The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision character...The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.展开更多
An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop（HITL） platform for aircraf...An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop（HITL） platform for aircraft flight simulation based on MATLAB/Simulink ＋ dSPACE. The platform combines the abundant software and hardware resources of dSPACE simulation platform to simulate the flight attitude of an aircraft in six-DOF （ degree of freedom） motion. Based on the platform, the study was then focused on the flight numerical simulation by taking a loitering aerial vehicle as an example. An aircraft mathematical model was created for a modular design and off-line numerical simulation based on MATLAB/Simulink. Finally, the study was focused on the control system design of the loitering aerial vehicle and conduct of an HITL simulation experiment for the vehicle pitch control. The experiment verifies the system design and control effectiveness. Research results show that the dSPACE simulation system provides a real time good experimental platform to improve the efficiency of study and development of a flight control system.展开更多
This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents. Consensus is attained independently for different ...This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents. Consensus is attained independently for different agent clusters according to the community structure generated by the group partition of the underlying graph and sufficient conditions for both cluster and general consensus are obtained by using results from algebraic graph theory and the LaSalle Invariance Principle. Finally, some simple simulations are presented to illustrate the technique.展开更多
This paper describes the discharge simulation of HT-7U tokamak plasma equilibrium and plasma current by solving MHD equations and surface average transport equations using an equilibrium evolution code. The simulated ...This paper describes the discharge simulation of HT-7U tokamak plasma equilibrium and plasma current by solving MHD equations and surface average transport equations using an equilibrium evolution code. The simulated result shows the evolution of plasma parameter versus time.The simulated result can play an important role in the design of the plasma equilibrium and control system of a tokamak.展开更多
In order to know the character of the heat value control system, determine the influence of natural gas quality and flow on the heat value, and learn how to adjust the parameters of control system, the model of the wh...In order to know the character of the heat value control system, determine the influence of natural gas quality and flow on the heat value, and learn how to adjust the parameters of control system, the model of the whole system is established, and simulation of the system is adopted in Matlab/Simulink. The simulation result shows that the feedback system with feed-forward block controls the heat value very well, and the simulation result can effectively guide the engineering design of the heat value control system, and the efficiency of engineering is improved.展开更多
Computer simulation researches on Direct Torque Control System (DTC) are to be done. That fact is demonstrated:at high speed,the operating property of an induction motor is very good,almost the same as fieldoriented c...Computer simulation researches on Direct Torque Control System (DTC) are to be done. That fact is demonstrated:at high speed,the operating property of an induction motor is very good,almost the same as fieldoriented control system fat low speed (for example: below 2-3Hz), the operating property of a motor is getting worse,and the stator resistance R1 of the motor must be compensated. If compensation precision gets 5 %,the operating property of the motor will be greatly improved.展开更多
Based on reference[1], the Automatic Control System of the Excavating Process (ACSEP) is studied and aualyzed In this paper- At first, the general structure of the control system is discussed- And theo depeded on the ...Based on reference[1], the Automatic Control System of the Excavating Process (ACSEP) is studied and aualyzed In this paper- At first, the general structure of the control system is discussed- And theo depeded on the kinematical equations, the "Generator or Expected link variable (GE)" and "Generator of Actual bucket trajectory (CA)" are put forward. Finally, based on the current technology and existing techniques of WD-400 Mechanical Forward Excavator (MFE), the automatic system of excavating process composed of two relatively indepodent sub-systems is designed with simple but practical structure’ According to the computer simulation, this control system has high tracking precision to the desired trajectory and good adaptive capacity to the load disturbance.展开更多
A scheme of fuzzy logic control for the suspension system of a tracked vehicle is presented. A mechanical model for the whole body of a tracked vehicle, which is totally a fifteen-degree-of-freedom system, is establis...A scheme of fuzzy logic control for the suspension system of a tracked vehicle is presented. A mechanical model for the whole body of a tracked vehicle, which is totally a fifteen-degree-of-freedom system, is established. The model includes the vertical motion, the pitch motion as well as the roll motion of the tracked vehicle. In contrast to most previous studies, the coupling effect among the vertical, the pitch and the roll motions of the suspension system of a tracked vehicle is considered simultaneously. The simulation of fuzzy logic control under road surface with random excitation shows that the acceleration, pitch angle and roll angle of suspension system can be efficiently controlled.展开更多
The vibration caused by terrible road excitation affects the ride quality and safety of track vehicles. The vibration control of suspension systems is a very important factor for modern track vehicles. A fuzzy logic c...The vibration caused by terrible road excitation affects the ride quality and safety of track vehicles. The vibration control of suspension systems is a very important factor for modern track vehicles. A fuzzy logic control for suspension system of a track vehicle is presented. A mechanical model and a system of difft, rential equations of motion taking account of the mass of loading wheel are established. Then the fuzzy logic control is applied to control the vibration of suspension system of track vehicles for sine signal and random road surfaces. Numerical simulation shows that the maximum acceleration of suspension system can be reduced to 44 % of the original value for sine signal road surface, and the mean square root of acceleration of suspension system can be reduced to 21% for random road surface. Therefore, the proposed fuzzy logic control is an efficient method for the suspension systems of track vehicles.展开更多
The frequent change in ice drift direction poses a significant challenge for turret moored ship in ice. Variability in ice drift is mainly caused by the winds and currents. To solve this problem, a new method with num...The frequent change in ice drift direction poses a significant challenge for turret moored ship in ice. Variability in ice drift is mainly caused by the winds and currents. To solve this problem, a new method with numerical simulation based on heading control is applied to reduce the risk of operation of The Arctic Tandem Offloading Terminal(ATOT),which includes an offloading icebreaker(OIB) moored to a submerged turret and a shuttle tanker moored at the stern of the OIB in this paper. An icebreaking tanker, MT Uikku, was modeled in a simulation program. Then the level ice load on the tanker was calculated with different ice thicknesses and drift speeds, after which a heading controller assisted with mooring system is used to simulate the horizontal motion of the tanker under the ice action.展开更多
Fully mechanized mining with large mining height(FMMLMH)is widely used in thick coal seam mining face for its higher recovery ratio,especially where the thickness is less than 7.0 m.However,because of the great mining...Fully mechanized mining with large mining height(FMMLMH)is widely used in thick coal seam mining face for its higher recovery ratio,especially where the thickness is less than 7.0 m.However,because of the great mining height and intense rock pressure,the coal wall rib spalling,roof falling and the instability of support occur more likely in FMMLMH working face,and the above three types of disasters interact with each other with complicated relationships.In order to get the relationship between each two of coal wall,roof,floor and support,and reduce the occurrence probability of the three types of disasters,we established the system dynamics(SD)model of the support-surrounding rock system which is composed of"coal wall-roof-floor-support"(CW-R-F-S)in a FMMLMH working face based on the condition of No.15104 working face in Sijiazhuang coal mine.With the software of Vensim,we also simulated the interaction process between each two factors of roof,floor,coal wall and the support.The results show that the SD model of"CW-R-F-S"system can reveal the complicated and interactive relationship clearly between the support and surrounding rock in the FMMLMH working face.By increasing the advancing speed of working face,the support resistance or the length of support guard,or by decreasing the tipto-face distance,the stability of"CW-R-F-S"system will be higher and the happening probability of the disasters such as coal wall rib spalling,roof falling or the instability of support will be lower.These research findings have been testified in field application in No.15104 working face,which can provide a new approach for researching the interaction relationship of support and surrounding rock.展开更多
In recent years, a large number of high voltage direct current(HVDC) transmission projects have been connected to AC systems. This has started to have an impact on AC/DC hybrid power grids, particularly receiving term...In recent years, a large number of high voltage direct current(HVDC) transmission projects have been connected to AC systems. This has started to have an impact on AC/DC hybrid power grids, particularly receiving terminal power grids. An HVDC system is a large-scale power electronic integrated nonlinear system, and it includes a primary system and a control and protection system. Hence, the precision and degree of detail of HVDC systems directly affect the actual effect of simulation. In recent years, in the case of the normal operation and failure of AC power grids, the abnormal fluctuation and even locking of HVDC systems caused by the inappropriate strategies of the control and protection system component have strongly affected power grids. This has significantly affected the safety and stability of receiving power grids and normal operation. In this study, the actual engineering HVDC control logic provided by a manufacturer is analyzed and simulated based on the user defined component library of the ADPSS electromagnetic transient calculation program, and an HVDC control model based on an actual system is established. The accuracy of the DC control custom model based on ADPSS is verified through the simulation of an actual power grid.展开更多
The simulation system is designed to imitate a greenhouse environment with the software on computer. The relation ships between greenhouse indoor environment, outdoor environment and environment conditioner are presen...The simulation system is designed to imitate a greenhouse environment with the software on computer. The relation ships between greenhouse indoor environment, outdoor environment and environment conditioner are presented The energy balance equation and humidity balance equation of the greenhouse are givea In this system, the weather data is generated by computer according to the real weather data and rules in Beijing. The state of the devices can be dynamically decided based on the given intelligent control algorithm Then the parameters of the greenhouse environment are decided based on the greenhouse model that presented All the results are showed on the screen with kindly interface and stored to disk automatically.展开更多
Hydrodynamic coefficients strongly affect the dynamic performance of underactuated unmanned surface vehicle (USV) . Towing tank test is the traditional approach to identify these coefficients,however, the obtained val...Hydrodynamic coefficients strongly affect the dynamic performance of underactuated unmanned surface vehicle (USV) . Towing tank test is the traditional approach to identify these coefficients,however, the obtained values are not completely reliable since experimental difficulties and errors are involved. In this paper,an extended Kalman filter (EKF) method and a least squares (LS) method are proposed,only using onboard sensor data for identification of a small underactuated USV. The vehicle prototype as well as the system integration is delineated. Performance of the identification is evaluated by comparing the estimated coefficients,and the feasibility and accuracy of the proposed approach is demonstrated by simulation.展开更多
基金supported by design of the ITER transfer casks system (ITER International Team) ITA 23-01-CNthe Key Laboratory of Biomimetic Sensing and Advanced Robot Technology,Anhui Province,China
文摘The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.
基金Sponsored by the Ministerial Level Advanced Research Foundation(A26020060253)
文摘An investigation into the aircraft flight simulation and control system is presented in this paper. The study was firstly focused on the establishment of an integrated hardware-in-the-loop（HITL） platform for aircraft flight simulation based on MATLAB/Simulink ＋ dSPACE. The platform combines the abundant software and hardware resources of dSPACE simulation platform to simulate the flight attitude of an aircraft in six-DOF （ degree of freedom） motion. Based on the platform, the study was then focused on the flight numerical simulation by taking a loitering aerial vehicle as an example. An aircraft mathematical model was created for a modular design and off-line numerical simulation based on MATLAB/Simulink. Finally, the study was focused on the control system design of the loitering aerial vehicle and conduct of an HITL simulation experiment for the vehicle pitch control. The experiment verifies the system design and control effectiveness. Research results show that the dSPACE simulation system provides a real time good experimental platform to improve the efficiency of study and development of a flight control system.
基金Project supported by the National Natural Science Foundation of China (Grant No. 70571059)
文摘This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents. Consensus is attained independently for different agent clusters according to the community structure generated by the group partition of the underlying graph and sufficient conditions for both cluster and general consensus are obtained by using results from algebraic graph theory and the LaSalle Invariance Principle. Finally, some simple simulations are presented to illustrate the technique.
基金The project supported by the National Nature Science Foundation of China (No. 10135020)
文摘This paper describes the discharge simulation of HT-7U tokamak plasma equilibrium and plasma current by solving MHD equations and surface average transport equations using an equilibrium evolution code. The simulated result shows the evolution of plasma parameter versus time.The simulated result can play an important role in the design of the plasma equilibrium and control system of a tokamak.
文摘In order to know the character of the heat value control system, determine the influence of natural gas quality and flow on the heat value, and learn how to adjust the parameters of control system, the model of the whole system is established, and simulation of the system is adopted in Matlab/Simulink. The simulation result shows that the feedback system with feed-forward block controls the heat value very well, and the simulation result can effectively guide the engineering design of the heat value control system, and the efficiency of engineering is improved.
文摘Computer simulation researches on Direct Torque Control System (DTC) are to be done. That fact is demonstrated:at high speed,the operating property of an induction motor is very good,almost the same as fieldoriented control system fat low speed (for example: below 2-3Hz), the operating property of a motor is getting worse,and the stator resistance R1 of the motor must be compensated. If compensation precision gets 5 %,the operating property of the motor will be greatly improved.
文摘Based on reference[1], the Automatic Control System of the Excavating Process (ACSEP) is studied and aualyzed In this paper- At first, the general structure of the control system is discussed- And theo depeded on the kinematical equations, the "Generator or Expected link variable (GE)" and "Generator of Actual bucket trajectory (CA)" are put forward. Finally, based on the current technology and existing techniques of WD-400 Mechanical Forward Excavator (MFE), the automatic system of excavating process composed of two relatively indepodent sub-systems is designed with simple but practical structure’ According to the computer simulation, this control system has high tracking precision to the desired trajectory and good adaptive capacity to the load disturbance.
文摘A scheme of fuzzy logic control for the suspension system of a tracked vehicle is presented. A mechanical model for the whole body of a tracked vehicle, which is totally a fifteen-degree-of-freedom system, is established. The model includes the vertical motion, the pitch motion as well as the roll motion of the tracked vehicle. In contrast to most previous studies, the coupling effect among the vertical, the pitch and the roll motions of the suspension system of a tracked vehicle is considered simultaneously. The simulation of fuzzy logic control under road surface with random excitation shows that the acceleration, pitch angle and roll angle of suspension system can be efficiently controlled.
文摘The vibration caused by terrible road excitation affects the ride quality and safety of track vehicles. The vibration control of suspension systems is a very important factor for modern track vehicles. A fuzzy logic control for suspension system of a track vehicle is presented. A mechanical model and a system of difft, rential equations of motion taking account of the mass of loading wheel are established. Then the fuzzy logic control is applied to control the vibration of suspension system of track vehicles for sine signal and random road surfaces. Numerical simulation shows that the maximum acceleration of suspension system can be reduced to 44 % of the original value for sine signal road surface, and the mean square root of acceleration of suspension system can be reduced to 21% for random road surface. Therefore, the proposed fuzzy logic control is an efficient method for the suspension systems of track vehicles.
文摘The frequent change in ice drift direction poses a significant challenge for turret moored ship in ice. Variability in ice drift is mainly caused by the winds and currents. To solve this problem, a new method with numerical simulation based on heading control is applied to reduce the risk of operation of The Arctic Tandem Offloading Terminal(ATOT),which includes an offloading icebreaker(OIB) moored to a submerged turret and a shuttle tanker moored at the stern of the OIB in this paper. An icebreaking tanker, MT Uikku, was modeled in a simulation program. Then the level ice load on the tanker was calculated with different ice thicknesses and drift speeds, after which a heading controller assisted with mooring system is used to simulate the horizontal motion of the tanker under the ice action.
基金Financial support for this work,provided by the Priority Academic Program Development of Jiangsu Higher Education Institutions(No.SZBF2011-6-B35)the Research Fund for the Doctoral Program of Higher Education of China(No.20120095120017)the National High Technology Research and Development Program of China(No.2012AA062101)
文摘Fully mechanized mining with large mining height(FMMLMH)is widely used in thick coal seam mining face for its higher recovery ratio,especially where the thickness is less than 7.0 m.However,because of the great mining height and intense rock pressure,the coal wall rib spalling,roof falling and the instability of support occur more likely in FMMLMH working face,and the above three types of disasters interact with each other with complicated relationships.In order to get the relationship between each two of coal wall,roof,floor and support,and reduce the occurrence probability of the three types of disasters,we established the system dynamics(SD)model of the support-surrounding rock system which is composed of"coal wall-roof-floor-support"(CW-R-F-S)in a FMMLMH working face based on the condition of No.15104 working face in Sijiazhuang coal mine.With the software of Vensim,we also simulated the interaction process between each two factors of roof,floor,coal wall and the support.The results show that the SD model of"CW-R-F-S"system can reveal the complicated and interactive relationship clearly between the support and surrounding rock in the FMMLMH working face.By increasing the advancing speed of working face,the support resistance or the length of support guard,or by decreasing the tipto-face distance,the stability of"CW-R-F-S"system will be higher and the happening probability of the disasters such as coal wall rib spalling,roof falling or the instability of support will be lower.These research findings have been testified in field application in No.15104 working face,which can provide a new approach for researching the interaction relationship of support and surrounding rock.
基金supported by National Key Research and Development Program of China-High performance analysis and situational awareness technology for interconnected power grids
文摘In recent years, a large number of high voltage direct current(HVDC) transmission projects have been connected to AC systems. This has started to have an impact on AC/DC hybrid power grids, particularly receiving terminal power grids. An HVDC system is a large-scale power electronic integrated nonlinear system, and it includes a primary system and a control and protection system. Hence, the precision and degree of detail of HVDC systems directly affect the actual effect of simulation. In recent years, in the case of the normal operation and failure of AC power grids, the abnormal fluctuation and even locking of HVDC systems caused by the inappropriate strategies of the control and protection system component have strongly affected power grids. This has significantly affected the safety and stability of receiving power grids and normal operation. In this study, the actual engineering HVDC control logic provided by a manufacturer is analyzed and simulated based on the user defined component library of the ADPSS electromagnetic transient calculation program, and an HVDC control model based on an actual system is established. The accuracy of the DC control custom model based on ADPSS is verified through the simulation of an actual power grid.
文摘The simulation system is designed to imitate a greenhouse environment with the software on computer. The relation ships between greenhouse indoor environment, outdoor environment and environment conditioner are presented The energy balance equation and humidity balance equation of the greenhouse are givea In this system, the weather data is generated by computer according to the real weather data and rules in Beijing. The state of the devices can be dynamically decided based on the given intelligent control algorithm Then the parameters of the greenhouse environment are decided based on the greenhouse model that presented All the results are showed on the screen with kindly interface and stored to disk automatically.
文摘Hydrodynamic coefficients strongly affect the dynamic performance of underactuated unmanned surface vehicle (USV) . Towing tank test is the traditional approach to identify these coefficients,however, the obtained values are not completely reliable since experimental difficulties and errors are involved. In this paper,an extended Kalman filter (EKF) method and a least squares (LS) method are proposed,only using onboard sensor data for identification of a small underactuated USV. The vehicle prototype as well as the system integration is delineated. Performance of the identification is evaluated by comparing the estimated coefficients,and the feasibility and accuracy of the proposed approach is demonstrated by simulation.
