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永磁同步电机-2R机械臂自适应容错抑振控制
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作者 王伟 朱岩松 吉毅 《机械设计与制造》 北大核心 2025年第1期160-165,共6页
永磁同步电机-2R机械臂控制由多个关节和执行器组成,通常情况下其为非线性动力系统,易出现混沌现象。因此,永磁同步电机-2R机械臂控制过程中会出现一定的故障,从而影响了机械臂的稳定性和控制性能,在故障条件下的容错抑振控制能力是该... 永磁同步电机-2R机械臂控制由多个关节和执行器组成,通常情况下其为非线性动力系统,易出现混沌现象。因此,永磁同步电机-2R机械臂控制过程中会出现一定的故障,从而影响了机械臂的稳定性和控制性能,在故障条件下的容错抑振控制能力是该机械臂急需解决的问题。在该背景下,提出永磁同步电机-2R机械臂自适应容错抑振控制。基于拉格朗日方程,通过对永磁同步电机-2R机械臂的动能和势能计算,得到的整体动能表达式。然后,结合动能计算结果确定机械臂的未知项和不确定性故障,设计容错控制器来监测机械臂的状态信息。根据动能计算结果和容错控制器获取的机械臂状态信息,设计容错抑振控制器,实现永磁同步电机-2R机械臂在故障状态下的自适应容错抑振控制。实验结果表明:所提方法的永磁同步电机-2R机械臂控制精度更高、振动抑制效果更好,可以显著减小永磁同步电机-2R机械臂的振动,提高运动平滑性、精度和稳定性。 展开更多
关键词 永磁同步电机-2R 机械臂 执行器 抑振控制 动能计算 容错控制 不确定故障
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糙条消能工对弯道水流动能调整试验研究 被引量:5
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作者 张红红 牧振伟 +1 位作者 李凡琦 贾萍阳 《水资源与水工程学报》 CSCD 2020年第3期162-168,共7页
糙条消能工是一种新型消能工程措施。结合新疆"635"溢洪道整治工程,采用糙条对弯道水流进行消能辅助,通过改变糙条的布置型式,设置6种不同工况,对加糙水位变化率、水面线、横断面均匀度、水面横比降、断面流速分布、下游水流... 糙条消能工是一种新型消能工程措施。结合新疆"635"溢洪道整治工程,采用糙条对弯道水流进行消能辅助,通过改变糙条的布置型式,设置6种不同工况,对加糙水位变化率、水面线、横断面均匀度、水面横比降、断面流速分布、下游水流恢复长度、断面动能计算和动能调整系数等评价指标进行了分析。研究结果表明:有糙条工况能够增大加糙水位变化率,弯顶断面加糙水位变化率的变化不同于其他弯段断面;糙条高度的增大和条距的减小对弯道水流及下游出口水流有良好的改善效果;通过对弯道段典型断面的动能计算,得出糙条的设置可大幅度削减水流的动能,改变动能调整系数,进一步说明糙条消能工对弯道水流动能有很大的调整作用,突显了糙条消能工良好的消能辅助作用。 展开更多
关键词 糙条 弯道水流 加糙水位变化率 水面横比降 动能计算 动能调整系数
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Time-domain CFD computation and analysis of acoustic attenuation performance of water-filled silencers 被引量:3
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作者 LIU Chen JI Zhen-lin +1 位作者 CHENG Yin-zhong LIUSheng-lan 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第9期2397-2401,共5页
The multi-dimensional time-domain computational fluid dynamics(CFD) approach is extended to calculate the acoustic attenuation performance of water-filled piping silencers. Transmission loss predictions from the time-... The multi-dimensional time-domain computational fluid dynamics(CFD) approach is extended to calculate the acoustic attenuation performance of water-filled piping silencers. Transmission loss predictions from the time-domain CFD approach and the frequency-domain finite element method(FEM) agree well with each other for the dual expansion chamber silencer, straight-through and cross-flow perforated tube silencers without flow. Then, the time-domain CFD approach is used to investigate the effect of flow on the acoustic attenuation characteristics of perforated tube silencers. The numerical predictions demonstrate that the mean flow increases the transmission loss, especially at higher frequencies, and shifts the transmission loss curve to lower frequencies. 展开更多
关键词 water-filled silencer acoustic attenuation performance time-domain CFD approach flow effect perforated tube
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Combustion and energy balance of aluminum holding furnace with bottom porous brick purging system 被引量:3
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作者 ZHANG Jia-qi ZHOU Nai-jun ZHOU Shan-hong 《Journal of Central South University》 SCIE EI CAS 2012年第1期200-205,共6页
For acquiring the details in aluminum holding furnace with bottom porous brick purging system,efforts were performed to try to find out the potential optimal operation schemes.By adopting transient analysis scheme and... For acquiring the details in aluminum holding furnace with bottom porous brick purging system,efforts were performed to try to find out the potential optimal operation schemes.By adopting transient analysis scheme and constant boundary temperature,combustion in the furnace was investigated numerically using computational fluid dynamics(CFD).The predicted gas temperature shows good agreement with the measured results,and the predicted energy distribution of the furnace is consistent with that obtained from energy balance experiment,which confirms the reliability of the numerical solution.The results show that as the fuel-air mixture temperature rises up from 300 K to 500 K,the energy utilization of the furnace could increase from 34.55% to 37.14%.However,as the excess air coefficient increases from 1.0 to 1.4,energy utilization drops from 34.55% to 29.56%.Increasing the combustion temperature is the most effective way to improve the energy efficiency of the furnace.High reactant temperature and medium excess air coefficient are recommended for high operation performance,and keeping the furnace jamb sealed well for avoiding leakage has to be emphasized. 展开更多
关键词 aluminum holding furnace COMBUSTION FLOW numerical study computational fluid dynamics
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