针对旋转倒立摆自动起摆的控制问题,提出了基于BVP算法的自动起摆控制策略。该方法将倒立摆起摆控制问题转化成求解非线性方程的两点边值问题(Two-point BoundaryValue Problem BVP),构造了含参变量具有傅立叶级数形式的起摆力矩函数,...针对旋转倒立摆自动起摆的控制问题,提出了基于BVP算法的自动起摆控制策略。该方法将倒立摆起摆控制问题转化成求解非线性方程的两点边值问题(Two-point BoundaryValue Problem BVP),构造了含参变量具有傅立叶级数形式的起摆力矩函数,将力矩函数代入倒立摆系统,利用Matlab工具箱中的bvp4c函数求解两点边值条件,获得起摆过程的起摆控制的时间序列。基于BVP算法的起摆控制的求解,本质上属于开环前馈控制。为了抑制参数摄动,进行了平衡点附近的稳摆控制设计。稳摆设计是针对系统模型不稳定性和非最小相位特性分别进行的。对起摆、稳摆及其切换过程进行了仿真和实验研究,验证了所提出的自动起摆控制策略的有效性。展开更多
本文运用数值计算的方法研究了包含周期刺激项Acos(ω_0t)的BVP(Bonhoeffer-van der Pol)模型随控制参数ω_0变化出现的分岔、混沌和阵发混沌.结果表明,受环境周期性变化的影响,在适当的条件下,一类可兴奋细胞系统表现出的复杂的电生理...本文运用数值计算的方法研究了包含周期刺激项Acos(ω_0t)的BVP(Bonhoeffer-van der Pol)模型随控制参数ω_0变化出现的分岔、混沌和阵发混沌.结果表明,受环境周期性变化的影响,在适当的条件下,一类可兴奋细胞系统表现出的复杂的电生理活动是与混沌行为密切相关的.展开更多
An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing t...An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.展开更多
Inspired by the idea that bionic non-smooth surfaces(BNSS) can reduce fluid adhesion and resistance, and the effect of bionic V-riblet non-smooth structure arranged in tire tread pattern grooves surface on anti-hydrop...Inspired by the idea that bionic non-smooth surfaces(BNSS) can reduce fluid adhesion and resistance, and the effect of bionic V-riblet non-smooth structure arranged in tire tread pattern grooves surface on anti-hydroplaning performance was investigated by using computational fluid dynamics(CFD). The physical model of the object(model of V-riblet surface distribution, hydroplaning model) and SST k-ω turbulence model were established for numerical analysis of tire hydroplaning. With the help of a orthogonal table L16(45), the parameters of V-riblet structure design compared to the smooth structure were analyzed, and obtained the priority level of the experimental factors as well as the best combination within the scope of the experiment. The simulation results show that V-riblet structure can reduce water flow resistance by disturbing the eddy movement in boundary layers. Then, the preferred type of V-riblet non-smooth structure was arranged on the bottom of tire grooves for hydroplaning performance analysis. The results show that bionic V-riblet non-smooth structure can effectively increase hydroplaning velocity and improve tire anti-hydroplaning performance. Bionic design of tire tread pattern grooves is a good way to promote anti-hydroplaning performance without increasing additional groove space, so that tire grip performance and roll noise are avoided due to grooves space enlargement.展开更多
Many difficult engineering problems cannot be solved by the conventional optimization techniques in practice. Direct searches that need no recourse to explicit derivatives are revived and become popular since the new ...Many difficult engineering problems cannot be solved by the conventional optimization techniques in practice. Direct searches that need no recourse to explicit derivatives are revived and become popular since the new century. In order to get a deep insight into this field, some notes on the direct searches for non-smooth optimization problems are made. The global convergence vs. local convergence and their influences on expected solutions for simulation-based stochastic optimization are pointed out. The sufficient and simple decrease criteria for step acceptance are analyzed, and why simple decrease is enough for globalization in direct searches is identified. The reason to introduce the positive spanning set and its usage in direct searches is explained. Other topics such as the generalization of direct searches to bound, linear and non-linear constraints are also briefly discussed.展开更多
文摘针对旋转倒立摆自动起摆的控制问题,提出了基于BVP算法的自动起摆控制策略。该方法将倒立摆起摆控制问题转化成求解非线性方程的两点边值问题(Two-point BoundaryValue Problem BVP),构造了含参变量具有傅立叶级数形式的起摆力矩函数,将力矩函数代入倒立摆系统,利用Matlab工具箱中的bvp4c函数求解两点边值条件,获得起摆过程的起摆控制的时间序列。基于BVP算法的起摆控制的求解,本质上属于开环前馈控制。为了抑制参数摄动,进行了平衡点附近的稳摆控制设计。稳摆设计是针对系统模型不稳定性和非最小相位特性分别进行的。对起摆、稳摆及其切换过程进行了仿真和实验研究,验证了所提出的自动起摆控制策略的有效性。
基金Project (60234030) supported by the National Natural Science Foundation of China
文摘An Approximate Voronoi Boundary Network is constructed as the environmental model by way of enlar-ging the obstacle raster. The connectivity of the path network under complex environment is ensured through build-ing the second order Approximate Voronoi Boundary Network after adding virtual obstacles at joint-close grids. Thismethod embodies the network structure of the free area of environment with less nodes, so the complexity of pathplanning problem is reduced largely. An optimized path for mobile robot under complex environment is obtainedthrough the Genetic Algorithm based on the elitist rule and re-optimized by using the path-tightening method. Sincethe elitist one has the only authority of crossover, the management of one group becomes simple, which makes forobtaining the optimized path quickly. The Approximate Voronoi Boundary Network has a good tolerance to the im-precise a priori information and the noises of sensors under complex environment. Especially it is robust in dealingwith the local or partial changes, so a small quantity of dynamic obstacles is difficult to alter the overall character ofits connectivity, which means that it can also be adopted in dynamic environment by fusing the local path planning.
基金Project(51405201)supported by the National Natural Science Foundation of ChinaProject(1291120046)supported by the Jiangsu University Advanced Talents Initial Funding,China+1 种基金Project(QC201303)supported by the Open Fund of Automotive Engineering Key Laboratory,ChinaProject(2014M551509)supported by the China Postdoctoral Science Foundation
文摘Inspired by the idea that bionic non-smooth surfaces(BNSS) can reduce fluid adhesion and resistance, and the effect of bionic V-riblet non-smooth structure arranged in tire tread pattern grooves surface on anti-hydroplaning performance was investigated by using computational fluid dynamics(CFD). The physical model of the object(model of V-riblet surface distribution, hydroplaning model) and SST k-ω turbulence model were established for numerical analysis of tire hydroplaning. With the help of a orthogonal table L16(45), the parameters of V-riblet structure design compared to the smooth structure were analyzed, and obtained the priority level of the experimental factors as well as the best combination within the scope of the experiment. The simulation results show that V-riblet structure can reduce water flow resistance by disturbing the eddy movement in boundary layers. Then, the preferred type of V-riblet non-smooth structure was arranged on the bottom of tire grooves for hydroplaning performance analysis. The results show that bionic V-riblet non-smooth structure can effectively increase hydroplaning velocity and improve tire anti-hydroplaning performance. Bionic design of tire tread pattern grooves is a good way to promote anti-hydroplaning performance without increasing additional groove space, so that tire grip performance and roll noise are avoided due to grooves space enlargement.
基金supported by the Key Foundation of Southwest University for Nationalities(09NZD001).
文摘Many difficult engineering problems cannot be solved by the conventional optimization techniques in practice. Direct searches that need no recourse to explicit derivatives are revived and become popular since the new century. In order to get a deep insight into this field, some notes on the direct searches for non-smooth optimization problems are made. The global convergence vs. local convergence and their influences on expected solutions for simulation-based stochastic optimization are pointed out. The sufficient and simple decrease criteria for step acceptance are analyzed, and why simple decrease is enough for globalization in direct searches is identified. The reason to introduce the positive spanning set and its usage in direct searches is explained. Other topics such as the generalization of direct searches to bound, linear and non-linear constraints are also briefly discussed.
