Rich-nickel layered ternary NCM811 has been widely used in the field of electric vehicles ascribed to its high theoretical specific capacity.However,poor cycling stability and rate-performance hindered its further dev...Rich-nickel layered ternary NCM811 has been widely used in the field of electric vehicles ascribed to its high theoretical specific capacity.However,poor cycling stability and rate-performance hindered its further development.Herein,different amounts of nitrogen-doped carbon were wrapped on the surface of NCM811 via a facile rheological phase method by regulating the amount of dopamine hydrochloride.The effects of the coating amounts on the structure and electrochemical performance are investigated.The DFT calculation,XRD,SEM and XPS reveal that an appropriate amount of nitrogen-doped carbon coating could uniformly form a protective layer on the NCM811 surface and the introduced N could anchor Ni atoms to inhibit the Li^(+)/Ni^(2+)mixing,but excessive amount would reduce Ni^(3+)to Ni^(2+)so as to conversely aggravate Li^(+)/Ni^(2+)mixing.Among the samples,the NCM811-CN0.75 sample exhibits the most excellent electrochemical performance,delivering a high-rate capacity of 151.6 mA·h/g at 10C,and long-term cyclability with 82.2%capacity retention after 300 cycles at 5C,exhibiting remarkable rate-performance and cyclability.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
基金Project(2021H0028) supported by the Natural Scienceof Fujian Province,ChinaProject(JAT200455) supported by the Fujian Provincial Young and Middle-aged Teacher Education Project,ChinaProject(fma2023003) supported by the Open Fund of Fujian Provincial Key Laboratory of Functional Materials and Applications,China。
文摘Rich-nickel layered ternary NCM811 has been widely used in the field of electric vehicles ascribed to its high theoretical specific capacity.However,poor cycling stability and rate-performance hindered its further development.Herein,different amounts of nitrogen-doped carbon were wrapped on the surface of NCM811 via a facile rheological phase method by regulating the amount of dopamine hydrochloride.The effects of the coating amounts on the structure and electrochemical performance are investigated.The DFT calculation,XRD,SEM and XPS reveal that an appropriate amount of nitrogen-doped carbon coating could uniformly form a protective layer on the NCM811 surface and the introduced N could anchor Ni atoms to inhibit the Li^(+)/Ni^(2+)mixing,but excessive amount would reduce Ni^(3+)to Ni^(2+)so as to conversely aggravate Li^(+)/Ni^(2+)mixing.Among the samples,the NCM811-CN0.75 sample exhibits the most excellent electrochemical performance,delivering a high-rate capacity of 151.6 mA·h/g at 10C,and long-term cyclability with 82.2%capacity retention after 300 cycles at 5C,exhibiting remarkable rate-performance and cyclability.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
