An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control...An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.展开更多
Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simula...Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.展开更多
The numerical simulation model for predicting fast filling process of 70 MPa type Ⅲ(with metal liner) hydrogen vehicle cylinder was presented,which has considered turbulence,real gas effect and solid heat transfer is...The numerical simulation model for predicting fast filling process of 70 MPa type Ⅲ(with metal liner) hydrogen vehicle cylinder was presented,which has considered turbulence,real gas effect and solid heat transfer issues.Through the numerical analysis method,the temperature distributions of the gas within the solid walls were revealed; adiabatic filling was studied to evaluate the heat dissipation during the filling; the influences of various filling conditions on temperature rise were analyzed in detail.Finally,cold filling was proposed to evaluate the effect on temperature rise and SoC(state of charge) within the cylinder.The hydrogen pre-cooling was proved to be an effective solution to reduce maximum temperature and acquire higher SoC during the filling process.展开更多
The application of new-designed levitation controller requires extensive validation prior to enter into commercial service. However, huge mounts of approximations and assumptions lead the theoretical analysis away fro...The application of new-designed levitation controller requires extensive validation prior to enter into commercial service. However, huge mounts of approximations and assumptions lead the theoretical analysis away from the engineering practice. The experimental methods are time-consuming and financial expensive, even unrealizable due to the lack of suitable sensors. Numerical simulations can bridge the gap between the theoretical analysis and experimental techniques. A complete overall dynamic model of maglev levitation system is derived in this work, which includes the simple-supported bridges, the calculation of electromagnetic force with more details, the stress of levitation modules and the cabin. Based on the aforementioned model, it shows that the inherent nonlinearity, inner coupling, misalignments between the sensors and actuators, and self-excited vibration are the main issues that should be considered during the design process of controller. Then, the backstepping controller based on the mathematical model of the module with reasonable simplifications is proposed, and the stability proofs are listed. To show the advantage of controller, two numerical simulation experiments are carried out. Finally, the results illustrating closed-loop performance are provided.展开更多
Based on trajectory planning with maximum velocity and acceleration constraints, a novel high-quality trajectory planning method was proposed for heterogeneous individuals in crowd simulation. The proposed method ensu...Based on trajectory planning with maximum velocity and acceleration constraints, a novel high-quality trajectory planning method was proposed for heterogeneous individuals in crowd simulation. The proposed method ensured that the individual’s path was smooth and its velocity was continuous. Based on the physiological constraints of humans with maximum velocity and acceleration, time-optimal trajectory and feasible region were derived by solving kinodynamic planning problem. Subsequently, a high-quality trajectory planning algorithm was designed to compute the trajectory with appropriate variation of velocity. The simulation results demonstrate that the proposed trajectory planning method has more authenticities and can generate high-quality trajectories for virtual humans in crowd simulation.展开更多
Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the softw...Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the software logic,hardware architecture,data interface and reliability of the control system.To implement this system,the whole system plan,including interface computer and the methods of pipeline tracking,was described.Compared to numerical simulation,the semi-physical simulation was used to test the real software and hardware more veritably.In the semi-physical simulation system,tracking experiments of both straight lines and polygonal lines were carried out,considering the influence of ocean current and the situation of buried pipeline.The experimental results indicate that the AUV can do pipeline tracking task,when angles of pipeline are 15°,30°,45° and 60°.In the ocean current of 2 knots,AUV could track buried pipeline.展开更多
To assess the effectiveness of vacuum preloading combined electroosmotic strengthening of ultra-soft soil and study the mechanism of the process, a comprehensive experimental investigation was performed. A laboratory ...To assess the effectiveness of vacuum preloading combined electroosmotic strengthening of ultra-soft soil and study the mechanism of the process, a comprehensive experimental investigation was performed. A laboratory test cell was designed and applied to evaluate the vacuum preloading combined electroosmosis. Several factors were taken into consideration, including the directions of the electroosmotic current and water induced by vacuum preloading and the replenishment of groundwater from the surrounding area. The results indicate that electroosmosis together with vacuum preloading improve the soil strength greatly, with an increase of approximately 60%, and reduce the water content of the soil on the basis of consolidation of vacuum preloading, howeve~ further settlement is not obvious with only 1.7 mm. The reinforcement effect of vacuum preloading combined electroosmosis is better than that of electroosmosis after vacuum preloading. Elemental analysis using X-ray fluorescence proves that the soil strengthening during electroosmotic period in this work is mainly caused by electroosmosis-induced electrochemical reactions, the concentrations of Al2O3 in the VPCEO region increase by 2.2%, 1.5%, and 0.9% at the anode, the midpoint between the electrodes, and the cathode, respectively.展开更多
In order to satisfy the demand of validity and real time operating performance of diesel engine model used in hardware-in-the-loop simulation system,a simplified quasi-dimensional model for diesel engine working proce...In order to satisfy the demand of validity and real time operating performance of diesel engine model used in hardware-in-the-loop simulation system,a simplified quasi-dimensional model for diesel engine working process was proposed,which was based on the phase-divided spray mixing model.The software MATLAB/Simulink was utilized to simulate diesel engine performance parameters.The comparisons between calculated results and experimental data show that the relative error of power and brake specific fuel consumption is less than 2.8%,and the relative error of nitric oxide and soot emissions is less than 9.1%.At the same time,the average computational time for simulation of one working process with the new model is 36 s,which presents good real time operating performance of the model.The simulation results also indicate that the nozzle flow coefficient has great influence on the prediction precision of performance parameters in diesel engine simulation model.展开更多
Vacuum well point is a new but faint soft ground treatment method. This work focuses on the consolidation behavior of a reconstituted soft clayey specimen under vacuum well point combined with surcharge loading. The l...Vacuum well point is a new but faint soft ground treatment method. This work focuses on the consolidation behavior of a reconstituted soft clayey specimen under vacuum well point combined with surcharge loading. The laboratory test was conducted through a vacuum-surcharge consolidation apparatus, and the vacuum loading scheme was adopted for vacuum pressure application to investigate the vacuum effect on soil consolidation. In the testing process, some key parameters such as vacuum pressure, pore water pressure and settlement deformation were timely recorded. Furthermore, the water content, void ratio and permeability coefficient of samples collected after loading were measured to reflect the consolidation characteristics. By comparing with the membrane system and membraneless system, something different was found for the vacuum well point method. The results indicate that the consolidation behavior of an axisymmetric single vacuum well point is almost identical to the behavior of vacuum preloading combined with prefabricated vertical drain(PVD), except for the distribution of the vacuum pressure along the well drain due to the structure of the vacuum well point. And the vacuum well point method may be useful for the improvement of soft clayey deposit in a certain depth.展开更多
基金Project(70473068) supported by the National Natural Science Foundation of ChinaProject(05JZD00024) supported by the Major Subject of Ministry of Education, China
文摘An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.
基金Project(51205421)supported by the National Natural Science Foundation of ChinaProject(2012M521647)supported by the Postdoctoral Science Foundation of China
文摘Switching expansion reduction(SER)uses a switch valve instead of the throttle valve to realize electronically controlled pressure reduction for high pressure pneumatics.A comprehensive and interactive pneumatic simulation model according to the experimental setup of SER has been built.The mathematical model considers heat exchanges,source air pressure and temperature,environmental temperatures and heat transfer coefficients variations.In addition,the compensation for real gas effect is used in the model building.The comparison between experiments and simulations of SER indicates that,to compensate the real gas effect in high pressure discharging process,the thermal capacity of air supply container in simulation should be less than the actual value.The higher the pressure range,the greater the deviation.Simulated and experimental results are highly consistent within pressure reduction ratios ranging from 1.4 to 20 and output air mass flow rates ranging from 3.5 to 132 g/s,which verifies the high adaptability of SER and the validity of the mathematic model and the compensation method.
基金support of Institute of Beijing Aeronautic and Astronautic Testing Technology in the experiments of hydrogen fast filling process under 70 MPa
文摘The numerical simulation model for predicting fast filling process of 70 MPa type Ⅲ(with metal liner) hydrogen vehicle cylinder was presented,which has considered turbulence,real gas effect and solid heat transfer issues.Through the numerical analysis method,the temperature distributions of the gas within the solid walls were revealed; adiabatic filling was studied to evaluate the heat dissipation during the filling; the influences of various filling conditions on temperature rise were analyzed in detail.Finally,cold filling was proposed to evaluate the effect on temperature rise and SoC(state of charge) within the cylinder.The hydrogen pre-cooling was proved to be an effective solution to reduce maximum temperature and acquire higher SoC during the filling process.
基金Projects(60404003,11202230)supported by the National Natural Science Foundation of China
文摘The application of new-designed levitation controller requires extensive validation prior to enter into commercial service. However, huge mounts of approximations and assumptions lead the theoretical analysis away from the engineering practice. The experimental methods are time-consuming and financial expensive, even unrealizable due to the lack of suitable sensors. Numerical simulations can bridge the gap between the theoretical analysis and experimental techniques. A complete overall dynamic model of maglev levitation system is derived in this work, which includes the simple-supported bridges, the calculation of electromagnetic force with more details, the stress of levitation modules and the cabin. Based on the aforementioned model, it shows that the inherent nonlinearity, inner coupling, misalignments between the sensors and actuators, and self-excited vibration are the main issues that should be considered during the design process of controller. Then, the backstepping controller based on the mathematical model of the module with reasonable simplifications is proposed, and the stability proofs are listed. To show the advantage of controller, two numerical simulation experiments are carried out. Finally, the results illustrating closed-loop performance are provided.
基金Project(1708085QF158)supported by the Natural Science Foundation of Anhui Province,China
文摘Based on trajectory planning with maximum velocity and acceleration constraints, a novel high-quality trajectory planning method was proposed for heterogeneous individuals in crowd simulation. The proposed method ensured that the individual’s path was smooth and its velocity was continuous. Based on the physiological constraints of humans with maximum velocity and acceleration, time-optimal trajectory and feasible region were derived by solving kinodynamic planning problem. Subsequently, a high-quality trajectory planning algorithm was designed to compute the trajectory with appropriate variation of velocity. The simulation results demonstrate that the proposed trajectory planning method has more authenticities and can generate high-quality trajectories for virtual humans in crowd simulation.
基金Projects(50909025,51179035) supported by the National Natural Science Foundation of ChinaProject(HEUCFZ1003) supported by the Fundamental Research Funds for Central Universities of China
文摘Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the software logic,hardware architecture,data interface and reliability of the control system.To implement this system,the whole system plan,including interface computer and the methods of pipeline tracking,was described.Compared to numerical simulation,the semi-physical simulation was used to test the real software and hardware more veritably.In the semi-physical simulation system,tracking experiments of both straight lines and polygonal lines were carried out,considering the influence of ocean current and the situation of buried pipeline.The experimental results indicate that the AUV can do pipeline tracking task,when angles of pipeline are 15°,30°,45° and 60°.In the ocean current of 2 knots,AUV could track buried pipeline.
基金Project(2009B13014) supported by the Fundamental Research Funds for the Central Universities of ChinaProject(IRT1125) supported by the Program for Changjiang Scholars and Innovative Research Team in University,China
文摘To assess the effectiveness of vacuum preloading combined electroosmotic strengthening of ultra-soft soil and study the mechanism of the process, a comprehensive experimental investigation was performed. A laboratory test cell was designed and applied to evaluate the vacuum preloading combined electroosmosis. Several factors were taken into consideration, including the directions of the electroosmotic current and water induced by vacuum preloading and the replenishment of groundwater from the surrounding area. The results indicate that electroosmosis together with vacuum preloading improve the soil strength greatly, with an increase of approximately 60%, and reduce the water content of the soil on the basis of consolidation of vacuum preloading, howeve~ further settlement is not obvious with only 1.7 mm. The reinforcement effect of vacuum preloading combined electroosmosis is better than that of electroosmosis after vacuum preloading. Elemental analysis using X-ray fluorescence proves that the soil strengthening during electroosmotic period in this work is mainly caused by electroosmosis-induced electrochemical reactions, the concentrations of Al2O3 in the VPCEO region increase by 2.2%, 1.5%, and 0.9% at the anode, the midpoint between the electrodes, and the cathode, respectively.
基金Project(2006A10GX059) supported by the Science and Technology Plan of Dalian,China
文摘In order to satisfy the demand of validity and real time operating performance of diesel engine model used in hardware-in-the-loop simulation system,a simplified quasi-dimensional model for diesel engine working process was proposed,which was based on the phase-divided spray mixing model.The software MATLAB/Simulink was utilized to simulate diesel engine performance parameters.The comparisons between calculated results and experimental data show that the relative error of power and brake specific fuel consumption is less than 2.8%,and the relative error of nitric oxide and soot emissions is less than 9.1%.At the same time,the average computational time for simulation of one working process with the new model is 36 s,which presents good real time operating performance of the model.The simulation results also indicate that the nozzle flow coefficient has great influence on the prediction precision of performance parameters in diesel engine simulation model.
基金Projects(41202220,41472278)supported by the National Natural Science Foundation of ChinaProject(20120022120003)supported by the Research Fund for the Doctoral Program of Higher Education,ChinaProject(2652012065)supported by the Fundamental Research Funds for Central Universities,China
文摘Vacuum well point is a new but faint soft ground treatment method. This work focuses on the consolidation behavior of a reconstituted soft clayey specimen under vacuum well point combined with surcharge loading. The laboratory test was conducted through a vacuum-surcharge consolidation apparatus, and the vacuum loading scheme was adopted for vacuum pressure application to investigate the vacuum effect on soil consolidation. In the testing process, some key parameters such as vacuum pressure, pore water pressure and settlement deformation were timely recorded. Furthermore, the water content, void ratio and permeability coefficient of samples collected after loading were measured to reflect the consolidation characteristics. By comparing with the membrane system and membraneless system, something different was found for the vacuum well point method. The results indicate that the consolidation behavior of an axisymmetric single vacuum well point is almost identical to the behavior of vacuum preloading combined with prefabricated vertical drain(PVD), except for the distribution of the vacuum pressure along the well drain due to the structure of the vacuum well point. And the vacuum well point method may be useful for the improvement of soft clayey deposit in a certain depth.
