To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed...To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM‑LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM‑LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.展开更多
A linear ultrasonic motor using longitudinal vibration of bar with varying section is proposed. The lin- ear ultrasonic motor has two varying section bars connected by semi-circumferential structure. Elliptical trajec...A linear ultrasonic motor using longitudinal vibration of bar with varying section is proposed. The lin- ear ultrasonic motor has two varying section bars connected by semi-circumferential structure. Elliptical trajecto- ries of particles are formed on top of the semi-circumferential structure outer surface where a driving foot is locat- ed. And a mover is pushed to move linearly when the driving foot is pressed onto it. Finite element model of sta- tor is built and results of harmonic analysis verify its principle. Moreover, design requirements of the motor are analyzed through finite element analysis and the results of sensitive analysis provide an efficient way to design the type of linear ultrasonic motor. Prototype test shows that the motor can afford load of 10 N at the speed of 100 mm/s.展开更多
Background The long-term prognostic influence of left atrial diameter （LAD） remodeling on the status of post-radiofrequency catheter ablation （RI CA） atrial fibrillation （AF） is unclear. This study employed a tw...Background The long-term prognostic influence of left atrial diameter （LAD） remodeling on the status of post-radiofrequency catheter ablation （RI CA） atrial fibrillation （AF） is unclear. This study employed a two-stage model from 3-year echocardiographic data to ascertain whether the two-stage model predicts RFCA outcome more favorably than models using the baseline LAD. Methods Data were retrospectively collected from 263 consecutive patients with drug-refractory AF undergoing RFCA. Regular echocardiographic measurements of LAD were performed at baseline, 1, 3, 6, and 12 months and then every 6 months after RFCA. Sex, age, type of AF, number of RFCA, and AF status were recorded. We obtain the actual （predicted） 3-year LAD using a longitudinal linear mixed model （1st stage）. Logistic regression models based on the baseline LAD （Model 1）, actual （predicted） 3-year LAD （Model 2） （2nd stage）, and observed 3-year LAD （Model 3） were constructed to predict RFCA outcome. The area under the receiver operating characteristic curve （AUC） were used to assess the performance of models. Results The lowess smoothed curve indicated that the LAD declined over the first three months and remained stable up to 36 months after RFCA. The degree of LAD reduction was significantly influenced by the baseline LAD. Non-paroxysmal AF, large LAD and female gender were significant predictors of AF recurrence. Model 2 had the largest AUC among the three models. Conclusions This longitudinal study-based two-stage model outperforms the original logistic model using the baseline LAD. Non-paroxysmal AF, larger LAD and female gender are significant predictors of RFCA failure.展开更多
Experimental tests were conducted to evaluate the hydrodynamic performance of an L-type podded propulsor in straight-ahead motion and off-design conditions using an open-water measuring instrument developed by the aut...Experimental tests were conducted to evaluate the hydrodynamic performance of an L-type podded propulsor in straight-ahead motion and off-design conditions using an open-water measuring instrument developed by the authors for podded propulsors, a ship model towing tank, and under water particle image velocimetry （PIV） measurement systems. Under the three types of conditions, the main parameters of an L-type podded propulsor were measured, including the propeller thrust and torque, as well as the thrust, side force, and moment of the whole pod unit.In addition, the flow field on the section between the propeller and the strut was analyzed. Experimental results demonstrate that the dynamic azimuthing rate and direction and the turning direction affect the forces on the propeller and the whole pod unit. Forces are asymmetrically distributed between the left and right azimuthing directions because of the effect of propeller rotation. The findings of this study provide a foundation for further research on L-type podded propulsors.展开更多
基金supported in part by the National Natural Science Foundation of China(No.12032012)the Key Discipline Construction Project of Colleges and Universities in Jiangsu Province.
文摘To enhance the stability of helicopter maneuvers during task execution,a composite trajectory tracking controller design based on the implicit model(IM)and linear active disturbance rejection control(LADRC)is proposed.Initially,aerodynamic models of the main and tail rotor are created using the blade element theory and the uniform inflow assumption.Subsequently,a comprehensive flight dynamic model of the helicopter is established through fitting aerodynamic force fitting.Subsequently,for precise helicopter maneuvering,including the spiral,spiral up,and Ranversman maneuver,a regular trim is undertaken,followed by minor perturbation linearization at the trim point.Utilizing the linearized model,controllers are created for the IM attitude inner loop and LADRC position outer loop of the helicopter.Ultimately,a comparison is made between the maneuver trajectory tracking results of the IM‑LADRC and the conventional proportional-integral-derivative(PID)control method is performed.Experimental results demonstrate that utilizing the post-trim minor perturbation linearized model in combination with the IM‑LADRC method can achieve higher precision in tracking results,thus enhancing the accuracy of helicopter maneuver execution.
基金Supported by the National Natural Science Foundation of China(50735002)~~
文摘A linear ultrasonic motor using longitudinal vibration of bar with varying section is proposed. The lin- ear ultrasonic motor has two varying section bars connected by semi-circumferential structure. Elliptical trajecto- ries of particles are formed on top of the semi-circumferential structure outer surface where a driving foot is locat- ed. And a mover is pushed to move linearly when the driving foot is pressed onto it. Finite element model of sta- tor is built and results of harmonic analysis verify its principle. Moreover, design requirements of the motor are analyzed through finite element analysis and the results of sensitive analysis provide an efficient way to design the type of linear ultrasonic motor. Prototype test shows that the motor can afford load of 10 N at the speed of 100 mm/s.
文摘Background The long-term prognostic influence of left atrial diameter （LAD） remodeling on the status of post-radiofrequency catheter ablation （RI CA） atrial fibrillation （AF） is unclear. This study employed a two-stage model from 3-year echocardiographic data to ascertain whether the two-stage model predicts RFCA outcome more favorably than models using the baseline LAD. Methods Data were retrospectively collected from 263 consecutive patients with drug-refractory AF undergoing RFCA. Regular echocardiographic measurements of LAD were performed at baseline, 1, 3, 6, and 12 months and then every 6 months after RFCA. Sex, age, type of AF, number of RFCA, and AF status were recorded. We obtain the actual （predicted） 3-year LAD using a longitudinal linear mixed model （1st stage）. Logistic regression models based on the baseline LAD （Model 1）, actual （predicted） 3-year LAD （Model 2） （2nd stage）, and observed 3-year LAD （Model 3） were constructed to predict RFCA outcome. The area under the receiver operating characteristic curve （AUC） were used to assess the performance of models. Results The lowess smoothed curve indicated that the LAD declined over the first three months and remained stable up to 36 months after RFCA. The degree of LAD reduction was significantly influenced by the baseline LAD. Non-paroxysmal AF, large LAD and female gender were significant predictors of AF recurrence. Model 2 had the largest AUC among the three models. Conclusions This longitudinal study-based two-stage model outperforms the original logistic model using the baseline LAD. Non-paroxysmal AF, larger LAD and female gender are significant predictors of RFCA failure.
基金Foundation item： Supported by the National Natural Science Foundation of China （Grant Nos. 41176074, 51379043 and 51409063）Acknowledgement This project was supported by the National Natural Science Foundation of China （Grant Nos. 41176074,51379043 and 51409063） and was conducted in response to the great support received from a basic research project entitled ＂Multihull Ship Technology Key Laboratory of Fundamental Science for National Defence＂, which was conducted at Harbin Engineering University. The authors would like to extend their sincere gratitude to their colleagues in the towing tank laboratory.
文摘Experimental tests were conducted to evaluate the hydrodynamic performance of an L-type podded propulsor in straight-ahead motion and off-design conditions using an open-water measuring instrument developed by the authors for podded propulsors, a ship model towing tank, and under water particle image velocimetry （PIV） measurement systems. Under the three types of conditions, the main parameters of an L-type podded propulsor were measured, including the propeller thrust and torque, as well as the thrust, side force, and moment of the whole pod unit.In addition, the flow field on the section between the propeller and the strut was analyzed. Experimental results demonstrate that the dynamic azimuthing rate and direction and the turning direction affect the forces on the propeller and the whole pod unit. Forces are asymmetrically distributed between the left and right azimuthing directions because of the effect of propeller rotation. The findings of this study provide a foundation for further research on L-type podded propulsors.
