Based on the regularities of temperature fluctuation,the atmo- sphere below an altitude of 71km above ground is divided into 6 sublayers. For each of them the calculation formulae of temperature and pressure are deriv...Based on the regularities of temperature fluctuation,the atmo- sphere below an altitude of 71km above ground is divided into 6 sublayers. For each of them the calculation formulae of temperature and pressure are derived.The calculated results at any altitude in the range under considera- tion agree well with the values laid down in the table of“U.S.Standard At- mosphere”.From this the formula for the refractive-index structure coeffi- cient C_N^2,of much importance in the research of adaptive optics,is obtained for the corresponding altitudes.展开更多
The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the...The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.展开更多
文摘Based on the regularities of temperature fluctuation,the atmo- sphere below an altitude of 71km above ground is divided into 6 sublayers. For each of them the calculation formulae of temperature and pressure are derived.The calculated results at any altitude in the range under considera- tion agree well with the values laid down in the table of“U.S.Standard At- mosphere”.From this the formula for the refractive-index structure coeffi- cient C_N^2,of much importance in the research of adaptive optics,is obtained for the corresponding altitudes.
基金Projects(50775200,50905156)supported by the National Natural Science Foundation of China
文摘The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.
