This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the fe...This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.展开更多
【目的】正时带传动系统动力学特性作为衡量发动机噪声、振动和粗糙度(Noise, Vibration and Harshness, NVH)性能的重要指标,对研究发动机正时系统动态特性具有重要意义。【方法】以7轮系统发动机正时带传动系统为研究对象,在曲轴带轮...【目的】正时带传动系统动力学特性作为衡量发动机噪声、振动和粗糙度(Noise, Vibration and Harshness, NVH)性能的重要指标,对研究发动机正时系统动态特性具有重要意义。【方法】以7轮系统发动机正时带传动系统为研究对象,在曲轴带轮中应用椭圆带轮技术,建立了不同偏心量下正时带传动系统的多体动力学模型;探究了不同曲轴转速下带齿应力、横向振动、凸轮轴角速度、转矩以及啮合干涉波动对正时带传动系统动力学性能的影响规律。【结果】结果表明,在一定的范围内,偏心量1 mm的非圆正时带传动系统带齿应力分布均匀、振动幅度小、传动误差低、干涉量少、系统运行平稳、动力学性能优异。所得结果为研究不同转速下非圆正时带传动系统动力学性能奠定了基础。展开更多
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312 and 61803348in part by the National Major Scientific Instruments Development Project under Grant No.61927807+3 种基金in part by the Program for the Innovative Talents of Higher Education Institutions of ShanxiShanxi Province Science Foundation for Excellent Youthsin part by the Shanxi"1331 Project"Key Subjects Construction(1331KSC)in part by Graduate Innovation Project of Shanxi Province under Grant No.2021Y617。
文摘This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.
