Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were...Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were investigated. The forced responses of the mechanical system to mechanical excitation under electric disturbance were also presented. It is known that for the system with electric disturbance, as time grows, beat occurs. When electric disturbing frequency is near to the natural frequencies of the mechanical system or their integer multiple, resonance vibrations occur. The forced responses of the mechanical system to mechanical excitation under electric disturbance are compound vibrations decided by mechanical excitation, electric disturbance and parameters of the system. The coupled resonance vibration caused by electric disturbance and mechanical excitation was discussed as well. The conditions under which above coupled resonance occurs were presented. The results show that when the difference of the excitation frequency and the perturbation frequency is equal to some order of natural frequency, coupled resonance vibrations occur.展开更多
In order to test the anti-interference ability of an Unmanned Aerial Vehicle(UAV) data link in a complex electromagnetic environment,a method for simulating the dynamic electromagnetic interference of an indoor wirele...In order to test the anti-interference ability of an Unmanned Aerial Vehicle(UAV) data link in a complex electromagnetic environment,a method for simulating the dynamic electromagnetic interference of an indoor wireless environment is proposed.This method can estimate the relational degree between the actual face of an UAV data link in an interface environment and the simulation scenarios in an anechoic chamber by using the Grey Relational Analysis(GRA) theory.The dynamic drive of the microwave instrument produces a real-time corresponding interference signal and realises scene mapping.The experimental results show that the maximal correlation between the interference signal in the real scene and the angular domain of the radiation antenna in the anechoic chamber is 0.959 3.Further,the relational degree of the Signal-toInterference Ratio(SIR) of the UAV at its reception terminal indoors and in the anechoic chamber is 0.996 8,and the time of instrument drive is only approximately 10 μs.All of the above illustrates that this method can achieve a simulation close to a real field dynamic electromagnetic interference signal of an indoor UAV data link.展开更多
Tracking multiple maneuvering targets remains a challenge due to the existence of clutter and the disturbance of spurious targets. Traditional tracking algorithms treat target measurements as points which results in t...Tracking multiple maneuvering targets remains a challenge due to the existence of clutter and the disturbance of spurious targets. Traditional tracking algorithms treat target measurements as points which results in the loss of information. We have propose a Signature Driven multiple-target Tracking (SDT) method which uses target signature in spectral,spatial and temporary spaces as well as the Markov property of target motion,and the data association process in SDT is very effective. The experimental results have shown its outstanding performance.展开更多
The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unsta...The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unstable equilibrium position in the presence of parametric uncertainties and external disturbance. First, in the swing-up area, it is shown that the time derivative of energy is independent of the parameter uncertainties, but exogenous disturbance may destroy the characteristic of increase in mechanical energy. So, a swing-up controller with compensator is designed to suppress the influence of the disturbance. Then, in the attractive area, the control problem is formulated into a H~ control framework by introducing a proper error signal, and a sufficient condition of the existence of Hoo state feedback control law based on linear matrix inequality （LMI） is proposed to guarantee the quadratic stability of the control system. Finally, the simulation results show that the proposed control approach can simultaneously handle a maximum ±10% parameter perturbation and a big disturbance simultaneously.展开更多
This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is ...This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.展开更多
Massive human interference in natural ecosystems is resulting in a few ＂winners＂ and many ＂losers＂. However, the drivers of this winner-loser replacement pattern remain poorly understood. The aim of the study repo...Massive human interference in natural ecosystems is resulting in a few ＂winners＂ and many ＂losers＂. However, the drivers of this winner-loser replacement pattern remain poorly understood. The aim of the study reported here was to identify winners among the tree flora of Xishuangbanna and compare their functional traits, specific leaf area （SLA）, wood density （WD）, seed mass （SM） and maximum height （MH） with previously identified losers （i.e., endangered species）. Fifteen native tree species were identified as winners from expert opinion, plot-based surveys of secondary forests and plotless surveys along roads. Twelve endangered tree species for which trait information could be obtained were used for comparison. Traits were compared with a Wilcoxon rank-sum test. Winners had significantly higher SLA, but lower WD. SM and MH did not differ significantly between groups. When the effects of phylogeny were removed by using phylogenetic generalized least squares, the difference in SLA became marginally insignificant. Principal component analysis resulted in two overlapping groups, showing that the selected traits were insufficient to distinguish winners and losers. Our results suggest that the ＂few winners, many losers＂ paradigm applies to trees in Xishuangbanna, with15 species accounting for most trees in the disturbed habitats sampled.展开更多
In this paper, control design is investigated for hard disk drives in mobile applications with unknown external arbitrarily fast time-varying disturbances. The disturbances can be estimated with exponential accuracy u...In this paper, control design is investigated for hard disk drives in mobile applications with unknown external arbitrarily fast time-varying disturbances. The disturbances can be estimated with exponential accuracy using the proposed disturbance observer based on a series of integral filters. The position error signal will converge to zero with the proposed control technique for systems subjected to the unknown disturbances. The effectiveness of the proposed method is demonstrated by extensive simulation studies.展开更多
Existing works have addressed the interference mitigation by any two of the three approaches: link scheduling, power control, and successive interference cancellation(SIC). In this paper, we integrate the above approa...Existing works have addressed the interference mitigation by any two of the three approaches: link scheduling, power control, and successive interference cancellation(SIC). In this paper, we integrate the above approaches to further improve the spectral efficiency of the wireless networks and consider the max-min fairness to guarantee the transmission demand of the worst-case link. We formulate the link scheduling with joint power control and SIC(PCSIC) problem as a mixed-integer non-linear programming(MINLP), which has been proven to be NP-complete. Consequently, we propose an iterative algorithm to tackle the problem by decomposing it into a series of linear subproblems, and then the analysis shows that the algorithm has high complexity in the worst case. In order to reduce the computational complexity, we have further devised a two-stage algorithm with polynomial-time complexity. Numerical results show the performance improvements of our proposed algorithms in terms of the network throughput and power consumption compared with the link scheduling scheme only with SIC.展开更多
基金Project(51075350)supported by the National Natural Science Foundation of China
文摘Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were investigated. The forced responses of the mechanical system to mechanical excitation under electric disturbance were also presented. It is known that for the system with electric disturbance, as time grows, beat occurs. When electric disturbing frequency is near to the natural frequencies of the mechanical system or their integer multiple, resonance vibrations occur. The forced responses of the mechanical system to mechanical excitation under electric disturbance are compound vibrations decided by mechanical excitation, electric disturbance and parameters of the system. The coupled resonance vibration caused by electric disturbance and mechanical excitation was discussed as well. The conditions under which above coupled resonance occurs were presented. The results show that when the difference of the excitation frequency and the perturbation frequency is equal to some order of natural frequency, coupled resonance vibrations occur.
基金supported by a certain Ministry Foundation under Grant No.20212HK03010
文摘In order to test the anti-interference ability of an Unmanned Aerial Vehicle(UAV) data link in a complex electromagnetic environment,a method for simulating the dynamic electromagnetic interference of an indoor wireless environment is proposed.This method can estimate the relational degree between the actual face of an UAV data link in an interface environment and the simulation scenarios in an anechoic chamber by using the Grey Relational Analysis(GRA) theory.The dynamic drive of the microwave instrument produces a real-time corresponding interference signal and realises scene mapping.The experimental results show that the maximal correlation between the interference signal in the real scene and the angular domain of the radiation antenna in the anechoic chamber is 0.959 3.Further,the relational degree of the Signal-toInterference Ratio(SIR) of the UAV at its reception terminal indoors and in the anechoic chamber is 0.996 8,and the time of instrument drive is only approximately 10 μs.All of the above illustrates that this method can achieve a simulation close to a real field dynamic electromagnetic interference signal of an indoor UAV data link.
基金Supported by the National Natural Science Foundation of China (No. 60772154)the President Foundation of Graduate University of Chinese Academy of Sciences (No. 085102GN00)
文摘Tracking multiple maneuvering targets remains a challenge due to the existence of clutter and the disturbance of spurious targets. Traditional tracking algorithms treat target measurements as points which results in the loss of information. We have propose a Signature Driven multiple-target Tracking (SDT) method which uses target signature in spectral,spatial and temporary spaces as well as the Markov property of target motion,and the data association process in SDT is very effective. The experimental results have shown its outstanding performance.
基金Projects(61074112,60674044) supported by the National Natural Science Foundation of China
文摘The robust control problem for a class of underactuated mechanical systems called acrobots is addressed. The goal is to drive the acrobots away from the straight-down position and balance them at the straight-up unstable equilibrium position in the presence of parametric uncertainties and external disturbance. First, in the swing-up area, it is shown that the time derivative of energy is independent of the parameter uncertainties, but exogenous disturbance may destroy the characteristic of increase in mechanical energy. So, a swing-up controller with compensator is designed to suppress the influence of the disturbance. Then, in the attractive area, the control problem is formulated into a H~ control framework by introducing a proper error signal, and a sufficient condition of the existence of Hoo state feedback control law based on linear matrix inequality （LMI） is proposed to guarantee the quadratic stability of the control system. Finally, the simulation results show that the proposed control approach can simultaneously handle a maximum ±10% parameter perturbation and a big disturbance simultaneously.
基金supported by the Canada Foundation for Innovation (CFI) and the National Natural Science Foundation of China (Grant No.50875257)
文摘This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.
基金supported by the 1000 Talents Program(WQ20110491035)
文摘Massive human interference in natural ecosystems is resulting in a few ＂winners＂ and many ＂losers＂. However, the drivers of this winner-loser replacement pattern remain poorly understood. The aim of the study reported here was to identify winners among the tree flora of Xishuangbanna and compare their functional traits, specific leaf area （SLA）, wood density （WD）, seed mass （SM） and maximum height （MH） with previously identified losers （i.e., endangered species）. Fifteen native tree species were identified as winners from expert opinion, plot-based surveys of secondary forests and plotless surveys along roads. Twelve endangered tree species for which trait information could be obtained were used for comparison. Traits were compared with a Wilcoxon rank-sum test. Winners had significantly higher SLA, but lower WD. SM and MH did not differ significantly between groups. When the effects of phylogeny were removed by using phylogenetic generalized least squares, the difference in SLA became marginally insignificant. Principal component analysis resulted in two overlapping groups, showing that the selected traits were insufficient to distinguish winners and losers. Our results suggest that the ＂few winners, many losers＂ paradigm applies to trees in Xishuangbanna, with15 species accounting for most trees in the disturbed habitats sampled.
文摘In this paper, control design is investigated for hard disk drives in mobile applications with unknown external arbitrarily fast time-varying disturbances. The disturbances can be estimated with exponential accuracy using the proposed disturbance observer based on a series of integral filters. The position error signal will converge to zero with the proposed control technique for systems subjected to the unknown disturbances. The effectiveness of the proposed method is demonstrated by extensive simulation studies.
基金supported by National Natural Science Foundation of China(Grant Nos.61231008,61172079,61201141,61301176,91338114)Science and Technology on Information Transmission and Dissemination in Communication Networks Laboratory Fund Project+1 种基金Programme of Introducing Talents of Discipline to Universities(Grant No.B08038)National High Technology Research and Development Program of China(Grant No.2014AA01A701)
文摘Existing works have addressed the interference mitigation by any two of the three approaches: link scheduling, power control, and successive interference cancellation(SIC). In this paper, we integrate the above approaches to further improve the spectral efficiency of the wireless networks and consider the max-min fairness to guarantee the transmission demand of the worst-case link. We formulate the link scheduling with joint power control and SIC(PCSIC) problem as a mixed-integer non-linear programming(MINLP), which has been proven to be NP-complete. Consequently, we propose an iterative algorithm to tackle the problem by decomposing it into a series of linear subproblems, and then the analysis shows that the algorithm has high complexity in the worst case. In order to reduce the computational complexity, we have further devised a two-stage algorithm with polynomial-time complexity. Numerical results show the performance improvements of our proposed algorithms in terms of the network throughput and power consumption compared with the link scheduling scheme only with SIC.
