橡胶材料因具有良好的抗震、吸能作用,在实际工程中应用广泛.然而橡胶超弹性材料的碰撞属于强非线性问题,分析橡胶材料的接触碰撞和大变形问题对于提高装置的缓冲性能具有重要意义.光滑有限元法(smoothed finite element method,S-FEM)...橡胶材料因具有良好的抗震、吸能作用,在实际工程中应用广泛.然而橡胶超弹性材料的碰撞属于强非线性问题,分析橡胶材料的接触碰撞和大变形问题对于提高装置的缓冲性能具有重要意义.光滑有限元法(smoothed finite element method,S-FEM)是一种弱形式的数值计算方法,相比于传统的有限元方法,光滑有限元法对网格的质量要求不高,允许单元在计算过程中发生较大的变形,且光滑域的构造比较灵活,在不增加自由度的前提下,可以达到较高的精度.在光滑有限元法的基础上,采用双势方法进行接触计算,以充分利用光滑有限元法计算大变形问题的优点和双势方法求解接触力的优势.通过与有限元软件MSC.Marc的数值结果对比,验证了该算法的准确性和能量守恒性,并且分析了摩擦因数对碰撞体的影响.展开更多
Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation...Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation if estimation of the spoofer on UAV has continuous observation error.Aiming at this problem,the influence of the spoofer’s state estimation error on spoofing effect and error convergence conditions is theoretically analyzed,and an improved adaptively robust estimation algo-rithm suitable for steady-state linear quadratic estimator is pro-posed.It enables the spoofer’s estimator to reliably estimate UAV status in real time,improves the robustness of the estima-tor in responding to observation errors,and accelerates the con-vergence time of error control.Simulation experiments show that the mean value of normalized innovation squared(NIS)is reduced by 88.5%,and the convergence time of NIS value is reduced by 76.3%,the convergence time of true trajectory error of UAV is reduced by 42.3%,the convergence time of estimated trajectory error of UAV is reduced by 67.4%,the convergence time of estimated trajectory error of the spoofer is reduced by 33.7%,and the convergence time of broadcast trajectory error of the spoofer is reduced by 54.8%when the improved algorithm is used.The improved algorithm can make UAV deviate from pre-set trajectory to spoofing trajectory more effectively and more subtly.展开更多
文摘橡胶材料因具有良好的抗震、吸能作用,在实际工程中应用广泛.然而橡胶超弹性材料的碰撞属于强非线性问题,分析橡胶材料的接触碰撞和大变形问题对于提高装置的缓冲性能具有重要意义.光滑有限元法(smoothed finite element method,S-FEM)是一种弱形式的数值计算方法,相比于传统的有限元方法,光滑有限元法对网格的质量要求不高,允许单元在计算过程中发生较大的变形,且光滑域的构造比较灵活,在不增加自由度的前提下,可以达到较高的精度.在光滑有限元法的基础上,采用双势方法进行接触计算,以充分利用光滑有限元法计算大变形问题的优点和双势方法求解接触力的优势.通过与有限元软件MSC.Marc的数值结果对比,验证了该算法的准确性和能量守恒性,并且分析了摩擦因数对碰撞体的影响.
基金supported by the State Key Laboratory of Geo-Information Engineering(SKLGIE2022-Z-2-1)the National Natural Science Foundation of China(41674024,42174036).
文摘Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation if estimation of the spoofer on UAV has continuous observation error.Aiming at this problem,the influence of the spoofer’s state estimation error on spoofing effect and error convergence conditions is theoretically analyzed,and an improved adaptively robust estimation algo-rithm suitable for steady-state linear quadratic estimator is pro-posed.It enables the spoofer’s estimator to reliably estimate UAV status in real time,improves the robustness of the estima-tor in responding to observation errors,and accelerates the con-vergence time of error control.Simulation experiments show that the mean value of normalized innovation squared(NIS)is reduced by 88.5%,and the convergence time of NIS value is reduced by 76.3%,the convergence time of true trajectory error of UAV is reduced by 42.3%,the convergence time of estimated trajectory error of UAV is reduced by 67.4%,the convergence time of estimated trajectory error of the spoofer is reduced by 33.7%,and the convergence time of broadcast trajectory error of the spoofer is reduced by 54.8%when the improved algorithm is used.The improved algorithm can make UAV deviate from pre-set trajectory to spoofing trajectory more effectively and more subtly.
