Effect of gas blowing nozzle angle on multiphase flow and mass transfer during RH refining process

A three-dimensional mathematical model was developed to investigate the effect of gas blowing nozzle angles on multiphase flow,circulation flow rate,and mixing time during Ruhrstahl-Heraeus(RH) refining process.Also,a water model with a geometric scale of 1:4 from an industrial RH furnace of 260 t was built up,and measurements were carried out to validate the mathematical model.The results show that,with a conventional gas blowing nozzle and the total gas flow rate of 40 L·min^(-1),the mixing time predicted by the mathematical model agrees well with the measured values.The deviations between the model predictions and the measured values are in the range of about 1.3%–7.3% at the selected three monitoring locations,where the mixing time was defined as the required time when the dimensionless concentration is within 3% deviation from the bath averaged value.In addition,the circulation flow rate was 9 kg·s^(-1).When the gas blowing nozzle was horizontally rotated by either 30° or 45°,the circulation flow rate was found to be increased by about 15% compared to a conventional nozzle,due to the rotational flow formed in the up-snorkel.Furthermore,the mixing time at the monitoring point 1,2,and 3 was shortened by around 21.3%,28.2%,and 12.3%,respectively.With the nozzle angle of 30° and 45°,the averaged residence time of 128 bubbles in liquid was increased by around 33.3%.

Impact angle control over composite guidance law based on feedback linearization and finite time control

The impact angle control over guidance(IACG) law against stationary targets is proposed by using feedback linearization control(FLC) and finite time control(FTC). First, this paper transforms the kinematics equation of guidance systems into the feedbackable linearization model, in which the guidance law is obtained without considering the impact angle via FLC. For the purpose of the line of sight(LOS) angle and its rate converging to the desired values, the second-order LOS angle is considered as a double-integral system. Then, this paper utilizes FTC to design a controller which can guarantee the states of the double-integral system converging to the desired values. Numerical simulation illustrates the performance of the IACG, in contrast to the existing guidance law.

Homing Guidance Law with Falling Angle and Flying Time Control

In this paper,a new homing guidance method is used to control the flying time and falling angle for guided missiles. Through this approach,it finds the approximate solution to the quadratic equation of time-togo,which is used for the formula derivation of the flying time control command. In this guidance law design,the acceleration rate control command is adopted. The guidance law is composed of a PN guidance command and a flying time control command. Firstly,it obtains a desired falling angle with accurate guidance. Secondly,it introduces to satisfy the constraint of flying time. The flying time control requires an assumption on the future evolution of missile,which is called time-to-go. To cope with the time-varying speed of missiles,a method of compensating the estimation of time-to-go is presented. The new guidance law is evaluated by using a simulation of typical terminal guidance for rocket-propelled torpedo. The simulation results show that the guidance achieves excellent control performance and exhibits insensitivity to initial trajectory parameter over a widen flight envelope.

Novel Real-Time Seam Tracking Algorithm Based on Vector Angle and Least Square Method

Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.

Time-optimal rendezvous transfer trajectory for restricted cone-angle range solar sails

The advantage of solar sails in deep space exploration is that no fuel consumption is required. The heliocentric distance is one factor influencing the solar radiation pressure force exerted on solar sails. In addition, the solar radiation pressure force is also related to the solar sail orientation with respect to the sunlight direction. For an ideal flat solar sail, the cone angle between the sail normal and the sunlight direction determines the magnitude and direction of solar radiation pressure force. In general, the cone angle can change from 0° to 90°. However, in practical applications, a large cone angle may reduce the efficiency of solar radiation pressure force and there is a strict requirement on the attitude control. Usually, the cone angle range is restricted less more than an acute angle （for example, not more than 40°） in engineering practice. In this paper, the time-optimal transfer trajectory is designed over a restricted range of the cone angle, and an indirect method is used to solve the two point boundary value problem associated to the optimal control problem. Relevant numerical examples are provided to compare with the case of an unrestricted case, and the effects of different maximum restricted cone angles are discussed. The results indicate that （1） for the condition of a restricted cone-angle range the transfer time is longer than that for the unrestricted case and （2） the optimal transfer time increases as the maximum restricted cone angle decreases.

Traveltime tomography and prestack depth migration for vertical seismic profiling of an angle-domain walkaway on a complex surface

Walkaway VSP cannot obtain accurate velocity field,as it asymmetrically reflects ray path and provides uneven coverage to underground target,thereby presenting issues related to imaging quality.In this study,we propose combining traveltime tomography and prestack depth migration for VSP of an angle-domain walkaway,in a bid to establish accurate two-dimensional and three-dimensional(3 D)velocity models.First,residual curvature was defined to update velocity,and an accurate velocity field was established.To establish a high-precision velocity model,we deduced the relationship between the residual depth and traveltime of common imaging gathers(CIGs)in walkaway VSP.Solving renewal velocity using the least squares method,a four-parameter tomographic inversion equation was derived comprising formation dip angle,incidence angle,residual depth,and sensitivity matrix.In the angle domain,the reflected wave was divided into up-and down-transmitted waves and their traveltimes were calculated.The systematic cumulative method was employed in prestack depth migration of a complex surface.Through prestack depth migration,the offset-domain CIGs were obtained,and dip angle was established by defining the stack section horizon.Runge–Kutta ray tracing was employed to calculate the ray path from the reflection point to the detection point,to determine the incident angle,and to subsequently calculate the ray path from the reflection point to the irregular surface.The offset-domain residual depths were mapped to the angle domain,and a new tomographic equation was established and solved.Application in the double complex area of the Tarim Basin showed the four-parameter tomographic inversion equation derived in this paper to be both correct and practical and that the migration algorithm was able to adapt to the complex surface.

Bifurcation analysis of visual angle model with anticipated time and stabilizing driving behavior

In the light of the visual angle model(VAM),an improved car-following model considering driver's visual angle,anticipated time and stabilizing driving behavior is proposed so as to investigate how the driver's behavior factors affect the stability of the traffic flow.Based on the model,linear stability analysis is performed together with bifurcation analysis,whose corresponding stability condition is highly fit to the results of the linear analysis.Furthermore,the time-dependent Ginzburg–Landau(TDGL)equation and the modified Korteweg–de Vries(m Kd V)equation are derived by nonlinear analysis,and we obtain the relationship of the two equations through the comparison.Finally,parameter calibration and numerical simulation are conducted to verify the validity of the theoretical analysis,whose results are highly consistent with the theoretical analysis.

Symmetry Violation of Time Reversal in Third Order Vertex Angle Renormalization Process of Electromagnetic Interaction

According to the current understanding, electromagnetic interaction is invariable under time reversal. However, the proof of time reversal symmetry in quantum theory of field has not considered the effects of high order perturbation normalizations. It is proved in the paper that when the renormalization effect of third order vertex angles process is taken into account, the symmetry of time reversal will be violated in electromagnetic interaction process. Because the magnitude order of symmetry violation is about 10–5, but the precision of current experiments on time reversal in particle physics is about 10–3, this kind of symmetry violation can not be found. The result reveals the micro-origin of asymmetry of time reversal and can be used to solve the famous irreversibility paradox in the evolution processes of macro- material systems.

Three-dimensional impact angle constrained distributed cooperative guidance law for anti-ship missiles

This paper investigates the problem of distributed cooperative guidance law design for multiple anti-ship missiles in the three-dimensional(3-D)space hitting simultaneously the same target with considering the desired terminal impact angle constraint.To address this issue,the problem formulation including 3-D nonlinear mathematical model description,and communication topology are built firstly.Then the consensus variable is constructed using the available information and can reach consensus under the proposed acceleration command along the line-of-sight(LOS)which satisfies the impact time constraint.However,the normal accelerations are designed to guarantee the convergence of the LOS angular rate.Furthermore,consider the terminal impact angle constraints,a nonsingular terminal sliding mode(NTSM)control is introduced,and a finite time convergent control law of normal acceleration is proposed.The convergence of the proposed guidance law is proved by using the second Lyapunov stability method,and numerical simulations are also conducted to verify its effectiveness.The results indicate that the proposed cooperative guidance law can regulate the impact time error and impact angle error in finite time if the connecting time of the communication topology is longer than the required convergent time.

有限视场下的攻击时间和角度多约束制导律

针对精确打击任务存在导引头视场受限这一过程约束的制导问题,提出了一种考虑视场限制以及攻击角度和时间多种约束的制导律.首先,在以比例导引项实现精确命中的基础上,利用最优控制理论,采用弹目距离加权控制能耗形式的指标函数,设计了攻击角度控制项,并推导了相应的剩余飞行时间解析预测表达式.其次,基于最优误差动力学方法,设计了攻击时间相关的控制项,保证了攻击时间误差的有限时间收敛.同时,针对导引头视场有限的问题,分析了各控制项对前置角收敛性的影响,利用特定的限制函数确保前置角在整个制导过程中始终处于有效视场内,并给出了前置角的有界性及收敛性证明.数学仿真结果验证了所提出制导律对多约束制导问题的有效性.

针对机动目标的三维领从协同制导律

针对多飞行器协同拦截机动目标的实际需求,提出一种三维领从时空协同制导律。在视线方向上,基于齐次度理论和固定时间稳定理论设计一种领从协同制导律,确保从飞行器与领飞行器的相对距离和相对速度在固定时间内趋于一致,并且给出一致性误差收敛时间的上界,实现多飞行器的同时刻拦截。在视线法向上为实现以特定的碰撞角度拦截目标,设计一种固定时间收敛的非奇异终端滑模制导律,实现攻击角度的固定时间收敛,并避免了制导指令奇异引起的控制饱和问题。考虑到目标的机动对制导系统产生的不利影响,引入固定时间扰动观测器对目标加速度进行前馈补偿。运用李雅普诺夫稳定性理论来证明系统的固定时间稳定特性。通过仿真实验验证所设计制导律可以有效控制多飞行器在领从框架下同时打击机动目标,并以期望的终端角度攻击目标。

西山煤田岩溶陷落柱柱壁角特征研究及其意义

【意义】随着采掘向深部延伸,岩溶陷落柱已成为华北煤田矿井开采最隐蔽的致灾地质因素之一。柱壁角是描述陷落柱形态特征的重要指标之一。【方法和结果】以西山煤田上下煤层综采均切割过的265个岩溶陷落柱为数据源,通过分区、统计、函数构建、地质类比,挖掘西山煤田岩溶陷落柱柱壁角中蕴藏的地质信息,获得如下认识:(1)西山煤田陷落柱平均柱壁角为84.29°,超50%的陷落柱柱壁角在85°~90°,平均柱壁角自西北到东南逐渐增大,从82.05°增大到87.57°。(2)西山煤田陷落柱柱壁角与8号煤层揭露的陷落柱面积成反比,依据柱壁角与陷落柱面积大小关系,陷落柱划分为:充分塌陷陷落柱(90°~85°)、次充分塌陷陷落柱(<85°~81°)、不充分塌陷陷落柱(<81°);对应的2号煤层陷落柱面积分别为<556、556~1 700、>1 700 m^(2),等效半径为<13.3、13.3~23.3、>23.3 m;对应的8号煤层陷落柱面积分别为<1 250、1 250~2 750、>2 750 m^(2),半径分别为<20、20~30、>30 m。充分塌陷陷落柱一般发育有柱顶空腔,柱体结构较为松散,可导通顶板裂隙水与柱顶空腔水,以及底板承压奥灰水,是西山煤田导水陷落柱的一种重要类型。【结论】类比地质历史时期降雨量结果显示,具有“北柱南相”的西山煤田岩溶陷落柱,可能形成于气候湿热的古近纪渐新世时期,强烈的岩溶作用吸收了大气中的CO_(2),并锁定在沉积区,可能是导致全球大气CO_(2)含量急剧降低的重要原因。

考虑LVRT特性的新能源送端系统功角稳定与电压稳定交互影响分析

新能源机组的低电压穿越(LVRT)能力是高比例新能源电力系统维持电压稳定的重要保证,同时LVRT期间新能源机组的功率特性将进一步影响同步发电机的功角稳定性。为分析高比例新能源送端系统功角稳定与电压稳定的耦合机理,以风电为例,推导了LVRT期间风电机组的有功-无功耦合关系;以含风电的送端系统为例,推导了故障前、故障期间以及故障后同步发电机的机械功率和电磁功率。分析了受扰后系统功角与电压的失稳形态,揭示了含风电送端系统功角稳定和电压稳定的交互影响。基于PSASP平台,仿真分析了风电初始出力水平以及LVRT参数对电力系统功角稳定和电压稳定演化的影响。

盐渍土环境下考虑耐久性损伤的输电塔风振时程分析

长期服役于盐渍土环境下的输电塔耐久性损伤较为严重,当其材料力学性能退化到一定程度时,在强风作用下,输电塔可能会发生破坏,危害线路的安全运行。基于±800kV天中线特高压直流输电工程直线塔,考虑基础钢筋锈蚀、基础混凝土侵蚀、输电塔杆塔钢材锈蚀以及基础箍筋的约束效应,在ABAQUS有限元软件中建立塔-线-基础耦合模型,研究不同风攻角和材料耐久性损伤对塔身动力响应的影响。结果表明:90°风攻角下塔身顺风向位移最大,为最不利风向基本工况;90°风攻角下输电塔塔顶顺风向位移响应贡献主要以背景分量为主,但共振分量也有一定贡献,主要以输电塔1阶振型频率为主,且随着服役时间的增加,振型频率逐渐降低,相应响应的贡献程度逐渐提高;相同风荷载作用下,随着服役时间的增加,塔身位移逐渐增大,相同服役时间下,随着塔身高度的增加,塔身位移响应峰值增长速度变快,结构振动更加明显,材料耐久性损伤对输电塔的位移响应影响较大。

拦截机动目标的固定时间事件触发协同制导律

针对无向通信拓扑结构下的多枚导弹考虑角度约束同时攻击机动目标的问题,提出一种事件触发控制下的固定时间收敛分布式多弹协同制导律.首先,建立导弹-目标相对运动学模型,在视线坐标系下解耦为沿视线和垂直视线两个方向.其次,在视线切向考虑时间约束,提出一种基于事件触发机制的固定时间收敛协同制导律,保证攻击时间的一致性;在视线法向上考虑空间角度约束,提出一种基于固定时间收敛理论的分布式空间协同制导律,使视线角和视线角速率快速收敛到期望值,以满足脱靶量和终端角度约束;同时,针对目标机动引起的系统扰动,采用固定时间收敛的观测器进行在线估计与补偿.利用Lyapunov理论,证明了所提出协同制导律的稳定性.最后,通过数学仿真,验证了所提出的协同制导律的有效性.

集成LCC-S拓扑的二维全向无线电能传输系统无盲区能量捕获方法研究

针对二维全向无线电能传输技术存在空间磁场完整度与电流控制策略复杂度的竞争问题,该文提出一种集成LCC-S拓扑的二维全向无线电能传输系统无盲区能量捕获方法。该系统以二维正交线圈为电磁耦合机构,并将其集成于LCC-S型补偿拓扑。同时提出一种自调整参数设计方法,实现系统在二维空间内产生时均旋转磁场以及系统的零相角输入。通过场-路耦合有限元模型分析系统在二维空间内磁场分布情况,随时间峰值磁场强度矢量轨迹为圆形。搭建集成型二维全向无线电能传输的实验样机,实验结果表明,该系统实现单一电源驱动下无盲区的二维全向电磁能量捕获。

一种变速度条件下控制攻击角度和时间的制导律

对攻击角度和时间进行控制,可以使得多枚导弹按照特定的角度和时间对目标进行打击,在军事上有广泛的应用前景.目前已有控制攻击角度和时间的制导律极少考虑速度变化的情况,在实际运用中具有较大的局限性.本文基于贝塞尔曲线加直线的二段式轨迹,首先分析并证明了该轨迹长度和最大曲率的变化规律,在此基础上,通过二分法确定初始轨迹,针对飞行过程中的诱导阻力和其它扰动,设计了Bezier-PI控制算法,通过动态调整轨迹长度来实现攻击时间的高精度控制.该制导算法计算量小,鲁棒性强,适用于弹载计算机实时计算.通过仿真实验,验证了该算法可以高精度的控制攻击时间以及攻击角度.

电化学储能参与电网暂态功角稳定控制研究

针对电网传统紧急控制资源的日益匮乏,利用电化学储能功率控制的快速性与双向控制能力,研究将其应用于电网暂态功角稳定控制。首先推导了计及电化学储能的双机等值模型,基于扩展等面积定则分析了储能改善电网暂态稳定裕度的原理。其次,提出了一种考虑设备保护与系统保护动作时序差异的储能电站有效工作时长计算方法,改善了紧急控制储能的工作效率。提出了计及储能的基于性能代价比多类措施协调控制策略制定方法,兼顾紧急控制的安全性与经济性,为电网暂态紧急控制提供在线辅助决策支撑。进一步提出了储能电站全景监控系统架构,为实现储能电站与电网紧急控制系统的交互提供了技术实践思路。最后西北电网实际算例验证了所提方法的有效性与合理性。研究结论可为规模化储能与高比例新能源电网第二道防线的扩展与建设提供理论参考。

同轴式微通道壁面润湿性对微细气泡生成特性的影响规律

微细气泡的生成时间和大小对污水处理的效率具有重要影响。为探究微通道壁面润湿性对微细气泡生成特性的影响,采用两相流水平集的方法模拟研究不同接触角下微细气泡的生成过程。以接触角为主变量,液体流量、气体压强和气体类型为次变量,探究次变量对微细气泡生成时间和脱离体积的影响。设计并制造了同轴式微流控芯片,开展微细气泡生成特性的试验。结果表明接触角在0~180°递增时,微细气泡的生成时间总体呈下降趋势,脱离体积先增加后减小,其中90°接触角为生成时间的分界点和脱离体积的峰值点。此外,3个次变量中液体流量的变化对微细气泡生成特性的影响尤为显著,液体流量越大,其生成时间和脱离体积越小。实测值与仿真值的偏差在正负百分之十以内,验证了微通道壁面润湿性对微细气泡生成特性的影响规律。

系统收敛时间和攻击角度控制的滑模导引律

针对打击机动目标带攻击角度约束的导引律设计问题,采用滑模控制理论、任意收敛时间控制方法和干扰观测器,设计了一种攻击角度和收敛时间控制的导引律。根据弹目相对运动关系,将目标机动和建模误差等视为干扰,构建了考虑攻击角度约束的制导系统状态方程。分析了任意收敛时间控制方法在干扰情况下的性能,采用滑模控制和干扰观测器对任意收敛时间控制方法进行改进,提升鲁棒性。将该方法用于滑模面和趋近律设计中,采用干扰观测器对系统扰动进行估计,基于滑模控制理论,结合制导控制系统状态方程,推导出了收敛时间和攻击角度可控的滑模导引律。相比有限时间收敛导引律,该导引律的收敛时间和攻击角度可直接设定,无需根据制导参数计算。设置不同的目标机动方式以及不同的攻击角度和收敛时间,进行了多场景的数值仿真。结果表明,所提导引律能够有效实现攻击角度和收敛时间控制,并精确命中目标,同时相比现有导引律其制导性能更佳。