The natural frequency of the electrohydraulic system in mobile machinery is always very low,which brings difficulties to the controller design.To improve the tracking performance of the hydraulic system,mathematical m...The natural frequency of the electrohydraulic system in mobile machinery is always very low,which brings difficulties to the controller design.To improve the tracking performance of the hydraulic system,mathematical modeling of the electrohydraulic lifting system and the rubber hose was accomplished according to an electrohydraulic lifting test rig built in the laboratory.Then,valve compensation strategy,including spool opening compensation (SOC) and dead zone compensation (DZC),was designed based on the flow-pressure characteristic of a closed-centered proportional valve.Comparative experiments on point-to-point trajectory tracking between a proportional controller with the proposed compensations and a traditional PI controller were conducted.Experiment results show that the maximal absolute values of the tracking error are reduced from 0.039 m to 0.019 m for the slow point-to-point motion trajectory and from 0.085 m to 0.054 m for the fast point-to-point motion trajectory with the proposed compensations.Moreover,tracking error of the proposed controller was analyzed and corresponding suggestions to reduce the tracking error were put forward.展开更多
A plant＇s capacity to compensate for pest damage as a function of resource availability needs to be predictable in order to apply biocontrol agents effectively. In this research, it was hypothesized that a weedy plan...A plant＇s capacity to compensate for pest damage as a function of resource availability needs to be predictable in order to apply biocontrol agents effectively. In this research, it was hypothesized that a weedy plant species＇ capacity to compensate for defoliation is related to how resource availability affects a plant＇s growth trajectory. Growth rate trajectory is defined as the percent change in relative growth rate or the slope of a plant＇s relative growth rate. 90 Abutilon theophrasti, a common weed species, in cultivated fields of corn and soybean, grew in a greenhouse for 70 d under three nitrogen （N） fertilization treatments. ＂Unfertilized＂ plants were not fertilized, ＂bulk＂ fertilized plants received 0.6 g N on day 15 and ＂exponential＂ fertilized plants received a total of 0.6 g N supplied at an exponential rate of 10% per day with a starting concentration of 0.02 g N on day 15. On day 25, 15 plants in each N treatment had 75% of total leaf area removed. Biomass and reproductive compensation were determined after 50 d and 70 d of growth. Results showed that bulk plants had the greatest absolute growth, but also the greatest decline in growth rates and the least capacity for compensation. Unfertilized plants had the lowest absolute growth, but declines in growth rates were similar to bulk plants with only a slightly greater compensatory capacity. Exponential plants had intermediate absolute growth, but the least decline in growth rates and the greatest capacity for compensation. This experiment indicates that a plant＇s growth rate trajectory, and not high or low relative growth rates or N availability per se, can be used to predict a weedy plant＇s capacity to compensate for herbivory, and has implications for biocontrol of weedy species.展开更多
基金Project(2006CB705400)supported by the National Basic Research Program of China
文摘The natural frequency of the electrohydraulic system in mobile machinery is always very low,which brings difficulties to the controller design.To improve the tracking performance of the hydraulic system,mathematical modeling of the electrohydraulic lifting system and the rubber hose was accomplished according to an electrohydraulic lifting test rig built in the laboratory.Then,valve compensation strategy,including spool opening compensation (SOC) and dead zone compensation (DZC),was designed based on the flow-pressure characteristic of a closed-centered proportional valve.Comparative experiments on point-to-point trajectory tracking between a proportional controller with the proposed compensations and a traditional PI controller were conducted.Experiment results show that the maximal absolute values of the tracking error are reduced from 0.039 m to 0.019 m for the slow point-to-point motion trajectory and from 0.085 m to 0.054 m for the fast point-to-point motion trajectory with the proposed compensations.Moreover,tracking error of the proposed controller was analyzed and corresponding suggestions to reduce the tracking error were put forward.
文摘A plant＇s capacity to compensate for pest damage as a function of resource availability needs to be predictable in order to apply biocontrol agents effectively. In this research, it was hypothesized that a weedy plant species＇ capacity to compensate for defoliation is related to how resource availability affects a plant＇s growth trajectory. Growth rate trajectory is defined as the percent change in relative growth rate or the slope of a plant＇s relative growth rate. 90 Abutilon theophrasti, a common weed species, in cultivated fields of corn and soybean, grew in a greenhouse for 70 d under three nitrogen （N） fertilization treatments. ＂Unfertilized＂ plants were not fertilized, ＂bulk＂ fertilized plants received 0.6 g N on day 15 and ＂exponential＂ fertilized plants received a total of 0.6 g N supplied at an exponential rate of 10% per day with a starting concentration of 0.02 g N on day 15. On day 25, 15 plants in each N treatment had 75% of total leaf area removed. Biomass and reproductive compensation were determined after 50 d and 70 d of growth. Results showed that bulk plants had the greatest absolute growth, but also the greatest decline in growth rates and the least capacity for compensation. Unfertilized plants had the lowest absolute growth, but declines in growth rates were similar to bulk plants with only a slightly greater compensatory capacity. Exponential plants had intermediate absolute growth, but the least decline in growth rates and the greatest capacity for compensation. This experiment indicates that a plant＇s growth rate trajectory, and not high or low relative growth rates or N availability per se, can be used to predict a weedy plant＇s capacity to compensate for herbivory, and has implications for biocontrol of weedy species.
