Decoupling Control Research on Test System of Hydraulic Drive Unit of Quadruped Robot Based on Diagonal Matrix Method

The mathematical model of hydraulic drive unit of quadruped robot was built in this paper. According to the coupling characteristics between position control system and force control system, the decoupling control strategy was realized based on diagonal matrix method in AMESim?. The results of simulation show that using diagonal matrix method can achieve the decoupling control effectively and it can achieve the decoupling control more effectively with the method of not offset pole-zero in the S coordinate. This research can provide theoretical basis for the application of test system of hydraulic drive unit.

Discrete time transfer matrix method for dynamics of multibody system with flexible beams moving in space

In this paper, by defining new state vectors and developing new transfer matrices of various elements mov- ing in space, the discrete time transfer matrix method of multi-rigid-flexible-body system is expanded to study the dynamics of multibody system with flexible beams moving in space. Formulations and numerical example of a rigid- flexible-body three pendulums system moving in space are given to validate the method. Using the new method to study the dynamics of multi-rigid-flexible-body system mov- ing in space, the global dynamics equations of system are not needed, the orders of involved matrices of the system are very low and the computational speed is high, irrespec- tive of the size of the system. The new method is simple, straightforward, practical, and provides a powerful tool for multi-rigid-flexible-body system dynamics.

A NEW MATRIX PERTURBATION METHOD FOR ANALYTICAL SOLUTION OF THE COMPLEX MODAL EIGENVALUE PROBLEM OF VISCOUSLY DAMPED LINEAR VIBRATION SYSTEMS

A new matrix perturbation analysis method is presented for efficient approximate solution of the complex modal quadratic generalized eigenvalue problem of viscously damped linear vibration systems. First, the damping matrix is decomposed into the sum of a proportional-and a nonproportional-damping parts, and the solutions of the real modal eigenproblem with the proportional dampings are determined, which are a set of initial approximate solutions of the complex modal eigenproblem. Second, by taking the nonproportional-damping part as a small modification to the proportional one and using the matrix perturbation analysis method, a set of approximate solutions of the complex modal eigenvalue problem can be obtained analytically. The result is quite simple. The new method is applicable to the systems with viscous dampings-which do not deviate far away from the proportional-damping case. It is particularly important that the solution technique be also effective to the systems with heavy, but not over, dampings. The solution formulas of complex modal eigenvlaues and eigenvectors are derived up to second-order perturbation terms. The effectiveness of the perturbation algorithm is illustrated by an exemplar numerical problem with heavy dampings. In addition, the practicability of approximately estimating the complex modal eigenvalues, under the proportional-damping hypothesis, of damped vibration systems is discussed by several numerical examples.

An Extended Numerical Method by Stancu Polynomials for Solution of Integro-Differential Equations Arising in Oscillating Magnetic Fields

In this study, the Bernstein collocation method has been expanded to Stancu collocation method for numerical solution of the charged particle motion for certain configurations of oscillating magnetic fields modelled by a class of linear integro-differential equations. As the method has been improved, the Stancu polynomials that are generalization of the Bernstein polynomials have been used. The method has been tested on a physical problem how the method can be applied. Moreover, numerical results of the method have been compared with the numerical results of the other methods to indicate the efficiency of the method.

Revealing the Hidden Mathematical Beauties of the Cayley-Hamilton Method

The inversion of a non-singular square matrix applying a Computer Algebra System (CAS) is straightforward. The CASs make the numeric computation efficient but mock the mathematical characteristics. The algorithms conducive to the output are sealed and inaccessible. In practice, other than the CPU timing, the applied inversion method is irrelevant. This research-oriented article discusses one such process, the Cayley-Hamilton (C.H.) [1]. Pursuing the process symbolically reveals its unpublished hidden mathematical characteristics even in the original article [1]. This article expands the general vision of the original named method without altering its practical applications. We have used the famous CAS Mathematica [2]. We have briefed the theory behind the method and applied it to different-sized symbolic and numeric matrices. The results are compared to the named CAS’s sealed, packaged library commands. The codes are given, and the algorithms are unsealed.

A Modified Eigenvector Method for Blind Deconvolution of MIMO Systems Using the Matrix Pseudo-Inversion Lemma

Recently we have developed an eigenvector method (EVM) which can achieve the blind deconvolution (BD) for MIMO systems. One of attractive features of the proposed algorithm is that the BD can be achieved by calculating the eigenvectors of a matrix relevant to it. However, the performance accuracy of the EVM depends highly on computational results of the eigenvectors. In this paper, by modifying the EVM, we propose an algorithm which can achieve the BD without calculating the eigenvectors. Then the pseudo-inverse which is needed to carry out the BD is calculated by our proposed matrix pseudo-inversion lemma. Moreover, using a combination of the conventional EVM and the modified EVM, we will show its performances comparing with each EVM. Simulation results will be presented for showing the effectiveness of the proposed methods.

GENERALIZED MATRIX MULTISPLITTING RELAXATION METHODS AND THEIR CONVERGENCE

In this paper, we set up a general framework of parallel matrix mullisplitting relaxation methods for solving large scale system of linear equations. We investigate the convergence properties of this framework and give several sufficient conditions ensuring it to converge as well as diverge. At last, we conclude a necessary and sufficient condition for the convergence of this framework when the coefficient matrix is an L-matrix.

Practical calibration method for instantaneous polarization radar systems utilizing a metal sphere

A practical calibration method is proposed for instantaneous polarization radar systems.The method only needs one measurement by using a metal sphere.The distortions of system and the actual polarization scattering matrix（PSM）of target can be obtained.First,an instantaneous polarization radar system is presented.The system can obtain PSM by a single pulse echo.The dual-polarization antenna can transmit and receive two orthogonal polarization waves.The multilayer micro-strip patch antenna is adopted for this kind of radar system.Second,based on the multi-port network theory,the operation and system errors of instantaneous polarization radar system are analyzed.By making assumption on the cross-talk factors of antenna,distortion matrices of R and Tare derived.Finally,the calibration method based on instantaneous polarization measurement is introduced.Simulation results show the performance of this calibration method.The values of calibrated PSM are in agreement with the actual ones after calibration.

A Strong Method for Solving Systems of Integro-Differential Equations

The introduced method in this paper consists of reducing a system of integro-differential equations into a system of algebraic equations, by expanding the unknown functions, as a series in terms of Chebyshev wavelets with unknown coefficients. Extension of Chebyshev wavelets method for solving these systems is the novelty of this paper. Some examples to illustrate the simplicity and the effectiveness of the proposed method have been presented.

High order symplectic conservative perturbation method for time-varying Hamiltonian system

This paper presents a high order symplectic con- servative perturbation method for linear time-varying Hamil- tonian system. Firstly, the dynamic equation of Hamilto- nian system is gradually changed into a high order pertur- bation equation, which is solved approximately by resolv- ing the Hamiltonian coefficient matrix into a ＂major compo- nent＂ and a ＂high order small quantity＂ and using perturba- tion transformation technique, then the solution to the orig- inal equation of Hamiltonian system is determined through a series of inverse transform. Because the transfer matrix determined by the method in this paper is the product of a series of exponential matrixes, the transfer matrix is a sym- plectic matrix; furthermore, the exponential matrices can be calculated accurately by the precise time integration method, so the method presented in this paper has fine accuracy, ef- ficiency and stability. The examples show that the proposed method can also give good results even though a large time step is selected, and with the increase of the perturbation or- der, the perturbation solutions tend to exact solutions rapidly.

系统效能视角下基于改进ADC法的研究生导师能力多维度矩阵构建研究

导师作为研究生培养过程中的第一责任人,其能力高低直接影响研究生的培养质量。文章基于“五位一体”理念提出的“导研、导学、导言、导行、导心”,将导师能力细化为个人能力、课堂教学能力、日常学术指导能力、研究生的学术成果和研究生非学术成果五大部分,应用结构分析法(Availability Dependability Capability,ADC)的可用性、可靠性和指导能力的概念,构建相应的研究生导师能力多维度矩阵,综合全面地反映导师的能力,为进一步提高研究生培养质量提供参考。

不确定转子系统动力学降阶模型构建与模型散度参数辨识

在航空、航天、船舶等领域的实际工程转子系统中,广泛存在高维复杂的非线性系统。在航空发动机转子系统、燃气轮机转子系统等重点研究领域,通常还难以对高维复杂非线性系统进行直接的数据处理和分析统计。针对不确定性转子系统的模型维度较高等问题,提出了一种模型不确定性动力学降阶计算模型构建和模型散度参数辨识方法。首先,根据确定性动力学模型和静态矩阵降阶方法,完善了确定性动力学降阶模型;然后,基于随机矩阵理论和非参数动力学建模方法,提出了不确定性动力学降阶模型;最后,利用系统确定性模型的一阶临界转速、振型和实验数据,对不确定性动力学模型的散度参数进行了辨识;为了验证散度参数辨识方法的有效性,笔者又在转子实验平台上进行了实验验证。研究结果表明:实验结果与降阶之后振动响应均值的差异性较小,且与不确定性动力学模型相差不超过10%,表明所采用的理论模型在描述转子系统行为方面具备了较高的准确性和可靠性,该模型可以为深入研究模型不确定性转子系统提供参考。

光质组合对菌藻共生系统去污性能的影响及运行优化

菌藻共生系统能有效控制水体中氮、磷及有机污染,不同波长的光质组合及运行参数对菌藻共生系统的污染物去除能力的综合影响仍需进一步研究。以菌藻共生系统为研究对象,进行光质组合实验,确定最佳的光质组合,并在最佳的光质条件下选取光照度、菌藻接种比(干重比)、光照时间3个因素设计正交实验,通过矩阵分析法进行独立极差分析,构建权矩阵探究菌藻共生系统高效去除污染物的最佳运行条件。结果表明:红蓝光(8:2)为蛋白核小球藻发挥污染物去除性能最佳的光质,采用光照度4000 lx,菌藻接种比1:5,光照时间9 h·d^(-1)的最佳运行条件时,红蓝光(8:2)菌藻共生系统化学需氧量、总氮、总磷的去除率分别达到90.0%、79.1%、81.9%。

地表基质调查技术方法体系的实践与探索——以陕西省渭南市域地表调查为例

依托“黄河中游晋陕豫金三角(陕西段)自然资源综合调查”,依据自然资源部《地表基质分类方案(试行)》(2020.12),在系统收集和学习领会我国地表基质调查研究成果的基础上,开展了渭南市域1:25万地表基质调查和华阴幅1:5万地表基质调查试点,首次在陕西省域进行了地表基质调查技术方法体系的探索,形成一整套新方法、新成果与新认识。

The Experimental and Theoretical Research of "Local Resonance" in Ultrasonic Honing System

In 1982, Professor Fang Guoliang found the "Non full resonance" phenomenon in a tool system while he use the thin-long tool ultrasonically machining deep-small hole. He called it as "local resonance". Also this "Non full resonance" phenomenon was discovered in the ultrasonic drilling and the ultrasonic honing system later. To its mechanism, professor Fang thought that the coupling of long-thin tool bar and driving system is weak, so the tool bar can vibrate independently, but the quantitative relation between the coupling factor and diameter ratio is not made certain. Then several theories come forth to interpret it but still haven’t a common conclusion. Through the systematic experimental and theoretical research, this paper reveals that the "local resonance" phenomenon of ultrasonic honing system has the same essence with the "local resonance" phenomenon in deep hole machining system: when the section area ratio of tool bar and driving system is small enough, some resonance frequencies of combined system are close to the resonance frequencies of "fixed-free" state tool bar, the combined system is still resonant. According to the given depth of hole and structure size, we can use the transfer matrix deduced in this paper to design flexible bar and oilstone seat not only satisfying mechanical structure size but also achieving enough magnitude. It greatly simplified the design. This new method can be named as "local resonance" design method for ultrasonic honing system. The experiment, deduction and design method have a certain common meaning to the study and design of other ultrasonic system.

基于矩阵束方法的传输线系统瞬态响应分析

带有频变负载的传输线系统的瞬态响应分析是电磁兼容领域的一个重要内容,特别是对于频变负载网络较为复杂或内部结构不清晰的情况,其瞬态响应的分析较为困难。本文首先在采样频率点处对频变负载端口导纳进行测量或计算得到相应的采样导纳,并采用有理函数逼近的方式对端口导纳进行等效;之后采用矩阵束(MPM)方法求解出有理逼近函数所需的极点和留数,并将其代入到分段线性递归卷积(PLRC)技术中,实现传输线和频变负载连接点处电压的分段线性递归卷积表达;最后,结合传输线方程实现带有频变负载的传输线系统的瞬态响应分析,并通过2个算例对所提方法的性能进行验证。结果表明,所提方法在计算精确度上具有明显的优势。

Ballistic Trajectory Extrapolation and Correction of Firing Precision for Multiple Launch Rocket System

The research on multiple launch rocket system(MLRS)is now even more demanding in terms of reducing the time for dynamic calculations and improving the firing accuracy,keeping the cost as low as possible.This study employs multibody system transfer matrix method(MSTMM),to model MLRS.The use of this method provides effective and fast calculations of dynamic characteristics,initial disturbance and firing accuracy.Further,a new method of rapid extrapolation of ballistic trajectory of MLRS is proposed by using the position information of radar tests.That extrapolation point is then simulated and compared with the actual results,which demonstrates a good agreement.The closed?loop fire correction method is used to improve the firing accuracy of MLRS at low cost.

Effect of residual Doppler averaging on the probe absorption in cascade type system: A comparative study

Effect of residual Doppler averaging on the probe absorption in an alkali vapor medium in the presence of a coherent pump beam is studied analytically for the Ξ type system. A coherent probe field is assumed to connect the ground level with the intermediate level whereas a coherent control beam is supposed to act between the intermediate energy level and the uppermost level. Optical Bloch equations（OBE） for a three-level Ξ type system and a four-level Ξ type system are derived by using density matrix formalism. These equations are solved by an analytic method to determine the probe response, which not only depends on the wavelength difference between the control（pump） field and the probe field but shows substantially different features depending on whether the wavelength of the control field is greater than that of the probe field or the reverse. The effect of temperature on probe response is also shown. Enhancement in probe absorption and additional features are noticed under a strong probe limit at room temperature. The four-level Ξ type system has two ground levels and this leads to substantial modification in the simulated probe absorption as compared to the three-level system.

基于模糊综合评价法的铁路行车组织安全水平评价探讨

为提高铁路行车组织安全管理水平,有效预防行车事故的发生,建立基于模糊综合评价法的铁路行车组织安全水平评价。以事故系统“4 M”要素构建行车组织安全评价指标体系,通过调研组建专家小组,建立评价因素集和评语集;运用AHP确定各指标权重,修正一致性检验不合格的判断矩阵;根据专家小组评价结果建立隶属度矩阵,通过模糊综合评价法得出综合评价结果。实证表明,该综合评价结果能够研判车站行车组织安全风险,在此基础上提出相应的措施,有利于降低行车组织安全风险隐患,提升铁路行车组织安全水平。