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具有磁滞类间隙系统的鲁棒自适应控制
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作者 董玉亮 王中华 《济南大学学报(自然科学版)》 CAS 北大核心 2014年第4期251-254,共4页
针对具有未知磁滞类间隙的非线性系统,提出一种鲁棒自适应控制(ARC)算法。采用连续时间动态微分方程描述此非线性特性,利用投影算子对参数进行估计。鲁棒自适应控制律由3部分组成,即模型补偿项、鲁棒控制项和鲁棒反馈项。仿真结果验证... 针对具有未知磁滞类间隙的非线性系统,提出一种鲁棒自适应控制(ARC)算法。采用连续时间动态微分方程描述此非线性特性,利用投影算子对参数进行估计。鲁棒自适应控制律由3部分组成,即模型补偿项、鲁棒控制项和鲁棒反馈项。仿真结果验证了该方法的可行性。 展开更多
关键词 磁滞类间隙 鲁棒自适应控制 投影算子
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基于神经网络自适应控制的磁滞类间隙补偿 被引量:1
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作者 刘庆永 王中华 林雪 《济南大学学报(自然科学版)》 CAS 北大核心 2013年第1期16-20,共5页
利用连续时间动态微分方程描述磁滞非线性特性,采用两个神经网络函数分别逼近未知的非线性函数和磁滞模型的扰动误差,结合反步法提出一种自适应控制方案。仿真结果表明,系统具有良好的跟踪性能和全局稳定性。
关键词 非线性系统 间隙磁滞 自适应控制 反步法 双神经网络 补偿
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双套索耦合传动系统建模与分析 被引量:2
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作者 陈林 王兴松 《机械工程学报》 EI CAS CSCD 北大核心 2014年第19期24-31,共8页
双套索耦合传动是套索驱动机器人设计中比较常见的传动方式,由于传动过程中涉及两根绳索之间拉力的相互作用,其传动特性比单根套索传动更为复杂。在之前对单根绳索传动特性研究的基础上研究了双套索传动系统在各阶段的传动性质,推导出... 双套索耦合传动是套索驱动机器人设计中比较常见的传动方式,由于传动过程中涉及两根绳索之间拉力的相互作用,其传动特性比单根套索传动更为复杂。在之前对单根绳索传动特性研究的基础上研究了双套索传动系统在各阶段的传动性质,推导出双套索耦合传动系统力矩和位移的传递模型。建立双套索耦合传动特性测量试验台,通过试验对力矩和位移的传递模型进行了验证。通过试验对影响双套索耦合传动系统特性的因素进行了分析,结果表明传递特性由套管的弯曲角度、绳索预紧力以及绳索和套管之间的摩擦决定,而绳索的运动速度和套管的弯曲半径对系统的传递特性几乎没有影响。 展开更多
关键词 套索耦合传动系统 类间隙 磁滞 手术机器人
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基于RBF神经网络的水面船舶轨迹跟踪控制 被引量:7
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作者 祁林 渠俊锋 +2 位作者 司文杰 董燕飞 刘宇航 《船舶工程》 CSCD 北大核心 2021年第1期95-101,118,共8页
针对速度矢量不可测、动态参数不确定以及具有未知扰动和磁滞特性的水面船舶系统,提出一种基于径向基函数神经网络的自适应反馈轨迹跟踪控制方案。根据船舶的状态矢量,利用高增益观测器估计水面船舶系统的不可测速度矢量,并通过一个函... 针对速度矢量不可测、动态参数不确定以及具有未知扰动和磁滞特性的水面船舶系统,提出一种基于径向基函数神经网络的自适应反馈轨迹跟踪控制方案。根据船舶的状态矢量,利用高增益观测器估计水面船舶系统的不可测速度矢量,并通过一个函数描述间隙类磁滞对系统的影响。利用径向基函数神经网络的逼近能力和反步法设计控制器,基于李雅普诺夫稳定性理论,验证所设计控制器的稳定性,证明系统所有的闭环信号都是半全局一致有界的。通过仿真验证了控制器的有效性。 展开更多
关键词 水面船舶 轨迹跟踪控制 RBF神经网络 间隙磁滞
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Displacement Trends of Slow-moving Landslides: Classification and Forecasting 被引量:7
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作者 CASCINI Leonardo CALVELLO Michele GRIMALDI Giuseppe Maria 《Journal of Mountain Science》 SCIE CSCD 2014年第3期592-606,共15页
A framework is proposed to characterize and forecast the displacement trends of slow-moving landslides, defined as the reactivation stage of phenomena in rocks or fine-grained soils, with movements localized along one... A framework is proposed to characterize and forecast the displacement trends of slow-moving landslides, defined as the reactivation stage of phenomena in rocks or fine-grained soils, with movements localized along one or several existing shear surfaces. The framework is developed based on a thorough analysis of the scientific literature and with reference to significant reported case studies for which a consistent dataset of continuous displacement measurements is available. Three distinct trends of movement are defined to characterize the kinematic behavior of the active stages of slow-moving landslides in a velocity-time plot: a linear trend-type I, which is appropriate for stationary phenomena; a convex shaped trend-type II, which is associated with rapid increases in pore water pressure due to rainfall, followed by a slow decrease in the groundwater level with time; and a concave shaped trend-type III, which denotes a non-stationary process related to the presence of new boundary conditions such as those associated with the development of a newly formed local slip surface that connects with the main existing slip surface. Within the proposed framework, a model is developed to forecast future displacements for active stages of trend-type II based on displacement measurements at the beginning of the stage. The proposed model is validated by application to two case studies. 展开更多
关键词 Slow-moving landslides Displacements forecast Trends of movement
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Effects of interstitial H and/or C atoms on the magnetic and magnetocaloric properties of La(Fe, Si)_(13)-based compounds 被引量:7
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作者 ZHANG Hu HU FengXia +1 位作者 SUN JiRong SHEN BaoGen 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS 2013年第12期2302-2311,共10页
La(Fe, Si)13-based compounds have been considered as promising candidates for magnetic refrigerants particularly near room temperature. Herein we review recent progress particularly in the study of the effects of in... La(Fe, Si)13-based compounds have been considered as promising candidates for magnetic refrigerants particularly near room temperature. Herein we review recent progress particularly in the study of the effects of interstitial H and/or C atoms on the magnetic and magnetocaloric properties of La(Fe, Si)13 compounds. By introducing H and/or C atoms, the Curie temperature Tc increases notably with the increase of lattice expansion which makes the Fe 3d band narrow and reduces the overlap of the Fe 3d wave functions. The first-order itinerant-electron metamagnetic transition is conserved and the MCE still remains high after hydrogen absorption. In contrast, the characteristic of magnetic transition varies from first-order to second-order with the increase of C concentration, which leads to remarkable reduction of thermal and magnetic hysteresis. In addition, the introduc- tion of interstitial C atoms promotes the formation of NaZnl3-type (1:13) phase in La(Fe, Si)13 compounds, and thus reducing the annealing time significantly from 40 days for LaFe11.7Sil.3 to a week for LaFell.7Sil.3C0.2. The pre-occupied interstitial C atoms may depress the rate of hydrogen absorption and release, which is favorable to the accurate control of hydrogen content. It is found that the reduction of particle size would greatly depress the hysteresis loss and improve the hydrogenation process. By the incorporation of both H and C atoms, large MCE without hysteresis loss can be obtained in La(Fe, Si)13 compounds around room temperature, for instance, La0.7Pr0.3Fe115Si15C0.2H12 exhibits a large IASM[ of 22.1 J/(kg'K) at Tc = 321 K without hysteresis loss for a field change of 0-5 T. 展开更多
关键词 H atom C atom La(Fe Si)13
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