The plastic flow behavior of the rotating band material is investigated in this paper. The rotating band material is processed from H96 brass alloy, which is hardened to a much higher yield strength compared to the an...The plastic flow behavior of the rotating band material is investigated in this paper. The rotating band material is processed from H96 brass alloy, which is hardened to a much higher yield strength compared to the annealed one. The dynamically uniaxial compression behavior of the material is tested using the split Hopkinson pressure bar(SHPB) with temperature and strain rate ranging from 297 to 1073 K and500 to 3000 s^(-1), respectively, and a phenomenological plastic flow stress model is developed to describe the mechanical behavior of the material. The material is found to present noticeable temperature sensitivity and weak strain-rate sensitivity. The construction of the plastic flow stress model has two steps. Firstly, three univariate stress functions, taking plastic strain, plastic strain rate and temperature as independent variable, respectively, are proposed by fixing the other two variables. Then, as the three univariate functions describe the special cases of flow stress behavior under various conditions, the principle of stress compatibility is adopted to obtain the complete flow stress function. The numerical results show that the proposed plastic flow stress model is more suitable for the rotating band material than the existing well-known models.展开更多
The open-circuit fault is one of the most common faults of the automatic ramming drive system(ARDS),and it can be categorized into the open-phase faults of Permanent Magnet Synchronous Motor(PMSM)and the open-circuit ...The open-circuit fault is one of the most common faults of the automatic ramming drive system(ARDS),and it can be categorized into the open-phase faults of Permanent Magnet Synchronous Motor(PMSM)and the open-circuit faults of Voltage Source Inverter(VSI). The stator current serves as a common indicator for detecting open-circuit faults. Due to the identical changes of the stator current between the open-phase faults in the PMSM and failures of double switches within the same leg of the VSI, this paper utilizes the zero-sequence voltage component as an additional diagnostic criterion to differentiate them.Considering the variable conditions and substantial noise of the ARDS, a novel Multi-resolution Network(Mr Net) is proposed, which can extract multi-resolution perceptual information and enhance robustness to the noise. Meanwhile, a feature weighted layer is introduced to allocate higher weights to characteristics situated near the feature frequency. Both simulation and experiment results validate that the proposed fault diagnosis method can diagnose 25 types of open-circuit faults and achieve more than98.28% diagnostic accuracy. In addition, the experiment results also demonstrate that Mr Net has the capability of diagnosing the fault types accurately under the interference of noise signals(Laplace noise and Gaussian noise).展开更多
Artificial intelligence technology is introduced into the simulation of muzzle flow field to improve its simulation efficiency in this paper.A data-physical fusion driven framework is proposed.First,the known flow fie...Artificial intelligence technology is introduced into the simulation of muzzle flow field to improve its simulation efficiency in this paper.A data-physical fusion driven framework is proposed.First,the known flow field data is used to initialize the model parameters,so that the parameters to be trained are close to the optimal value.Then physical prior knowledge is introduced into the training process so that the prediction results not only meet the known flow field information but also meet the physical conservation laws.Through two examples,it is proved that the model under the fusion driven framework can solve the strongly nonlinear flow field problems,and has stronger generalization and expansion.The proposed model is used to solve a muzzle flow field,and the safety clearance behind the barrel side is divided.It is pointed out that the shape of the safety clearance under different launch speeds is roughly the same,and the pressure disturbance in the area within 9.2 m behind the muzzle section exceeds the safety threshold,which is a dangerous area.Comparison with the CFD results shows that the calculation efficiency of the proposed model is greatly improved under the condition of the same calculation accuracy.The proposed model can quickly and accurately simulate the muzzle flow field under various launch conditions.展开更多
In this paper,a dynamic modeling method of motor driven electromechanical system is presented,and the uncertainty quantification of mechanism motion is investigated based on this method.The main contribution is to pro...In this paper,a dynamic modeling method of motor driven electromechanical system is presented,and the uncertainty quantification of mechanism motion is investigated based on this method.The main contribution is to propose a novel mechanism-motor coupling dynamic modeling method,in which the relationship between mechanism motion and motor rotation is established according to the geometric coordination of the system.The advantages of this include establishing intuitive coupling between the mechanism and motor,facilitating the discussion for the influence of both mechanical and electrical parameters on the mechanism,and enabling dynamic simulation with controller to take the randomness of the electric load into account.Dynamic simulation considering feedback control of ammunition delivery system is carried out,and the feasibility of the model is verified experimentally.Based on probability density evolution theory,we comprehensively discuss the effects of system parameters on mechanism motion from the perspective of uncertainty quantization.Our work can not only provide guidance for engineering design of ammunition delivery mechanism,but also provide theoretical support for modeling and uncertainty quantification research of mechatronics system.展开更多
This paper proposed an efficient research method for high-dimensional uncertainty quantification of projectile motion in the barrel of a truck-mounted howitzer.Firstly,the dynamic model of projectile motion is establi...This paper proposed an efficient research method for high-dimensional uncertainty quantification of projectile motion in the barrel of a truck-mounted howitzer.Firstly,the dynamic model of projectile motion is established considering the flexible deformation of the barrel and the interaction between the projectile and the barrel.Subsequently,the accuracy of the dynamic model is verified based on the external ballistic projectile attitude test platform.Furthermore,the probability density evolution method(PDEM)is developed to high-dimensional uncertainty quantification of projectile motion.The engineering example highlights the results of the proposed method are consistent with the results obtained by the Monte Carlo Simulation(MCS).Finally,the influence of parameter uncertainty on the projectile disturbance at muzzle under different working conditions is analyzed.The results show that the disturbance of the pitch angular,pitch angular velocity and pitch angular of velocity decreases with the increase of launching angle,and the random parameter ranges of both the projectile and coupling model have similar influence on the disturbance of projectile angular motion at muzzle.展开更多
As for the characteristics of combustibility of deterrent propellant with large web size which is used in large-caliber gun and interior ballistic performance, the combustion characteristics of deterrent propellant ar...As for the characteristics of combustibility of deterrent propellant with large web size which is used in large-caliber gun and interior ballistic performance, the combustion characteristics of deterrent propellant are obtained by using closed-bomb experiments. The combustion law of deterrent propellant and the classic interior ballistic model of composite charge are given. By simulation and analysis the results of the artillery firing test, the burning rate variation law and the interior ballistics simulation parameters of propellant A are determined, and the burning rate relationship between propellant A and propellant B obtained from closed-bomb, then the ballistic performance of propellant B is predicted. The results show that the predicted results are in good agreement with the experimental results. The study shows that the burning rate law of deterrent propellant with large web size can be obtained by closed-bomb experiment. Using the method provided in this paper can accurately predict the interior ballistic performance and provide an important basis for improving the accuracy of interior ballistic calculation.展开更多
In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance...In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance,the flexibility of the rotating beam,and the coupled dynamic characteristics of the hydraulic cylinder.A modified contact force model was developed to simulate the physical properties of realistic revolute joints with small clearances,heavy loads,and variable contact stiffnesses and damping coefficients with variations of the indentations.Considering the strong coupling relationship between the hydraulic cylinder and the flexible beam,a system equation of motion combining the state variables of the hydraulic cylinder and mechanical system was established.The complex nonlinear friction force of the hydraulic cylinder motion was constructed using a modified Lu Gre model,and the parameters of the friction model were identified using intelligent identification algorithms.Moreover,a test system for the shell manipulator was established to achieve experimental validation.Finally,the effects of the clearance size and the stiffness of the cylinder support on the dynamic response were investigated.展开更多
With the APDL language of ANSYS finite element analysis software, the solution program for barrel dynamic stress is developed. The paper describes the pivotal problems of dynamic strength design and provides a foundat...With the APDL language of ANSYS finite element analysis software, the solution program for barrel dynamic stress is developed. The paper describes the pivotal problems of dynamic strength design and provides a foundation for realizing the engineering and programming of barrel dynamic strength design.展开更多
The experimental modal analysis of the selected self-propelled gun was completed to obtain its modal frequency distribution and modes by using an operational modal analysis experimental technique.The result obtained b...The experimental modal analysis of the selected self-propelled gun was completed to obtain its modal frequency distribution and modes by using an operational modal analysis experimental technique.The result obtained by the method was compared with that obtained by the traditional method.It indicates that the two results are in good agreement.展开更多
Lightweight designs of new-energy vehicles can reduce energy consumption,thereby improving driving mileage.In this study,a lightweight design of a newly developed multi-material electric bus body structure is examined...Lightweight designs of new-energy vehicles can reduce energy consumption,thereby improving driving mileage.In this study,a lightweight design of a newly developed multi-material electric bus body structure is examined in combination with analytical target cascading(ATC).By proposing an ATC-based two-level optimization strategy,the original lightweight design problem is decomposed into the system level and three subsystem levels.The system-level optimization model is related to mass minimization with all the structural modal frequency constraints,while each subsystem-level optimization model is related to the sub-structural performance objective with sub-structure mass constraints.To enhance the interaction between two-level systems,each subsystem-level objective is reformulated as a penalty-based function coordinated with the system-level objective.To guarantee the accuracy of the model-based analysis,a finite element model is validated through experimental modal test.A sequential quadratic programming algorithm is used to address the defined optimization problem for effective convergence.Compared with the initial design,the total mass is reduced by 49 kg,and the torsional stiffness is increased by 17.5%.In addition,the obtained design is also validated through strength analysis.展开更多
This paper focuses on control design and synthesize for a class of magnetic levitation systems,which have a decentralized control for each suspension point.Due to the existence of mechanical coupling among four suspen...This paper focuses on control design and synthesize for a class of magnetic levitation systems,which have a decentralized control for each suspension point.Due to the existence of mechanical coupling among four suspension points,large modeling uncertainties,unpredictable disturbances during the operation,and measurement noises,becomes challenging.To estimate and compensate for the effects of lumped uncertainties,this study employs the extended state observer(ESO)in conjunction with active disturbance rejection control(ADRC).Specifically,a novel ESO is proposed that utilizes output signals and their derivatives to estimate the lumped uncertainties more accurately,which simplifies the convergence proof conditions and has well engineering performance.This article is written in honor of B.M.Chen on the occasion of his 60th birthday.Specifically,this paper is inspired by his pioneering work on composite nonlinear feedback,which combines linear feedback and nonlinear compensator to enhance system performance Chen et al.(IEEE Trans Autom Control,40:427-439,2003).展开更多
In this article, an unknown system dynamics estimator-based impedance control method is proposed for the lower limb exoskeleton to stimulate the tracking flexibility with the terminal target position when suffering pa...In this article, an unknown system dynamics estimator-based impedance control method is proposed for the lower limb exoskeleton to stimulate the tracking flexibility with the terminal target position when suffering parametric inaccuracies and unexpected disturbances. To reinforce the robust performance, via constructing the filtering operation-based dynamic relation, i.e., invariant manifold, the unknown system dynamics estimators are employed to maintain the accurate perturbation identification in both the hip and knee subsystem. Besides, a funnel control technique is designed to govern the convergence process within a minor overshoot and a higher steady-state precision. Meanwhile, an interactive complaint result can be obtained with the aid of the impedance control, where the prescribed terminal trajectory can be adjusted into the interaction variable-based target position by the force–position mapping, revealing the dynamic influence between the impedance coefficient (stiffness and damping) and the adjusted position magnitude. A sufficient stability analysis verifies the ultimately uniformly bounded results of all the error signals, and even the angle errors can be regulated within the predefined funnel boundary in the whole convergence. Finally, some simulations are provided to demonstrate the validity and superiority including the enhanced interaction flexibility and robustness.展开更多
Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control per...Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control performance of PMSM systems,a new method that has fast response and good robustness is proposed in this study.First,a modified integral terminal sliding mode controller is developed,which has a fast-sliding surface and a continuous reaching law.Then,an extended state observer is applied to measure the internal and external disturbances.Therefore,the disturbances can be compensated for in a feedforward manner.Compared with other sliding mode methods,the proposed method has faster response and better robustness against system disturbances.In addition,the position tracking error can converge to zero in a finite time.Simulation and experimental results reveal that the proposed control method has fast response and good robustness,and enables high-precision control.展开更多
未知振动对弹性飞机结构有显著的负面影响.因此,有必要对结构的振动响应进行准确的预测。然而,当目标点存在激励载荷时,大多数现有方法的预测效果较差.为了克服这一缺点,我们提出了一种基于全局传递函数(global transfer function,GTF)...未知振动对弹性飞机结构有显著的负面影响.因此,有必要对结构的振动响应进行准确的预测。然而,当目标点存在激励载荷时,大多数现有方法的预测效果较差.为了克服这一缺点,我们提出了一种基于全局传递函数(global transfer function,GTF)的响应预测方法.GTF直接使用参考点的响应预测目标点响应,不需要载荷参与,也不依赖于动力学模型.此外,目标点激励的贡献也可以得到有效的补偿和校正.我们通过有限元模型和实际系统的实验,验证了GTF的有效性和准确性.详细研究了传感器位置、传感器数量、激励类型、激励方式和噪声等因素的影响.并对GTF和基于直接传递函数(direct transfer functio,DTF)的响应预测结果进行了比较.结果表明,GTF能有效预测振动响应,满足工业要求.因此,GTF是一种很有前途的弹性飞机响应预测方法.展开更多
For enhancing the electromagnetic wave(EW)attenuation and adsorption,rational constructing and homogeneously distributing bimetallic electromagnetic coupling units in hollow structure is an effective way,but hard to a...For enhancing the electromagnetic wave(EW)attenuation and adsorption,rational constructing and homogeneously distributing bimetallic electromagnetic coupling units in hollow structure is an effective way,but hard to achieve.Herein,a CoNi-doped hybrid zeolite imidazole framework was synthesized as precursor,which was further converted into a hollow CoNi-bimetallic doped molyb-denum carbide sphere(H-CoNi@MoC/NC)through a two-step etching and calcination strategy.At the loading amount of 15 wt%,a strong absorption of minimum reflection loss(RL_(min))of-60.05 dB at 7.2 GHz with the thickness of 3.1 mm and a wide effective ad-sorption bandwidth(EAB)of 3.52 GHz at the thickness of 2.5 mm were achieved,which was far beyond the reported MoC-based metallic hybrids.The crucial synergistic Co-Ni electromagnetic coupling effect in the composite was characterized,not only enhanc-ing the dipolar/interfacial polarization,but also promoting the impedance matching,displaying the optimized EW absorbing perfor-mance.展开更多
基金the support from National Natural Science Foundation of China (Grant Nos. 11702137 and U2141246)。
文摘The plastic flow behavior of the rotating band material is investigated in this paper. The rotating band material is processed from H96 brass alloy, which is hardened to a much higher yield strength compared to the annealed one. The dynamically uniaxial compression behavior of the material is tested using the split Hopkinson pressure bar(SHPB) with temperature and strain rate ranging from 297 to 1073 K and500 to 3000 s^(-1), respectively, and a phenomenological plastic flow stress model is developed to describe the mechanical behavior of the material. The material is found to present noticeable temperature sensitivity and weak strain-rate sensitivity. The construction of the plastic flow stress model has two steps. Firstly, three univariate stress functions, taking plastic strain, plastic strain rate and temperature as independent variable, respectively, are proposed by fixing the other two variables. Then, as the three univariate functions describe the special cases of flow stress behavior under various conditions, the principle of stress compatibility is adopted to obtain the complete flow stress function. The numerical results show that the proposed plastic flow stress model is more suitable for the rotating band material than the existing well-known models.
基金supported by the Natural Science Foundation of Jiangsu Province (Grant Nos. BK20210347)。
文摘The open-circuit fault is one of the most common faults of the automatic ramming drive system(ARDS),and it can be categorized into the open-phase faults of Permanent Magnet Synchronous Motor(PMSM)and the open-circuit faults of Voltage Source Inverter(VSI). The stator current serves as a common indicator for detecting open-circuit faults. Due to the identical changes of the stator current between the open-phase faults in the PMSM and failures of double switches within the same leg of the VSI, this paper utilizes the zero-sequence voltage component as an additional diagnostic criterion to differentiate them.Considering the variable conditions and substantial noise of the ARDS, a novel Multi-resolution Network(Mr Net) is proposed, which can extract multi-resolution perceptual information and enhance robustness to the noise. Meanwhile, a feature weighted layer is introduced to allocate higher weights to characteristics situated near the feature frequency. Both simulation and experiment results validate that the proposed fault diagnosis method can diagnose 25 types of open-circuit faults and achieve more than98.28% diagnostic accuracy. In addition, the experiment results also demonstrate that Mr Net has the capability of diagnosing the fault types accurately under the interference of noise signals(Laplace noise and Gaussian noise).
基金Supported by the Natural Science Foundation of Jiangsu Province of China(Grant No.BK20210347)Supported by the National Natural Science Foundation of China(Grant No.U2141246).
文摘Artificial intelligence technology is introduced into the simulation of muzzle flow field to improve its simulation efficiency in this paper.A data-physical fusion driven framework is proposed.First,the known flow field data is used to initialize the model parameters,so that the parameters to be trained are close to the optimal value.Then physical prior knowledge is introduced into the training process so that the prediction results not only meet the known flow field information but also meet the physical conservation laws.Through two examples,it is proved that the model under the fusion driven framework can solve the strongly nonlinear flow field problems,and has stronger generalization and expansion.The proposed model is used to solve a muzzle flow field,and the safety clearance behind the barrel side is divided.It is pointed out that the shape of the safety clearance under different launch speeds is roughly the same,and the pressure disturbance in the area within 9.2 m behind the muzzle section exceeds the safety threshold,which is a dangerous area.Comparison with the CFD results shows that the calculation efficiency of the proposed model is greatly improved under the condition of the same calculation accuracy.The proposed model can quickly and accurately simulate the muzzle flow field under various launch conditions.
基金supported by the National Natural Science Foundation of China(Grant Nos.11472137 and U2141246)。
文摘In this paper,a dynamic modeling method of motor driven electromechanical system is presented,and the uncertainty quantification of mechanism motion is investigated based on this method.The main contribution is to propose a novel mechanism-motor coupling dynamic modeling method,in which the relationship between mechanism motion and motor rotation is established according to the geometric coordination of the system.The advantages of this include establishing intuitive coupling between the mechanism and motor,facilitating the discussion for the influence of both mechanical and electrical parameters on the mechanism,and enabling dynamic simulation with controller to take the randomness of the electric load into account.Dynamic simulation considering feedback control of ammunition delivery system is carried out,and the feasibility of the model is verified experimentally.Based on probability density evolution theory,we comprehensively discuss the effects of system parameters on mechanism motion from the perspective of uncertainty quantization.Our work can not only provide guidance for engineering design of ammunition delivery mechanism,but also provide theoretical support for modeling and uncertainty quantification research of mechatronics system.
基金the National Natural Science Foundation of China(Grant No.11472137).
文摘This paper proposed an efficient research method for high-dimensional uncertainty quantification of projectile motion in the barrel of a truck-mounted howitzer.Firstly,the dynamic model of projectile motion is established considering the flexible deformation of the barrel and the interaction between the projectile and the barrel.Subsequently,the accuracy of the dynamic model is verified based on the external ballistic projectile attitude test platform.Furthermore,the probability density evolution method(PDEM)is developed to high-dimensional uncertainty quantification of projectile motion.The engineering example highlights the results of the proposed method are consistent with the results obtained by the Monte Carlo Simulation(MCS).Finally,the influence of parameter uncertainty on the projectile disturbance at muzzle under different working conditions is analyzed.The results show that the disturbance of the pitch angular,pitch angular velocity and pitch angular of velocity decreases with the increase of launching angle,and the random parameter ranges of both the projectile and coupling model have similar influence on the disturbance of projectile angular motion at muzzle.
文摘As for the characteristics of combustibility of deterrent propellant with large web size which is used in large-caliber gun and interior ballistic performance, the combustion characteristics of deterrent propellant are obtained by using closed-bomb experiments. The combustion law of deterrent propellant and the classic interior ballistic model of composite charge are given. By simulation and analysis the results of the artillery firing test, the burning rate variation law and the interior ballistics simulation parameters of propellant A are determined, and the burning rate relationship between propellant A and propellant B obtained from closed-bomb, then the ballistic performance of propellant B is predicted. The results show that the predicted results are in good agreement with the experimental results. The study shows that the burning rate law of deterrent propellant with large web size can be obtained by closed-bomb experiment. Using the method provided in this paper can accurately predict the interior ballistic performance and provide an important basis for improving the accuracy of interior ballistic calculation.
基金supported by the National Natural Science Foundation of China [grant number 11472137]the Fundamental Research Funds for the Central Universities [grant numbers 309181A8801,30919011204]。
文摘In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance,the flexibility of the rotating beam,and the coupled dynamic characteristics of the hydraulic cylinder.A modified contact force model was developed to simulate the physical properties of realistic revolute joints with small clearances,heavy loads,and variable contact stiffnesses and damping coefficients with variations of the indentations.Considering the strong coupling relationship between the hydraulic cylinder and the flexible beam,a system equation of motion combining the state variables of the hydraulic cylinder and mechanical system was established.The complex nonlinear friction force of the hydraulic cylinder motion was constructed using a modified Lu Gre model,and the parameters of the friction model were identified using intelligent identification algorithms.Moreover,a test system for the shell manipulator was established to achieve experimental validation.Finally,the effects of the clearance size and the stiffness of the cylinder support on the dynamic response were investigated.
文摘With the APDL language of ANSYS finite element analysis software, the solution program for barrel dynamic stress is developed. The paper describes the pivotal problems of dynamic strength design and provides a foundation for realizing the engineering and programming of barrel dynamic strength design.
文摘The experimental modal analysis of the selected self-propelled gun was completed to obtain its modal frequency distribution and modes by using an operational modal analysis experimental technique.The result obtained by the method was compared with that obtained by the traditional method.It indicates that the two results are in good agreement.
基金supported by the National Natural Science Foundation of China (Grant No.51805032).
文摘Lightweight designs of new-energy vehicles can reduce energy consumption,thereby improving driving mileage.In this study,a lightweight design of a newly developed multi-material electric bus body structure is examined in combination with analytical target cascading(ATC).By proposing an ATC-based two-level optimization strategy,the original lightweight design problem is decomposed into the system level and three subsystem levels.The system-level optimization model is related to mass minimization with all the structural modal frequency constraints,while each subsystem-level optimization model is related to the sub-structural performance objective with sub-structure mass constraints.To enhance the interaction between two-level systems,each subsystem-level objective is reformulated as a penalty-based function coordinated with the system-level objective.To guarantee the accuracy of the model-based analysis,a finite element model is validated through experimental modal test.A sequential quadratic programming algorithm is used to address the defined optimization problem for effective convergence.Compared with the initial design,the total mass is reduced by 49 kg,and the torsional stiffness is increased by 17.5%.In addition,the obtained design is also validated through strength analysis.
基金This work was supported by the Key Project of the National Natural Science Foundation of China(No.52241103).
文摘This paper focuses on control design and synthesize for a class of magnetic levitation systems,which have a decentralized control for each suspension point.Due to the existence of mechanical coupling among four suspension points,large modeling uncertainties,unpredictable disturbances during the operation,and measurement noises,becomes challenging.To estimate and compensate for the effects of lumped uncertainties,this study employs the extended state observer(ESO)in conjunction with active disturbance rejection control(ADRC).Specifically,a novel ESO is proposed that utilizes output signals and their derivatives to estimate the lumped uncertainties more accurately,which simplifies the convergence proof conditions and has well engineering performance.This article is written in honor of B.M.Chen on the occasion of his 60th birthday.Specifically,this paper is inspired by his pioneering work on composite nonlinear feedback,which combines linear feedback and nonlinear compensator to enhance system performance Chen et al.(IEEE Trans Autom Control,40:427-439,2003).
基金supported in part by the Young Talent Fund of Association for Science and Technology in Shaanxi,China(No.20230126).
文摘In this article, an unknown system dynamics estimator-based impedance control method is proposed for the lower limb exoskeleton to stimulate the tracking flexibility with the terminal target position when suffering parametric inaccuracies and unexpected disturbances. To reinforce the robust performance, via constructing the filtering operation-based dynamic relation, i.e., invariant manifold, the unknown system dynamics estimators are employed to maintain the accurate perturbation identification in both the hip and knee subsystem. Besides, a funnel control technique is designed to govern the convergence process within a minor overshoot and a higher steady-state precision. Meanwhile, an interactive complaint result can be obtained with the aid of the impedance control, where the prescribed terminal trajectory can be adjusted into the interaction variable-based target position by the force–position mapping, revealing the dynamic influence between the impedance coefficient (stiffness and damping) and the adjusted position magnitude. A sufficient stability analysis verifies the ultimately uniformly bounded results of all the error signals, and even the angle errors can be regulated within the predefined funnel boundary in the whole convergence. Finally, some simulations are provided to demonstrate the validity and superiority including the enhanced interaction flexibility and robustness.
文摘Permanent magnet synchronous motor(PMSM)has been widely used in position control applications.Its performance is not satisfactory due to internal uncertainties and external load disturbances.To enhance the control performance of PMSM systems,a new method that has fast response and good robustness is proposed in this study.First,a modified integral terminal sliding mode controller is developed,which has a fast-sliding surface and a continuous reaching law.Then,an extended state observer is applied to measure the internal and external disturbances.Therefore,the disturbances can be compensated for in a feedforward manner.Compared with other sliding mode methods,the proposed method has faster response and better robustness against system disturbances.In addition,the position tracking error can converge to zero in a finite time.Simulation and experimental results reveal that the proposed control method has fast response and good robustness,and enables high-precision control.
基金supported by Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University(Grant No.Cx2022002)the National Natural Science Foundation of China(Grant No.11872312).
文摘未知振动对弹性飞机结构有显著的负面影响.因此,有必要对结构的振动响应进行准确的预测。然而,当目标点存在激励载荷时,大多数现有方法的预测效果较差.为了克服这一缺点,我们提出了一种基于全局传递函数(global transfer function,GTF)的响应预测方法.GTF直接使用参考点的响应预测目标点响应,不需要载荷参与,也不依赖于动力学模型.此外,目标点激励的贡献也可以得到有效的补偿和校正.我们通过有限元模型和实际系统的实验,验证了GTF的有效性和准确性.详细研究了传感器位置、传感器数量、激励类型、激励方式和噪声等因素的影响.并对GTF和基于直接传递函数(direct transfer functio,DTF)的响应预测结果进行了比较.结果表明,GTF能有效预测振动响应,满足工业要求.因此,GTF是一种很有前途的弹性飞机响应预测方法.
基金financially supported by the National Natural Science Foundation of China(22001156,22271178)the Youth Talent Fund of University Association for Science and Technology in Shaanxi,China(20210602)International Cooperation Key Project of Science and Technology Department of Shaanxi,China(2022KWZ-06).
文摘For enhancing the electromagnetic wave(EW)attenuation and adsorption,rational constructing and homogeneously distributing bimetallic electromagnetic coupling units in hollow structure is an effective way,but hard to achieve.Herein,a CoNi-doped hybrid zeolite imidazole framework was synthesized as precursor,which was further converted into a hollow CoNi-bimetallic doped molyb-denum carbide sphere(H-CoNi@MoC/NC)through a two-step etching and calcination strategy.At the loading amount of 15 wt%,a strong absorption of minimum reflection loss(RL_(min))of-60.05 dB at 7.2 GHz with the thickness of 3.1 mm and a wide effective ad-sorption bandwidth(EAB)of 3.52 GHz at the thickness of 2.5 mm were achieved,which was far beyond the reported MoC-based metallic hybrids.The crucial synergistic Co-Ni electromagnetic coupling effect in the composite was characterized,not only enhanc-ing the dipolar/interfacial polarization,but also promoting the impedance matching,displaying the optimized EW absorbing perfor-mance.
