve computational economy. The model is also integrated by explicit Leap-Frog Scheme. The performance of e...An economical explicit scheme of time integration is implemented in a regional model over Indian region to achieve computational economy. The model is also integrated by explicit Leap-Frog Scheme. The performance of economical explicit scheme is evaluated by comparing the forecast results with those produced by leap-frog scheme. The results show that the economical explicit scheme produces more or less similar forecasts as compared to those produced with leap-frog scheme. However, application of the economical explicit scheme saves substantial amount of computer time. The scheme is found nearly four times economical as compared to explicit leap-frog scheme.展开更多
当参数失配时,永磁同步电机的显式模型预测(explicit model predictive,EMP)直接速度控制将出现明显的稳态静差。为此,现有方法通过配置扩张状态观测器(extended state observer,ESO)来实时观测和前馈补偿模型偏差,以实现无静差、高精...当参数失配时,永磁同步电机的显式模型预测(explicit model predictive,EMP)直接速度控制将出现明显的稳态静差。为此,现有方法通过配置扩张状态观测器(extended state observer,ESO)来实时观测和前馈补偿模型偏差,以实现无静差、高精度的转速跟随控制。但实验和理论分析表明,由于ESO的带宽有限,对于变化扰动的补偿能力较弱,参数失配时系统的动态性能恶化。为同时改善参数失配时系统的稳态控制精度和动态性能,并提高鲁棒性,该文将无模型控制与EMP控制进行融合,通过构造超局部预测模型和数据驱动观测器,提出新的EMP直接速度控制策略。实验结果表明:所提方法凭借数据驱动观测器的高观测带宽,可以同时在动态和稳态阶段实现参数失配的优良补偿,兼顾动态与稳态性能。展开更多
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
基金supported by the National Natural Science Foundation of China(Grant No.42305169)the Basic Research Fund of CAMS(Grant No.2023Y001)the National Key Scientific and Technological Infrastructure project“Earth System Numerical Simulation Facility”(Earth Lab)。
文摘Accurately simulating mesoscale convective systems(MCSs)is essential for predicting global precipitation patterns and extreme weather events.Despite the ability of advanced models to reproduce MCS climate statistics,capturing extreme storm cases over complex terrain remains challenging.This study utilizes the Global–Regional Integrated Forecast System(GRIST)with variable resolution to simulate an eastward-propagating MCS event.The impact of three microphysics schemes,including two single-moment schemes(WSM6,Lin)and one double-moment scheme(Morrison),on the model sensitivity of MCS precipitation simulations is investigated.The results demonstrate that while all the schemes capture the spatial distribution and temporal variation of MCS precipitation,the Morrison scheme alleviates overestimated precipitation compared to the Lin and WSM6 schemes.The ascending motion gradually becomes weaker in the Morrison scheme during the MCS movement process.Compared to the runs with convection parameterization,the explicit-convection setup at 3.5-km resolution reduces disparities in atmospheric dynamics due to microphysics sensitivity in terms of vertical motions and horizontal kinetic energy at the high-wavenumber regimes.The explicit-convection setup more accurately captures the propagation of both main and secondary precipitation centers during the MCS development,diminishing the differences in both precipitation intensity and propagation features between the Morrison and two single-moment schemes.These findings underscore the importance of microphysics schemes for global nonhydrostatic modeling at the kilometer scale.The role of explicit convection for reducing model uncertainty is also outlined.
基金supported by Key Program of National Natural Science Foundation of China(Grant No.50835001)Program for New Century Excellent Talents in University,China(Grant No.NCET-13-0081)
文摘In precision machining of complex curved surface parts with high performance, geometry accuracy is not the only constraint, but the performance should also be met. Performance of this kind of parts is closely related to the geometrical and physical parameters, so the final actual size and shape are affected by multiple source constraints, such as geometry, physics, and performance. These parts are rather difficult to be manufactured and new manufacturing method according to performance requirement is urgently needed. Based on performance and manufacturing requirements for complex curved surface parts, a new classification method is proposed, which divided the complex curved surface parts into two categories： surface re-design complex curved surface parts with multi-source constraints（PRCS） and surface unique complex curved surface parts with pure geometric constraints（PUCS）. A correlation model is constructed between the performance and multi-source constraints for PRCS, which reveals the correlation between the performance and multi-source constraints. A re-design method is also developed. Through solving the correlation model of the typical paws performance-associated surface, the mapping relation between the performance-associated surface and the related removal amount is obtained. The explicit correlation model and the method for the corresponding related removal amount of the performance-associated surface are built based on the classification of surface re-design complex curved surface parts with multi-source constraints. Research results have been used in the actual processing of the typical parts such as radome, common bottom components, nozzle, et al., which shows improved efficiency and accuracy of the precision machining for the surface re-design parts with complex curved surface.
文摘The implicit Colebrook equation has been the standard for estimating pipe friction factor in a fully developed turbulent regime. Several alternative explicit models to the Colebrook equation have been proposed. To date, most of the accurate explicit models have been those with three logarithmic functions, but they require more computational time than the Colebrook equation. In this study, a new explicit non-linear regression model which has only two logarithmic functions is developed. The new model, when compared with the existing extremely accurate models, gives rise to the least average and maximum relative errors of 0.0025% and 0.0664%, respectively. Moreover, it requires far less computational time than the Colebrook equation. It is therefore concluded that the new explicit model provides a good trade-off between accuracy and relative computational efficiency for pipe friction factor estimation in the fully developed turbulent flow regime.
基金supported by the Mathematics and Physics Foundation of Beijing Polytechnic University and the National Natural Science Foundation of China (Grant No 40536029)
文摘Explicit solutions are derived for some nonlinear physical model equations by using a delicate way of two-step ansatz method.
文摘This paper briefly reviews the characteristics and major processes of the explicit finite element method in modeling the near-fault ground motion field. The emphasis is on the finite element-related problems in the finite fault source modeling. A modified kinematic source model is presented, in which vibration with some high frequency components is introduced into the traditional slip time function to ensure that the source and ground motion include sufficient high frequency components. The model presented is verified through a simple modeling example. It is shown that the predicted near-fault ground motion field exhibits similar characteristics to those observed in strong motion records, such as the hanging wall effect, vertical effect, fling step effect and velocity pulse effect, etc.
基金China National Science and Technology Major Project(Grant No.2017-VI-0004-0075).
文摘The elevated-temperature deformation behavior of Ti2AlNb superalloy was observed by isothermal compression experiments in a wide range of temperatures(950–1200°C)and strain rates(0.001–10 s^(-1)).The flow behavior is nonlinear,strongly coupled,and multivariable.The constitutive models,namely the double multivariate nonlinear regression model,artificial neural network model,and modified artificial neural network model with an explicit expression,were applied to describe the Ti2AlNb superalloy plastic deformation behavior.The comparative predictability of those constitutive models was further evaluated by considering the correlation coefficient and average absolute relative error.The comparative results show that the modified artificial network model can describe the flow stress of Ti2AlNb superalloy more accurately than the other developed constitutive models.The explicit expression obtained from the modified artificial neural network model can be directly used for finite element simulation.The modified artificial neural network model solves the problems that the double multivariate nonlinear regression model cannot describe the nonlinear,strongly coupled,and multivariable flow behavior of Ti2AlNb superalloy accurately,and the artificial neural network model cannot be embedded into the finite element software directly.However,the modified artificial neural network model is mainly dependent on the quantity of high-quality experimental data and characteristic variables,and the modified artificial neural network model has not physical meanings.Besides,the processing maps were applied to obtain the optimum processing parameters.
文摘An explicit algebraic stress model (EASM) has been formulated for two-dimensional turbulent buoyant flows using a five-term tensor representation in a prior study. The derivation was based on partitioning the buoyant flux tensor into a two-dimensional and a three-dimensional component. The five-term basis was formed with the two-dimensional component of the buoyant flux tensor. As such, the derived EASM is limited to two-dimensional flows only. In this paper, a more general approach using a seven-term representation without partitioning the buoyant flux tensor is used to derive an EASM valid for two- and three-dimensional turbulent buoyant flows. Consequently, the basis tensors are formed with the fully three-dimensional buoyant flux tensor. The derived EASM has the two-dimensional flow as a special case. The matrices and the representation coefficients are further simplified using a four-term representation. When this four-term representation model is applied to calculate two-dimensional homogeneous buoyant flows, the results are essentially identical with those obtained previously using the two-dimensional component of the buoyant flux tensor. Therefore, the present approach leads to a more general EASM formulation that is equally valid for two- and three-dimensional turbulent buoyant flows.
文摘An economical explicit scheme of time integration is implemented in a regional model over Indian region to achieve computational economy. The model is also integrated by explicit Leap-Frog Scheme. The performance of economical explicit scheme is evaluated by comparing the forecast results with those produced by leap-frog scheme. The results show that the economical explicit scheme produces more or less similar forecasts as compared to those produced with leap-frog scheme. However, application of the economical explicit scheme saves substantial amount of computer time. The scheme is found nearly four times economical as compared to explicit leap-frog scheme.
文摘模型预测控制(Model predictive control,MPC)具有很多优点,但用于智能汽车横摆稳定性控制时,由于其动力学模型的多约束和非线性问题,致使MPC优化算法复杂,难以实现足够短的控制周期和步长。为此,提出一种智能汽车横摆稳定性MPC的在线显式求解方法,使用泰勒展开将非线性模型预测控制(Nonlinear model predictive control,NMPC)转换为线性时变模型预测控制(Linear time-varying model predictive control,LTV-MPC)。再使用滚动调整的权重系数,将不等式约束优化转换为能直接显式求解的无约束优化,以避免多步迭代寻优、加快MPC求解速度。仿真试验结果表明,在保证相同控制效果前提下,所提出的显式解方法能使MPC的求解速度提高3~4倍,可显著提高智能汽车横摆稳定性MPC的实时性。
文摘当参数失配时,永磁同步电机的显式模型预测(explicit model predictive,EMP)直接速度控制将出现明显的稳态静差。为此,现有方法通过配置扩张状态观测器(extended state observer,ESO)来实时观测和前馈补偿模型偏差,以实现无静差、高精度的转速跟随控制。但实验和理论分析表明,由于ESO的带宽有限,对于变化扰动的补偿能力较弱,参数失配时系统的动态性能恶化。为同时改善参数失配时系统的稳态控制精度和动态性能,并提高鲁棒性,该文将无模型控制与EMP控制进行融合,通过构造超局部预测模型和数据驱动观测器,提出新的EMP直接速度控制策略。实验结果表明:所提方法凭借数据驱动观测器的高观测带宽,可以同时在动态和稳态阶段实现参数失配的优良补偿,兼顾动态与稳态性能。
