串联弹性驱动器(Series elastic actuator, SEA)是机器人交互系统中的一种理想力源.本文针对非线性SEA的力矩控制问题提出一种基于RISE (Robust integral of the sign of the error)反馈的最优控制方法,能够克服模型参数不确定和有界扰...串联弹性驱动器(Series elastic actuator, SEA)是机器人交互系统中的一种理想力源.本文针对非线性SEA的力矩控制问题提出一种基于RISE (Robust integral of the sign of the error)反馈的最优控制方法,能够克服模型参数不确定和有界扰动,实现SEA输出力矩在交互过程中快速平稳地收敛到期望值.具体来说,首先对SEA的模型进行分析和变换;然后假设模型参数和扰动均已知,并在此基础上基于二次型指标设计最优控制律;之后基于RISE反馈重新设计控制律抵消模型参数不确定性和有界扰动,基于Lyapunov理论分析控制器的收敛性和信号的有界性,实验结果表明这种基于RISE反馈的最优控制方法具有良好的控制性能和对有界扰动的鲁棒性.展开更多
针对目前多移动机器人轨迹跟踪控制精度不高的问题,基于RISE(robust integral of signum of error)方法提出了一种渐进轨迹跟踪控制算法。首先,建立了差速机器人的动力学模型,并进行系统解耦及反馈线性化,得到一般的二阶系统模型;其次,...针对目前多移动机器人轨迹跟踪控制精度不高的问题,基于RISE(robust integral of signum of error)方法提出了一种渐进轨迹跟踪控制算法。首先,建立了差速机器人的动力学模型,并进行系统解耦及反馈线性化,得到一般的二阶系统模型;其次,对多机器人系统,基于RISE方法提出了对二阶可导且有界的时变信号的跟踪算法,实现领导者输入未知的情况下对时变信号的渐进轨迹跟踪。且该算法基于分布式结构,机器人无需知道全局状态信息。另外,应用李雅普诺夫稳定性理论、代数图论的方法证明了算法的稳定性,并给出系统稳定必要条件。在文章最后,给出了仿真实例和实验数据,证明了算法有效性。展开更多
Wicking geotextile(WG)is considered as a possible countermeasure to reduce water content in unsaturated soil.In this research,rainfall tests were carried out to verify the drainage performance of WG.And capillary rise...Wicking geotextile(WG)is considered as a possible countermeasure to reduce water content in unsaturated soil.In this research,rainfall tests were carried out to verify the drainage performance of WG.And capillary rise tests were conducted to study the effect of WG on the prevention of capillary rise.Test results indicated that WG with good drainage performance could drain gravitational and capillary water out of kaolinite soil.For kaolinite soil column with water content of 12%and compaction degree of 90%,the whole process of capillary rise in soil column with a layer of WG was a typical two-stage mode,and the maximum capillary height was about 380 mm,which provided that the WG could work as a barrier to prevent capillary rise effectively.In addition,the total vertical influential regions of WG in kaolinite soil above and below the WG layer were 400 and 100 mm,respectively.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
This article shows us the multiplicity and perplexity of the Lost Generations love and thus exposes that the evil war destroys lives and civilization of human beings;ruins the life,youthfulness,happiness,future and ho...This article shows us the multiplicity and perplexity of the Lost Generations love and thus exposes that the evil war destroys lives and civilization of human beings;ruins the life,youthfulness,happiness,future and hope of the generation and also ruins the love of the generation.展开更多
The coast of Morocco is,in many locations, physically and socio-economically vulnerable to accelerated sea-level rise,due to its low topography and its high ecological,economic and touristic values. Assessment of the ...The coast of Morocco is,in many locations, physically and socio-economically vulnerable to accelerated sea-level rise,due to its low topography and its high ecological,economic and touristic values. Assessment of the potential land loss by inundation and erosion,based on a modeling approach and Geographical Information Systems(GIS),has enabled to identify both locations and the socioeconomic sectors that展开更多
One of the significant consequences of the climate change predicted for the next decades is the sea and ocean level rise.The coastal zone of Mohammedia (Morocco),a site of significant socio-economic activeties largely...One of the significant consequences of the climate change predicted for the next decades is the sea and ocean level rise.The coastal zone of Mohammedia (Morocco),a site of significant socio-economic activeties largely open to the Atlantic Ocean,is thus confronted with hydrodynamic agents and a possible sea level rise,whose impacts will result in an immersion of the low topography areas。展开更多
考虑模型不确定性和外部干扰等影响,基于径向基函数神经网络(radial basis function neural network,RBFNN)和改进的误差符号函数鲁棒积分(robust integral of signum error,RISE)技术,建立无人直升机(unmanned aerial helicopter,UAH)...考虑模型不确定性和外部干扰等影响,基于径向基函数神经网络(radial basis function neural network,RBFNN)和改进的误差符号函数鲁棒积分(robust integral of signum error,RISE)技术,建立无人直升机(unmanned aerial helicopter,UAH)轨迹跟踪控制设计方案。首先,建立包含模型不确定性和外部干扰的UAH非线性系统模型,利用跟踪误差作为RBFNN输入信号估计由模型不确定性和外部干扰组成的复合扰动。其次,将滤波信号及其变化率权重组合作为RISE输入信号设计控制器,从而降低控制设计方案对UAH动力学模型的依赖程度。进而,借助Lyapunov稳定性理论分析整合后闭环跟踪误差系统的稳定性,并给出控制参数的选取方法。最后,借助现有文献中UAH系统模型,仿真与比较结果均说明所提控制算法的有效性和优越性。展开更多
文摘串联弹性驱动器(Series elastic actuator, SEA)是机器人交互系统中的一种理想力源.本文针对非线性SEA的力矩控制问题提出一种基于RISE (Robust integral of the sign of the error)反馈的最优控制方法,能够克服模型参数不确定和有界扰动,实现SEA输出力矩在交互过程中快速平稳地收敛到期望值.具体来说,首先对SEA的模型进行分析和变换;然后假设模型参数和扰动均已知,并在此基础上基于二次型指标设计最优控制律;之后基于RISE反馈重新设计控制律抵消模型参数不确定性和有界扰动,基于Lyapunov理论分析控制器的收敛性和信号的有界性,实验结果表明这种基于RISE反馈的最优控制方法具有良好的控制性能和对有界扰动的鲁棒性.
文摘针对目前多移动机器人轨迹跟踪控制精度不高的问题,基于RISE(robust integral of signum of error)方法提出了一种渐进轨迹跟踪控制算法。首先,建立了差速机器人的动力学模型,并进行系统解耦及反馈线性化,得到一般的二阶系统模型;其次,对多机器人系统,基于RISE方法提出了对二阶可导且有界的时变信号的跟踪算法,实现领导者输入未知的情况下对时变信号的渐进轨迹跟踪。且该算法基于分布式结构,机器人无需知道全局状态信息。另外,应用李雅普诺夫稳定性理论、代数图论的方法证明了算法的稳定性,并给出系统稳定必要条件。在文章最后,给出了仿真实例和实验数据,证明了算法有效性。
基金Projects(41872240,41672280)supported by the National Natural Science Foundation of ChinaProject(2016-1-16-2)supported by Science and Technology Project of Jilin Province Transportation,ChinaProject(SJCX18-0052)supported by the Postgraduate Research&Practice Innovation Program of Jiangsu Province,China。
文摘Wicking geotextile(WG)is considered as a possible countermeasure to reduce water content in unsaturated soil.In this research,rainfall tests were carried out to verify the drainage performance of WG.And capillary rise tests were conducted to study the effect of WG on the prevention of capillary rise.Test results indicated that WG with good drainage performance could drain gravitational and capillary water out of kaolinite soil.For kaolinite soil column with water content of 12%and compaction degree of 90%,the whole process of capillary rise in soil column with a layer of WG was a typical two-stage mode,and the maximum capillary height was about 380 mm,which provided that the WG could work as a barrier to prevent capillary rise effectively.In addition,the total vertical influential regions of WG in kaolinite soil above and below the WG layer were 400 and 100 mm,respectively.
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.
文摘This article shows us the multiplicity and perplexity of the Lost Generations love and thus exposes that the evil war destroys lives and civilization of human beings;ruins the life,youthfulness,happiness,future and hope of the generation and also ruins the love of the generation.
文摘The coast of Morocco is,in many locations, physically and socio-economically vulnerable to accelerated sea-level rise,due to its low topography and its high ecological,economic and touristic values. Assessment of the potential land loss by inundation and erosion,based on a modeling approach and Geographical Information Systems(GIS),has enabled to identify both locations and the socioeconomic sectors that
文摘One of the significant consequences of the climate change predicted for the next decades is the sea and ocean level rise.The coastal zone of Mohammedia (Morocco),a site of significant socio-economic activeties largely open to the Atlantic Ocean,is thus confronted with hydrodynamic agents and a possible sea level rise,whose impacts will result in an immersion of the low topography areas。
文摘考虑模型不确定性和外部干扰等影响,基于径向基函数神经网络(radial basis function neural network,RBFNN)和改进的误差符号函数鲁棒积分(robust integral of signum error,RISE)技术,建立无人直升机(unmanned aerial helicopter,UAH)轨迹跟踪控制设计方案。首先,建立包含模型不确定性和外部干扰的UAH非线性系统模型,利用跟踪误差作为RBFNN输入信号估计由模型不确定性和外部干扰组成的复合扰动。其次,将滤波信号及其变化率权重组合作为RISE输入信号设计控制器,从而降低控制设计方案对UAH动力学模型的依赖程度。进而,借助Lyapunov稳定性理论分析整合后闭环跟踪误差系统的稳定性,并给出控制参数的选取方法。最后,借助现有文献中UAH系统模型,仿真与比较结果均说明所提控制算法的有效性和优越性。
