Based on Matsuoka＇s central pattern generator （CPG） model and taking quadruped as an example, the dynamics of CPG model was investigated through the single-parameter-analysis method and the numerical simulation tec...Based on Matsuoka＇s central pattern generator （CPG） model and taking quadruped as an example, the dynamics of CPG model was investigated through the single-parameter-analysis method and the numerical simulation technique. Simulation results indicate that the CPG model exhibits complex dynamics, while each parameter has specifically definitive influence trends on the CPG output. These conclusions were applied to control a quadrupedal robot to walk in different gaits, clear obstacle, and walk up- and down-slope successfully.展开更多
This study presented an off-line identification method of induction motor (IM) parameters. Before startup,the inverter drive performed automatically a modified DC test, a locked-rotor test, a no-load test and a step-v...This study presented an off-line identification method of induction motor (IM) parameters. Before startup,the inverter drive performed automatically a modified DC test, a locked-rotor test, a no-load test and a step-voltage test to identify all the parameters of an induction motor. No manual operation and speed signals were required in the process. In order to obtain effective messages and improve the accuracy of identification, the discrete fast Fourier transform (DFFT) and the least-squares were used to process the signals of currents and voltages. A phase-voltage measuring method for motors was also proposed, which measured directly the actual conducting time of three upper switches in the inverter without need for a dead-time compensator. The validity, reliability and accuracy of the presented methods have been verified by the experiments on a VSI-fed IM drive system.展开更多
Aiming at the development of parallel hybrid electric vehicle （PHEV） powertrain, parameter matching and optimization are presented, According to the performance of PHEV, the optimization range of engine, motor, driv...Aiming at the development of parallel hybrid electric vehicle （PHEV） powertrain, parameter matching and optimization are presented, According to the performance of PHEV, the optimization range of engine, motor, driveline gear ratio and battery parameters are determined. And then a two-level optimization problem is formulated based on analytical target cascading （ATC）. At the system level, the optimization of the whole vehicle fuel economy is carried out, while the tractive performance is defined as the constraints. The optimized parameters are cascaded to the subsystem as the optimization targets. At the subsystem level, the final drive and transmission design are optimized to make the ratios as close to the targets as possible. The optimization result shows that the fuel economy had improved significantly, while the tractive performance maintains the former level.展开更多
An electrical equivalent circuit model for lithium-ion batteries used for hybrid electric vehicles （HEV） is presented. The model has two RC networks characterizing battery activation and concentration polarization p...An electrical equivalent circuit model for lithium-ion batteries used for hybrid electric vehicles （HEV） is presented. The model has two RC networks characterizing battery activation and concentration polarization process. The parameters of the model are identified using combined experimental and extended Kalman filter （EKF） recursive methods. The open-circuit voltage and ohmic resistance of the battery are directly measured and calculated from experimental measurements, respectively. The rest of the coupled dynamic parameters, i.e. the RC network parameters, are estimated using the EKF method. Experimental and simulation results are presented to demonstrate the efficacy of the proposed circuit model and parameter identification techniques for simulating battery dynamics.展开更多
Kdesorption from soils in a constant electric field(field strength:44.5Vcm-1) by means of electro-ultrafil-tration (EUF) followed second-order kinetics and could be described by the equation dd/dt = k(D-d)2. From thee...Kdesorption from soils in a constant electric field(field strength:44.5Vcm-1) by means of electro-ultrafil-tration (EUF) followed second-order kinetics and could be described by the equation dd/dt = k(D-d)2. From theequation, such kinetic parameters relating to K desorption from soils as the maximum desorbable quantity D, quantity of K desorbed within 40 minutes d40, initial desorption rate Vo, desorption rate constant k and half-time t1/2 could be calculated. An expression which describes the relationships between the kinetic parameters on the one hand and the responses of barley to fertilizer-K in the field experiments in different sites and the potassium-supplying power of soils on the other was established. Vo, D and d40 were significantly correlated with barley relative yield, K uptake by barley and the content of soil available potassium. The rate constants of K desorption varied between 4.42 × 10-4-1.80 × 10-3kg mg-1 min-1 and highly correlated with the relative yield of barley. The kinetic parameters including Vo, D, d40 and k were successfully used to estimate the K-supplying power of soils.展开更多
High volumetric power density （VPD） is the basis for the commercial success of micro-tubular solid oxide fuel cells （mtSOFCs）. To find maximal VPD （MVPD） for anode-supported mtSOFC （as-mtSOFC）, the effects of ...High volumetric power density （VPD） is the basis for the commercial success of micro-tubular solid oxide fuel cells （mtSOFCs）. To find maximal VPD （MVPD） for anode-supported mtSOFC （as-mtSOFC）, the effects of geometric parameters on VPD are analyzed and the anode thickness, tan, and the cathode length, lea, are identified as the key design parameters. Thermo-fluid electrochemical models were built to examine the dependence of the electrical output on the cell parameters. The multiphysics model is validated by reproducing the experimental I-V curves with no adjustable parameters. The optimal lea and the corresponding MVPDs are then determined by the multiphysics model for 20 combinations of rin, the inner tube radius, and tan. And all these optimization are made at 1073.15 K. The results show that： （i） significant performance improvement may be achieved by geometry optimization, （ii） the seemingly high MVPD of 11 and 14 W/cm^3 can be easily realized for as-mtSOFC with single- and double-terminal anode current collection, respectively. Moreover, the variation of the area specific power density with/cac（2 mm, 40 mm） is determined for three representative （tin, tan） combinations. Besides, it is demonstrated that the current output of mtSOFC with proper geometric parameters is comparable to that of planar SOFC.展开更多
To offset the defect of the traditional state of charge(SOC)estimation algorithm of lithium battery for electric vehicle and considering the complex working conditions of lithium batteries,an online SOC estimation alg...To offset the defect of the traditional state of charge(SOC)estimation algorithm of lithium battery for electric vehicle and considering the complex working conditions of lithium batteries,an online SOC estimation algorithm is proposed by combining the online parameter identification method and the modified covariance extended Kalman filter(MVEKF)algorithm.Based on the parameters identified on line with the multiple forgetting factors recursive least squares methods,the newly-established algorithm recalculates the covariance in the iterative process with the modified estimation and updates the process gain which is used for the next state estimation to decrease errors of the filter.Experiments including constant pulse discharging and the dynamic stress test(DST)demonstrate that compared with the EKF algorithm,the MVEKF algorithm produces fewer estimation errors and can reduce the errors to 5%at most under the complex charging and discharging conditions of batteries.In the charging process under the DST condition,the EKF produces a larger deviation and lacks stability,while the MVEKF algorithm can estimate SOC stably and has a strong robustness.Therefore,the established MVEKF algorithm is suitable for complex and changeable working conditions of batteries for electric vehicles.展开更多
In order to obtain the primary parameters and operating characteristics of a DC motor without directly measuring its torque and rational speed, it is proposed to use a PC and a data acquisition card to acquire both th...In order to obtain the primary parameters and operating characteristics of a DC motor without directly measuring its torque and rational speed, it is proposed to use a PC and a data acquisition card to acquire both the dynamic and static data of armature current to establish the performance of a DC permanent magnet motor. The accuracy and validity of this virtual test system proposed were verified by comparing the measurements made with the system proposed with the measurements made with conventional torque meters. It is concluded from the results of comparison that from the mathematic model established for the DC permant magnet motors, both major parameters and operating characteristics can be directly established for the DC motors without measuring their torques and rotational speed, a perfect on line measurement and test system has been established for the DC permanent magnet motors using the theory of virtual test system. The system proposed features shorter test time, higher efficiency and lower cost.展开更多
Permanent Magnet Synchronous Motor model can exhibit a variety of chaotic phenomena under some choices of system parameters and external input. Based on the property of passive system, the essential conditions were st...Permanent Magnet Synchronous Motor model can exhibit a variety of chaotic phenomena under some choices of system parameters and external input. Based on the property of passive system, the essential conditions were studied, by which Permanent Magnet Synchronous Motor chaotic system could be equivalent to passive system. Using Lyapunov stability theory, the convergence condition deciding the system's characters was discussed. In the convergence condition area, the equivalent passive system could be globally asymptotically stabilized by smooth state feedback.展开更多
15-day old seedlings of wheat and rape were grown in a series of solutions with different concentrations of KNO3 for a definite period of time. The changes in NO3- concentration of the solutions were determined by the...15-day old seedlings of wheat and rape were grown in a series of solutions with different concentrations of KNO3 for a definite period of time. The changes in NO3- concentration of the solutions were determined by the double ion-selective electrode method, and then the amount of NO3- taken up by the plants was estimated and values of Km and Imax of the Michealis-Menten equation were calculated. Results show that both the method and conditions of determination affected the values of Km and Imax. For example, the Km value was appreciably reduced when the volume of culture solution was increased or when the duration of nutrient uptake was shortened; the Km value obtained with short-term depletion method was higher than that obtained with long-term one. Similar Variations were found for the values of Imax. There was a considerable difference in the characteristics of uptake kinetics between wheat and rape when determined under the same conditions of determination. The isotherm of NO3- uptake by wheat could be separated into saturated and unsaturated parts, and when the concentration of NO3- exceeded 180 uuuuuuuuuuuuM, the relationship between the rate of NO3- uptake and NO3- concentration tended to be linear. However, the isotherm of NO3- uptake by rape was found to fit the Michealis-Menten equation and no linear relationship could be found.展开更多
The effect of line voltage drop is considered larger on loads, especially on asynchronous motor, transformers and other non-linear load parameters in power system of large ships. A novel power flow method based on imp...The effect of line voltage drop is considered larger on loads, especially on asynchronous motor, transformers and other non-linear load parameters in power system of large ships. A novel power flow method based on improved node voltage method is proposed, and a typical ship power system, which has 2 power stations and 10 nodes, with closed-loop design but open-loop operation, is taken as an example. Simulation results show that the improved power flow calculation method has achieved higher accuracy and better convergence.展开更多
The vector control algorithm based on vector space decomposition （VSD） transformation method has a more flexible control freedom, which can control the fundamental and harmonic subspace separately. To this end, a cu...The vector control algorithm based on vector space decomposition （VSD） transformation method has a more flexible control freedom, which can control the fundamental and harmonic subspace separately. To this end, a current vector decoupling control algorithm for six-phase permanent magnet synchronous motor （PMSM） is designed. Using the proposed synchronous rotating coordinate transformation matrix, the fundamental and harmonic components in d-q subspace are changed into direct current （DC） component, only using the traditional proportional integral （PI） controller can meet the non-static difference adjustment, and the controller parameter design method is given by employing intemal model principle. In addition, in order to remove the 5th and 7th harmonic components of stator current, the current PI controller parallel with resonant controller is employed in x-y subspace to realize the specific harmonic component compensation. Simulation results verify the effectiveness of current decoupling vector controller.展开更多
Mechanical model and vibration equation of a cable in cable-stayed space latticed structure (CSLS) under external axial excitation were founded.Determination of the mass lumps and natural frequencies sup- plied by the...Mechanical model and vibration equation of a cable in cable-stayed space latticed structure (CSLS) under external axial excitation were founded.Determination of the mass lumps and natural frequencies sup- plied by the space latticed structure (SLS) was analyzed.Multiple scales method (MSM) was introduced to analyze the characteristics of cable's parametric vibration,and the precise time-integration method (PTIM) was used to solve vibration equation.The vibration behavior of a cable is closely relative to the frequency ratio of the cable and SLS.The cable's parametric vibration caused by the external axial excitation easily occurs if the frequency ratio of the cable and SLS is in a certain range,and the cable's vibration amplitude varies greatly even if the initial disturbance supplied by SLS changes a little.Furthermore,the mechanical model and vibration equation of the composite cable system consisting of main cables and assistant cables were studied. The parametric analysis such as the pre-tension level and arrangement of the assistant cables was carried out. Due to the assistant cables,the single-cable vibration mode can be transferred to the global vibration mode, and the stiffness and damping of the cable system are enhanced.The natural frequencies of the composite cable system with the curve line arrangement of assistant cables are higher than those with the straight-line arrangement and the former is more effective than the latter on the cable's vibration suppression.展开更多
A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and param...A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.展开更多
In this paper, a simulation model of Permanent Magnet Linear Synchronous Motor (PMLSM) is established by using phase equations method. Special attention is paid to its structure and the influence of longitudinal end e...In this paper, a simulation model of Permanent Magnet Linear Synchronous Motor (PMLSM) is established by using phase equations method. Special attention is paid to its structure and the influence of longitudinal end effect and the unbalance of current. The analytic method can be used for the analysis of dynamic and static characteristics of PMLSM.展开更多
Nonlinear vibration can cause serious problems in long span cable-stayed bridges.When the internal resonance threshold is reached between the excitation frequency and natural frequency,large amplitudes occur in the ca...Nonlinear vibration can cause serious problems in long span cable-stayed bridges.When the internal resonance threshold is reached between the excitation frequency and natural frequency,large amplitudes occur in the cable.Based on the current situation of lacking corresponding constraint criteria,a model was presented for analyzing the dynamic reliability of coupling oscillation between the cable and tower in a cable-stayed bridge.First of all,in the case of cable sag,the d'Alembert principle is applied to studying the nonlinear dynamic behavior of the structure,and resonance failure interval of parametric oscillation is calculated accordingly.Then the dynamic reliability model is set up using the JC method.An application of this model has been developed for the preliminary design of one cable-stayed bridge located on Hai River in Tianjin,and time histories analysis as well as reliability indexes have been obtained.When frequency ratio between the cable and tower is approaching 1∶2,the reliability index is 0.98,indicating high failure probability.And this is consistent with theoretical derivation and experimental results in reference.This model,which is capable of computing the reliability index of resonance failure,provides theoretical basis for the establishment of corresponding rule.展开更多
A new method for optimizing a butterfly-shaped linear ultrasonic motor was proposed to maximize its mechanical output. The finite element analysis technology and response surface methodology were combined together to ...A new method for optimizing a butterfly-shaped linear ultrasonic motor was proposed to maximize its mechanical output. The finite element analysis technology and response surface methodology were combined together to realize the optimal design of the butterfly-shaped linear ultrasonic motor. First, the operation principle of the motor was introduced. Second, the finite element parameterized model of the stator of the motor was built using ANSYS parametric design language and some structure parameters of the stator were selected as design variables. Third, the sample points were selected in design variable space using latin hypercube Design. Through modal analysis and harmonic response analysis of the stator based on these sample points, the target responses were obtained. These sample points and response values were combined together to build a response surface model. Finally, the simplex method was used to find the optimal solution. The experimental results showed that many aspects of the design requirements of the butterfly-shaped linear ultrasonic motor have been fulfilled. The prototype motor fabricated based on the optimal design result exhibited considerably high dynamic performance, such as no-load speed of 873 ram/s, maximal thrust of 27.5 N, maximal efficiency of 43%, and thrust-weight ratio of 45.8.展开更多
With the aim to apply the electric fish into practice to assist coal mine water disaster life detection and rescue work, based on the analysis on swing propulsion movements of tail fin, this paper integrates the elect...With the aim to apply the electric fish into practice to assist coal mine water disaster life detection and rescue work, based on the analysis on swing propulsion movements of tail fin, this paper integrates the electromagnet technology with tail fin drive system by analyzing how the fish swims with tail fin under the law of progression. The principle, structure, and drive signals of tail fin electromagnetic drive are researched, the enforced situation of fish under eIectromagnetic driving modes are analyzed, and the experimental plat-form of tail fin electromagnetic drive is established. The best distance between electro- magnet and armature, which can realize the swing of tail fin, was researched in the experiment under water. The robotic fish structure parameters of tail fin electromagnetic drive was finalized by theoretical analysis and experimental measurement.展开更多
文摘Based on Matsuoka＇s central pattern generator （CPG） model and taking quadruped as an example, the dynamics of CPG model was investigated through the single-parameter-analysis method and the numerical simulation technique. Simulation results indicate that the CPG model exhibits complex dynamics, while each parameter has specifically definitive influence trends on the CPG output. These conclusions were applied to control a quadrupedal robot to walk in different gaits, clear obstacle, and walk up- and down-slope successfully.
文摘This study presented an off-line identification method of induction motor (IM) parameters. Before startup,the inverter drive performed automatically a modified DC test, a locked-rotor test, a no-load test and a step-voltage test to identify all the parameters of an induction motor. No manual operation and speed signals were required in the process. In order to obtain effective messages and improve the accuracy of identification, the discrete fast Fourier transform (DFFT) and the least-squares were used to process the signals of currents and voltages. A phase-voltage measuring method for motors was also proposed, which measured directly the actual conducting time of three upper switches in the inverter without need for a dead-time compensator. The validity, reliability and accuracy of the presented methods have been verified by the experiments on a VSI-fed IM drive system.
文摘Aiming at the development of parallel hybrid electric vehicle （PHEV） powertrain, parameter matching and optimization are presented, According to the performance of PHEV, the optimization range of engine, motor, driveline gear ratio and battery parameters are determined. And then a two-level optimization problem is formulated based on analytical target cascading （ATC）. At the system level, the optimization of the whole vehicle fuel economy is carried out, while the tractive performance is defined as the constraints. The optimized parameters are cascaded to the subsystem as the optimization targets. At the subsystem level, the final drive and transmission design are optimized to make the ratios as close to the targets as possible. The optimization result shows that the fuel economy had improved significantly, while the tractive performance maintains the former level.
文摘An electrical equivalent circuit model for lithium-ion batteries used for hybrid electric vehicles （HEV） is presented. The model has two RC networks characterizing battery activation and concentration polarization process. The parameters of the model are identified using combined experimental and extended Kalman filter （EKF） recursive methods. The open-circuit voltage and ohmic resistance of the battery are directly measured and calculated from experimental measurements, respectively. The rest of the coupled dynamic parameters, i.e. the RC network parameters, are estimated using the EKF method. Experimental and simulation results are presented to demonstrate the efficacy of the proposed circuit model and parameter identification techniques for simulating battery dynamics.
文摘Kdesorption from soils in a constant electric field(field strength:44.5Vcm-1) by means of electro-ultrafil-tration (EUF) followed second-order kinetics and could be described by the equation dd/dt = k(D-d)2. From theequation, such kinetic parameters relating to K desorption from soils as the maximum desorbable quantity D, quantity of K desorbed within 40 minutes d40, initial desorption rate Vo, desorption rate constant k and half-time t1/2 could be calculated. An expression which describes the relationships between the kinetic parameters on the one hand and the responses of barley to fertilizer-K in the field experiments in different sites and the potassium-supplying power of soils on the other was established. Vo, D and d40 were significantly correlated with barley relative yield, K uptake by barley and the content of soil available potassium. The rate constants of K desorption varied between 4.42 × 10-4-1.80 × 10-3kg mg-1 min-1 and highly correlated with the relative yield of barley. The kinetic parameters including Vo, D, d40 and k were successfully used to estimate the K-supplying power of soils.
基金This work was supported by the National Natural Science Foundation of China （No.11374272 and No.11574284） and the Collaborative Innovation Center of Suzhou Nano Science and Technology.
文摘High volumetric power density （VPD） is the basis for the commercial success of micro-tubular solid oxide fuel cells （mtSOFCs）. To find maximal VPD （MVPD） for anode-supported mtSOFC （as-mtSOFC）, the effects of geometric parameters on VPD are analyzed and the anode thickness, tan, and the cathode length, lea, are identified as the key design parameters. Thermo-fluid electrochemical models were built to examine the dependence of the electrical output on the cell parameters. The multiphysics model is validated by reproducing the experimental I-V curves with no adjustable parameters. The optimal lea and the corresponding MVPDs are then determined by the multiphysics model for 20 combinations of rin, the inner tube radius, and tan. And all these optimization are made at 1073.15 K. The results show that： （i） significant performance improvement may be achieved by geometry optimization, （ii） the seemingly high MVPD of 11 and 14 W/cm^3 can be easily realized for as-mtSOFC with single- and double-terminal anode current collection, respectively. Moreover, the variation of the area specific power density with/cac（2 mm, 40 mm） is determined for three representative （tin, tan） combinations. Besides, it is demonstrated that the current output of mtSOFC with proper geometric parameters is comparable to that of planar SOFC.
基金The National Natural Science Foundation of China(No.51375086)。
文摘To offset the defect of the traditional state of charge(SOC)estimation algorithm of lithium battery for electric vehicle and considering the complex working conditions of lithium batteries,an online SOC estimation algorithm is proposed by combining the online parameter identification method and the modified covariance extended Kalman filter(MVEKF)algorithm.Based on the parameters identified on line with the multiple forgetting factors recursive least squares methods,the newly-established algorithm recalculates the covariance in the iterative process with the modified estimation and updates the process gain which is used for the next state estimation to decrease errors of the filter.Experiments including constant pulse discharging and the dynamic stress test(DST)demonstrate that compared with the EKF algorithm,the MVEKF algorithm produces fewer estimation errors and can reduce the errors to 5%at most under the complex charging and discharging conditions of batteries.In the charging process under the DST condition,the EKF produces a larger deviation and lacks stability,while the MVEKF algorithm can estimate SOC stably and has a strong robustness.Therefore,the established MVEKF algorithm is suitable for complex and changeable working conditions of batteries for electric vehicles.
文摘In order to obtain the primary parameters and operating characteristics of a DC motor without directly measuring its torque and rational speed, it is proposed to use a PC and a data acquisition card to acquire both the dynamic and static data of armature current to establish the performance of a DC permanent magnet motor. The accuracy and validity of this virtual test system proposed were verified by comparing the measurements made with the system proposed with the measurements made with conventional torque meters. It is concluded from the results of comparison that from the mathematic model established for the DC permant magnet motors, both major parameters and operating characteristics can be directly established for the DC motors without measuring their torques and rotational speed, a perfect on line measurement and test system has been established for the DC permanent magnet motors using the theory of virtual test system. The system proposed features shorter test time, higher efficiency and lower cost.
基金Project supported by the National Natural Science Foundation of China (No. 60374013) and the Natural Science Foundation of Zhejiang Province (No. M603217), China
文摘Permanent Magnet Synchronous Motor model can exhibit a variety of chaotic phenomena under some choices of system parameters and external input. Based on the property of passive system, the essential conditions were studied, by which Permanent Magnet Synchronous Motor chaotic system could be equivalent to passive system. Using Lyapunov stability theory, the convergence condition deciding the system's characters was discussed. In the convergence condition area, the equivalent passive system could be globally asymptotically stabilized by smooth state feedback.
文摘15-day old seedlings of wheat and rape were grown in a series of solutions with different concentrations of KNO3 for a definite period of time. The changes in NO3- concentration of the solutions were determined by the double ion-selective electrode method, and then the amount of NO3- taken up by the plants was estimated and values of Km and Imax of the Michealis-Menten equation were calculated. Results show that both the method and conditions of determination affected the values of Km and Imax. For example, the Km value was appreciably reduced when the volume of culture solution was increased or when the duration of nutrient uptake was shortened; the Km value obtained with short-term depletion method was higher than that obtained with long-term one. Similar Variations were found for the values of Imax. There was a considerable difference in the characteristics of uptake kinetics between wheat and rape when determined under the same conditions of determination. The isotherm of NO3- uptake by wheat could be separated into saturated and unsaturated parts, and when the concentration of NO3- exceeded 180 uuuuuuuuuuuuM, the relationship between the rate of NO3- uptake and NO3- concentration tended to be linear. However, the isotherm of NO3- uptake by rape was found to fit the Michealis-Menten equation and no linear relationship could be found.
基金Supported by the National Natural Science Foundation under Grant No. 60704004
文摘The effect of line voltage drop is considered larger on loads, especially on asynchronous motor, transformers and other non-linear load parameters in power system of large ships. A novel power flow method based on improved node voltage method is proposed, and a typical ship power system, which has 2 power stations and 10 nodes, with closed-loop design but open-loop operation, is taken as an example. Simulation results show that the improved power flow calculation method has achieved higher accuracy and better convergence.
基金Project(51507188)supported by the National Natural Science Foundation of China
文摘The vector control algorithm based on vector space decomposition （VSD） transformation method has a more flexible control freedom, which can control the fundamental and harmonic subspace separately. To this end, a current vector decoupling control algorithm for six-phase permanent magnet synchronous motor （PMSM） is designed. Using the proposed synchronous rotating coordinate transformation matrix, the fundamental and harmonic components in d-q subspace are changed into direct current （DC） component, only using the traditional proportional integral （PI） controller can meet the non-static difference adjustment, and the controller parameter design method is given by employing intemal model principle. In addition, in order to remove the 5th and 7th harmonic components of stator current, the current PI controller parallel with resonant controller is employed in x-y subspace to realize the specific harmonic component compensation. Simulation results verify the effectiveness of current decoupling vector controller.
基金The National Natural Science Foundation of China(No.10572091)The Key Project of Fund of Science and Technology Development of Shanghai(No.07JC14023)
文摘Mechanical model and vibration equation of a cable in cable-stayed space latticed structure (CSLS) under external axial excitation were founded.Determination of the mass lumps and natural frequencies sup- plied by the space latticed structure (SLS) was analyzed.Multiple scales method (MSM) was introduced to analyze the characteristics of cable's parametric vibration,and the precise time-integration method (PTIM) was used to solve vibration equation.The vibration behavior of a cable is closely relative to the frequency ratio of the cable and SLS.The cable's parametric vibration caused by the external axial excitation easily occurs if the frequency ratio of the cable and SLS is in a certain range,and the cable's vibration amplitude varies greatly even if the initial disturbance supplied by SLS changes a little.Furthermore,the mechanical model and vibration equation of the composite cable system consisting of main cables and assistant cables were studied. The parametric analysis such as the pre-tension level and arrangement of the assistant cables was carried out. Due to the assistant cables,the single-cable vibration mode can be transferred to the global vibration mode, and the stiffness and damping of the cable system are enhanced.The natural frequencies of the composite cable system with the curve line arrangement of assistant cables are higher than those with the straight-line arrangement and the former is more effective than the latter on the cable's vibration suppression.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2012AA041801)supproted by the High-tech Research and Development Program of China
文摘A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.
文摘In this paper, a simulation model of Permanent Magnet Linear Synchronous Motor (PMLSM) is established by using phase equations method. Special attention is paid to its structure and the influence of longitudinal end effect and the unbalance of current. The analytic method can be used for the analysis of dynamic and static characteristics of PMLSM.
基金Supported by National Natural Science Foundation of China(No.50579047).
文摘Nonlinear vibration can cause serious problems in long span cable-stayed bridges.When the internal resonance threshold is reached between the excitation frequency and natural frequency,large amplitudes occur in the cable.Based on the current situation of lacking corresponding constraint criteria,a model was presented for analyzing the dynamic reliability of coupling oscillation between the cable and tower in a cable-stayed bridge.First of all,in the case of cable sag,the d'Alembert principle is applied to studying the nonlinear dynamic behavior of the structure,and resonance failure interval of parametric oscillation is calculated accordingly.Then the dynamic reliability model is set up using the JC method.An application of this model has been developed for the preliminary design of one cable-stayed bridge located on Hai River in Tianjin,and time histories analysis as well as reliability indexes have been obtained.When frequency ratio between the cable and tower is approaching 1∶2,the reliability index is 0.98,indicating high failure probability.And this is consistent with theoretical derivation and experimental results in reference.This model,which is capable of computing the reliability index of resonance failure,provides theoretical basis for the establishment of corresponding rule.
基金Projects(51275235, 50975135) supported by the National Natural Science Foundation of ChinaProject(U0934004) supported by the Natural Science Foundation of Guangdong Province, ChinaProject(2011CB707602) supported by the National Basic Research Program of China
文摘A new method for optimizing a butterfly-shaped linear ultrasonic motor was proposed to maximize its mechanical output. The finite element analysis technology and response surface methodology were combined together to realize the optimal design of the butterfly-shaped linear ultrasonic motor. First, the operation principle of the motor was introduced. Second, the finite element parameterized model of the stator of the motor was built using ANSYS parametric design language and some structure parameters of the stator were selected as design variables. Third, the sample points were selected in design variable space using latin hypercube Design. Through modal analysis and harmonic response analysis of the stator based on these sample points, the target responses were obtained. These sample points and response values were combined together to build a response surface model. Finally, the simplex method was used to find the optimal solution. The experimental results showed that many aspects of the design requirements of the butterfly-shaped linear ultrasonic motor have been fulfilled. The prototype motor fabricated based on the optimal design result exhibited considerably high dynamic performance, such as no-load speed of 873 ram/s, maximal thrust of 27.5 N, maximal efficiency of 43%, and thrust-weight ratio of 45.8.
文摘With the aim to apply the electric fish into practice to assist coal mine water disaster life detection and rescue work, based on the analysis on swing propulsion movements of tail fin, this paper integrates the electromagnet technology with tail fin drive system by analyzing how the fish swims with tail fin under the law of progression. The principle, structure, and drive signals of tail fin electromagnetic drive are researched, the enforced situation of fish under eIectromagnetic driving modes are analyzed, and the experimental plat-form of tail fin electromagnetic drive is established. The best distance between electro- magnet and armature, which can realize the swing of tail fin, was researched in the experiment under water. The robotic fish structure parameters of tail fin electromagnetic drive was finalized by theoretical analysis and experimental measurement.
