A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean current...A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.展开更多
This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-freque...This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform. Second, a model predictive controller was designed based on a model which took the constraints of the system into account. Third, simulation was carried out to demonstrate the feasibility of the controller. The results show that the model predictive controller has good performance and good at dealing with the constraints or the system.展开更多
In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI plat...In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative （PID） and sliding-mode controller （SMC） systematically and interactively. External disturbance such as sea current can he added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.展开更多
This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose contr...This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.展开更多
To study the influence of the pantograph fixing position on aerodynamic characteristics of high-speed trains, the aerodynamic models of high-speed trains with eight cars were established based on the theory of com- pu...To study the influence of the pantograph fixing position on aerodynamic characteristics of high-speed trains, the aerodynamic models of high-speed trains with eight cars were established based on the theory of com- putational fluid dynamics, and eight cases with pantographs fixed on different positions and in different operational orientations were considered. The pantographs were fixed on the front or the rear end of the first middle car or fixed on the front or the rear end of the last middle car. The external flow fields of the high-speed trains were numeri- cally simulated using the software STAR-CCM＋. The results show that the pantograph fixing position has little effect on the aerodynamic drag force of the head car and has a large effect on the aerodynamic drag force of the tail car. The influences of the pantograph fixing position on the aerodynamic lift forces of the head car, tail car and pan- tographs are obvious. Among the eight cases, considering the total aerodynamic drag force of the train and the aerodynamic lift force of the lifted pantograph, when the pantographs are fixed on the rear end of the last middle car and the lifted pantograph is in the knuckle-upstream ori- entation, the aerodynamic performance of the high-speed train is the best.展开更多
Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of ...Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.展开更多
Integrated cavity output spectroscopy(ICOS) is an effective technique in trace gase detection.The strong absorption due to the long optical path of this method makes it challenging in the application scenes that have ...Integrated cavity output spectroscopy(ICOS) is an effective technique in trace gase detection.The strong absorption due to the long optical path of this method makes it challenging in the application scenes that have large gas concentration fluctuation,especially when the gas concentration is high.In this paper,we demonstrate an extension of the dynamic range of ICOS by using a detuned laser combined with an off-axis integrating cavity.With this,we improve the upper limit of the dynamic detection range from 0.1%(1000 ppm) to 20% of the gas concentration.This method provides a way of using ICOS in the applications with unpredictable gas concentrations such as gas leak detection,ocean acidification,carbon sequestration,etc.展开更多
The rigid flexible coupling system with a mass at non-tip position of the flexible beam is studied in this paper. Using the theory about mechanics problems in a non-inertial coordinate sys- tem, the dynamic equations ...The rigid flexible coupling system with a mass at non-tip position of the flexible beam is studied in this paper. Using the theory about mechanics problems in a non-inertial coordinate sys- tem, the dynamic equations of the rigid flexible coupling system with dynamic stiffening are estab- lished. It is clearly elucidated for the first time that, dynamic stiffening is produced by the coupling effect of the centrifugal inertial load distributed on the beam and the transverse vibration deformation of the beam. The modeling approach in this paper successfully solves problems of popular modeling methods nowadays： the derivation process is too complex by using only one dynamic principle; a clearly theoretical mechanism for dynamic stiffening can＇ t be offered. First, the mass at non-tip po- sition is incorporated into the continuous dynamic equations of the system by use of the Dirac lunch tion and the Heaviside function. Then, based on the conclusions of orthogonalization about the nor- mal constrained modes, the finite dimensional state space equations suitable for controller design are obtained. The numerical simulation results show that： dynamic stiffening is included in the first-or- der model established in this paper, which indicates the dynamic responses of the rigid flexible cou- pling system with large overall motion accurately. The results also show that the mass has a soften- ing effect on the dynamic behavior of the flexible beam, and the effect would be more obvious when the mass has a larger mass, or lies closer to the tip of the beam.展开更多
Positioning technology based on wireless network signals in indoor environments has developed rapidly in recent years as the demand for locationbased services continues to increase.Channel state information(CSI)can be...Positioning technology based on wireless network signals in indoor environments has developed rapidly in recent years as the demand for locationbased services continues to increase.Channel state information(CSI)can be used as location feature information in fingerprint-based positioning systems because it can reflect the characteristics of the signal on multiple subcarriers.However,the random noise contained in the raw CSI information increases the likelihood of confusion when matching fingerprint data.In this paper,the Dynamic Fusion Feature(DFF)is proposed as a new fingerprint formation method to remove the noise and improve the feature resolution of the system,which combines the pre-processed amplitude and phase data.Then,the improved edit distance on real sequence(IEDR)is used as a similarity metric for fingerprint matching.Based on the above studies,we propose a new indoor fingerprint positioning method,named DFF-EDR,for improving positioning performance.During the experimental stage,data were collected and analyzed in two typical indoor environments.The results show that the proposed localization method in this paper effectively improves the feature resolution of the system in terms of both fingerprint features and similarity measures,has good anti-noise capability,and effectively reduces the localization errors.展开更多
Supersonic axisymmetric jet flow over a missile afterbody containing exhaust jet is simulated using the second order accurate positive schemes method developed for solving the axisymmetric Euler equations based on the...Supersonic axisymmetric jet flow over a missile afterbody containing exhaust jet is simulated using the second order accurate positive schemes method developed for solving the axisymmetric Euler equations based on the 2-D conservation laws.Comparisons between the numerical results and the experimental measurements show excellent agreements.The computed results are in good agreement with the numerical solutions obtained by using third order accurate RKDG finite element method.The results show larger gradient at discontinuous points compared with those obtained by second order accurate TVD schemes.It indicates that the presented method is efficient and reliable for solving the axisymmetric jet with external freestream flows,and shows that the method captures shocks well without numerical noise.展开更多
文摘A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.
基金Supported by the Basic Research Foundation of Central University(HEUCFZ1003)
文摘This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform. Second, a model predictive controller was designed based on a model which took the constraints of the system into account. Third, simulation was carried out to demonstrate the feasibility of the controller. The results show that the model predictive controller has good performance and good at dealing with the constraints or the system.
基金Supported by the Newcastle University’s Project Account:C0570D2330
文摘In this paper, graphical-user-interface （GUI） software for simulation and fuzzy-logic control of a remotely operated vehicle （ROV） using MATLABTM GUI Designing Environment is proposed. The proposed ROV＇s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative （PID） and sliding-mode controller （SMC） systematically and interactively. External disturbance such as sea current can he added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.
基金Partially Supported by the Russian Foundation for Basic Research(RFBR) under Research Project No.14-07-00083a
文摘This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.
基金supported by the High-Speed Railway Basic Research Fund Key Project of China(Grant No.U1234208)the National Natural Science Foundation of China(Grant Nos.51475394 and 51605397)
文摘To study the influence of the pantograph fixing position on aerodynamic characteristics of high-speed trains, the aerodynamic models of high-speed trains with eight cars were established based on the theory of com- putational fluid dynamics, and eight cases with pantographs fixed on different positions and in different operational orientations were considered. The pantographs were fixed on the front or the rear end of the first middle car or fixed on the front or the rear end of the last middle car. The external flow fields of the high-speed trains were numeri- cally simulated using the software STAR-CCM＋. The results show that the pantograph fixing position has little effect on the aerodynamic drag force of the head car and has a large effect on the aerodynamic drag force of the tail car. The influences of the pantograph fixing position on the aerodynamic lift forces of the head car, tail car and pan- tographs are obvious. Among the eight cases, considering the total aerodynamic drag force of the train and the aerodynamic lift force of the lifted pantograph, when the pantographs are fixed on the rear end of the last middle car and the lifted pantograph is in the knuckle-upstream ori- entation, the aerodynamic performance of the high-speed train is the best.
文摘Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.
基金Project supported by the National Key Research and Development Program of China(Grant No.2017YFC0209700)the National Natural Science Foundation of China(Grant No.41730103)。
文摘Integrated cavity output spectroscopy(ICOS) is an effective technique in trace gase detection.The strong absorption due to the long optical path of this method makes it challenging in the application scenes that have large gas concentration fluctuation,especially when the gas concentration is high.In this paper,we demonstrate an extension of the dynamic range of ICOS by using a detuned laser combined with an off-axis integrating cavity.With this,we improve the upper limit of the dynamic detection range from 0.1%(1000 ppm) to 20% of the gas concentration.This method provides a way of using ICOS in the applications with unpredictable gas concentrations such as gas leak detection,ocean acidification,carbon sequestration,etc.
文摘The rigid flexible coupling system with a mass at non-tip position of the flexible beam is studied in this paper. Using the theory about mechanics problems in a non-inertial coordinate sys- tem, the dynamic equations of the rigid flexible coupling system with dynamic stiffening are estab- lished. It is clearly elucidated for the first time that, dynamic stiffening is produced by the coupling effect of the centrifugal inertial load distributed on the beam and the transverse vibration deformation of the beam. The modeling approach in this paper successfully solves problems of popular modeling methods nowadays： the derivation process is too complex by using only one dynamic principle; a clearly theoretical mechanism for dynamic stiffening can＇ t be offered. First, the mass at non-tip po- sition is incorporated into the continuous dynamic equations of the system by use of the Dirac lunch tion and the Heaviside function. Then, based on the conclusions of orthogonalization about the nor- mal constrained modes, the finite dimensional state space equations suitable for controller design are obtained. The numerical simulation results show that： dynamic stiffening is included in the first-or- der model established in this paper, which indicates the dynamic responses of the rigid flexible cou- pling system with large overall motion accurately. The results also show that the mass has a soften- ing effect on the dynamic behavior of the flexible beam, and the effect would be more obvious when the mass has a larger mass, or lies closer to the tip of the beam.
基金This work was financially supported by the National Key Research&Development Program of China under Grant No.2020YFC1511702the Beijing Municipal Natural Science Foundation under Grant No.L191003.
文摘Positioning technology based on wireless network signals in indoor environments has developed rapidly in recent years as the demand for locationbased services continues to increase.Channel state information(CSI)can be used as location feature information in fingerprint-based positioning systems because it can reflect the characteristics of the signal on multiple subcarriers.However,the random noise contained in the raw CSI information increases the likelihood of confusion when matching fingerprint data.In this paper,the Dynamic Fusion Feature(DFF)is proposed as a new fingerprint formation method to remove the noise and improve the feature resolution of the system,which combines the pre-processed amplitude and phase data.Then,the improved edit distance on real sequence(IEDR)is used as a similarity metric for fingerprint matching.Based on the above studies,we propose a new indoor fingerprint positioning method,named DFF-EDR,for improving positioning performance.During the experimental stage,data were collected and analyzed in two typical indoor environments.The results show that the proposed localization method in this paper effectively improves the feature resolution of the system in terms of both fingerprint features and similarity measures,has good anti-noise capability,and effectively reduces the localization errors.
基金Supported by the National Natural Defense Basic Scientific Research Program of China(A262006-1288)the Key Disciplines Program of Shanghai Municipal Commission of Education(J50501)~~
文摘Supersonic axisymmetric jet flow over a missile afterbody containing exhaust jet is simulated using the second order accurate positive schemes method developed for solving the axisymmetric Euler equations based on the 2-D conservation laws.Comparisons between the numerical results and the experimental measurements show excellent agreements.The computed results are in good agreement with the numerical solutions obtained by using third order accurate RKDG finite element method.The results show larger gradient at discontinuous points compared with those obtained by second order accurate TVD schemes.It indicates that the presented method is efficient and reliable for solving the axisymmetric jet with external freestream flows,and shows that the method captures shocks well without numerical noise.
