This paper deals with the problem of limit cycles for the whirling pendulum equation x=y,y=sin x(cosx-r)under piecewise smooth perturbations of polynomials of cos x,sin x and y of degree n with the switching line x=0....This paper deals with the problem of limit cycles for the whirling pendulum equation x=y,y=sin x(cosx-r)under piecewise smooth perturbations of polynomials of cos x,sin x and y of degree n with the switching line x=0.The upper bounds of the number of limit cycles in both the oscillatory and the rotary regions are obtained using the Picard-Fuchs equations,which the generating functions of the associated first order Melnikov functions satisfy.Furthermore,the exact bound of a special case is given using the Chebyshev system.At the end,some numerical simulations are given to illustrate the existence of limit cycles.展开更多
The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Des...The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.展开更多
1) The observation by Allais of the precession of pendulums from 1954 to 1960 highlighted regularities of astral origin an in-depth analysis of which showed that, apparently, no classical phenomenon can explain them. ...1) The observation by Allais of the precession of pendulums from 1954 to 1960 highlighted regularities of astral origin an in-depth analysis of which showed that, apparently, no classical phenomenon can explain them. These regularities were diurnal waves whose periods are characteristic of astral influence (the main ones being 24 h and 24 h 50 min), annual and semi-annual components, and a multi-annual component of approximately 6 years, an influence of Jupiter being a very good candidate to explain it. 2) Allais had experimentally established that all these astral influences were expressed globally on the pendulum by an action tending to call back its plane of oscillation towards a direction variable in time, and which ovalized its trajectory. In 2019 the observation of 2 pendulums in Horodnic (Romania), thanks to the use of an automatic alidade, made it possible to identify the main mechanism that, very probably, acted on the pendulum to achieve this result. This perturbation model, called “linear anisotropy”, is characterized by its “coefficient of anisotropy” η, and by the azimuth of its “direction of anisotropy”. The composition of 2 linear anisotropies is always a linear anisotropy. 3) In the search for the phenomena which could be at the origin of all what precedes, the fact that they must create an ovalization immediately eliminates some of them. 4) We have calculated the values of η corresponding to the 24 h and 24 h 50 min waves both for the observations in Horodnic and the Allais observations. The order of magnitude (some 10−7) is effectively the same in both cases. 5) Mathematically, the regularities discovered may result of a new force field but also, as Allais proposes, from the creation, under the astral influences, of a local anisotropy of the medium in which the pendulum oscillates. In the first case the length of the pendulum is involved, in the second one not. The data available do not make it possible to decide. 6) The joint exploitation, in mechanics and optics, of Allais observations and of observations by other experimenters provides additional information: a) Allais, and after him several other scientists, discovered also marked anomalies in the precession of pendulums during certain eclipses, and maybe certain other syzygies. For the few eclipses for which both something was observed and sufficient data were available (one of them being a lunar eclipse for which nothing had been published until now), it was always the above perturbation model which acted on the pendulum, but sometimes with quite exceptional magnitude. b) There are quite possible links with optics. During the observation campaign of August 1958, which had implemented both two pendulums and an optical device, all the 24 h 50 min waves were almost in phase. In the precession of the Allais pendulum, in Miller’s interferometric observations in Mont Wilson, and in Esclangon’s observations in Strasbourg, a same peculiarity is found: the extrema of the annual influence are at the equinoxes, not at the solstices.展开更多
In Tian Qin spaceborne gravitational-wave detectors, the stringent requirements on the magnetic cleanliness of the test masses demand the high resolution ground-based characterization measurement of their magnetic pro...In Tian Qin spaceborne gravitational-wave detectors, the stringent requirements on the magnetic cleanliness of the test masses demand the high resolution ground-based characterization measurement of their magnetic properties. Here we present a single frequency modulation method based on a torsion pendulum to measure the remanent magnetic moment mr of 1.1 kg dummy copper test mass, and the measurement result is(6.45 ± 0.04(stat) ± 0.07(syst)) × 10^(-8)A · m^(2). The measurement precision of the mr is about 0.9 n A · m^(2), well below the present measurement requirement of Tian Qin. The method is particularly useful for measuring extremely low magnetic properties of the materials for use in the construction of space-borne gravitational wave detection and other precision scientific apparatus.展开更多
Between 1954 and 1961, Allais conducted 6 one-month observations of the azimuth of the plane of oscillation of a pendulum installed in his laboratory. That of 1958 also implemented a second pendulum, identical to the ...Between 1954 and 1961, Allais conducted 6 one-month observations of the azimuth of the plane of oscillation of a pendulum installed in his laboratory. That of 1958 also implemented a second pendulum, identical to the first, located 6 km away in an underground quarry. Although, over these 6 years, the average azimuth of each observation, the amplitude of the 24 h 50 min and 24 h waves, as well as certain other quantities, have evolved considerably, in 1958 their values were very close to those of the second pendulum. The analysis shows that these evolutions could only result from an action external to the pendulum, that no classical phenomenon seems to be able to explain, and which appears, at least mainly, to be an astral action. The evolution of the average azimuth of the pendulum and of the amplitudes of the 24 h and 24 h 50 min components can be decomposed into a component associated with the annual revolution of the Earth around the Sun, and a multi-annual component, whose harmonic 1 has a period which was estimated to 5.74 years. An action of Jupiter is an excellent candidate to explain a large part of the multi-annual action: everything happens as if there were an important action of the modulus of its declination on the multi-annual component, and an important daily action of its hour angle on the azimuth of the pendulum. We cannot exclude an action of the solar cycle, whose period was then about 11 years. The main results were obtained by Allais himself, but this was only published in his book “The Anisotropy of Space”, and remained very little known. Starting from the raw data of Allais, the author of this article found them again, and completed them on certain points.展开更多
In this paper, we define some non-elementary amplitude functions that are giving solutions to some well-known second-order nonlinear ODEs and the Lorenz equations, but not the chaos case. We are giving the solutions a...In this paper, we define some non-elementary amplitude functions that are giving solutions to some well-known second-order nonlinear ODEs and the Lorenz equations, but not the chaos case. We are giving the solutions a name, a symbol and putting them into a group of functions and into the context of other functions. These solutions are equal to the amplitude, or upper limit of integration in a non-elementary integral that can be arbitrary. In order to define solutions to some short second-order nonlinear ODEs, we will make an extension to the general amplitude function. The only disadvantage is that the first derivative to these solutions contains an integral that disappear at the second derivation. We will also do a second extension: the two-integral amplitude function. With this extension we have the solution to a system of ODEs having a very strange behavior. Using the extended amplitude functions, we can define solutions to many short second-order nonlinear ODEs.展开更多
This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,de...This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,design,and implement a suitable controller for the cart inverted pendulum system using their knowledge of the control theory.Different from traditional experiment and numerical simulation,virtual experiment is safe and less constrained.Moreover,the experiment results are more intuitive and obvious.This study can improve students’interest in learning the control theory and help students understand the relevant content better.展开更多
基金supported by the Natural Science Foundation of Ningxia(2022AAC05044)the National Natural Science Foundation of China(12161069)。
文摘This paper deals with the problem of limit cycles for the whirling pendulum equation x=y,y=sin x(cosx-r)under piecewise smooth perturbations of polynomials of cos x,sin x and y of degree n with the switching line x=0.The upper bounds of the number of limit cycles in both the oscillatory and the rotary regions are obtained using the Picard-Fuchs equations,which the generating functions of the associated first order Melnikov functions satisfy.Furthermore,the exact bound of a special case is given using the Chebyshev system.At the end,some numerical simulations are given to illustrate the existence of limit cycles.
基金supported in part by the Youth Foundation of China University of Petroleum-Beijing at Karamay(under Grant No.XQZX20230038)the Karamay Innovative Talents Program(under Grant No.20212022HJCXRC0005).
文摘The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.
文摘1) The observation by Allais of the precession of pendulums from 1954 to 1960 highlighted regularities of astral origin an in-depth analysis of which showed that, apparently, no classical phenomenon can explain them. These regularities were diurnal waves whose periods are characteristic of astral influence (the main ones being 24 h and 24 h 50 min), annual and semi-annual components, and a multi-annual component of approximately 6 years, an influence of Jupiter being a very good candidate to explain it. 2) Allais had experimentally established that all these astral influences were expressed globally on the pendulum by an action tending to call back its plane of oscillation towards a direction variable in time, and which ovalized its trajectory. In 2019 the observation of 2 pendulums in Horodnic (Romania), thanks to the use of an automatic alidade, made it possible to identify the main mechanism that, very probably, acted on the pendulum to achieve this result. This perturbation model, called “linear anisotropy”, is characterized by its “coefficient of anisotropy” η, and by the azimuth of its “direction of anisotropy”. The composition of 2 linear anisotropies is always a linear anisotropy. 3) In the search for the phenomena which could be at the origin of all what precedes, the fact that they must create an ovalization immediately eliminates some of them. 4) We have calculated the values of η corresponding to the 24 h and 24 h 50 min waves both for the observations in Horodnic and the Allais observations. The order of magnitude (some 10−7) is effectively the same in both cases. 5) Mathematically, the regularities discovered may result of a new force field but also, as Allais proposes, from the creation, under the astral influences, of a local anisotropy of the medium in which the pendulum oscillates. In the first case the length of the pendulum is involved, in the second one not. The data available do not make it possible to decide. 6) The joint exploitation, in mechanics and optics, of Allais observations and of observations by other experimenters provides additional information: a) Allais, and after him several other scientists, discovered also marked anomalies in the precession of pendulums during certain eclipses, and maybe certain other syzygies. For the few eclipses for which both something was observed and sufficient data were available (one of them being a lunar eclipse for which nothing had been published until now), it was always the above perturbation model which acted on the pendulum, but sometimes with quite exceptional magnitude. b) There are quite possible links with optics. During the observation campaign of August 1958, which had implemented both two pendulums and an optical device, all the 24 h 50 min waves were almost in phase. In the precession of the Allais pendulum, in Miller’s interferometric observations in Mont Wilson, and in Esclangon’s observations in Strasbourg, a same peculiarity is found: the extrema of the annual influence are at the equinoxes, not at the solstices.
基金supported by the National Key R&D Program of China (Grant No. 2020YFC2200500)the National Natural Science Foundation of China (Grant Nos. 12075325, 12005308, and 11605065)。
文摘In Tian Qin spaceborne gravitational-wave detectors, the stringent requirements on the magnetic cleanliness of the test masses demand the high resolution ground-based characterization measurement of their magnetic properties. Here we present a single frequency modulation method based on a torsion pendulum to measure the remanent magnetic moment mr of 1.1 kg dummy copper test mass, and the measurement result is(6.45 ± 0.04(stat) ± 0.07(syst)) × 10^(-8)A · m^(2). The measurement precision of the mr is about 0.9 n A · m^(2), well below the present measurement requirement of Tian Qin. The method is particularly useful for measuring extremely low magnetic properties of the materials for use in the construction of space-borne gravitational wave detection and other precision scientific apparatus.
文摘Between 1954 and 1961, Allais conducted 6 one-month observations of the azimuth of the plane of oscillation of a pendulum installed in his laboratory. That of 1958 also implemented a second pendulum, identical to the first, located 6 km away in an underground quarry. Although, over these 6 years, the average azimuth of each observation, the amplitude of the 24 h 50 min and 24 h waves, as well as certain other quantities, have evolved considerably, in 1958 their values were very close to those of the second pendulum. The analysis shows that these evolutions could only result from an action external to the pendulum, that no classical phenomenon seems to be able to explain, and which appears, at least mainly, to be an astral action. The evolution of the average azimuth of the pendulum and of the amplitudes of the 24 h and 24 h 50 min components can be decomposed into a component associated with the annual revolution of the Earth around the Sun, and a multi-annual component, whose harmonic 1 has a period which was estimated to 5.74 years. An action of Jupiter is an excellent candidate to explain a large part of the multi-annual action: everything happens as if there were an important action of the modulus of its declination on the multi-annual component, and an important daily action of its hour angle on the azimuth of the pendulum. We cannot exclude an action of the solar cycle, whose period was then about 11 years. The main results were obtained by Allais himself, but this was only published in his book “The Anisotropy of Space”, and remained very little known. Starting from the raw data of Allais, the author of this article found them again, and completed them on certain points.
文摘In this paper, we define some non-elementary amplitude functions that are giving solutions to some well-known second-order nonlinear ODEs and the Lorenz equations, but not the chaos case. We are giving the solutions a name, a symbol and putting them into a group of functions and into the context of other functions. These solutions are equal to the amplitude, or upper limit of integration in a non-elementary integral that can be arbitrary. In order to define solutions to some short second-order nonlinear ODEs, we will make an extension to the general amplitude function. The only disadvantage is that the first derivative to these solutions contains an integral that disappear at the second derivation. We will also do a second extension: the two-integral amplitude function. With this extension we have the solution to a system of ODEs having a very strange behavior. Using the extended amplitude functions, we can define solutions to many short second-order nonlinear ODEs.
基金supported by the 2021 Higher Education Teaching Reform Research Project of SEAC(No.221057)2021 Ministry of Education Collaborative Education Project(No.202102646007)2022 Guizhou Province Gold Course Construction Project.
文摘This paper provides a teaching concept for control theory education based on Virtual Robot Experimentation Platform(V-REP).A cart inverted pendulum virtual physical model is developed on V-REP.Students must analyze,design,and implement a suitable controller for the cart inverted pendulum system using their knowledge of the control theory.Different from traditional experiment and numerical simulation,virtual experiment is safe and less constrained.Moreover,the experiment results are more intuitive and obvious.This study can improve students’interest in learning the control theory and help students understand the relevant content better.
