This paper simulated the optimal refrigerant charge inventory of a refrigeration system in air-conditioning operation and heat-pump operation respectively,and studied the refrigerant control strategies in this system....This paper simulated the optimal refrigerant charge inventory of a refrigeration system in air-conditioning operation and heat-pump operation respectively,and studied the refrigerant control strategies in this system.The void fraction in two-phase fluid region was calculated by Harms model.And based on distributed parameter model and Harms model,the refrigerant charge inventory in condenser and evaporator were calculated and analyzed in air-conditioning conditions and heat-pump conditions,respectively.The calculating results of different refrigerant mass between refrigeration and heating conditions indicate that the optimal refrigerant charge inventory in heat-pump conditions is lower than that in air-conditioning conditions.To avoid the decrease of COP due to the surplus refrigerant in heating conditions,we introduced the liquid reservoir control method and associate capillary control method.Both of them could increase the heating capacity of the air-source heat pump.The difference of optimal refrigerant charge inventory in air-conditioning and heat-pump system can be controlled by the liquid reservoir or the associate capillary.展开更多
The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this...The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
基金Supported by Hubei Provincial Natural Science Foundation(2008CDB363)
文摘This paper simulated the optimal refrigerant charge inventory of a refrigeration system in air-conditioning operation and heat-pump operation respectively,and studied the refrigerant control strategies in this system.The void fraction in two-phase fluid region was calculated by Harms model.And based on distributed parameter model and Harms model,the refrigerant charge inventory in condenser and evaporator were calculated and analyzed in air-conditioning conditions and heat-pump conditions,respectively.The calculating results of different refrigerant mass between refrigeration and heating conditions indicate that the optimal refrigerant charge inventory in heat-pump conditions is lower than that in air-conditioning conditions.To avoid the decrease of COP due to the surplus refrigerant in heating conditions,we introduced the liquid reservoir control method and associate capillary control method.Both of them could increase the heating capacity of the air-source heat pump.The difference of optimal refrigerant charge inventory in air-conditioning and heat-pump system can be controlled by the liquid reservoir or the associate capillary.
基金supported by Southern Marine Science and Guangdong Laboratory(Zhuhai)(Grant No.SML2023SP229)。
文摘The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
