Hard carbon(HC)is widely used in sodium-ion batteries(SIBs),but its performance has always been limited by lowinitial Coulombic efficiency(ICE)and cycling stability.Cathode compensation agent is a favorable strategy t...Hard carbon(HC)is widely used in sodium-ion batteries(SIBs),but its performance has always been limited by lowinitial Coulombic efficiency(ICE)and cycling stability.Cathode compensation agent is a favorable strategy to make up for the loss of active sodium ions consumed byHCanode.Yet it lacks agent that effectively decomposes to increase the active sodium ions as well as regulate carbon defects for decreasing the irreversible sodium ions consumption.Here,we propose 1,2-dihydroxybenzene Na salt(NaDB)as a cathode compensation agent with high specific capacity(347.9 mAh g^(-1)),lower desodiation potential(2.4–2.8 V)and high utilization(99%).Meanwhile,its byproduct could functionalize HC with more C=O groups and promote its reversible capacity.Consequently,the presodiation hard carbon(pHC)anode exhibits highly reversible capacity of 204.7 mAh g^(-1) with 98%retention at 5 C rate over 1000 cycles.Moreover,with 5 wt%NaDB initially coated on the Na3V2(PO4)3(NVP)cathode,the capacity retention of NVP + NaDB|HC cell could increase from 22%to 89%after 1000 cycles at 1 C rate.This work provides a new avenue to improve reversible capacity and cycling performance of SIBs through designing functional cathode compensation agent.展开更多
The Hydro-Viscous Drive(HVD)speed regulating system finds extensive application in air transport transmission systems to regulate the stepless speed or conduct overload protection.However,its intrinsic hysteretic beha...The Hydro-Viscous Drive(HVD)speed regulating system finds extensive application in air transport transmission systems to regulate the stepless speed or conduct overload protection.However,its intrinsic hysteretic behaviors,such as the asymmetric hysteretic and dead zone,could introduce inaccuracy and delay in control applications,posing challenges to system regulation.This paper investigates a Nonlinear Hysteresis Compensation Control(NHCC)that consists of two parts to control the HVD output speed by operating the valve under different engine operating conditions.In the first part,the Inverse Hysteresis Compensator(IHC)based on major loop data is introduced for the asymmetric hysteresis characterization and compensation of the HVD speed control system of the power generation and distribution,which aims to reduce the hysteresis and dead zone effect and expand the effective input range.In the second part,the Active Disturbance Rejection Controller(ADRC)is employed to mitigate the hysteresis effects of the compensated system and remove the steady-state error,which allows real-time compensation of the estimated perturbations as state feedback to achieve the required performance.An experimental laboratory station has been fabricated to evaluate the proposed method.The test results show that the NHCC method can regulate the fan speed to the desired value(45 r/min at steady state)and broaden the effective input range to the full range under different engine conditions.Besides,the proposed control method can reduce the non-linearity of the input and output curves(from 18%to 4%)and compensate for the asymmetric hysteresis(from 38%to 5%).展开更多
To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)...To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.展开更多
In this paper,we investigate the method of compensating LTS SQUID Gradiometer Systems data.By matching the attitude changes of the pod in fl ight to the anomalies of the magnetic measurement data,we find that the yaw ...In this paper,we investigate the method of compensating LTS SQUID Gradiometer Systems data.By matching the attitude changes of the pod in fl ight to the anomalies of the magnetic measurement data,we find that the yaw attitude changes most dramatically and corresponds best to the magnetic data anomaly interval.Based on this finding,we solved the compensation model using least squares fitting and Huber's parametric fitting.By comparison,we found that the Huber parametric fit not only eliminates the interference introduced by attitude changes but also retains richer anomaly source information and therefore obtains a higher signal-to-noise ratio.The experimental results show that the quality of the magnetometry data obtained by using the compensation method proposed in this paper has been significantly improved,and the mean value of its improvement ratio can reach 118.93.展开更多
Absorption compensation is a process involving the exponential amplification of reflection amplitudes.This process amplifies the seismic signal and noise,thereby substantially reducing the signal-tonoise ratio of seis...Absorption compensation is a process involving the exponential amplification of reflection amplitudes.This process amplifies the seismic signal and noise,thereby substantially reducing the signal-tonoise ratio of seismic data.Therefore,this paper proposes a multichannel inversion absorption compensation method based on structure tensor regularization.First,the structure tensor is utilized to extract the spatial inclination of seismic signals,and the spatial prediction filter is designed along the inclination direction.The spatial prediction filter is then introduced into the regularization condition of multichannel inversion absorption compensation,and the absorption compensation is realized under the framework of multichannel inversion theory.The spatial predictability of seismic signals is also introduced into the objective function of absorption compensation inversion.Thus,the inversion system can effectively suppress the noise amplification effect during absorption compensation and improve the recovery accuracy of high-frequency signals.Synthetic and field data tests are conducted to demonstrate the accuracy and effectiveness of the proposed method.展开更多
Chemical oxygen demand(COD)is an important criterion for detecting the emission of pollutants and judging the quality of water.This paper improves the absorption spectrum compensation model for COD and turbidity mixed...Chemical oxygen demand(COD)is an important criterion for detecting the emission of pollutants and judging the quality of water.This paper improves the absorption spectrum compensation model for COD and turbidity mixed solution in the dual-wavelength spectral method based on the Lambert-Beer law additive principle.It compensates for the influence of turbidity on the absorption coefficient of the COD solution at 355 nm by the absorption spectrum coefficient of the mixed solution at 623 nm.This paper establishes a linear relationship model between the absorbance difference of the mixed solution at 355 nm and 623 nm and COD.The experimental determination coefficient R2 of the model is 0.98335,with a relative error of 3.5%and an average error of 0.7 mg/L.The design of the model is simple and easy to systematize,which is of strong significance for practical application.展开更多
A rotary sealing device that automatically compensates for wear is designed to address the issues of easy wear and the short service life of the rotary sealing device with automatic wear compensation in mining machine...A rotary sealing device that automatically compensates for wear is designed to address the issues of easy wear and the short service life of the rotary sealing device with automatic wear compensation in mining machinery.After the end face of the guide sleeve wears out,it still tightly adheres to the sealing valve seat under the pressure difference,achieving automatic wear compensation.Based on fluid-solid coupling technology,the structural strength of the rotary sealing device was checked.The influence of factors on the sealing performance of rotary sealing devices was studied using the control variable method.The results show that as the pressure of water increases,the leakage rate of the sealing device decreases,and after 30 MPa,the leakage rate is almost 0 mL/h.The temperature of the rotating sealing device increases with the increase of rotation speed or pressure,and the temperature is more affected by the rotation speed factor.The frictional torque increases with increasing pressure and is independent of rotational speed.Comprehensive analysis shows that the wear resistance and reliability level of the sealing guide sleeve material is PVDF>PEEK>PE>PA.This study designs a high-pressure automatic compensation wear rotary sealing device and selects the optimal sealing material,providing technical support for the application of high-pressure water jet in mining machinery.展开更多
Null compensation interferometry is the primary testing method for the manufacture of ultra-high-precision aspheric mirrors.The crosstalk fringes generated by stray light in interferometry can affect accuracy and pote...Null compensation interferometry is the primary testing method for the manufacture of ultra-high-precision aspheric mirrors.The crosstalk fringes generated by stray light in interferometry can affect accuracy and potentially prevent the testing from proceeding normally.Position errors include the decenter error,tilt error,and distance error.During the testing process,position errors will impact the testing accuracy and the crosstalk fringes generated by stray light.To determine the specific impact of position errors,we use the concept of Hindle shell testing of a convex aspheric mirror,and propose the simulation method of crosstalk fringes in null compensation interferometry.We also propose evaluation indices of crosstalk fringes in interferometry and simulate the influence of position errors on the crosstalk fringes.This work aims to help improve the design of compensation interferometry schemes,enhance the feasibility of the design,reduce engineering risks,and improve efficiency.展开更多
Planar positioning systems are widely utilized in micro and nano applications.The challenges in modeling and control of XYΘflexure-based mechanisms include hysteresis of the piezoelectric actuators,couplings among th...Planar positioning systems are widely utilized in micro and nano applications.The challenges in modeling and control of XYΘflexure-based mechanisms include hysteresis of the piezoelectric actuators,couplings among the input axes,and coupled linear and angular motions of the end effector.This paper presents an inverse hysteresis-coupling hybrid model to account for such hysteresis and couplings.First,a specially designed kinematic chain is adopted to transfer the pose of the end effector into the linear motions at three prismatic joints.Second,an inverse hysteresis-coupling hybrid model is developed to linearize and decouple the system via a multilayer feedforward neural network.A fractional-order PID controller is also integrated to improve the motion accuracy of the overall system.Experimental results demonstrate that the proposed method can accurately control the motion of the end effector with improved accuracy and robustness.展开更多
This study aimed to identify and compensate for the geometric errors of the double swiveling axes in a five-axis computer numerical control(CNC)machining center.Hence,a three-dimensional coordinate calculation algorit...This study aimed to identify and compensate for the geometric errors of the double swiveling axes in a five-axis computer numerical control(CNC)machining center.Hence,a three-dimensional coordinate calculation algorithm for a measured point with additional rotational rigid body motion constraints is proposed.The motion constraints of the rotational rigid body were analyzed,and a mathematical model of the measured point algorithm in the swiveling axes was established.The Levenberg-Marquard method was used to solve the nonlinear superstatically determined equations.The spatial coordinate error was used to separate the spatial deviation of the measured point.An identification model of the position-independent and position-dependent geometric errors was established.The three-dimensional coordinate-solving algorithm of the measured point in the swiveling axis and geometric error identification method based on the Monte Carlo method were analyzed numerically.Geometric error measurement and cutting experiments were performed on a VMC25100U five-axis machining center,which integrated two swiveling axes.Geometric errors of the A-and B-axes were identified and measured experimentally.The angular positioning errors before and after compensation were measured using a laser interferometer,which verified the effectiveness of the proposed algorithm.A cutting experiment of a round table part was performed.The shape and position accuracy of the processed part before and after compensation were detected using a coordinate measuring machine.It verified that the geometric error of the swiveling axis was effectively compensated by the algorithm proposed herein.展开更多
Aiming at the challenge of complex load balancing coordination for a three-phase four-leg(3P4L)based multi-ended low voltage flexible DC distribution system(M-LVDC)considering unbalanced power compensation,this paper ...Aiming at the challenge of complex load balancing coordination for a three-phase four-leg(3P4L)based multi-ended low voltage flexible DC distribution system(M-LVDC)considering unbalanced power compensation,this paper proposes a phase-split power decoupling unbalanced compensation strategy based load balancing strategy for 3P4L based M-LVDC.Firstly,the topology and operation principle of the 3P4L-based M-LVDC system is introduced,and quasi-proportional resonant(QPR)based phase-split power current control for the 3P4L converter is proposed.Secondly,a load-balancing control strategy considering unbalanced compensation for 3P4L-based MLVDC is presented,in which the control diagrams for each 3P4L-based converter are detailed.The core idea of the proposed strategy is to comprehensively consider the imbalance compensation and load rate balancing between the two areas to calculate the split-phase power and current reference values of each 3P4L converter and achieve the static error-free tracking of the reference values through the QPR current inner-loop control.These reference values are then tracked with zero steady-state error using QPR current inner-loop control.Finally,the effectiveness of the proposed control strategy is verified through a 3P4L M-LVDC case study conducted on the PSCAD/EMTDC software.Theresults indicate that the proposed method not only can reduce the three-phase imbalance degrees from>20% to<0.5%,but also achieve excellent balanced load rates,with the load-rate difference smaller than 1.5%.展开更多
Aeromagnetic compensation is one of the key issues in high-precision geomagnetic fl ight carrier navigation, directly determining the accuracy and reliability of real-time magnetic measurement data. The accurate model...Aeromagnetic compensation is one of the key issues in high-precision geomagnetic fl ight carrier navigation, directly determining the accuracy and reliability of real-time magnetic measurement data. The accurate modeling and compensation of interference magnetic measurements on carriers are of great signifi cance for the construction of reference and real-time maps for geomagnetic navigation. Current research on aeromagnetic compensation algorithms mainly focuses on accurately modeling interference magnetic fields from model- and data-driven perspectives based on measured aeromagnetic data. Challenges in obtaining aeromagnetic data and low information complexity adversely aff ect the generalization performance of a constructed model. To address these issues, a recursive least square algorithm based on elastic weight consolidation is proposed, which eff ectively suppresses the occurrence of catastrophic forgetting by controlling the direction of parameter updates. Experimental verifi cation with publicly available aeromagnetic datasets shows that the proposed algorithm can eff ectively circumvent historical information loss caused by interference magnetic field models during parameter updates and improve the stability, robustness, and accuracy of interference magnetic fi eld models.展开更多
A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the...A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.展开更多
This study introduces a real-time data-driven battery management scheme designed to address uncertainties in load and generation forecasts,which are integral to an optimal energy storage control system.By expanding on...This study introduces a real-time data-driven battery management scheme designed to address uncertainties in load and generation forecasts,which are integral to an optimal energy storage control system.By expanding on an existing algorithm,this study resolves issues discovered during implementation and addresses previously overlooked concerns,resulting in significant enhancements in both performance and reliability.The refined real-time control scheme is integrated with a day-ahead optimization engine and forecast model,which is utilized for illustrative simulations to highlight its potential efficacy on a real site.Furthermore,a comprehensive comparison with the original formulation was conducted to cover all possible scenarios.This analysis validated the operational effectiveness of the scheme and provided a detailed evaluation of the improvements and expected behavior of the control system.Incorrect or improper adjustments to mitigate forecast uncertainties can result in suboptimal energy management,significant financial losses and penalties,and potential contract violations.The revised algorithm optimizes the operation of the battery system in real time and safeguards its state of health by limiting the charging/discharging cycles and enforcing adherence to contractual agreements.These advancements yield a reliable and efficient real-time correction algorithm for optimal site management,designed as an independent white box that can be integrated with any day-ahead optimization control system.展开更多
The prediction and compensation control of marine ship motion is crucial for ensuring the safety of offshore wind turbine loading and unloading operations.However,the accuracy of prediction and control is significantl...The prediction and compensation control of marine ship motion is crucial for ensuring the safety of offshore wind turbine loading and unloading operations.However,the accuracy of prediction and control is significantly affected by the hysteresis phenomenon in the wave compensation system.To address this issue,a ship heave motion prediction is proposed in this paper on the basis of the Gauss-DeepAR(AR stands for autoregressive recurrent)model and the Hilbert−Huang time-delay compensation control strategy.Initially,the zero upward traveling wave period of the level 4−6 sea state ship heave motion is analyzed,which serves as the input sliding window for the Gauss-DeepAR prediction model,and probability predictions at different wave direction angles are conducted.Next,considering the hysteresis characteristics of the ship heave motion compensation platform,the Hilbert−Huang transform is employed to analyze and calculate the hysteresis delay of the compensation platform.After the optimal control action value is subsequently calculated,simulations and hardware platform tests are conducted.The simulation results demonstrated that the Gauss-DeepAR model outperforms autoregressive integrated moving average model(ARIMA),support vector machine(SVM),and longshort-term memory(LSTM)in predicting non-independent identically distributed datasets at a 90°wave direction angle in the level 4−6 sea states.Furthermore,the model has good predictive performance and generalizability for non-independent and non-uniformly distributed datasets at a 180°wave direction angle.The hardware platform compensation test results revealed that the Hilbert–Huang method has an outstanding effect on determining the hysteretic delay and selecting the optimal control action value,and the compensation efficiency was higher than 90%in the level 4−6 sea states.展开更多
The 110-mining method,a rising and revolutionary non-pillar longwall mining method,can obviously expand coal extraction ratio and minimize roadway incidents.However,in case of composite hard roof,problems such as diff...The 110-mining method,a rising and revolutionary non-pillar longwall mining method,can obviously expand coal extraction ratio and minimize roadway incidents.However,in case of composite hard roof,problems such as difficulty in commanding the entry steadiness and insufficient fragmentation and bulking of the goaf gangue are prevalent.In this study,a 110-mining method for roadway surrounding rock stability control technology based on a compensation mechanism was proposed.First,the composite hard roof cutting short cantilever beam(SCB)model was built and the compensation mechanism including stress and space dual compensation was studied.Subsequently,the controllable elements influencing the roadway steadiness were confirmed to consequently put forward a control technology based on stress compensation for entry support and space compensation for the fragmentation and bulking of goaf gangue.The control technology was finally verified through onsite engineering experiments in terms of composite hard roof.The adoption of the 110-mining method with compensation control technology indicated good support effect on the roadway.The initial and residual expansion coefficients of the goaf gangue increased by 0.6 and 0.6,respectively,and the maximum and average working resistances of the working face support decreased by 10.9%and 13.8%,respectively.Consequently,the deformations of reserved entry decreased,and entry steadiness was enhanced.The presented technique and effects got probably have practical values for non-pillar mining functions in comparable field.展开更多
The construction of ecological public welfare forests is an important ccomponent and foundation of building a beautiful China and plays an important role in the construction of ecological civilization.As an important ...The construction of ecological public welfare forests is an important ccomponent and foundation of building a beautiful China and plays an important role in the construction of ecological civilization.As an important barrier to maintaining ecological balance and ensuring ecological security,ecological public welfare forests play an extremely important role in human survival and development.The construction and management of ecological public welfare forests can bring many ecological benefits to the local area;Yulong County has effectively improved the ecological environment after years of ecological public welfare forest construction.Therefore,promoting the healthy development of ecological public welfare forests is of great significance.Based on the data from the field questionnaire survey in Yulong County,this paper employs a binary regression model to analyze the influencing factors of willingness to pay for ecological compensation.It identifies the existing problems in the ecological compensation of public welfare forests in Yulong County and puts forward corresponding recommendations.These include improving the compensation policies for public welfare forests,strengthening system construction,adjusting the rural industrial structure,and increasing the income levels of farmers.The aim is to provide a reference for improving the management level and scientific management of ecological public welfare forests in Lijiang City and to achieve the management goal of continuously and stably exerting various ecological and social benefits of ecological public welfare forests.展开更多
The Duel-Probe-Heat-Pulse(DPHP)ice content sensor can measure the ice content of the soil,but its measurement process is not clear for the disturbance of frozen soil.In this study,the ice content measurement test was ...The Duel-Probe-Heat-Pulse(DPHP)ice content sensor can measure the ice content of the soil,but its measurement process is not clear for the disturbance of frozen soil.In this study,the ice content measurement test was carried out for silty clay specimens.Firstly,the influence of heating power was clarified.The variation trends of the temperature rise relaxation area in the respective conditions of the three representative volumetric water content specimens and the degree of compaction of the specimen preparation was compared.Then,the influence of five kinds of heating interval time on the measurement accuracy was explored.Finally,the compensation and analysis method of the temperature relaxation area,based on the temperature of the measuring point and the phase change of ice water,is proposed.The experimental results show that:(1)There is a hysteresis in the temperature rise curve of the probe of the DPHP ice content sensor.In the measurement process,a long enough integral in-terval should be selected to calculate the temperature relaxation area.(2)For the specimens with the same initial water content,the measured temperature relaxation area increases with the increase of compaction degree,and this trend weakens in the specimens with the increase of water content.(3)The DPHP ice content sensor causes irreversible disturbance to the soil during the measurement process.The temperature relaxation area,obtained by continuous measurement at a short heating interval,is small,and manifests a decreasing trend with the increase of measurement times.(4)It is recommended that the heating interval time should be more than 120 min,and the temperature relaxation area should be compensated when the continuous measurement of short heating interval time is carried out,to offset the influence of the temperature rise of the measuring point.The research results reveals the influence of multiple factors on the measurement of DPHP ice content sensors,which can provide a basis for the accuracy of soil ice content measurement.展开更多
The horizontal ecological compensation plays an important role in balancing the interests of all parties and coordinating regional development in the basin.However,the mechanism of ecological compensation based on emb...The horizontal ecological compensation plays an important role in balancing the interests of all parties and coordinating regional development in the basin.However,the mechanism of ecological compensation based on embodied carbon emissions is still poorly understood.Here,taking the Yellow River Basin as the research area,we use the multi-regional input-output(MRIO)model to measure the embodied carbon transfers between its seven urban agglomerations in 2012 and 2017 from the viewpoint of value-added trade benefits.Further,for the first time,the green trade benefits and ecological compensation amounts are analyzed.The results indicate that:(1)The transfer of trade-embodied carbon among the urban agglomerations in the basin showed obvious spatial heterogeneity and geographic proximity effects,and trade-embodied carbon outflows(inflows)had a pattern of"highest in the midstream,second in the downstream,and lowest in the upstream".(2)The industry composition of the urban agglomerations in relation to embodied carbon outflows(inflows)was similar,mainly in the service and heavy manufacturing industries.(3)The spatial pattern of green trade benefits in the basin had shifted from"high in the north and low in the surrounding area"to"high in the east-central part and low in the west".(4)The pattern of ecological compensation in the basin had shifted from the upstream surplus,the middle and downstream deficit to the midstream deficit,and the upstream and downstream surplus.Therefore,we recommend improving energy structures in high-demand urban agglomerations by adopting clean energy,focusing on decarbonization and energy efficiency in resource-rich regions.Additionally,promoting low-carbon economies,especially in the service and heavy manufacturing industries,implementing differentiated emission reduction strategies,and optimizing carbon compensation mechanisms considering regional disparities and resource endowments are crucial.It is expected that the study can enrich the scientific basis of horizontal ecological compensation and increase the fairness of regional carbon emission rights allocation.展开更多
The process of ground vehicle dynamic gravimetry is inevitably affected by the carrier’s maneuvering acceleration,which makes the result contain a large amount of dynamic error.In this paper,we propose a dynamic erro...The process of ground vehicle dynamic gravimetry is inevitably affected by the carrier’s maneuvering acceleration,which makes the result contain a large amount of dynamic error.In this paper,we propose a dynamic error suppression method of gravimetry based on the high-precision acquisition of external velocity for compensating the horizontal error of the inertial plat-form.On the basis of platform gravity measurement,firstly,the dynamic performance of the system is enhanced by optimizing the horizontal damping network of the inertial platform and selecting its parameter.Secondly,an improved federal Kalman filtering algorithm and a fault diagnosis method are designed using strapdown inertial navigation system(SINS),odometer(OD),and laser Doppler velocimeter(LDV).Simulation validates that these methods can improve the accuracy and robustness of the external velocity acquisition.Three survey lines are selected in Tianjin,China,for the gravimetry experiments with different maneuvering levels,and the results demonstrate that after dynamic error suppression,the internal coincidence accuracies of smooth and uniform operation,obvious acceleration and deceleration operation,and high-dynamic operation are improved by 70.2%,73.6%,and 77.9%to reach 0.81 mGal,1.30 mGal,and 1.94 mGal,respectively,and the external coinci-dence accuracies during smooth and uniform operation are improved by 48.6%up to 1.66 mGal.It is shown that the pro-posed method can effectively suppress the dynamic error,and that the accuracy improvement increases with carrier maneuver-ability.However,the amount of residual error that can not be entirely eliminated increases as well,so the ground vehicle dynamic gravimetry should be maintained in the carrier for smooth and uniform operation.展开更多
基金supported by National Natural Science Foundation of China(No.22278308 and 22109114)Open Foundation of Shanghai Jiao Tong University Shaoxing Research Institute of Renewable Energy and Molecular Engineering(Grant number:JDSX2022023).
文摘Hard carbon(HC)is widely used in sodium-ion batteries(SIBs),but its performance has always been limited by lowinitial Coulombic efficiency(ICE)and cycling stability.Cathode compensation agent is a favorable strategy to make up for the loss of active sodium ions consumed byHCanode.Yet it lacks agent that effectively decomposes to increase the active sodium ions as well as regulate carbon defects for decreasing the irreversible sodium ions consumption.Here,we propose 1,2-dihydroxybenzene Na salt(NaDB)as a cathode compensation agent with high specific capacity(347.9 mAh g^(-1)),lower desodiation potential(2.4–2.8 V)and high utilization(99%).Meanwhile,its byproduct could functionalize HC with more C=O groups and promote its reversible capacity.Consequently,the presodiation hard carbon(pHC)anode exhibits highly reversible capacity of 204.7 mAh g^(-1) with 98%retention at 5 C rate over 1000 cycles.Moreover,with 5 wt%NaDB initially coated on the Na3V2(PO4)3(NVP)cathode,the capacity retention of NVP + NaDB|HC cell could increase from 22%to 89%after 1000 cycles at 1 C rate.This work provides a new avenue to improve reversible capacity and cycling performance of SIBs through designing functional cathode compensation agent.
文摘The Hydro-Viscous Drive(HVD)speed regulating system finds extensive application in air transport transmission systems to regulate the stepless speed or conduct overload protection.However,its intrinsic hysteretic behaviors,such as the asymmetric hysteretic and dead zone,could introduce inaccuracy and delay in control applications,posing challenges to system regulation.This paper investigates a Nonlinear Hysteresis Compensation Control(NHCC)that consists of two parts to control the HVD output speed by operating the valve under different engine operating conditions.In the first part,the Inverse Hysteresis Compensator(IHC)based on major loop data is introduced for the asymmetric hysteresis characterization and compensation of the HVD speed control system of the power generation and distribution,which aims to reduce the hysteresis and dead zone effect and expand the effective input range.In the second part,the Active Disturbance Rejection Controller(ADRC)is employed to mitigate the hysteresis effects of the compensated system and remove the steady-state error,which allows real-time compensation of the estimated perturbations as state feedback to achieve the required performance.An experimental laboratory station has been fabricated to evaluate the proposed method.The test results show that the NHCC method can regulate the fan speed to the desired value(45 r/min at steady state)and broaden the effective input range to the full range under different engine conditions.Besides,the proposed control method can reduce the non-linearity of the input and output curves(from 18%to 4%)and compensate for the asymmetric hysteresis(from 38%to 5%).
基金supported by the National Natural Science Foundation of China(Nos.62063009,52262050)the National Key Research and Development Program during the 14th 5-Year Plan(No.2023YFB4302100)the Major Science and Technology Research and Development Special Project in Jiangxi Province(No.20232ACE01011).
文摘To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.
基金Earth Observation and Navigation Special,Research on Low Temperature Superconducting Aeromagnetic Vector Gradient Observation Technology(2021YFB3900201)projectState Key Laboratory of Remote Sensing Science project.
文摘In this paper,we investigate the method of compensating LTS SQUID Gradiometer Systems data.By matching the attitude changes of the pod in fl ight to the anomalies of the magnetic measurement data,we find that the yaw attitude changes most dramatically and corresponds best to the magnetic data anomaly interval.Based on this finding,we solved the compensation model using least squares fitting and Huber's parametric fitting.By comparison,we found that the Huber parametric fit not only eliminates the interference introduced by attitude changes but also retains richer anomaly source information and therefore obtains a higher signal-to-noise ratio.The experimental results show that the quality of the magnetometry data obtained by using the compensation method proposed in this paper has been significantly improved,and the mean value of its improvement ratio can reach 118.93.
基金funded by the National Key R&D Program of China(Grant no.2018YFA0702504)the Sinopec research project(P22162).
文摘Absorption compensation is a process involving the exponential amplification of reflection amplitudes.This process amplifies the seismic signal and noise,thereby substantially reducing the signal-tonoise ratio of seismic data.Therefore,this paper proposes a multichannel inversion absorption compensation method based on structure tensor regularization.First,the structure tensor is utilized to extract the spatial inclination of seismic signals,and the spatial prediction filter is designed along the inclination direction.The spatial prediction filter is then introduced into the regularization condition of multichannel inversion absorption compensation,and the absorption compensation is realized under the framework of multichannel inversion theory.The spatial predictability of seismic signals is also introduced into the objective function of absorption compensation inversion.Thus,the inversion system can effectively suppress the noise amplification effect during absorption compensation and improve the recovery accuracy of high-frequency signals.Synthetic and field data tests are conducted to demonstrate the accuracy and effectiveness of the proposed method.
基金supported by the Youth Project of National Natural Science Foundation of China(No.61505145)the Tianjin Science and Technology Commissioner Project(No.20YDTPJC02010)+1 种基金the Tianjin Municipal Education Commission(No.2021KJ003)the Tianjin Zhonghuan Tianjia Electronics Company(No.HX20193)。
文摘Chemical oxygen demand(COD)is an important criterion for detecting the emission of pollutants and judging the quality of water.This paper improves the absorption spectrum compensation model for COD and turbidity mixed solution in the dual-wavelength spectral method based on the Lambert-Beer law additive principle.It compensates for the influence of turbidity on the absorption coefficient of the COD solution at 355 nm by the absorption spectrum coefficient of the mixed solution at 623 nm.This paper establishes a linear relationship model between the absorbance difference of the mixed solution at 355 nm and 623 nm and COD.The experimental determination coefficient R2 of the model is 0.98335,with a relative error of 3.5%and an average error of 0.7 mg/L.The design of the model is simple and easy to systematize,which is of strong significance for practical application.
基金Supported by Jiangsu Provincial Natural Science Foundation(Grant No.BK20231497)Jiangsu Provincial Post graduate Research&Practice Innovation Program(Grant No.KYCX25_2982)+3 种基金China University of Mining and Technology Graduate Innovation Program(Grant No.2025WLKXJ094)National Natural Science Foundation of China(Grant No.51975573)National Key R&D Program of China(Grant No.2022YFC2905600)Priority Academic Program Development of Jiangsu Higher Education Institute of China.
文摘A rotary sealing device that automatically compensates for wear is designed to address the issues of easy wear and the short service life of the rotary sealing device with automatic wear compensation in mining machinery.After the end face of the guide sleeve wears out,it still tightly adheres to the sealing valve seat under the pressure difference,achieving automatic wear compensation.Based on fluid-solid coupling technology,the structural strength of the rotary sealing device was checked.The influence of factors on the sealing performance of rotary sealing devices was studied using the control variable method.The results show that as the pressure of water increases,the leakage rate of the sealing device decreases,and after 30 MPa,the leakage rate is almost 0 mL/h.The temperature of the rotating sealing device increases with the increase of rotation speed or pressure,and the temperature is more affected by the rotation speed factor.The frictional torque increases with increasing pressure and is independent of rotational speed.Comprehensive analysis shows that the wear resistance and reliability level of the sealing guide sleeve material is PVDF>PEEK>PE>PA.This study designs a high-pressure automatic compensation wear rotary sealing device and selects the optimal sealing material,providing technical support for the application of high-pressure water jet in mining machinery.
基金the National Key Research and Development Program of China(2022YFB3403404)the Youth Innovation Promotion Association,CAS(2022213)the National Natural Science Foundation of China(62127901 and 62305334).
文摘Null compensation interferometry is the primary testing method for the manufacture of ultra-high-precision aspheric mirrors.The crosstalk fringes generated by stray light in interferometry can affect accuracy and potentially prevent the testing from proceeding normally.Position errors include the decenter error,tilt error,and distance error.During the testing process,position errors will impact the testing accuracy and the crosstalk fringes generated by stray light.To determine the specific impact of position errors,we use the concept of Hindle shell testing of a convex aspheric mirror,and propose the simulation method of crosstalk fringes in null compensation interferometry.We also propose evaluation indices of crosstalk fringes in interferometry and simulate the influence of position errors on the crosstalk fringes.This work aims to help improve the design of compensation interferometry schemes,enhance the feasibility of the design,reduce engineering risks,and improve efficiency.
基金supported in part by the Open Fund of State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment,Guangdong University of Technology(Grant No.JMDZ2021007)in part by the Guangdong International Cooperation Program of Science and Technology(Grant No.2022A0505050078).
文摘Planar positioning systems are widely utilized in micro and nano applications.The challenges in modeling and control of XYΘflexure-based mechanisms include hysteresis of the piezoelectric actuators,couplings among the input axes,and coupled linear and angular motions of the end effector.This paper presents an inverse hysteresis-coupling hybrid model to account for such hysteresis and couplings.First,a specially designed kinematic chain is adopted to transfer the pose of the end effector into the linear motions at three prismatic joints.Second,an inverse hysteresis-coupling hybrid model is developed to linearize and decouple the system via a multilayer feedforward neural network.A fractional-order PID controller is also integrated to improve the motion accuracy of the overall system.Experimental results demonstrate that the proposed method can accurately control the motion of the end effector with improved accuracy and robustness.
基金Supported by Shanxi Provincial Natural Science Foundation(Grant No.2021JM010)The Youth Innovation Team of Shaanxi Universities.
文摘This study aimed to identify and compensate for the geometric errors of the double swiveling axes in a five-axis computer numerical control(CNC)machining center.Hence,a three-dimensional coordinate calculation algorithm for a measured point with additional rotational rigid body motion constraints is proposed.The motion constraints of the rotational rigid body were analyzed,and a mathematical model of the measured point algorithm in the swiveling axes was established.The Levenberg-Marquard method was used to solve the nonlinear superstatically determined equations.The spatial coordinate error was used to separate the spatial deviation of the measured point.An identification model of the position-independent and position-dependent geometric errors was established.The three-dimensional coordinate-solving algorithm of the measured point in the swiveling axis and geometric error identification method based on the Monte Carlo method were analyzed numerically.Geometric error measurement and cutting experiments were performed on a VMC25100U five-axis machining center,which integrated two swiveling axes.Geometric errors of the A-and B-axes were identified and measured experimentally.The angular positioning errors before and after compensation were measured using a laser interferometer,which verified the effectiveness of the proposed algorithm.A cutting experiment of a round table part was performed.The shape and position accuracy of the processed part before and after compensation were detected using a coordinate measuring machine.It verified that the geometric error of the swiveling axis was effectively compensated by the algorithm proposed herein.
基金supported by the key technology project of China Southern Power Grid Corporation(GZKJXM20220041)partly by theNational Key Research and Development Plan(2022YFE0205300).
文摘Aiming at the challenge of complex load balancing coordination for a three-phase four-leg(3P4L)based multi-ended low voltage flexible DC distribution system(M-LVDC)considering unbalanced power compensation,this paper proposes a phase-split power decoupling unbalanced compensation strategy based load balancing strategy for 3P4L based M-LVDC.Firstly,the topology and operation principle of the 3P4L-based M-LVDC system is introduced,and quasi-proportional resonant(QPR)based phase-split power current control for the 3P4L converter is proposed.Secondly,a load-balancing control strategy considering unbalanced compensation for 3P4L-based MLVDC is presented,in which the control diagrams for each 3P4L-based converter are detailed.The core idea of the proposed strategy is to comprehensively consider the imbalance compensation and load rate balancing between the two areas to calculate the split-phase power and current reference values of each 3P4L converter and achieve the static error-free tracking of the reference values through the QPR current inner-loop control.These reference values are then tracked with zero steady-state error using QPR current inner-loop control.Finally,the effectiveness of the proposed control strategy is verified through a 3P4L M-LVDC case study conducted on the PSCAD/EMTDC software.Theresults indicate that the proposed method not only can reduce the three-phase imbalance degrees from>20% to<0.5%,but also achieve excellent balanced load rates,with the load-rate difference smaller than 1.5%.
基金supported by the National Natural Science Foundation of China under Grant 61673017in part by the Science and Technology Department of Shaanxi Province under Grant 2024JC-YBQN-0657。
文摘Aeromagnetic compensation is one of the key issues in high-precision geomagnetic fl ight carrier navigation, directly determining the accuracy and reliability of real-time magnetic measurement data. The accurate modeling and compensation of interference magnetic measurements on carriers are of great signifi cance for the construction of reference and real-time maps for geomagnetic navigation. Current research on aeromagnetic compensation algorithms mainly focuses on accurately modeling interference magnetic fields from model- and data-driven perspectives based on measured aeromagnetic data. Challenges in obtaining aeromagnetic data and low information complexity adversely aff ect the generalization performance of a constructed model. To address these issues, a recursive least square algorithm based on elastic weight consolidation is proposed, which eff ectively suppresses the occurrence of catastrophic forgetting by controlling the direction of parameter updates. Experimental verifi cation with publicly available aeromagnetic datasets shows that the proposed algorithm can eff ectively circumvent historical information loss caused by interference magnetic field models during parameter updates and improve the stability, robustness, and accuracy of interference magnetic fi eld models.
文摘A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.
基金supported by the Israeli Ministry of Infrastructure,Energy and Water Resources.
文摘This study introduces a real-time data-driven battery management scheme designed to address uncertainties in load and generation forecasts,which are integral to an optimal energy storage control system.By expanding on an existing algorithm,this study resolves issues discovered during implementation and addresses previously overlooked concerns,resulting in significant enhancements in both performance and reliability.The refined real-time control scheme is integrated with a day-ahead optimization engine and forecast model,which is utilized for illustrative simulations to highlight its potential efficacy on a real site.Furthermore,a comprehensive comparison with the original formulation was conducted to cover all possible scenarios.This analysis validated the operational effectiveness of the scheme and provided a detailed evaluation of the improvements and expected behavior of the control system.Incorrect or improper adjustments to mitigate forecast uncertainties can result in suboptimal energy management,significant financial losses and penalties,and potential contract violations.The revised algorithm optimizes the operation of the battery system in real time and safeguards its state of health by limiting the charging/discharging cycles and enforcing adherence to contractual agreements.These advancements yield a reliable and efficient real-time correction algorithm for optimal site management,designed as an independent white box that can be integrated with any day-ahead optimization control system.
基金supported by the National Natural Science Foundation of China(Grant No.52105466).
文摘The prediction and compensation control of marine ship motion is crucial for ensuring the safety of offshore wind turbine loading and unloading operations.However,the accuracy of prediction and control is significantly affected by the hysteresis phenomenon in the wave compensation system.To address this issue,a ship heave motion prediction is proposed in this paper on the basis of the Gauss-DeepAR(AR stands for autoregressive recurrent)model and the Hilbert−Huang time-delay compensation control strategy.Initially,the zero upward traveling wave period of the level 4−6 sea state ship heave motion is analyzed,which serves as the input sliding window for the Gauss-DeepAR prediction model,and probability predictions at different wave direction angles are conducted.Next,considering the hysteresis characteristics of the ship heave motion compensation platform,the Hilbert−Huang transform is employed to analyze and calculate the hysteresis delay of the compensation platform.After the optimal control action value is subsequently calculated,simulations and hardware platform tests are conducted.The simulation results demonstrated that the Gauss-DeepAR model outperforms autoregressive integrated moving average model(ARIMA),support vector machine(SVM),and longshort-term memory(LSTM)in predicting non-independent identically distributed datasets at a 90°wave direction angle in the level 4−6 sea states.Furthermore,the model has good predictive performance and generalizability for non-independent and non-uniformly distributed datasets at a 180°wave direction angle.The hardware platform compensation test results revealed that the Hilbert–Huang method has an outstanding effect on determining the hysteretic delay and selecting the optimal control action value,and the compensation efficiency was higher than 90%in the level 4−6 sea states.
基金This work described herein was supported by the Program of China Scholarship Council(202206430008)the National Natural Science Foundation of China(NSFC)(52074300 and 52304111)+1 种基金the Yueqi Young Scholars Project of China University of Mining and Technology Beijing(2602021RC84)the Guizhou province science and technology planning project([2020]3007 and[2020]2Y019).
文摘The 110-mining method,a rising and revolutionary non-pillar longwall mining method,can obviously expand coal extraction ratio and minimize roadway incidents.However,in case of composite hard roof,problems such as difficulty in commanding the entry steadiness and insufficient fragmentation and bulking of the goaf gangue are prevalent.In this study,a 110-mining method for roadway surrounding rock stability control technology based on a compensation mechanism was proposed.First,the composite hard roof cutting short cantilever beam(SCB)model was built and the compensation mechanism including stress and space dual compensation was studied.Subsequently,the controllable elements influencing the roadway steadiness were confirmed to consequently put forward a control technology based on stress compensation for entry support and space compensation for the fragmentation and bulking of goaf gangue.The control technology was finally verified through onsite engineering experiments in terms of composite hard roof.The adoption of the 110-mining method with compensation control technology indicated good support effect on the roadway.The initial and residual expansion coefficients of the goaf gangue increased by 0.6 and 0.6,respectively,and the maximum and average working resistances of the working face support decreased by 10.9%and 13.8%,respectively.Consequently,the deformations of reserved entry decreased,and entry steadiness was enhanced.The presented technique and effects got probably have practical values for non-pillar mining functions in comparable field.
文摘The construction of ecological public welfare forests is an important ccomponent and foundation of building a beautiful China and plays an important role in the construction of ecological civilization.As an important barrier to maintaining ecological balance and ensuring ecological security,ecological public welfare forests play an extremely important role in human survival and development.The construction and management of ecological public welfare forests can bring many ecological benefits to the local area;Yulong County has effectively improved the ecological environment after years of ecological public welfare forest construction.Therefore,promoting the healthy development of ecological public welfare forests is of great significance.Based on the data from the field questionnaire survey in Yulong County,this paper employs a binary regression model to analyze the influencing factors of willingness to pay for ecological compensation.It identifies the existing problems in the ecological compensation of public welfare forests in Yulong County and puts forward corresponding recommendations.These include improving the compensation policies for public welfare forests,strengthening system construction,adjusting the rural industrial structure,and increasing the income levels of farmers.The aim is to provide a reference for improving the management level and scientific management of ecological public welfare forests in Lijiang City and to achieve the management goal of continuously and stably exerting various ecological and social benefits of ecological public welfare forests.
基金supported by the Beijing Natural Science Founda-tion(No.8242017)the Fundamental Research Funds for the Central Universities(2024YJS056).
文摘The Duel-Probe-Heat-Pulse(DPHP)ice content sensor can measure the ice content of the soil,but its measurement process is not clear for the disturbance of frozen soil.In this study,the ice content measurement test was carried out for silty clay specimens.Firstly,the influence of heating power was clarified.The variation trends of the temperature rise relaxation area in the respective conditions of the three representative volumetric water content specimens and the degree of compaction of the specimen preparation was compared.Then,the influence of five kinds of heating interval time on the measurement accuracy was explored.Finally,the compensation and analysis method of the temperature relaxation area,based on the temperature of the measuring point and the phase change of ice water,is proposed.The experimental results show that:(1)There is a hysteresis in the temperature rise curve of the probe of the DPHP ice content sensor.In the measurement process,a long enough integral in-terval should be selected to calculate the temperature relaxation area.(2)For the specimens with the same initial water content,the measured temperature relaxation area increases with the increase of compaction degree,and this trend weakens in the specimens with the increase of water content.(3)The DPHP ice content sensor causes irreversible disturbance to the soil during the measurement process.The temperature relaxation area,obtained by continuous measurement at a short heating interval,is small,and manifests a decreasing trend with the increase of measurement times.(4)It is recommended that the heating interval time should be more than 120 min,and the temperature relaxation area should be compensated when the continuous measurement of short heating interval time is carried out,to offset the influence of the temperature rise of the measuring point.The research results reveals the influence of multiple factors on the measurement of DPHP ice content sensors,which can provide a basis for the accuracy of soil ice content measurement.
基金supported by the National Natural Science Foundation of China(Grant number 42201302)the"Double First-Class"University Construction Project of Lanzhou University(Grant number:561120213)。
文摘The horizontal ecological compensation plays an important role in balancing the interests of all parties and coordinating regional development in the basin.However,the mechanism of ecological compensation based on embodied carbon emissions is still poorly understood.Here,taking the Yellow River Basin as the research area,we use the multi-regional input-output(MRIO)model to measure the embodied carbon transfers between its seven urban agglomerations in 2012 and 2017 from the viewpoint of value-added trade benefits.Further,for the first time,the green trade benefits and ecological compensation amounts are analyzed.The results indicate that:(1)The transfer of trade-embodied carbon among the urban agglomerations in the basin showed obvious spatial heterogeneity and geographic proximity effects,and trade-embodied carbon outflows(inflows)had a pattern of"highest in the midstream,second in the downstream,and lowest in the upstream".(2)The industry composition of the urban agglomerations in relation to embodied carbon outflows(inflows)was similar,mainly in the service and heavy manufacturing industries.(3)The spatial pattern of green trade benefits in the basin had shifted from"high in the north and low in the surrounding area"to"high in the east-central part and low in the west".(4)The pattern of ecological compensation in the basin had shifted from the upstream surplus,the middle and downstream deficit to the midstream deficit,and the upstream and downstream surplus.Therefore,we recommend improving energy structures in high-demand urban agglomerations by adopting clean energy,focusing on decarbonization and energy efficiency in resource-rich regions.Additionally,promoting low-carbon economies,especially in the service and heavy manufacturing industries,implementing differentiated emission reduction strategies,and optimizing carbon compensation mechanisms considering regional disparities and resource endowments are crucial.It is expected that the study can enrich the scientific basis of horizontal ecological compensation and increase the fairness of regional carbon emission rights allocation.
基金supported by the Shanxi Provincial Natural Science Basic Research Program Young Talent Project(S2019-JC-QN-2408).
文摘The process of ground vehicle dynamic gravimetry is inevitably affected by the carrier’s maneuvering acceleration,which makes the result contain a large amount of dynamic error.In this paper,we propose a dynamic error suppression method of gravimetry based on the high-precision acquisition of external velocity for compensating the horizontal error of the inertial plat-form.On the basis of platform gravity measurement,firstly,the dynamic performance of the system is enhanced by optimizing the horizontal damping network of the inertial platform and selecting its parameter.Secondly,an improved federal Kalman filtering algorithm and a fault diagnosis method are designed using strapdown inertial navigation system(SINS),odometer(OD),and laser Doppler velocimeter(LDV).Simulation validates that these methods can improve the accuracy and robustness of the external velocity acquisition.Three survey lines are selected in Tianjin,China,for the gravimetry experiments with different maneuvering levels,and the results demonstrate that after dynamic error suppression,the internal coincidence accuracies of smooth and uniform operation,obvious acceleration and deceleration operation,and high-dynamic operation are improved by 70.2%,73.6%,and 77.9%to reach 0.81 mGal,1.30 mGal,and 1.94 mGal,respectively,and the external coinci-dence accuracies during smooth and uniform operation are improved by 48.6%up to 1.66 mGal.It is shown that the pro-posed method can effectively suppress the dynamic error,and that the accuracy improvement increases with carrier maneuver-ability.However,the amount of residual error that can not be entirely eliminated increases as well,so the ground vehicle dynamic gravimetry should be maintained in the carrier for smooth and uniform operation.
