Compressed gas is usually used for the pressure compensation of the deep-sea pressure-maintaining sampler.The pressure and volume of the recovered fluid sample are highly related to the precharged gas. To better under...Compressed gas is usually used for the pressure compensation of the deep-sea pressure-maintaining sampler.The pressure and volume of the recovered fluid sample are highly related to the precharged gas. To better understand the behavior of the gas under high pressure, we present a new real gas state equation based on the compression factor Z which was derived from experimental data. Then theoretical calculation method of the pressure and volume of the sample was introduced based on this empirical gas state equation. Finally, the proposed calculation method was well verified by the high-pressure vessel experiment of the sampler under 115 MPa.展开更多
It was 7 o’clock on November 17, 2001. Chen Qinglong, a hired driver in Dongguan City, Guangdong Province, was driving his vehicle to the checkpoint at Changping town of the city. A security guard of the town’s publ...It was 7 o’clock on November 17, 2001. Chen Qinglong, a hired driver in Dongguan City, Guangdong Province, was driving his vehicle to the checkpoint at Changping town of the city. A security guard of the town’s public security bureau blocked his way on the pretext that "his vehicle bumped into a security guard and injured him a few days ago." Then, a policeman from a sub-police station in Changping Town took Chen and his vehicle to the sub-police station.展开更多
This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay ...This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.展开更多
A common folk can sue an official? This was hardly possible in the past in China where the old feudalistic tradition dies hard. But this is really possible today when the common people cannot only sue officials and al...A common folk can sue an official? This was hardly possible in the past in China where the old feudalistic tradition dies hard. But this is really possible today when the common people cannot only sue officials and also get compensation if they are wronged. State compensation system It would be inevitable for government functionaries to cause damages to some citizens, legal persons or other organizations in the course of their management of the society. That is why China has established a State compensation system to compensate for the damages to citizens, legal persons and other organizations caused by government functionaries in exercising their power.展开更多
摩擦力是影响直线伺服系统低速运行与点对点定位精度的主要非线性扰动。广义麦克斯韦(generalized Maxwellslip,GMS)摩擦模型虽然可以准确描述摩擦特性用于前馈补偿,但其存在切换点过渡时振荡的问题,同时易受测量噪声和摩擦参数变化等...摩擦力是影响直线伺服系统低速运行与点对点定位精度的主要非线性扰动。广义麦克斯韦(generalized Maxwellslip,GMS)摩擦模型虽然可以准确描述摩擦特性用于前馈补偿,但其存在切换点过渡时振荡的问题,同时易受测量噪声和摩擦参数变化等影响。为此,该文提出基于平滑GMS模型和改进扩张状态观测器(extended state observer,ESO)的复合摩擦补偿策略。首先,引入过渡用双曲正切函数以解决GMS模型中在切换点的反复穿越问题,并给出该模型的离线辨识方法。其次,设计基于模型信息的四阶ESO补偿剩余摩擦力与未知扰动,并引入切比雪夫滤波器整定观测器增益,以降低扰动观测与噪声敏感之间的冲突。为验证所提摩擦补偿策略的有效性,在小型高精度永磁同步直线电机定位平台上进行定位实验。实验结果验证了所提摩擦补偿策略的可行性和有效性。展开更多
基金The National Key Research and Development Program of China under contract Nos 2018YFC0310600 and2016YFC0300500。
文摘Compressed gas is usually used for the pressure compensation of the deep-sea pressure-maintaining sampler.The pressure and volume of the recovered fluid sample are highly related to the precharged gas. To better understand the behavior of the gas under high pressure, we present a new real gas state equation based on the compression factor Z which was derived from experimental data. Then theoretical calculation method of the pressure and volume of the sample was introduced based on this empirical gas state equation. Finally, the proposed calculation method was well verified by the high-pressure vessel experiment of the sampler under 115 MPa.
文摘It was 7 o’clock on November 17, 2001. Chen Qinglong, a hired driver in Dongguan City, Guangdong Province, was driving his vehicle to the checkpoint at Changping town of the city. A security guard of the town’s public security bureau blocked his way on the pretext that "his vehicle bumped into a security guard and injured him a few days ago." Then, a policeman from a sub-police station in Changping Town took Chen and his vehicle to the sub-police station.
基金supported by the Natural Science Foundation of Jiangsu Province(BK20201159).
文摘This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.
文摘A common folk can sue an official? This was hardly possible in the past in China where the old feudalistic tradition dies hard. But this is really possible today when the common people cannot only sue officials and also get compensation if they are wronged. State compensation system It would be inevitable for government functionaries to cause damages to some citizens, legal persons or other organizations in the course of their management of the society. That is why China has established a State compensation system to compensate for the damages to citizens, legal persons and other organizations caused by government functionaries in exercising their power.
文摘摩擦力是影响直线伺服系统低速运行与点对点定位精度的主要非线性扰动。广义麦克斯韦(generalized Maxwellslip,GMS)摩擦模型虽然可以准确描述摩擦特性用于前馈补偿,但其存在切换点过渡时振荡的问题,同时易受测量噪声和摩擦参数变化等影响。为此,该文提出基于平滑GMS模型和改进扩张状态观测器(extended state observer,ESO)的复合摩擦补偿策略。首先,引入过渡用双曲正切函数以解决GMS模型中在切换点的反复穿越问题,并给出该模型的离线辨识方法。其次,设计基于模型信息的四阶ESO补偿剩余摩擦力与未知扰动,并引入切比雪夫滤波器整定观测器增益,以降低扰动观测与噪声敏感之间的冲突。为验证所提摩擦补偿策略的有效性,在小型高精度永磁同步直线电机定位平台上进行定位实验。实验结果验证了所提摩擦补偿策略的可行性和有效性。
