To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differen...To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with MATLAB/SIMUL1NK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably at yawing velocities of 10° and 90°per second.展开更多
Wave equation migration is often applied to solve seismic imaging problems. Usually, the finite difference method is used to obtain the numerical solution of the wave equation. In this paper, the arbitrary difference ...Wave equation migration is often applied to solve seismic imaging problems. Usually, the finite difference method is used to obtain the numerical solution of the wave equation. In this paper, the arbitrary difference precise integration (ADPI) method is discussed and applied in seismic migration. The ADPI method has its own distinctive idea. When dispersing coordinates in the space domain, it employs a relatively unrestrained form instead of the one used by the conventional finite difference method. Moreover, in the time domain it adopts the sub domain precise integration method. As a result, it not only takes the merits of high precision and narrow bandwidth, but also can process various boundary conditions and describe the feature of an inhomogeneous medium better. Numerical results show the benefit of the presented algorithm using the ADPI method.展开更多
Under the micro-scale condition,feature size of the channel is one of the main factors influencing the fluid flow characteristics. In printing process,ink thickness in the extrusion zone formed by two ink rollers may ...Under the micro-scale condition,feature size of the channel is one of the main factors influencing the fluid flow characteristics. In printing process,ink thickness in the extrusion zone formed by two ink rollers may reach micron scale. Compared with macroscopic fluid,the velocity field and the pressure field of fluid may change when the feature size of fluid channel reaches micron scale. In order to control printing quality,it is necessary to research the influence of feature size on ink flow characteristics in micro scale. This paper analyzes it in theory,and then numerical simulation of an ink flow model with different feature sizes is carried out in no slip condition. The influence of the feature size on the ink flow characteristics and the wall shear force are obtained. Besides,the ink flow model with different feature sizes is simulated numerically in slip condition,and the influence of feature size on ink flow characteristics is obtained. Finally,by comparing and analyzing the above results,it can be concluded that both the ink velocity and pressure at the inlet of the extrusion zone are inversely proportional to the feature sizes whether in slip condition or not. And the ink velocity in slip condition is larger than that without slip,the pressure at the inlet of the extrusion zone is less than that in no slip condition. Within the micro-scale range,the ink velocity difference between the two conditions cannot be ignored. Therefore,it is necessary to consider slip when analyzing the influence of feature size of micro-scale channel on ink flow characteristics.展开更多
Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the ...Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.展开更多
Supercavitating flow around a slender symmetric wedge moving at variable velocity in static fluid has been studied. Singular integral equation for the flow has been founded through distributing the sources and sinks o...Supercavitating flow around a slender symmetric wedge moving at variable velocity in static fluid has been studied. Singular integral equation for the flow has been founded through distributing the sources and sinks on the symmetrical axis. The supereavity length at each moment is determined by solving the singular integral equation with finite difference method. The supercavity shape at each moment is obtained by solving the partial differential equation with variable coefficient. For the case that the wedge takes the impulse and uniformly variable motion, numerical results of time history of the supercavity length and shape are presented. The calculated results indicate that the shape and the length of the supercavity vary in a similar way to the case that the wedge takes variable motion, and there is a time lag in unsteady supercavitating flow induced by the variation of wedge velocity.展开更多
Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed contr...Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.展开更多
基金Supported by Scientific and Technological Project of Chongqing (CSTC2009AC6051)
文摘To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with MATLAB/SIMUL1NK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably at yawing velocities of 10° and 90°per second.
文摘Wave equation migration is often applied to solve seismic imaging problems. Usually, the finite difference method is used to obtain the numerical solution of the wave equation. In this paper, the arbitrary difference precise integration (ADPI) method is discussed and applied in seismic migration. The ADPI method has its own distinctive idea. When dispersing coordinates in the space domain, it employs a relatively unrestrained form instead of the one used by the conventional finite difference method. Moreover, in the time domain it adopts the sub domain precise integration method. As a result, it not only takes the merits of high precision and narrow bandwidth, but also can process various boundary conditions and describe the feature of an inhomogeneous medium better. Numerical results show the benefit of the presented algorithm using the ADPI method.
基金Supported by the National Natural Science Foundation of China(No.51675010)the Science and Technology Plan Project of Beijing Education Commission(No.KM201710005015)
文摘Under the micro-scale condition,feature size of the channel is one of the main factors influencing the fluid flow characteristics. In printing process,ink thickness in the extrusion zone formed by two ink rollers may reach micron scale. Compared with macroscopic fluid,the velocity field and the pressure field of fluid may change when the feature size of fluid channel reaches micron scale. In order to control printing quality,it is necessary to research the influence of feature size on ink flow characteristics in micro scale. This paper analyzes it in theory,and then numerical simulation of an ink flow model with different feature sizes is carried out in no slip condition. The influence of the feature size on the ink flow characteristics and the wall shear force are obtained. Besides,the ink flow model with different feature sizes is simulated numerically in slip condition,and the influence of feature size on ink flow characteristics is obtained. Finally,by comparing and analyzing the above results,it can be concluded that both the ink velocity and pressure at the inlet of the extrusion zone are inversely proportional to the feature sizes whether in slip condition or not. And the ink velocity in slip condition is larger than that without slip,the pressure at the inlet of the extrusion zone is less than that in no slip condition. Within the micro-scale range,the ink velocity difference between the two conditions cannot be ignored. Therefore,it is necessary to consider slip when analyzing the influence of feature size of micro-scale channel on ink flow characteristics.
基金Projects(60775049,60805033) supported by National Natural Science Foundation of ChinaProject(2007AA704317) supported by the National High Technology Research and Development Program of China
文摘Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.
基金Sponsored by the National Natural Science Foundation of China(Grant No.10832007)
文摘Supercavitating flow around a slender symmetric wedge moving at variable velocity in static fluid has been studied. Singular integral equation for the flow has been founded through distributing the sources and sinks on the symmetrical axis. The supereavity length at each moment is determined by solving the singular integral equation with finite difference method. The supercavity shape at each moment is obtained by solving the partial differential equation with variable coefficient. For the case that the wedge takes the impulse and uniformly variable motion, numerical results of time history of the supercavity length and shape are presented. The calculated results indicate that the shape and the length of the supercavity vary in a similar way to the case that the wedge takes variable motion, and there is a time lag in unsteady supercavitating flow induced by the variation of wedge velocity.
基金Supported by the National High Technology Research and Development Programme of China(No.2015AA8082065)the National Natural Science Foundation of China(No.61205143)
文摘Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.
