To solve the problem of multi-turning attitudes,unknown ground parameters and complex skidsteering control for serpentine tracked robots(STR),a fuzzy control method based on the estimation of track curvature and side ...To solve the problem of multi-turning attitudes,unknown ground parameters and complex skidsteering control for serpentine tracked robots(STR),a fuzzy control method based on the estimation of track curvature and side slip angles is proposed.Based on the track-ground interaction,mathematical models are established for stable turning in the way of recursive homogeneous transformation.The navigation parameters such as rack curvature and side slip angles have approximately linear relationship with the yaw angles of articulate joints.Then attitude models in turning control are studied and summarized.Transforming strategies of attitude models are optimized.Based on the strategies,an adjustable fuzzy controller is designed.In the controller,an estimator is set to solve the problem of unknown and variable universe.The estimator predicts the track curvature by metabolic linear least squares estimate.Experiments have verified the feasibility and validity of the controller.展开更多
The paper investigates the effect of a single circumferential groove casing treatment(CGCT) on a transonic compressor rotor numerically.In particular,the effect of the groove at different axial locations on the flow f...The paper investigates the effect of a single circumferential groove casing treatment(CGCT) on a transonic compressor rotor numerically.In particular,the effect of the groove at different axial locations on the flow field is studied in detail and stall margin improvement is also discussed.The present results show that the groove close to the leading edge plays a crucial role in stabilizing the near stall flow structures and,hence,improves the stall margin.The groove at the mid-chord-section of the blade can help exchange and transfer momentums between different directions,and suppress the flow unsteadiness,leading to increased efficiency in rotor performance and extended operation range.The groove located near the blade trailing edge has limited effects on stall margin improvement and may cause additional penalty in efficiency.Through comparison with the recent work on CGCT,some common flow physics can be observed.展开更多
基金Supported by the National High Technology Research and Development Program of China(No.2007AA041501)
文摘To solve the problem of multi-turning attitudes,unknown ground parameters and complex skidsteering control for serpentine tracked robots(STR),a fuzzy control method based on the estimation of track curvature and side slip angles is proposed.Based on the track-ground interaction,mathematical models are established for stable turning in the way of recursive homogeneous transformation.The navigation parameters such as rack curvature and side slip angles have approximately linear relationship with the yaw angles of articulate joints.Then attitude models in turning control are studied and summarized.Transforming strategies of attitude models are optimized.Based on the strategies,an adjustable fuzzy controller is designed.In the controller,an estimator is set to solve the problem of unknown and variable universe.The estimator predicts the track curvature by metabolic linear least squares estimate.Experiments have verified the feasibility and validity of the controller.
基金supported by the GE Aviation under its University Strategic Alliance(USA) programsupported by the National Natural Science Foundation of China(Grant Nos.10932005 and 11272183)
文摘The paper investigates the effect of a single circumferential groove casing treatment(CGCT) on a transonic compressor rotor numerically.In particular,the effect of the groove at different axial locations on the flow field is studied in detail and stall margin improvement is also discussed.The present results show that the groove close to the leading edge plays a crucial role in stabilizing the near stall flow structures and,hence,improves the stall margin.The groove at the mid-chord-section of the blade can help exchange and transfer momentums between different directions,and suppress the flow unsteadiness,leading to increased efficiency in rotor performance and extended operation range.The groove located near the blade trailing edge has limited effects on stall margin improvement and may cause additional penalty in efficiency.Through comparison with the recent work on CGCT,some common flow physics can be observed.
