Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed.The proposed controller comprises an extended disturbance observer(EDOB)and a nonlin...Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed.The proposed controller comprises an extended disturbance observer(EDOB)and a nonlinear robust control law synthesized by the backstepping method.The EDOB is designed to estimate not only the influence of disturbances but also the parameter uncertainties.With the use of parameter and disturbance estimates,the nonlinear cascade controller,which consists of an outer position tracking loop and an inner load pressure loop,is further designed to attenuate the effects of parameter and disturbance estimation errors.The stability of the closed-loop system is proven by means of Lyapunov theory.Extensive comparative experimental results obtained verify the effectiveness of the proposed nonlinear cascade controller and its performance robustness to parameter and external disturbance variations in practical implementation.展开更多
The anisotropic properties of subsurface media cause waveform distortions in seismic wave propagation,resulting in a negative infl uence on seismic imaging.In addition,wavefields simulated by the conventional coupled ...The anisotropic properties of subsurface media cause waveform distortions in seismic wave propagation,resulting in a negative infl uence on seismic imaging.In addition,wavefields simulated by the conventional coupled pseudo-acoustic equation are not only aff ected by SV-wave artifacts but are also limited by anisotropic parameters.We propose a least-squares reverse time migration(LSRTM)method based on the pure q P-wave equation in vertically transverse isotropic media.A fi nite diff erence and fast Fourier transform method,which can improve the effi ciency of the numerical simulation compared to a pseudo-spectral method,is used to solve the pure q P-wave equation.We derive the corresponding demigration operator,migration operator,and gradient updating formula to implement the LSRTM.Numerical tests on the Hess model and field data confirm that the proposed method has a good correction eff ect for the travel time deviation caused by underground anisotropic media.Further,it signifi cantly suppresses the migration noise,balances the imaging amplitude,and improves the imaging resolution.展开更多
激光诱导击穿光谱(LIBS)技术用于液体样品探测时,存在光谱信号稳定性差和重复性差的问题,限制了该技术的实际应用。为了提升液相LIBS的稳定性,基于等离子体直接成像和气泡投影成像探测方法,采集了光谱与后向(Coaxial)、侧向(Lateral)等...激光诱导击穿光谱(LIBS)技术用于液体样品探测时,存在光谱信号稳定性差和重复性差的问题,限制了该技术的实际应用。为了提升液相LIBS的稳定性,基于等离子体直接成像和气泡投影成像探测方法,采集了光谱与后向(Coaxial)、侧向(Lateral)等离子体图像及气泡图像的同步数据,并对光谱强度与3类图像的强度和形态特征之间的相关性进行了分析,结果表明后向等离子体图像的总辐射强度与光谱强度的相关性最高;在此基础上利用后向等离子体图像信息对光谱强度进行校正,光谱强度(Li I 670.8nm)的相对偏差由10.24%降低为4.14%,且LIBS的定量分析性能也有所提升,从而证明了图像辅助的光谱校正方法应用于液相LIBS分析的可行性。展开更多
Least squares reverse-time migration （LSRTM） is an inversion method that removes artificial images and preserves the amplitude of reflectivity sections. LSRTM has been used in reservoir exploration and processing of...Least squares reverse-time migration （LSRTM） is an inversion method that removes artificial images and preserves the amplitude of reflectivity sections. LSRTM has been used in reservoir exploration and processing of 4D seismic data. LSRTM is, however, a computationally costly and memory-intensive method. In this study, LSRTM in the pseudodepth domain was combined with the conjugate gradient method to reduce the computational cost while maintaining precision. The velocity field in the depth domain was transformed to the velocity field in the pseudodepth domain; thus, the total number of vertical sampling points was reduced and oversampling was avoided. Synthetic and field data were used to validate the proposed method. LSRTM in the pseudodepth domain in conjunction with the conjugate gradient method shows potential in treating field data.展开更多
A convolution perfectly matched layer(CPML)can efficiently absorb boundary reflection in numerical simulation.However,the CPML is suitable for the first-order elastic wave equation and is difficult to apply directly t...A convolution perfectly matched layer(CPML)can efficiently absorb boundary reflection in numerical simulation.However,the CPML is suitable for the first-order elastic wave equation and is difficult to apply directly to the second-order elastic wave equation.In view of this,based on the first-order CPML absorbing boundary condition,we propose a new CPML(NCPML)boundary which can be directly applied to the second-order wave equation.We first systematically extend the first-order CPML technique into second-order wave equations,neglecting the space-varying characteristics of the partial damping coefficient in the complex-frequency domain,avoiding the generation of convolution in the time domain.We then transform the technique back to the time domain through the inverse Fourier transform.Numerical simulation indicates that the space-varying characteristics of the attenuation factor have little influence on the absorption effect and increase the memory at the same time.A number of numerical examples show that the NCPML proposed in this study is effective in simulating elastic wave propagation,and this algorithm is more efficient and requires less memory allocation than the conventional PML absorbing boundary.展开更多
基金Project(51505474)supported by the National Natural Science Foundation of ChinaProject(2015XKMS020)supported by the Fundamental Research Funds for the Central Universities,China+1 种基金Project(2016T90520)supported by the China Postdoctoral Science FoundationProject supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions,China
文摘Precise position tracking control of the single-rod pneumatic actuator is considered and a nonlinear cascade controller is developed.The proposed controller comprises an extended disturbance observer(EDOB)and a nonlinear robust control law synthesized by the backstepping method.The EDOB is designed to estimate not only the influence of disturbances but also the parameter uncertainties.With the use of parameter and disturbance estimates,the nonlinear cascade controller,which consists of an outer position tracking loop and an inner load pressure loop,is further designed to attenuate the effects of parameter and disturbance estimation errors.The stability of the closed-loop system is proven by means of Lyapunov theory.Extensive comparative experimental results obtained verify the effectiveness of the proposed nonlinear cascade controller and its performance robustness to parameter and external disturbance variations in practical implementation.
基金financially supported by the National Key R&D Program of China (No. 2019YFC0605503)the Major Scientific and Technological Projects of CNPC (No. ZD2019-183-003)the National Natural Science Foundation of China (No. 41922028,41874149)。
文摘The anisotropic properties of subsurface media cause waveform distortions in seismic wave propagation,resulting in a negative infl uence on seismic imaging.In addition,wavefields simulated by the conventional coupled pseudo-acoustic equation are not only aff ected by SV-wave artifacts but are also limited by anisotropic parameters.We propose a least-squares reverse time migration(LSRTM)method based on the pure q P-wave equation in vertically transverse isotropic media.A fi nite diff erence and fast Fourier transform method,which can improve the effi ciency of the numerical simulation compared to a pseudo-spectral method,is used to solve the pure q P-wave equation.We derive the corresponding demigration operator,migration operator,and gradient updating formula to implement the LSRTM.Numerical tests on the Hess model and field data confirm that the proposed method has a good correction eff ect for the travel time deviation caused by underground anisotropic media.Further,it signifi cantly suppresses the migration noise,balances the imaging amplitude,and improves the imaging resolution.
文摘激光诱导击穿光谱(LIBS)技术用于液体样品探测时,存在光谱信号稳定性差和重复性差的问题,限制了该技术的实际应用。为了提升液相LIBS的稳定性,基于等离子体直接成像和气泡投影成像探测方法,采集了光谱与后向(Coaxial)、侧向(Lateral)等离子体图像及气泡图像的同步数据,并对光谱强度与3类图像的强度和形态特征之间的相关性进行了分析,结果表明后向等离子体图像的总辐射强度与光谱强度的相关性最高;在此基础上利用后向等离子体图像信息对光谱强度进行校正,光谱强度(Li I 670.8nm)的相对偏差由10.24%降低为4.14%,且LIBS的定量分析性能也有所提升,从而证明了图像辅助的光谱校正方法应用于液相LIBS分析的可行性。
基金This research is sponsored by The National Natural Science Fund （No. 41574098）, Shandong Provincial Natural Science Foundation （No. ZR201807080087）, the Fundamental Research Funds for the Central Universities （No. 18CX02059A）, the National Natural Science Fund （No. 41504100）, and the national oil and gas major project （No. 2016ZX05006-002）.
文摘Least squares reverse-time migration （LSRTM） is an inversion method that removes artificial images and preserves the amplitude of reflectivity sections. LSRTM has been used in reservoir exploration and processing of 4D seismic data. LSRTM is, however, a computationally costly and memory-intensive method. In this study, LSRTM in the pseudodepth domain was combined with the conjugate gradient method to reduce the computational cost while maintaining precision. The velocity field in the depth domain was transformed to the velocity field in the pseudodepth domain; thus, the total number of vertical sampling points was reduced and oversampling was avoided. Synthetic and field data were used to validate the proposed method. LSRTM in the pseudodepth domain in conjunction with the conjugate gradient method shows potential in treating field data.
基金supported by the National Science and Technology Major Special Sub-project of China(No.2016ZX05024-001-008)the National Natural Science Foundation Joint Fund Prcject of China(No.U1562215).
文摘A convolution perfectly matched layer(CPML)can efficiently absorb boundary reflection in numerical simulation.However,the CPML is suitable for the first-order elastic wave equation and is difficult to apply directly to the second-order elastic wave equation.In view of this,based on the first-order CPML absorbing boundary condition,we propose a new CPML(NCPML)boundary which can be directly applied to the second-order wave equation.We first systematically extend the first-order CPML technique into second-order wave equations,neglecting the space-varying characteristics of the partial damping coefficient in the complex-frequency domain,avoiding the generation of convolution in the time domain.We then transform the technique back to the time domain through the inverse Fourier transform.Numerical simulation indicates that the space-varying characteristics of the attenuation factor have little influence on the absorption effect and increase the memory at the same time.A number of numerical examples show that the NCPML proposed in this study is effective in simulating elastic wave propagation,and this algorithm is more efficient and requires less memory allocation than the conventional PML absorbing boundary.
