This paper focuses on a new finite-time convergence disturbance rejection control scheme design for a flexible Timoshenko manipulator subject to extraneous disturbances.To suppress the shear deformation and elastic os...This paper focuses on a new finite-time convergence disturbance rejection control scheme design for a flexible Timoshenko manipulator subject to extraneous disturbances.To suppress the shear deformation and elastic oscillation,position the manipulator in a desired angle,and ensure the finitetime convergence of disturbances,we develop three disturbance observers(DOs)and boundary controllers.Under the derived DOs-based control schemes,the controlled system is guaranteed to be uniformly bounded stable and disturbance estimation errors converge to zero in a finite time.In the end,numerical simulations are established by finite difference methods to demonstrate the effectiveness of the devised scheme by selecting appropriate parameters.展开更多
The flapwise bending vibrational equations of tapered Rayleigh beam are derived based on Hamilton’s principle.The corresponding vibrational characteristics of rotating tapered Rayleigh beams are investigated via vari...The flapwise bending vibrational equations of tapered Rayleigh beam are derived based on Hamilton’s principle.The corresponding vibrational characteristics of rotating tapered Rayleigh beams are investigated via variational iteration method(VIM).Natural frequencies and corresponding mode shapes are examined under various rotation speed,taper ratio and slenderness ratio focusing on two types of tapered beam.The convergence of VIM is examined as part of the paper.Validation of VIM solution is made by referring to results available in other literature and corresponding results show that VIM is capable of yielding precise results in a very efficient way.展开更多
The contradiction of variable step size least mean square(LMS)algorithm between fast convergence speed and small steady-state error has always existed.So,a new algorithm based on the combination of logarithmic and sym...The contradiction of variable step size least mean square(LMS)algorithm between fast convergence speed and small steady-state error has always existed.So,a new algorithm based on the combination of logarithmic and symbolic function and step size factor is proposed.It establishes a new updating method of step factor that is related to step factor and error signal.This work makes an analysis from 3 aspects:theoretical analysis,theoretical verification and specific experiments.The experimental results show that the proposed algorithm is superior to other variable step size algorithms in convergence speed and steady-state error.展开更多
Free and steady state forced transverse vibrations of non-uniform beams are investigated with a proposed method, leading to a series solution. The obtained series is verified to be convergent and linearly independent ...Free and steady state forced transverse vibrations of non-uniform beams are investigated with a proposed method, leading to a series solution. The obtained series is verified to be convergent and linearly independent in a convergence test and by the non-zero value of the corresponding Wronski determinant, respectively. The obtained solution is rigorous, which can be reduced to a classical solution for uniform beams. The proposed method can deal with arbitrary non-uniform Euler-Bernoulli beams in principle, but the methods in terms of special functions or elementary functions can only work in some special cases.展开更多
In this paper, a fourth-order viscoelastic plate vibration equation is transformed into a set of two second-order differential equations by introducing an intermediate variable. A three-layer compact difference scheme...In this paper, a fourth-order viscoelastic plate vibration equation is transformed into a set of two second-order differential equations by introducing an intermediate variable. A three-layer compact difference scheme for the initial-boundary value problem of the viscoelastic plate vibration equation is established. Then the stability and convergence of the difference scheme are analyzed by the energy method, and the convergence order is <img src="Edit_0a250b60-7c3c-4caf-8013-5e302d6477ab.png" alt="" />. Finally, some numerical examples are given of which results verify the accuracy and validity of the scheme.展开更多
滤波-x最小均方(Filtered-x Least Mean Square,FxLMS)算法是主动噪声控制系统中常用的算法,对中低频噪声有较好的控制作用,但在某些环境噪声中传统的算法可能达不到期望的抑制效果。提出一种基于sigmoid变换的滤波-x四元数最小均方算法...滤波-x最小均方(Filtered-x Least Mean Square,FxLMS)算法是主动噪声控制系统中常用的算法,对中低频噪声有较好的控制作用,但在某些环境噪声中传统的算法可能达不到期望的抑制效果。提出一种基于sigmoid变换的滤波-x四元数最小均方算法,该算法利用四元数的空间特性使噪声信号在超复数域内部相互耦合和关联,并通过sigmoid函数对误差信号进行非线性变换来约束噪声信号以减低对权值更新的影响力度,避免权值在更新过程中发散,从而实现优异的收敛性能以及增强的鲁棒性。同时通过研究步长分析该算法的稳态特性,并在汽车、工厂噪声环境下验证提出算法性能的优越性,仿真结果支持了该结论。展开更多
对于自由振动问题,基于单元能量投影(element energy projection, EEP)技术,对频率和模态同时进行误差控制的自适应有限元分析已建立,并被证明可靠且高效。在实际应用中,也存在另一类需求,即只需保证频率的精度,而并不关心模态误差大小...对于自由振动问题,基于单元能量投影(element energy projection, EEP)技术,对频率和模态同时进行误差控制的自适应有限元分析已建立,并被证明可靠且高效。在实际应用中,也存在另一类需求,即只需保证频率的精度,而并不关心模态误差大小。该研究提出了频率超收敛计算方案,继而建立了整体频率误差和局部模态误差的转换关系,从而在整体上以频率误差估计控制算法停机,在局部上以模态误差估计驱动网格更新,最终建立了以频率误差控制为目标的自由振动问题自适应有限元分析策略。该方法的有效性在二阶Sturm-Liouville问题及弹性薄膜自由振动问题上得到了应用验证。展开更多
针对自行研制的磁悬浮隔振器,设计了基于分块归一化LMS(Block Normalized Least Mean Square)算法的控制律。该算法不需要对次级通道进行建模,且结构简单,易于实现。把该算法应用于带有非线性特性的磁悬浮隔振实验平台,并对其进行振动...针对自行研制的磁悬浮隔振器,设计了基于分块归一化LMS(Block Normalized Least Mean Square)算法的控制律。该算法不需要对次级通道进行建模,且结构简单,易于实现。把该算法应用于带有非线性特性的磁悬浮隔振实验平台,并对其进行振动主动控制实验。实验结果表明:该控制算法收敛速度较快,取得了良好的隔振效果。展开更多
基金supported in part by National Natural Science Foundation of China(61803109)in part by the Innovative School Project of Education Department of Guangdong(2017KQNCX153)+3 种基金in part by the Science and Technology Planning Project of Guangzhou City(201904010494)in part by the Scientific Research Projects of Guangzhou Education Bureau(202032793)in part by the China Postdoctoral Science Foundation(2019M660463)in part by the Interdisciplinary Research Project for Young Teachers of University of Science and Technology Beijing(FRFIDRY-19-024)。
文摘This paper focuses on a new finite-time convergence disturbance rejection control scheme design for a flexible Timoshenko manipulator subject to extraneous disturbances.To suppress the shear deformation and elastic oscillation,position the manipulator in a desired angle,and ensure the finitetime convergence of disturbances,we develop three disturbance observers(DOs)and boundary controllers.Under the derived DOs-based control schemes,the controlled system is guaranteed to be uniformly bounded stable and disturbance estimation errors converge to zero in a finite time.In the end,numerical simulations are established by finite difference methods to demonstrate the effectiveness of the devised scheme by selecting appropriate parameters.
基金the National Natural Science Foundation of China(Grant Nos.51779265 and 52171285)Open Project Program of State Key Laboratory of Structural Analysis for Industrial Equipment(Grant No.GZ19119)+3 种基金Science Foundation of China University of Petroleum,Beijing(Grant No.2462020YXZZ045)Open Project Program of Beijing Key Laboratory of Pipeline Critical Technology and Equipment for Deepwater Oil&Gas Development(Grant No.BIPT2018002)Special Funding for Promoting Economic Development in Guangdong Province(Grant No.GDOE[2019]A39)Opening fund of State Key Laboratory of Hydraulic Engineering Simulation and Safety(Grant No.HESS-1411)。
文摘The flapwise bending vibrational equations of tapered Rayleigh beam are derived based on Hamilton’s principle.The corresponding vibrational characteristics of rotating tapered Rayleigh beams are investigated via variational iteration method(VIM).Natural frequencies and corresponding mode shapes are examined under various rotation speed,taper ratio and slenderness ratio focusing on two types of tapered beam.The convergence of VIM is examined as part of the paper.Validation of VIM solution is made by referring to results available in other literature and corresponding results show that VIM is capable of yielding precise results in a very efficient way.
基金the National Natural Science Foundation of China(No.51575328,61503232).
文摘The contradiction of variable step size least mean square(LMS)algorithm between fast convergence speed and small steady-state error has always existed.So,a new algorithm based on the combination of logarithmic and symbolic function and step size factor is proposed.It establishes a new updating method of step factor that is related to step factor and error signal.This work makes an analysis from 3 aspects:theoretical analysis,theoretical verification and specific experiments.The experimental results show that the proposed algorithm is superior to other variable step size algorithms in convergence speed and steady-state error.
基金Project supported by the National Natural Science Foundation of China(Nos.11072157,11272219,11227201,and 10932006)the National Basic Research Program of China(No.2012CB723301)the Training Program for Leading Talent in University Innovative Research Team in Hebei Province(No.LJRC006)
文摘Free and steady state forced transverse vibrations of non-uniform beams are investigated with a proposed method, leading to a series solution. The obtained series is verified to be convergent and linearly independent in a convergence test and by the non-zero value of the corresponding Wronski determinant, respectively. The obtained solution is rigorous, which can be reduced to a classical solution for uniform beams. The proposed method can deal with arbitrary non-uniform Euler-Bernoulli beams in principle, but the methods in terms of special functions or elementary functions can only work in some special cases.
文摘In this paper, a fourth-order viscoelastic plate vibration equation is transformed into a set of two second-order differential equations by introducing an intermediate variable. A three-layer compact difference scheme for the initial-boundary value problem of the viscoelastic plate vibration equation is established. Then the stability and convergence of the difference scheme are analyzed by the energy method, and the convergence order is <img src="Edit_0a250b60-7c3c-4caf-8013-5e302d6477ab.png" alt="" />. Finally, some numerical examples are given of which results verify the accuracy and validity of the scheme.
文摘滤波-x最小均方(Filtered-x Least Mean Square,FxLMS)算法是主动噪声控制系统中常用的算法,对中低频噪声有较好的控制作用,但在某些环境噪声中传统的算法可能达不到期望的抑制效果。提出一种基于sigmoid变换的滤波-x四元数最小均方算法,该算法利用四元数的空间特性使噪声信号在超复数域内部相互耦合和关联,并通过sigmoid函数对误差信号进行非线性变换来约束噪声信号以减低对权值更新的影响力度,避免权值在更新过程中发散,从而实现优异的收敛性能以及增强的鲁棒性。同时通过研究步长分析该算法的稳态特性,并在汽车、工厂噪声环境下验证提出算法性能的优越性,仿真结果支持了该结论。
文摘对于自由振动问题,基于单元能量投影(element energy projection, EEP)技术,对频率和模态同时进行误差控制的自适应有限元分析已建立,并被证明可靠且高效。在实际应用中,也存在另一类需求,即只需保证频率的精度,而并不关心模态误差大小。该研究提出了频率超收敛计算方案,继而建立了整体频率误差和局部模态误差的转换关系,从而在整体上以频率误差估计控制算法停机,在局部上以模态误差估计驱动网格更新,最终建立了以频率误差控制为目标的自由振动问题自适应有限元分析策略。该方法的有效性在二阶Sturm-Liouville问题及弹性薄膜自由振动问题上得到了应用验证。
文摘针对自行研制的磁悬浮隔振器,设计了基于分块归一化LMS(Block Normalized Least Mean Square)算法的控制律。该算法不需要对次级通道进行建模,且结构简单,易于实现。把该算法应用于带有非线性特性的磁悬浮隔振实验平台,并对其进行振动主动控制实验。实验结果表明:该控制算法收敛速度较快,取得了良好的隔振效果。
