Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

Three-dimensional Extension of the Unit-Feature Spatial Classification Method for Cloud Type

We describe how the Unit-Feature Spatial Classification Method(UFSCM) can be used operationally to classify cloud types in satellite imagery efficiently and conveniently.By using a combination of Interactive Data Language(IDL) and Visual C++(VC) code in combination to extend the technique in three dimensions(3-D),this paper provides an efficient method to implement interactive computer visualization of the 3-D discrimination matrix modification,so as to deal with the bi-spectral limitations of traditional two dimensional(2-D) UFSCM.The case study of cloud-type classification based on FY-2C satellite data (0600 UTC 18 and 0000 UTC 10 September 2007) is conducted by comparison with ground station data, and indicates that 3-D UFSCM makes more use of the pattern recognition information in multi-spectral imagery,resulting in more reasonable results and an improvement over the 2-D method.

RELIABILITY ASSESSMENT OF ENTROPY METHOD FOR SYSTEM CONSISTED OF IDENTICAL EXPONENTIAL UNITS

The reliability assessment of unit-system near two levels is the mostimportant content in the reliability multi-level synthesis of complex systems. Introducing theinformation theory into system reliability assessment, using the addible characteristic ofinformation quantity and the principle of equivalence of information quantity, an entropy method ofdata information conversion is presented for the system consisted of identical exponential units.The basic conversion formulae of entropy method of unit test data are derived based on the principleof information quantity equivalence. The general models of entropy method synthesis assessment forsystem reliability approximate lower limits are established according to the fundamental principleof the unit reliability assessment. The applications of the entropy method are discussed by way ofpractical examples. Compared with the traditional methods, the entropy method is found to be validand practicable and the assessment results are very satisfactory.

Simulation of fluid-structure interaction in a microchannel using the lattice Boltzmann method and size-dependent beam element on a graphics processing unit

Fluid-structure interaction （FSI） problems in microchannels play a prominent role in many engineering applications. The present study is an effort toward the simulation of flow in microchannel considering FSI. The bottom boundary of the microchannel is simulated by size-dependent beam elements for the finite element method （FEM） based on a modified cou- ple stress theory. The lattice Boltzmann method （LBM） using the D2Q13 LB model is coupled to the FEM in order to solve the fluid part of the FSI problem. Because of the fact that the LBM generally needs only nearest neighbor information, the algorithm is an ideal candidate for parallel computing. The simulations are carried out on graphics processing units （GPUs） using computed unified device architecture （CUDA）. In the present study, the governing equations are non-dimensionalized and the set of dimensionless groups is exhibited to show their effects on micro-beam displacement. The numerical results show that the displacements of the micro-beam predicted by the size-dependent beam element are smaller than those by the classical beam element.

Research on Test Data Distribution of Strapdown Inertial Measurement Unit Based on Bayesian Method

Aiming at that the successive test data set of the strapdown inertial measurement unit is always small,a Bayesian method is used to study its statistical characteristics.Its prior and posterior distributions are set up by the method and the pretest,sample and population information.Some statistical inferences can be made based on the posterior distribution.It can reduce the statistical analysis error in the case of small sample set.

Optimization of a precise integration method for seismic modeling based on graphic processing unit

General purpose graphic processing unit （GPU） calculation technology is gradually widely used in various fields. Its mode of single instruction, multiple threads is capable of seismic numerical simulation which has a huge quantity of data and calculation steps. In this study, we introduce a GPU-based parallel calculation method of a precise integration method （PIM） for seismic forward modeling. Compared with CPU single-core calculation, GPU parallel calculating perfectly keeps the features of PIM, which has small bandwidth, high accuracy and capability of modeling complex substructures, and GPU calculation brings high computational efficiency, which means that high-performing GPU parallel calculation can make seismic forward modeling closer to real seismic records.

非堆积型多颗粒阻尼器等效力学模型及其减振性能分析

为考虑颗粒群碰撞过程中时间效应对非堆积型多颗粒阻尼器(non-packed particle damper, NPPD)减振性能的影响,在现有考虑惯容的等效单颗粒力学模型(equivalent inertia single-particle model, EISM)研究基础上,提出了基于接触单元法的等效单颗粒力学模型(equivalent inertia single-particle model based on contact element method, EISM-CE),并基于Runge-Kutta算法建立了NPPD单自由度结构运动状态求解算法。设计进行附加NPPD单层钢框架结构振动台试验,探究不同填充率对结构顶层位移频响曲线的影响规律,提出了EISM-CE参数取值原则,进而进行力学模型试验验证及模型对比分析。在模型验证合理性基础上,基于EISM-CE依次进行了自由振动、简谐激励及记录强震动下减振性能及能量变化规律分析。研究结果表明,与现有EISM相比,提出的基于接触单元法的EISM-CE模型及参数取值原则更加合理有效。减振性能数值分析结果表明,不同激励下NPPD均具有较好的减振性能;考虑碰撞时间效应后EISM-CE与EISM对应减振性能及机理分析结果存在一定的差异。

Analysis of Software Development and Enhancement Projects Work Effort per Unit Based on the COSMIC Method with Regard to Technological Factors—Case Study

This paper aims to present a case study that consists in the analysis of work effort per unit of software systems Development and Enhancement Projects (D&EP) depending on technological factors. That analysis was commissioned by one of the largest public institutions in Poland. This is the COSMIC (Common Software Measurement International Consortium) function points method that is chosen by this institution as a point of reference for size of software systems developed/enhanced for supporting its functions and therefore this method is the base for the analysis of D&EP work effort per unit with regard to technological factors.

新型起重永磁铁活动单元体冲击动力学研究

通过能量法建立了起重永磁铁工作磁极面活动单元体在受到轴向冲击的过程中所受最大冲击应力的理论模型,并借助ANSYS Workbench仿真平台对单元体在不同冲击条件下进行了动力学仿真分析,同时搭建实验台进行了冲击实验研究。确定了工作磁极面活动T形单元体在受冲击过程中所受最大应力的位置为变截面圆弧过渡区域。结果表明,冲击过程中单元体所受最大应力的理论模型结果和有限元仿真结果最大误差为9.62%,平均误差5.33%;与实验测量结果最大误差为11.73%,平均误差7.42%,验证了所建立模型的有效性。

模块化冷弯薄壁型钢结构体系低层村镇住宅设计研究

在传统冷弯薄壁型钢结构体系的基础上,从模块化、装配化角度出发,提出了一种适用于低层村镇住宅的新型结构体系——模块化冷弯薄壁型钢结构体系。首先,简述了墙体模块单元的构成,给出了7种通用标准化墙体模块单元,并介绍了基于通用标准化模块单元的村镇模块化户型构建原则及过程;其次,详述了便于快速装配安装的标准墙体单元间模块化连接方式,对模块连接节点进行了受力分析及数值模拟,并给出了模块化冷弯薄壁型钢结构体系构建的原则;最后,重点介绍了适用于所有冷弯薄壁型钢结构体系的抗剪墙长简化设计方法以及基于模块化冷弯薄壁结构体系的抗剪墙长设计方法,并通过实际案例详述了墙长确定过程,同时对比了不同计算方法的抗剪墙长,进一步验证了所提出的抗剪墙长简化设计方法的可行性。结果表明:所提出的模块化冷弯薄壁型钢结构体系可大幅提高冷弯薄壁型钢结构低层村镇住宅的工业化和产品化水平,大幅缩减了工期;所提出的抗剪墙长简化设计方法可显著降低设计门槛,便于该类体系的推广应用。

考虑负荷侧惯量不确定性的机组组合

针对新能源高占比电力系统的频率安全问题和频率安全评价指标中只考虑电源侧惯量的问题,提出一种考虑电源侧惯量和负荷侧惯量并计及预测误差随机性的安全约束机组组合优化模型。首先,推导包含系统整体惯量的频率变化率和频率最低点公式。然后,深入研究电网调度运行的不确定因素,利用蒙特卡洛对风电功率预测误差概率分布模型抽样生成典型场景,利用随机规划理论对负荷侧惯量预测误差建模,在机会约束规划的基础上将其纳入频率约束中,建立随机机会约束的频率安全机组组合优化模型。最后,通过改进的10机算例,验证所提模型的经济性和频率安全性。

利用熵权TOPSIS和遗传算法的焊接单元划分方法

在充分分析焊接工艺特性的基础上,以降低焊接序列规划和焊接工位分配难度为目标,综合考虑单元间的平衡问题和单元复杂度问题,提出一种利用熵权TOPSIS法和遗传算法实现焊接单元合理划分的方法。首先,根据最佳单元划分公式确定基础件数量范围;其次,以零件的质量、体积、表面积、零件连接数量、焊缝数量、焊缝体积为评价指标,通过熵权TOPSIS法确定基础件;然后,以单元稳定性、单元平衡性和单元复杂度为优化目标,利用遗传算法得到不同单元数量时的最佳单元划分方案,通过对比分析确定最佳单元划分方案,实现焊接单元的科学合理划分;最后,以某车型前副车架为例进行验证,结果表明该方法快速、合理、有效,能够满足实际的工程需求。

A Hybrid Unit Commitment Approach Incorporating Modified Priority List with Charged System Search Methods

This paper presents a new hybrid approach that combines Modified Priority List (MPL) with Charged System Search (CSS), termed MPL-CSS, to solve one of the most crucial power system’s operational optimization problems, known as unit commitment (UC) scheduling. The UC scheduling problem is a mixed-integer nonlinear problem, highly-dimensional and extremely constrained. Existing meta-heuristic UC solution methods have the problems of stopping at a local optimum and slow convergence when applied to large-scale, heavily-constrained UC applications. In the first step of the proposed method, initial hourly optimum solutions of UC are obtained by Modified Priority List (MPL);however, the obtained UC solution may still be possible to be further improved. Therefore, in the second step, the CSS is utilized to achieve higher quality solutions. The UC is formulated as mixed integer linear programming to ensure the tractability of the results. The proposed method is successfully applied to a popular test system up to 100 units generators for both 24-hr and 168-hr system. Computational results show that both solution cost and execution time are superior to those of published methods.

基于DEMATEL-ISM方法的水电站机组检修作业安全事故致因链分析

针对水电站机组检修作业种类和危险因素多、安全事故频发等问题,通过文献挖掘与专家访谈方式,对水电站机组检修作业安全影响因素类别进行了划分。基于DEMATEL-ISM方法,构建了安全事故致因多层次递阶ISM模型来确定事故致因因素层级,通过剖析事故致因因素的中心度和权重,挖掘关键致因因素和推求事故致因链的路径权重,厘定关键致因链。采用该模型对某水电站致因链进行了分析,结果表明,安全检查不到位为关键致因因素,“安全检查不到位→违规作业→设备的问题→粉尘、油漆等有害物质”为关键致因链。

布仑口水电站冲击式机组柔性电制动技术应用

为保证布仑口水电站机组停机过程中轴承油膜不被破坏,确保机组瓦温运行在安全范围内,解决制动停机问题,文章以新疆布仑口水电站为背景,介绍了冲击式机组柔性电制动技术的工程应用,重点介绍了布仑口电站冲击式机组停机方式、柔性电制动停机原理、电制动主回路接线形式、电制动流程、电制动系统主要设备参数,并对柔性电制动技术的基本思路和工程实现进行探讨。

轴对称连续电性模型激电测井二维有限元数值模拟

激电测井是将电极排列置于钻孔中进行探测的一种测井方法,由于电极排列接近目标体,使得观测的异常信号较强,能够较好地划分目标体的埋藏深度。为了提高激电测井正演精度和方便激电测井电极排列的优化设计,笔者研究了轴对称连续电性介质模型的激电测井曲线二维有限元数值模拟方法。首先在轴对称坐标系下推导了稳恒电流激励异常电位满足的边值问题和变分问题,然后,根据轴对称连续电性介质模型,推导了激电测井曲线二维有限元数值模拟的理论公式,并在此基础上编制了激电测井二维有限元模拟程序,可用于模拟二极、三极和四极观测装置的激电测井曲线。最后,通过模型算例检验了程序的正确性,并分析了不同网格单元剖分尺度对激电测井曲线形态特征的影响,以及不同观测装置、不同极距下测井曲线的响应特征。研究为激电测井的电极排列设计提供了有利的辅助工具。

不同暴雨条件下扇形和羽形流域的洪水规律

为了探讨降雨过程时空分布不均匀性对河道径流的影响,以沂河、沭河流域为例,利用瞬时单位线法和马斯京根法计算重现期为10、 20、 50 a的3 d特征暴雨和2019年台风“利奇马”暴雨在2个流域中的洪水流量,得出各防洪控制站在不同暴雨条件下的洪水规律。结果表明:扇形流域内洪水汇流较集中,容易发生洪灾;羽形流域内各支流洪水交错汇入干流,近水先去,远水后去,洪水较缓和,沂河的防汛压力大于沭河的防汛压力;在相同降雨量条件下,沂沭河流域内临沂站在从北向南的降雨过程中更易形成大洪峰,斜午站、石拉渊站和重沟站在从南向北的降雨过程中更易形成大洪峰;莒县站位于沭河上游,控制流域包含多个支流和3个水库,流域形状为属于羽形流域的沭河流域中的扇形流域,具有洪水汇流集中的特点,沭河莒县站的防汛压力大于沭河其他防洪控制站的防汛压力,而且当沭河流域出现大范围同步降雨过程时,莒县站更易形成大洪峰。

空调室外机机壳模态仿真与试验研究

针对某款空调室外机机壳振动噪声大的问题,采用模态分析的研究方法对空调室外机机壳进行结构优化设计。对空调室外机机壳整体进行了不同方案的模态分析,获得整机机壳的前十阶固有频率与振型,将其与锤击法试验所测整机机壳模态结果进行了对比,结果表明:采用顶板无螺栓侧不添加约束条件的模拟方法获得的整机机壳模态更符合试验测试结果,两者误差在3%以内。在此基础上,分别对机壳各结构件进行了模态分析,获得了每一结构件的前3阶固有频率与振型,并对底板、支架关键部件提出了优化方案。通过对室外机机壳减小底板的筋的面积以及增加筋的数量优化钣金件结构,可调整整体结构的固有频率,避开压缩机工作频率以及共振现象产生,有效地改善了振动噪声大的问题。

基于颗粒阻尼的管状带式输送机减振研究

针对管带机运行时产生振动及刺耳的噪声问题,文中以管带机支撑钢架为研究对象,基于颗粒阻尼技术提出一项新型的减振降噪措施。建立管带机三维模型,以耗能值为标准,对颗粒的粒径和填充率进行仿真探究,确定阻尼器最佳参数方案。通过现场试验采集了最佳参数方案下管带机钢架的加速度响应,试验数据表明:管带机支撑钢架在安装颗粒阻尼器后减振率达61%,为煤炭设备减振降噪提供了新措施。

基于GPU加速的三维堆芯物理程序STORK的开发与验证

基于小型多GPU计算平台,采用二维全堆逐层特征线方法(MOC)和三维逐棒(pin-by-pin)三阶简化球谐函数方法(SP3方法)相耦合的方式开发了堆芯三维输运中子学计算程序STORK。在方法论方面,首先通过对堆芯各轴向层的二维MOC输运计算在线产生栅元均匀化截面以及超级均匀化修正因子(SPH因子),然后采用SP3方法进行pin-by-pin三维堆芯计算。在程序开发方面,采用了CUDA、C++和Python的混合编程,且所有计算模块都基于CUDA/C++开发,并进行了大量的性能优化。通过对C5G7三维插棒基准题和VERA基准题的验证表明,与国际上同类中子学计算软件相比,基于CPU/GPU异构系统开发的STORK程序在计算效率和计算成本方面都具有明显优势。