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四旋翼水下机器人及其矢量角度测试实验分析 被引量:3
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作者 殷宝吉 王子威 +1 位作者 叶福民 朱华伦 《科学技术与工程》 北大核心 2022年第30期13345-13354,共10页
为提高水下机器人运行稳定性,降低综合能耗,研究一种矢量推进式四旋翼水下机器人,该机器人的4个水下推进器通过绕OY轴转动,形成矢量推进。针对数据野点问题,以及D/A模块输出误差问题,通过设计一种控制电压闭环缓变调节方法,防止因野点... 为提高水下机器人运行稳定性,降低综合能耗,研究一种矢量推进式四旋翼水下机器人,该机器人的4个水下推进器通过绕OY轴转动,形成矢量推进。针对数据野点问题,以及D/A模块输出误差问题,通过设计一种控制电压闭环缓变调节方法,防止因野点存在而烧毁舵机和推进器,同时减小方差,提高稳定性;通过试验法研究了矢量角度对水下机器人控制性能的影响规律。结果表明:矢量角度小于45°时,艏向定值跟踪实验中,响应速度较快,超调量较大,稳态误差较高,平均功耗较低;同频率艏向动态跟踪实验中,平均误差较高,平均功耗较低;变频率艏向动态跟踪实验中,平均功耗较低;深度定值跟踪实验中,响应速度较慢,超调量较小,稳态误差较低,平均功耗较高,同频率深度动态跟踪实验中,平均误差较低,平均功耗较高;变频率深度动态跟踪实验中,平均功耗较高。矢量角度大于55°时,各项控制性能指标与矢量角度小于45°时相反。可见矢量角度为45°~55°时,为控制性能过渡区间。 展开更多
关键词 四旋翼水下机器人 矢量推进 控制电压调节 控制性能实验
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Experimental analysis on adjusting performance of vapor-liquid two-phase flow controller
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作者 李慧君 屠珊 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2006年第5期525-530,共6页
The vapor-liquid self-adjusting controller is an innovative automatic regulating valve.In order to ensure adjusted objects run safely and economically,the controller automatically adjusts the liquid flux to keep liqui... The vapor-liquid self-adjusting controller is an innovative automatic regulating valve.In order to ensure adjusted objects run safely and economically,the controller automatically adjusts the liquid flux to keep liquid level at a required level according to physical properties of vapor-liquid two-phase fluid.The adjusting mechanics,the controller’s performance and influencing factors of its stability have been analyzed in this paper.The theoretical analysis and successful applications have demonstrated this controller can keep the liquid level steady with good performance.The actual application in industry has shown that the controller can satisfactorily meet the requirement of industrial production and has wide application areas. 展开更多
关键词 vapor-liquid two-phase flow adjusting performance liquid level controller
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Experimental Evaluation of TCP and ICMP in Network Measurement
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作者 黎文伟 张大方 +1 位作者 谢高岗 杨金民 《Journal of Donghua University(English Edition)》 EI CAS 2005年第3期7-17,共11页
Network measurement is an important approach to understand network behaviors, which has been widely studied. Both Transfer Control Protocol (TCP) and Interact Control Messages Protocol (ICMP) are applied in networ... Network measurement is an important approach to understand network behaviors, which has been widely studied. Both Transfer Control Protocol (TCP) and Interact Control Messages Protocol (ICMP) are applied in network measurement, while investigating the differences between the measured results of these two protocols is an important topic that has been less investigated. In this paper, to compare the differences between TCP and ICMP when they are used in measuring host connectivity, RTT, and packet loss rate, two groups of comparison programs have been designed, and after careful evaluation of the program parameters, a lot of comparison experiments are executed on the Internet. The experimental results show that, there are significant differences between the host connectivity measured using TCP or ICMP; in general, the accuracy of connectivity measured using TCP is 20%- 30% higher than that measured using ICMP. The case of RTT and packet loss rate is complicated, which are related to path loads and destination host loads. While commonly, the RTF and packet loss rate" measured using TCP or ICMP are very close. According to the experimental results, some advices are also given on protocol selection for conducting accurate connectivity, RTF and packet loss rate measurements. 展开更多
关键词 network measurement network performance performance measurement TCP ICMP
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An Empirical Study on Internal Control and Corporate Performance in Transportation Industry
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作者 LIU Shuangshuang YAN Guodong WANG Wei 《International English Education Research》 2018年第2期37-39,共3页
In order to study whether the intemal control of enterprises is effective, this paper studies the relationship between the quality of internal control and the performance of the company in 2012-2015, in which 61 liste... In order to study whether the intemal control of enterprises is effective, this paper studies the relationship between the quality of internal control and the performance of the company in 2012-2015, in which 61 listed companies in China's Shanghai traffic transportation industry are studied. The results show that the quality of internal control has a significant positive correlation with the financial performance of enterprises. In particular, the internal control is significantly correlated with the company's growth ability, and the internal control is positively correlated with the profitability of the company. This research provides empirical data and decision-making basis for the state to deepen the construction of internal control system and strengthen internal control management of enterprises. 展开更多
关键词 internal control corporate performance TRANSPORTATION Internal control index
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Experimental Study of Improved HAWT Performance in Simulated Natural Wind by an Active Controlled Multi-Fan Wind Tunnel 被引量:2
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作者 Kazuhiko Toshimitsu Takahiko Narihara +2 位作者 Hironori Kikugawa Arata Akiyoshi Yuuya Kawazu 《Journal of Thermal Science》 SCIE EI CAS CSCD 2017年第2期113-118,共6页
The effects of turbulent intensity and vortex scale of simulated natural wind on performance of a horizontal axis wind turbine(HAWT) are mainly investigated in this paper. In particular, the unsteadiness and turbulenc... The effects of turbulent intensity and vortex scale of simulated natural wind on performance of a horizontal axis wind turbine(HAWT) are mainly investigated in this paper. In particular, the unsteadiness and turbulence of wind in Japan are stronger than ones in Europe and North America in general. Hence, Japanese engineers should take account of the velocity unsteadiness of natural wind at installed open-air location to design a higher performance wind turbine. Using the originally designed five wind turbines on the basis of NACA and MEL blades, the dependencies of the wind frequency and vortex scale of the simulated natural wind are presented. As the results, the power coefficient of the newly designed MEL3-type rotor in the simulated natural wind is 130% larger than one in steady wind. 展开更多
关键词 Wind Turbine Wind Energy Natural Wind Unsteady Flow Rotor Design TURBULENCE
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