基于增益调度与光滑切换的倾转旋翼机最优控制

针对倾转旋翼机转换机动中变动力学特性导致的复杂控制问题,提出基于增益调度(GS)的线性二次最优控制与光滑切换控制结合的综合体系结构,用以实现转换机动过程中的全局最优控制。该控制综合方法,在保证性能指标要求最小的同时,对操纵机构的负荷较低。首先,建立了倾转旋翼机高置信度飞行动力学模型,并应用混合操纵克服操纵冗余问题。其次,设计了基于增益调度的线性二次最优多环控制器,并采用光滑切换控制策略综合2套控制器,实现动态倾转过程的姿态平滑过渡。最后,进行以倾转走廊中间路径为期望轨迹的全模式自主飞行仿真。仿真结果表明:控制系统在转换机动过程中体现出强鲁棒性和较优的系统性能。

ELLIPTIC MOTIONS ON MODAL CONVERSION ULTRASONIC MOTORS

The forming of elliptic motions on the modal conversion ultrasonic motors （MCUMs） is discussed. The principles of the modal conversion are investigated based on the coupling with the stator and the rotor, and using an independent coupler. The elliptical locus observed on the longitudinal-torslonal vibration converter with oblique slits is analyzed by using vibration theory. A method for the modal conversion is proposed by using the local mode of a substructure On a main structure. The method can be used to design the modal conversion type ultrasonic motors.

Research on transformation from UML statechart to interface automata

This paper studies the problem of deriving an interface automata model from UML statechart, in which, interface automata is a formaliged model for describing component behavior in an open system, but there is no universal criterion for deriving behavior from component to construct the model. UML is a widely used modeling standard, yet it is very difficult to apply it to system verification and testing directly for its imprecise semantics. After analyzing the expression ability of the two models, several transforma- tion rules are defined and each step of transformation is described in detail, after that, the approach is illustrated with an example. The paper provides a method for acquiring interface automata and lays the foundation for related research.

A gait generation and transition method for quadruped walking machine

In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain.

Comparison of two types of twin-rotor piston engine mechanisms

A novel twin-rotor piston engine （TRPE） mechanism with high volumetric output and power density was introduced. This new engine comprises an energy conversion system and a differential velocity drive mechanism （DVDM）. Two special geared four-bar mechanisms, DVDM-1 and DVDM-2, were utilized and compared. Based on the closed loop vector method, a mathematical model for position, velocity, and acceleration of the two mechanisms was established. Numerical examples illustrate that the kinematic characteristics were presented. Expression of the displacement and compression ratio of the two engine mechanisms were derived and compared. It is concluded that both DVDM-1 and DVDM-2 adopted in the proposed TRPE with six vane pistons create thirty-six power strokes per revolution of the output shaft, and the summation of two angles covered by each rocker is always 2x/N as the output shaft rotates an angle of x/N. In DVDM-1, the span angle of a vane piston should be designed to be 10.2°, and the compression ratio should be equal to 10; in DVDM-2, the span angle of a vane piston should be designed to be 10.6°, and the compression ratio should be equal to 4.3.

Chinese University Students’Attitudes Toward Chinese-English Classroom Code-Switching

This study investigates students’attitudes towards classroom code-switching(CS)between Chinese and English,and how such attitudes are influenced by learning motivation and language anxiety,the two focal variables of the present study.A total of 550 students from a university in northwest China took part in an online survey.The results of quantitative analyses suggest a division of attitudes towards CS,acknowledging its usefulness but dismissing its symbolic value.Such attitudes can be predicted based on the focal learner characteristics.The implications of the findings are discussed vis-à-vis the social psychology of CS and an optimal use of CS to assist language learning and teaching.

Sulfur poisoning mechanism of three way catalytic converter and its grey relational analysis

Combining a detailed catalytic surface reaction mechanism with noble metal and promoter elementary reactions, a new three-way catalytic converter(TWC) reaction mechanism is established. Based on the new mechanism, steady condition numerical simulation is carried out, and the change of light-off temperatures and conversion efficiency with various SO2 contents is obtained. By grey relational analysis(GRA), the relational grade between conversion efficiency and SO2 content is obtained. And, the result shows that SO2 content has the most important influence on C3H6 and NOX conversion efficiency. This provides an important reference to the improvement of activity design of TWC, and may provide guidance for the condition design and optimization of TWC.

Efficient video downscaling transcoder from MPEG-2 to H.264

The new H.264 video coding standard achieves significantly higher compression performance than MPEG-2. As the MPEG-2 is popular in digital TV, DVD, etc., bandwidth or memory space can be saved by transcoding those streams into H.264 in these applications. Unfortunately, the huge complexity keeps transcoding from being widely used in practical applications. This paper proposes an efficient transcoding architecture with a smart downscaling decoder and a fast mode decision algorithm. Using the proposed architecture, huge buffering memory space is saved and the transcoding complexity is reduced. Performance of the proposed fast mode decision algorithm is validated by experiments.

Study on Combination of Engine/Steam Turbine Cycle for Improving the Energy Conversion

This work discusses the combination of two thermodynamic cycles seeking to improve the overall chemical energy conversion rate into mechanical energy. Here one engine operates according a Rankine cycle in order to use part of the thermal energy released to the boundary, i.e., the neighboring atmosphere. The analysis of this combined cycle shows that it might, under proper condition, represent a gain of 1.2% in the overall delivered engine power.

A Review of Direct Driven PMSG for Wind Energy Systems

This paper presents a comprehensive overview study of the DDPMSG （direct driven permanent magnet synchronous generator） for wind energy generation system. Wind turbine controls are provided. The PMSG （permanent magnet synchronous generator） is introduced as construction and model. Configurations of different power converters are presented for use with DDPMSG in wind systems at variable speed operation and maximum power capture. Control techniques for the system are discussed for both machine-side and grid-side in details. Grid integration is provided with focus on how to insure power quality of the system and the performance at disturbances.

Multistage Stack with Multiple Pore Radii Applying the Temperature Gradient to a Thermoacoustic Engine

Conventional thermoacoustic engines have a stack pore radius that is almost constant in the axial direction. Hence, a thermoacoustic engine is expected to improve the energy conversion efficiency using a multistage stack with multiple pore radii. The stack comprises several bundles of numerous narrow tubes with specified pore radii. The optimum pore radius of the stack is determined by the oscillation frequency and the temperature in the stack. Consequently, the suitable pore radius changes in the axial direction, because the temperature gradient exists along the stack axis. Therefore, a multistage stack with multiple pore radii is introduced, which achieves a desired optimum pore radius everywhere in the stack. The energy conversion efficiency of the multistage stack, which was studied experimentally for a straight-tube type thermoacoustic engine, was compared with that of a conventional single-stage stack. In these experiments, the improvement of the energy conversion efficiency was confirmed. A numerical method with the transmittance matrix to include the effect of a multistage stack was used, and good agreement between experimental and numerical results was obtained. The results make a future possibilities for stack design intended to higher thermoacoustic engine efficiency expect.

倾转旋翼机短舱倾转策略对驾驶员操纵负荷的影响

关注XV-15倾转旋翼机从直升机模式到飞机模式转换机动中驾驶员操纵负荷和飞行器运动状态。为得到转换机动过程中的驾驶员操纵和飞行器运动状态,提出一种综合考虑多影响因素的转换机动研究方法。将转换机动构造成一恰当的非线性最优控制问题,并将转换耗时、驾驶员操纵负荷、操纵分配、需用功率和飞行姿态构成优化目标。在约束中不仅考虑动力学约束中的轨迹和操纵限制,还包含倾转走廊和飞行高度方面的安全条件。结合小波分析来评估转换机动最优解中的驾驶员操纵负荷,并讨论不同短舱倾转策略对驾驶员操纵负荷和飞行器运动状态的影响。结果表明:为缓解驾驶员操纵负荷和飞行姿态变化,在转换机动中,短舱应从悬停开始以低速率倾转,到达一定速度后调整为正常速度。提出的优化方法可辨识不同短舱倾转策略的优劣。

A Twin Unidirectional Impulse Turbine for Wave Energy Conversion

A twin unidirectional impulse turbine has been proposed in order to enhance the performance of wave energy plant. This turbine system uses two unidirectional impulse turbines and their flow direction is different from each other. However, the turbine characteristics have not been clarified to date. The performances of a unidirectional impulse turbine under steady flow conditions were investigated experimentaUy by using a wind tunnel with large piston/cylinder in this study. Then, efficiency of the twin impulse turbine have been estimated by a quasi-steady analysis using experimental results.

Relay camera videometrics based conversion method for unstable platform to static reference

This article proposes a relay camera videometrics based method to convert an unstable measuring platform to a static reference to solve the problems of large error or invalidation caused by measuring platform instability in photogrammetric and videometric measurements.The method installs a relay camera on the unstable platform and captures images of a reference marker fixed on a static reference or vice versa to resolve the 3D movement of the unstable platform relative to the static reference,based on which it corrects the error of the measured results and thus eliminating the influence of the platform movement.It finds new and important applications for videometrics by making high-precision dynamic measurement possible on unstable platforms.Verification experiments and numerical simulations have proven its validity and practicability.

Correction method for non-landing measuring of vehicle-mounted theodolite based on static datum conversion

During the non-landing measuring of vehicle mounted theodolite, especially under high-speed tracking measurement, the misalignment of theodolite's center of mass and spindle etc. will cause high-frequency vibration of theodolite platform, increase the observation error of targets and even unbelievable results. In this paper, a correction method of non-landing measuring of theodolite based on static datum conversion is presented, which can effectively improve the observation accuracy of theodolite. The CCD camera is fixed to the theodolite platform to calculate the gesture shaking quantity of theodolite platform in geodetic coordinate system through the real time imaging of static datum. The observation results of theodolite are corrected by using such shaking quantity. The experiment shows that the correction accuracy exceeds 10 s of arc. The intrinsic parameter calibration technology of camera based on stellar angular distance and absolute conic put forward in this paper can prevent the estimated error of extrinsic parameters influencing the intrinsic parameter calibration and improve the intrinsic parameter calibration accuracy; the static datum conversion technology can reduce the influence of installation error of camera and theodolite platform on gesture measuring of the platform. The simulation experiment shows that when the shaking range of the platform is less than 30 min of arc, the influence of the three-axis installation error of camera within 3deg on the accuracy of correction results is less than 8 s of arc. The method in this paper can be extended to and used in the field of gesture shaking measuring and micro-structure deformation of various unstable platforms, therefore it is of important theoretical research significance and has wide engineering application prospect.

Pneumatic Performance of Staggered Impulse Turbine for OWC Wave Energy Convertor

A staggered impulse turbine is proposed for asymmetric air flows in Oscillating Water Column wave energy plants, which is expected to enhance the pneumatic power output in a wave cycle. The setting angle of rotor blades is set as 5°. The 3D numerical simulations were conducted under steady conditions using MRF and Mixing Plane model based on CFD software Fluent 12.0. Its mean efficiencies under different velocity amplitude ratios are studied using quasi-steady analysis, which derive corresponding data from the numerical simulation. It is found that the staggered turbine shows better performance than the conventional one under the asymmetrical air flows. Furthermore, its mean efficiency and output-work in a wave period are compared with another unsymmetrical twin impulse turbine system. The results show that the staggered turbine shows better output-work performance than the twin turbine system over the high flow coefficient domain(φ>0.7), which provides more choices to future research on turbine's optimization.