The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
Based on some assumptions, the dynamic analysis model of anchorage system is established. The dynamic governing equation is expressed as finite difference format and programmed by using MATLAB language. Compared with ...Based on some assumptions, the dynamic analysis model of anchorage system is established. The dynamic governing equation is expressed as finite difference format and programmed by using MATLAB language. Compared with theoretical method, the finite difference method has been verified to be feasible by a case study. It is found that under seismic loading, the dynamic response of anchorage system is synchronously fluctuated with the seismic vibration. The change of displacement amplitude of material points is slight, and comparatively speaking, the displacement amplitude of the outside point is a little larger than that of the inside point, which shows amplification effect of surface. While the axial force amplitude transforms considerably from the inside to the outside. It increases first and reaches the peak value in the intersection between the anchoring section and free section, then decreases slowly in the free section. When considering damping effect of anchorage system, the finite difference method can reflect the time attenuation characteristic better, and the calculating result would be safer and more reasonable than the dynamic steady-state theoretical method. What is more, the finite difference method can be applied to the dynamic response analysis of harmonic and seismic random vibration for all kinds of anchor, and hence has a broad application prospect.展开更多
Based on some assumptions,the dynamic governing equation of anchorage system is established.The calculation formula of natural frequency and the corresponding vibration mode are deduced.Besides,the feasibility of the ...Based on some assumptions,the dynamic governing equation of anchorage system is established.The calculation formula of natural frequency and the corresponding vibration mode are deduced.Besides,the feasibility of the theoretical method is verified by using a specific example combined with other methods.It is found that the low-order natural frequency corresponds to the first mode of vibration,and the high-order natural frequency corresponds to the second mode of vibration,while the third mode happens only when the physical and mechanical parameters of anchorage system meet certain conditions.With the increasing of the order of natural frequency,the influence on the dynamic mechanical response of anchorage system decreases gradually.Additionally,a calculating method,which can find the dangerous area of anchorage engineering in different construction sites and avoid the unreasonable design of anchor that may cause resonance,is proposed to meet the seismic precautionary requirements.This method is verified to be feasible and effective by being applied to an actual project.The study of basic dynamic features of anchorage system can provide a theoretical guidance for anchor seismic design and fast evaluation of anchor design scheme.展开更多
In this work, the effect of various effective dimensionless numbers and moisture contents on initiation of instability in combustion of moisty organic dust is calculated. To have reliable model, effect of thermal radi...In this work, the effect of various effective dimensionless numbers and moisture contents on initiation of instability in combustion of moisty organic dust is calculated. To have reliable model, effect of thermal radiation is taken into account. One- dimensional flame structure is divided into three zones： preheat zone, reaction zone and post-flame zone. To investigate pulsating characteristics of flame, governing equations are rewritten in dimensionless space-time （（, r/, ~） coordinates. By solving these newly achieved governing equations and combining them, which is completely discussed in body of article, a new expression is obtained. By solving this equation, it is possible to predict initiation of instability in organic dust flame. According to the obtained results by increasing Lewis number, threshold of instability happens sooner. On the other hand, pulsating is postponed by increasing Damk6hler number, pyrolysis temperature or moisture content. Also, by considering thermal radiation effect, burning velocity predicted by our model is closer to experimental results.展开更多
The trajectory planning and tracking control for an underactuated unmanned surface vessel(USV) were addressed.The reference trajectory was generated by a virtual USV,and the error equation of trajectory tracking for u...The trajectory planning and tracking control for an underactuated unmanned surface vessel(USV) were addressed.The reference trajectory was generated by a virtual USV,and the error equation of trajectory tracking for underactuated USV was obtained,which transformed the tracking and stabilization problem of underactuated USV into the stabilization problem of the trajectory tracking error equation.A nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov's direct method.By means of Lyapunov analysis,it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property.Numerical simulation results are presented to validate the effectiveness and robustness of the proposed controller.展开更多
The corrosion inhibition of mild steel in 1 mol/L HC1 by N, N＇-bis （2-hydroxybenzaldehyde）- 1, 3-propandiimine （2-HBP） has been investigated by using potentiodynamic polarization, electrochemical impedance spectr...The corrosion inhibition of mild steel in 1 mol/L HC1 by N, N＇-bis （2-hydroxybenzaldehyde）- 1, 3-propandiimine （2-HBP） has been investigated by using potentiodynamic polarization, electrochemical impedance spectroscopy （EIS） and chronoamperometry measurements. The experimental results suggest that this compound is an excellent corrosion inhibitor for mild steel and the inhibition efficiency increases with the increase in inhibitor concentration. Polarization curves reveal that this organic compound is a mixed type inhibitor. The effect of temperature on the corrosion behavior of mild steel with the addition of the Schiff base was studied in the temperature range from 25 ℃ to 65℃. The experimentally obtained adsorption isotherms follow the Langmuir equation. Activation and thermodynamic adsorption parameters such as Ea, △H, △S,Kads and AG,ds were calculated by the corrosion currents at different temperatures and using the adsorption isotherm. The morphology of mild steel surface in the absence and presence of 2-HBP was examined by atomic force microscope （AFM） images.展开更多
Operation safety and stability of the train mainly depend on the interaction between the wheel and rail.Knowledge of wheel/rail contact force is important for vehicle control systems that aim to enhance vehicle stabil...Operation safety and stability of the train mainly depend on the interaction between the wheel and rail.Knowledge of wheel/rail contact force is important for vehicle control systems that aim to enhance vehicle stability and passenger safety.Since wheel/rail contact forces of high-speed train are very difficult to measure directly,a new estimation process for wheel/rail contact forces was introduced in this work.Based on the state space equation,dynamic programming methods and the Bellman principle of optimality,the main theoretical derivation of the inversion mathematical model was given.The new method overcomes the weakness of large fluctuations which exist in current inverse techniques.High-speed vehicle was chosen as the research object,accelerations of axle box as input conditions,10 degrees of freedom vertical vibration model and 17 degrees of freedom lateral vibration model were established,respectively.Under 250 km/h,the vertical and lateral wheel/rail forces were identified.From the time domain and frequency domain,the comparison of the results between inverse and SIMPACK models were given.The results show that the inverse mathematical model has high precision for inversing the wheel/rail contact forces of an operation high-speed vehicle.展开更多
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金Projects(51308273,41372307,41272326) supported by the National Natural Science Foundation of ChinaProjects(2010(A)06-b) supported by Science and Technology Fund of Yunan Provincial Communication Department,China
文摘Based on some assumptions, the dynamic analysis model of anchorage system is established. The dynamic governing equation is expressed as finite difference format and programmed by using MATLAB language. Compared with theoretical method, the finite difference method has been verified to be feasible by a case study. It is found that under seismic loading, the dynamic response of anchorage system is synchronously fluctuated with the seismic vibration. The change of displacement amplitude of material points is slight, and comparatively speaking, the displacement amplitude of the outside point is a little larger than that of the inside point, which shows amplification effect of surface. While the axial force amplitude transforms considerably from the inside to the outside. It increases first and reaches the peak value in the intersection between the anchoring section and free section, then decreases slowly in the free section. When considering damping effect of anchorage system, the finite difference method can reflect the time attenuation characteristic better, and the calculating result would be safer and more reasonable than the dynamic steady-state theoretical method. What is more, the finite difference method can be applied to the dynamic response analysis of harmonic and seismic random vibration for all kinds of anchor, and hence has a broad application prospect.
基金Projects(51308273,41372307,41272326)supported by the National Natural Science Foundation of ChinaProject(20090211110016)supported by Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2010(A)06-b)supported by Science and Technology Fund of Yunan Provincial Communication Department,China
文摘Based on some assumptions,the dynamic governing equation of anchorage system is established.The calculation formula of natural frequency and the corresponding vibration mode are deduced.Besides,the feasibility of the theoretical method is verified by using a specific example combined with other methods.It is found that the low-order natural frequency corresponds to the first mode of vibration,and the high-order natural frequency corresponds to the second mode of vibration,while the third mode happens only when the physical and mechanical parameters of anchorage system meet certain conditions.With the increasing of the order of natural frequency,the influence on the dynamic mechanical response of anchorage system decreases gradually.Additionally,a calculating method,which can find the dangerous area of anchorage engineering in different construction sites and avoid the unreasonable design of anchor that may cause resonance,is proposed to meet the seismic precautionary requirements.This method is verified to be feasible and effective by being applied to an actual project.The study of basic dynamic features of anchorage system can provide a theoretical guidance for anchor seismic design and fast evaluation of anchor design scheme.
文摘In this work, the effect of various effective dimensionless numbers and moisture contents on initiation of instability in combustion of moisty organic dust is calculated. To have reliable model, effect of thermal radiation is taken into account. One- dimensional flame structure is divided into three zones： preheat zone, reaction zone and post-flame zone. To investigate pulsating characteristics of flame, governing equations are rewritten in dimensionless space-time （（, r/, ~） coordinates. By solving these newly achieved governing equations and combining them, which is completely discussed in body of article, a new expression is obtained. By solving this equation, it is possible to predict initiation of instability in organic dust flame. According to the obtained results by increasing Lewis number, threshold of instability happens sooner. On the other hand, pulsating is postponed by increasing Damk6hler number, pyrolysis temperature or moisture content. Also, by considering thermal radiation effect, burning velocity predicted by our model is closer to experimental results.
基金Project(2013M540271)supported by the Postdoctoral Science Foundation of ChinaProject(HEUCF1321003)support by the Basic Research Foundation of Central University,ChinaProject(51209050)supported by the National Natural Science Foundation of China
文摘The trajectory planning and tracking control for an underactuated unmanned surface vessel(USV) were addressed.The reference trajectory was generated by a virtual USV,and the error equation of trajectory tracking for underactuated USV was obtained,which transformed the tracking and stabilization problem of underactuated USV into the stabilization problem of the trajectory tracking error equation.A nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov's direct method.By means of Lyapunov analysis,it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property.Numerical simulation results are presented to validate the effectiveness and robustness of the proposed controller.
文摘The corrosion inhibition of mild steel in 1 mol/L HC1 by N, N＇-bis （2-hydroxybenzaldehyde）- 1, 3-propandiimine （2-HBP） has been investigated by using potentiodynamic polarization, electrochemical impedance spectroscopy （EIS） and chronoamperometry measurements. The experimental results suggest that this compound is an excellent corrosion inhibitor for mild steel and the inhibition efficiency increases with the increase in inhibitor concentration. Polarization curves reveal that this organic compound is a mixed type inhibitor. The effect of temperature on the corrosion behavior of mild steel with the addition of the Schiff base was studied in the temperature range from 25 ℃ to 65℃. The experimentally obtained adsorption isotherms follow the Langmuir equation. Activation and thermodynamic adsorption parameters such as Ea, △H, △S,Kads and AG,ds were calculated by the corrosion currents at different temperatures and using the adsorption isotherm. The morphology of mild steel surface in the absence and presence of 2-HBP was examined by atomic force microscope （AFM） images.
基金Project(2009BAG12A04-A11)supported by the National Key Technology R&D Program in the"11-th Five-year Plan"of ChinaProjects(51275432,51005190)supported by the National Natural Science Foundation of ChinaProject(SWJTU09ZT23)supported by University Doctor Academics Particularly Science Research Fund,China
文摘Operation safety and stability of the train mainly depend on the interaction between the wheel and rail.Knowledge of wheel/rail contact force is important for vehicle control systems that aim to enhance vehicle stability and passenger safety.Since wheel/rail contact forces of high-speed train are very difficult to measure directly,a new estimation process for wheel/rail contact forces was introduced in this work.Based on the state space equation,dynamic programming methods and the Bellman principle of optimality,the main theoretical derivation of the inversion mathematical model was given.The new method overcomes the weakness of large fluctuations which exist in current inverse techniques.High-speed vehicle was chosen as the research object,accelerations of axle box as input conditions,10 degrees of freedom vertical vibration model and 17 degrees of freedom lateral vibration model were established,respectively.Under 250 km/h,the vertical and lateral wheel/rail forces were identified.From the time domain and frequency domain,the comparison of the results between inverse and SIMPACK models were given.The results show that the inverse mathematical model has high precision for inversing the wheel/rail contact forces of an operation high-speed vehicle.
