Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
远程终端单元(remote terminal unit, RTU)是当前电网中最主要的测量终端,但是其量测量没有统一时标,更新频率低,而且存在不确定性的传输时延。而同步相量测量单元(phasor measurement unit, PMU)具有高同步、高精度等特点,成为电力系...远程终端单元(remote terminal unit, RTU)是当前电网中最主要的测量终端,但是其量测量没有统一时标,更新频率低,而且存在不确定性的传输时延。而同步相量测量单元(phasor measurement unit, PMU)具有高同步、高精度等特点,成为电力系统中重要的数据采集装置。为协调利用这两种测量数据,首先归纳出RTU量测非同步的来源,分析了量测数据不同步对状态估计和潮流计算的影响,并给出了相关的验证结果。并提出基于能量交互算子的量测数据相关性分析方法。该方法应用同步数据间相关性最大的原理,利用PMU所产生的精确数据来同步RTU数据,为混合测量系统确定测量基准时刻。通过对IEEE39节点电网和广东83节点实际电网的仿真,结果表明该方法能有效校正量测数据非同步以及改善状态估计和潮流计算精度。展开更多
The aim of this study was to determine the unit load of NPS （non-point source） pollutants including organic variables such as BOD （biochemical oxygen demand）, COD （chemical oxygen demand） and DOC （dissolved org...The aim of this study was to determine the unit load of NPS （non-point source） pollutants including organic variables such as BOD （biochemical oxygen demand）, COD （chemical oxygen demand） and DOC （dissolved organic carbon）, nitrogen and phosphorus constituents, and suspended solids （SS） and their event mean concentration （EMC） of runoff flows from a water-shed of mixed forest land use by intensive field experiments. Field monitoring for continuous measurements of rainfall, flow, and water quality was conducted over 12 storm events during 2008-2009 using automated and manual sampling methods. The EMCs of individual runoff event were estimated for each water quality constituent based on the flow rate and concentration data of runoff discharge. The average EMCs of BOD, COD, DOC, SS, TN （total nitrogen）, NH4^＋-N, NO3^--N, TP （total phosphorus）, PO4^3-P from the mixed forest land were 1.794, 3.498, 1.462, 10.269, 0.862, 0.044, 0.634, 0.034, and 0.005 mg/L, respectively. The annual unit loads of BOD, COD, DOC, SS, TN, NH4^＋-N, NO3^--N, TP and PO4^3--P were estimated as 66.9, 133.2, 55.5, 429.8, 36.5, 1.6, 26.9, 1.3 and 0.1 kg/（ha·yr）, respectively. In addition, affecting parameters on the EMCs were investigated by statistic analysis of the field data. As a result, significant correlations with precipitation, rainfall intensity, and total runoff flows were found in most constituents.展开更多
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
文摘远程终端单元(remote terminal unit, RTU)是当前电网中最主要的测量终端,但是其量测量没有统一时标,更新频率低,而且存在不确定性的传输时延。而同步相量测量单元(phasor measurement unit, PMU)具有高同步、高精度等特点,成为电力系统中重要的数据采集装置。为协调利用这两种测量数据,首先归纳出RTU量测非同步的来源,分析了量测数据不同步对状态估计和潮流计算的影响,并给出了相关的验证结果。并提出基于能量交互算子的量测数据相关性分析方法。该方法应用同步数据间相关性最大的原理,利用PMU所产生的精确数据来同步RTU数据,为混合测量系统确定测量基准时刻。通过对IEEE39节点电网和广东83节点实际电网的仿真,结果表明该方法能有效校正量测数据非同步以及改善状态估计和潮流计算精度。
基金supported by the National Institute of Environmental Research,Korea
文摘The aim of this study was to determine the unit load of NPS （non-point source） pollutants including organic variables such as BOD （biochemical oxygen demand）, COD （chemical oxygen demand） and DOC （dissolved organic carbon）, nitrogen and phosphorus constituents, and suspended solids （SS） and their event mean concentration （EMC） of runoff flows from a water-shed of mixed forest land use by intensive field experiments. Field monitoring for continuous measurements of rainfall, flow, and water quality was conducted over 12 storm events during 2008-2009 using automated and manual sampling methods. The EMCs of individual runoff event were estimated for each water quality constituent based on the flow rate and concentration data of runoff discharge. The average EMCs of BOD, COD, DOC, SS, TN （total nitrogen）, NH4^＋-N, NO3^--N, TP （total phosphorus）, PO4^3-P from the mixed forest land were 1.794, 3.498, 1.462, 10.269, 0.862, 0.044, 0.634, 0.034, and 0.005 mg/L, respectively. The annual unit loads of BOD, COD, DOC, SS, TN, NH4^＋-N, NO3^--N, TP and PO4^3--P were estimated as 66.9, 133.2, 55.5, 429.8, 36.5, 1.6, 26.9, 1.3 and 0.1 kg/（ha·yr）, respectively. In addition, affecting parameters on the EMCs were investigated by statistic analysis of the field data. As a result, significant correlations with precipitation, rainfall intensity, and total runoff flows were found in most constituents.
