For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advant...For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.展开更多
The requirement of the fast three-dimensional radiation field calculation is raised during the decommissioning of large-scale nuclear installations. The most often used methods, such as the Monte Carlo and the discret...The requirement of the fast three-dimensional radiation field calculation is raised during the decommissioning of large-scale nuclear installations. The most often used methods, such as the Monte Carlo and the discrete ordinates methods, have shortcomings in their simulations of such problems. The coupled Monte Carlo–point kernel computational scheme is developed to meet the requirement. The facility is separated into the source region and the bulk shielding region, with a common interface. The transport within the source region is simulated using the Monte Carlo method, which is by nature good at treating complex geometries. The radiation field in the bulk shielding region is treated by the point kernel approach to avoid the extremely expensive computation for deep penetration problems. The flow rate through the interface,which is given by the Monte Carlo simulation, is considered as the equivalent surface source for the point kernel calculation. Test calculations from simplified typical waste storage facilities have been performed to validate the coupled scheme by comparing them with the results conducted by the Monte Carlo method directly. The good agreement of the results, as well as the significant saving in computing time, indicates that the coupled method is suitable for the fast three-dimensional radiation field calculation.展开更多
The surface electric field analysis of the converter valve shield system is a large-scale electrostatic field problem, which is difficult to analyse. The fast multipole boundary element method(FMBEM), which is suitabl...The surface electric field analysis of the converter valve shield system is a large-scale electrostatic field problem, which is difficult to analyse. The fast multipole boundary element method(FMBEM), which is suitable for solving large-scale problems,can accelerate the computation speed and conserve memory. However, the coefficient matrix implicitly formed by using the FMBEM is sometimes ill-conditioned, especially for large-scale problems; thus, the convergence of iteration is poor. In this paper, a fast solver is proposed to improve efficiency. First, an adaptive GMRES(m) with variant restart parameter is adjusted for the Galerkin FMBEM. In addition, the sparse approximate inverse preconditioner is improved, and a new sparsity pattern is proposed for the multiscale problem derived from the converter valve shield system. The numerical results show that the accuracy can meet the engineering requirements compared with the finite element method. Compared with other solvers and preconditioners, the algorithm can achieve a satisfactory convergence rate and reduce the computation time. In addition, a single bridge shield system of ±160 kV converter valve is successfully analysed using the proposed method.展开更多
基金National Natural Science Foundation of China(No.61673042)Shanxi Province Science Foundation for Youths(No.201701D221123)。
文摘For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.
基金supported by the National Natural Science Foundation of China(No.11405277)
文摘The requirement of the fast three-dimensional radiation field calculation is raised during the decommissioning of large-scale nuclear installations. The most often used methods, such as the Monte Carlo and the discrete ordinates methods, have shortcomings in their simulations of such problems. The coupled Monte Carlo–point kernel computational scheme is developed to meet the requirement. The facility is separated into the source region and the bulk shielding region, with a common interface. The transport within the source region is simulated using the Monte Carlo method, which is by nature good at treating complex geometries. The radiation field in the bulk shielding region is treated by the point kernel approach to avoid the extremely expensive computation for deep penetration problems. The flow rate through the interface,which is given by the Monte Carlo simulation, is considered as the equivalent surface source for the point kernel calculation. Test calculations from simplified typical waste storage facilities have been performed to validate the coupled scheme by comparing them with the results conducted by the Monte Carlo method directly. The good agreement of the results, as well as the significant saving in computing time, indicates that the coupled method is suitable for the fast three-dimensional radiation field calculation.
基金supported by the Fundamental Research Funds for the Central Universities(Grant No.2017XS006)
文摘The surface electric field analysis of the converter valve shield system is a large-scale electrostatic field problem, which is difficult to analyse. The fast multipole boundary element method(FMBEM), which is suitable for solving large-scale problems,can accelerate the computation speed and conserve memory. However, the coefficient matrix implicitly formed by using the FMBEM is sometimes ill-conditioned, especially for large-scale problems; thus, the convergence of iteration is poor. In this paper, a fast solver is proposed to improve efficiency. First, an adaptive GMRES(m) with variant restart parameter is adjusted for the Galerkin FMBEM. In addition, the sparse approximate inverse preconditioner is improved, and a new sparsity pattern is proposed for the multiscale problem derived from the converter valve shield system. The numerical results show that the accuracy can meet the engineering requirements compared with the finite element method. Compared with other solvers and preconditioners, the algorithm can achieve a satisfactory convergence rate and reduce the computation time. In addition, a single bridge shield system of ±160 kV converter valve is successfully analysed using the proposed method.
