机载SAR天线稳定平台的DSP数字控制器设计

机载SAR(airborne Synthetic Aperture Radar,合成孔径雷达)中,用三轴稳定平台隔离载机的姿态变化及机械振动来稳定天线波束指向是关键的运动补偿技术之一。本文提出用TMS320LF2407DSP芯片设计机载SAR三轴陀螺稳定平台的数字控制器,介绍了机载SAR对稳定平台的要求和TMS329LF2407DSP芯片用于运动控制器设计的优点,给出了控制系统的原理方框图、数学模型和DSP数字控制器结构图。

车载稳定平台伺服电机的选用

针对载体运动会给视轴带来影响,提出利用稳定平台实现视轴的稳定。本文主要内容包括:分析稳像原理与平台隔离原理;根据系统性能指标要求对电机进行选择;根据所选择电机编制程序,得到一个信号输出量以便后续电路使用。

煤矿锚网支护巷道顶板的平稳定检测方法研究

随着我国社会主义现代化建设的不断发展,我国的煤炭开采行业取得了卓有成效的发展,作为煤炭开采中极为重要的组成部分,锚网支护巷道顶板在煤炭工作面中应用最为广泛,对巷道顶板的支护不仅影响着煤炭工作运行的安全性,而且也影响着煤炭开采的经济效益。本文着重对煤矿锚网支护巷道顶板的平稳定检测方法进行深入分析。

液相对流对固液界面稳定性的影响

以模型合金丁二腈－乙醇的强制性晶体生长为基础，利用自行研制的液相对流驱动装置，详细考查了液相自然对流及强迫对流作用下，模型合金平界面失稳的动态生长过程，证实了液相的流动加快了液相温度与浓度分布的均匀化，从而增强了液／固界面的稳定性。并且随流动速度的增加，界而稳定性提高。

KF稳定性判据的进一步分析

对ＫＦ稳定性判据做了进一步分析，得到一个新的界面稳定性判据：Ｇ≥ｍＧｃ－ｋΓＶ２／Ｄ２Ｖ／Ｄ，发现绝对稳定性不只出现在凝固速度极高的条件下，极高的温度梯度也会导致绝对稳定性．这个结果对快速凝固和激光表面处理技术具有指导意义．

XG1041型轻型载货汽车行驶平顺性的测试分析

ＸＧ１０４１型轻型载货汽车行驶平顺性的测试分析黑龙江省交通专科学校刘文霞，刘大伟，王大力一、前言ＸＧ１０４１型轻型载货汽车是目前国内广泛用于中、短途运输的轻型载货汽车。由于其底盘、车架、驾驶室及驾驶员座椅的设计和制造问题、行驶平顺性较差。我们根据ＧＢ...

激光快速熔凝Zn-2%Cu包晶合金的显微组织

利用5 kW连续波CO2激光器对Zn-2％Cu包晶合金进行了表面快速熔凝实验研究,扫描速率从6 mm/s至1207mm/s.随着凝固速率的提高,该合金微观组织形态由低速平界面向层片状组织、浅胞晶直至高速绝对稳定平界面转变.实验结果表明,该合金微观组织演化规律与利用林鑫等的数值模型和Jackson-Hunt的共晶模型相结合所得到的界面响应函数作出的预测结果吻合较好.

Cu-Cr二元过共晶合金的深过冷及快速凝固

采用 3m落管实验装置 ,研究了Cu 5 %Cr(摩尔分数 )过共晶合金深过冷快速凝固组织的演变规律。研究表明 ,随着过冷度增大 ,Cr的组织转变有 3个阶段 :首先初生相Cr由长条状转变为球状 ,Cr颗粒的直径被细化至 2 μm ;其次当过冷度进一步增大 ,初生相Cr的结晶被完全抑制 ,结晶进入扩展共晶区形成完全的共晶组织 ,Cr颗粒的直径被细化至 0 5 μm ;最后当过冷度进一步增大 ,Cu 5 %Cr过共晶合金获得绝对稳定平界面生长 ,生成超饱和的单相Cu Cr固溶体合金。随着Cr颗粒的细化 ,Cr中固溶Cu组元含量不断增大 。

DC microgrid stability control with constant power load:a review

The DC microgrid has the advantages of high energy conversion efficiency,high energy transmission density,no reactive power flow,and grid-connected synchronization.It is an essential component of the future intelligent power distribution system.Constant power load(CPL)will degrade the stability of the DC microgrid and cause system voltage oscillation due to its negative resistance characteristics.As a result,the stability of DC microgrids with CPL has become a problem.At present,the research on the stability of DC microgrid is mainly focused on unipolar DC microgrid,while the research on bipolar DC microgrid lacks systematic discussion.The stability of DC microgrid using CPL was studied first,and then the current stability criteria of DC microgrid were summarized,and its research trend was analyzed.On this basis,aiming at the stability problem caused by CPL,the existing control methods were summarized from the perspective of source converter output impedance and load converter input impedance,and the current control methods were outlined as active and passive control methods.Lastly,the research path of bipolar DC microgrid stability with CPL was prospected.

Ca^(2+)-homeostasis Differs Between Plant Species with Different Cold-tolerance at 4 ℃ Chilling

A comparative study was carried out on the EM_cytochemical localization of calcium and Ca 2+ _ATPase activity in the suspension_cultured cells between the chilling_sensitive maize ( Zea mays L. cv. Black Mexican Sweet) and chilling_insensitive Trititrigia ( Triticum sect. Trititrigia mackey) at 4 ℃ chilling. When maize and Tyititrigia cells were cultured at 26 ℃, electron microscopic observations revealed that the electron_dense calcium antimonate deposits, an indication of the calcium localization, were localized mainly in the vacuoles, and few was found in the cytosol and nuclei. The electron_dense cerium phosphate deposits, an indication of Ca 2+ _ATPase activity, were abundantly distributed on the plasma membrane (PM). When the cells from both species were cultured at 4 ℃ for 1 and 3 h, an elevation of Ca 2+ level in the cytosol and nuclei was observed, whereas the cerium phosphate deposits on the PM showed no quantitative difference from those of the 26 ℃_cultured cells, indicating that the enzymatic activities were not altered during these chilling periods. However, there was a distinct difference in the dynamics of the Ca 2+ distribution and the PM Ca 2+ _ATPase activity between maize and Trititrigia when chilled at 4 ℃ for 12, 24 and 72 h. In maize cells, a large number of Ca 2+ deposits still existed in the cytosol and nuclei, and the PM Ca 2+ _ATPase became less and less active, and even inactive at all. In Trititrigia cells, the increased cytosolic and nuclear Ca 2+ ions decreased after 12 h chilling. By chilling up to 24 and 72 h, the intracellular Ca 2+ concentration had been restored to a similar low level as those of the warm temperature_cultured cells, while the activity of the PM Ca 2+ _ATPase maintained high. The transient cytosolic and nuclear Ca 2+ increase and the activities of PM Ca 2+ _ATPase during chilling are discussed in relation to plant cold hardiness.

Storage stability of SBS modified bitumen based on mixed-level orthogonal array design

The styrene-butadiene-styrene（SBS） modified bitumens with different contents of SBS modifiers are stored in different conditions to study the storage stability of SBS modified bitumen.Mixed-level orthogonal array design（OAD） is used and factors such as SBS modifier content,storage time,storage temperature and container size are chosen in a mixed-level OAD with an OA16（31×44） matrix.Parameters like the separation softening point difference（the separation difference of the ring and ball softening point of the top and bottom samples） and the average softening point（the arithmetic mean of the softening points of the top and bottom samples） are proposed to evaluate the separation and the ageing of modified bitumen during storage in this experiment,respectively.The results reveal that the separation and the ageing during storage exhibit a complicated variation for storage temperature and time.The separation softening point difference decreases with the storage temperature rising from 20 to 120 ℃ and increases with the temperature exceeding 120 ℃,and the average softening point drops with the storage time being prolonged.Different storage conditions have various effects on the storage stability of SBS modified bitumen.

Robust control with compensation of adaptive model for dual-stage inertially stabilized platform

To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.

The Asymptotic Stability for a Class of Nonlinear Large Sceale System

This paper an cited instances in illustration of the incorrectness of the criteria of asymptotic stability of a class of nonlinear large seale system that L_j·T·Grujie gave in paper [1] by the comparison theory and then corrected it,and has given the sufficient conditions of the asymptotic stability.

Prestiction friction compensation in direct-drive mechatronics systems

LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%.

Parameter identification of inertially stabilized platforms using current command design

Accurate parameter identification is essential when designing controllers for inertially stabilized platforms （lSPs）. But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search （MCS） algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer （DOB） for application in disturbance compensation control system of an ISR Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value （PPV） of velocity error integral to 0.8 mrad which is much smaller than the value （10 mrad） obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times.

Limit equilibrium stability analysis of slopes under external loads

Two calculation modes for the effect of external load on slope stability, i.e., mode I in which the external load is thought to act on slope surface, and mode II in which the external load is thought to act on slip surface along the force action line, were considered. Meanwhile, four basic distribution patterns of external load were used, of which complex external loads could be composed. In analysis process, several limit equilibrium methods, such as Swedish method, simplified Bishop method, simplified Janbu method, Spencer method, Morgenstern-Price(M-P) method, Sarma method, and unbalanced thrust method, were also adopted to contrast their differences in slope stability under the external load. According to parametric analysis, some conclusions can be obtained as follows:(1) The external load, with the large magnitude, small inclination angle, and acting position close to the slope toe,has more positive effect on slope stability;(2) The results calculated using modes I and II of external load are similar, indicating that the calculation mode of external load has little influence on slope stability;(3) If different patterns of external loads are equivalent to each other, their slope stability under these external loads are the same, and if not, the external load leads to the better slope stability,as action position of the resultant force for external load is closer to the lower sliding point of slip surface.

NONPARALLEL BOUNDARY LAYER STABILITY IN HIGH SPEED FLOWS

The parabolized stability equations （PSEs） for high speed flows, especially supersonic and hypersonic flows, are derived and used to analyze the nonparallel boundary layer stability. The proposed numerical techniques for solving PSE include the following contents： introducing the efficiently normal transformation of the boundary layer, improving the computational accuracy by using a high-order differential scheme near the wall, employing the predictor-corrector and iterative approach to satisfy the important normalization condition, and implementing the stable spatial marching. Since the second mode dominates the growth of the disturbance in high Mach number flows, it is used in the computation. The evolution and characteristics of the boundary layer stability in the high speed flow are demonstrated in the examples. The effects of the nonparallelizm, the compressibility and the cooling wall on the stability are analyzed. And computational results are in good agreement with the relevant data.

Limit equilibrium method for slope stability based on assumed stress on slip surface

In the limit equilibrium framework, two- and three-dimensional slope stabilities can be solved according to the overall force and moment equilibrium conditions of a sliding body. In this work, based on Mohr-Coulomb(M-C) strength criterion and the initial normal stress without considering the inter-slice(or inter-column) forces, the normal and shear stresses on the slip surface are assumed using some dimensionless variables, and these variables have the same numbers with the force and moment equilibrium equations of a sliding body to establish easily the linear equation groups for solving them. After these variables are determined, the normal stresses, shear stresses, and slope safety factor are also obtained using the stresses assumptions and M-C strength criterion. In the case of a three-dimensional slope stability analysis, three calculation methods, namely, a non-strict method, quasi-strict method, and strict method, can be obtained by satisfying different force and moment equilibrium conditions. Results of the comparison in the classic two- and three-dimensional slope examples show that the slope safety factors calculated using the current method and the other limit equilibrium methods are approximately equal to each other, indicating the feasibility of the current method; further, the following conclusions are obtained: 1) The current method better amends the initial normal and shear stresses acting on the slip surface, and has the identical results with using simplified Bishop method, Spencer method, and Morgenstern-Price(M-P) method; however, the stress curve of the current method is smoother than that obtained using the three abovementioned methods. 2) The current method is suitable for analyzing the two- and three-dimensional slope stability. 3) In the three-dimensional asymmetric sliding body, the non-strict method yields safer solutions, and the results of the quasi-strict method are relatively reasonable and close to those of the strict method, indicating that the quasi-strict method can be used to obtain a reliable slope safety factor.

A strength reduction method based on double reduction parameters and its application

In the traditional strength reduction method,the cohesion and the friction angle adopt the same reduction parameter,resulting in equivalent proportional reduction.This method does not consider the different effects of the cohesion and friction angle on the stability of the same slope and is defective to some extent.Regarding this defect,a strength reduction method based on double reduction parameters,which adopts different reduction parameters,is proposed.The core of the double-parameter reduction method is the matching reduction principle of the slope with different angles.This principle is represented by the ratio of the reduction parameter of the cohesion to that of the friction angle,described as η.With the increase in the slopeangle,ηincreases; in particular,when the slope angle is 45°,tηis 1.0.Through the matching reduction principle,different safety margin factors can be calculated for the cohesion and friction angle.In combination with these two safety margin factors,a formula for calculating the overall safety factor of the slope is proposed,reflecting the different contributions of the cohesion and friction angle to the slope stability.Finally,it is shown that the strength reduction method based on double reduction parameters acquires a larger safety factor than the classic limit equilibrium method,but the calculation results are very close to those obtained by the limit equilibrium method.

Development of study on the dynamic characteristics of deep water mooring system

To meet the needs of those exploiting deepwater resources, TLP and SPAR platforms are used in some areas and are considered excellent platforms in deep water. However, many problems remain to be resolved. The design of mooring systems is a key issue for deep water platforms. Environmental loads in deep water effect the physical characteristics of mooring line materials. The configuration and analysis of mooring systems involve nonlinearity due to this fluid-solid coupling, nonlinear hydrodynamic forces, and their effects on stability of motion. In this paper, some pivotal theories and technical questions are presented, including modeling of mooring lines, the theory and method of coupled dynamics analysis on the mooring system, and the development of methodologies for the study of nonlinear dynamics of mooring systems. Further study on mooring systems in deep water are recommended based on current knowledge, particularly dynamic parameters of different materials and cable configuration, interactions between seabed and cable, mechanisms of mooring system response induced by taut/slack mooring cables, discontinuous stiffness due to system materials, mooring construction, and motion instability, etc.