Degree of Freedom Analysis for Holographic MIMO Based on a Mutual-Coupling-Compliant Channel Model

Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the antenna number.However,recent studies suggest that the DOF could be less than the antenna number when strong mutual coupling is considered.We utilize a mutual-coupling-compliant channel model to investigate the DOF of the holographic MIMO(HMIMO)channel and give a upper bound of the DOF with strong mutual coupling.Our numerical simulations demonstrate that a dense array can support more DOF per unit aperture as compared with a half-wavelength MIMO system.

Modified Two-Degrees-of-Freedom Internal Model Control for Non-Square Systems with Multiple Time Delays

A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.

Design and Optimization for the Occupant Restraint System of Vehicle Based on a Single Freedom Model

Throughout the vehicle crash event, the interactions between vehicle, occupant, restraint system (VOR) are complicated and highly non-linear. CAE and physical tests are the most widely used in vehicle passive safety development, but they can only be done with the detailed 3D model or physical samples. Often some design errors and imperfections are difficult to correct at that time, and a large amount of time will be needed. A restraint system concept design approach which based on single-degree-of-freedom occupant-vehicle model (SDOF) is proposed in this paper. The interactions between the restraint system parameters and the occupant responses in a crash are studied from the view of mechanics and energy. The discrete input and the iterative algorithm method are applied to the SDOF model to get the occupant responses quickly for arbitrary excitations (impact pulse) by MATLAB. By studying the relationships between the ridedown efficiency, the restraint stiffness, and the occupant response, the design principle of the restraint stiffness aiming to reduce occupant injury level during conceptual design is represented. Higher ridedown efficiency means more occupant energy absorbed by the vehicle, but the research result shows that higher ridedown efficiency does not mean lower occupant injury level. A proper restraint system design principle depends on two aspects. On one hand,the restraint system should lead to as high ridedown efficiency as possible, and at the same time, the restraint system should maximize use of the survival space to reduce the occupant deceleration level. As an example, an optimization of a passenger vehicle restraint system is designed by the concept design method above, and the final results are validated by MADYMO, which is the most widely used software in restraint system design, and the sled test. Consequently, a guideline and method for the occupant restraint system concept design is established in this paper.

Temperature Control Based on Fuzzy Logic Two-degree-of-freedom Smith Internal Model

According to the characteristics of the large time delay,nonlinearity and the great inertia of temperature control system in biomass pyrolysis reactor,a two-degree-of-freedom Smith internal model controller based on fuzzy control is proposed.Firstly,the mathematical model of the temperature control system is established by using the step response method,and then the two-degree-of-freedom Smith internal model controller is designed,and the good tracking performance and disturbance suppression performance can be obtained by designing the set value tracking controller and interference rejection capability.Secondly,the fuzzy control algorithm is used to realize the on-line tuning of the control parameters of the two-degree-of-freedom Smith internal model algorithm.The simulation results show that,compared with the traditional internal model control,fuzzy internal model PID control and two-degree-of-freedom Smith internal model control,the algorithm proposed in this paper improves the influence of lag time on the control system,realizes the separation control of set point tracking and anti-jamming performance and the self-tuning of control parameters,and improves the control performance of the system.

一种6-DOF小行星着陆轨迹序列凸优化方法

针对6自由度的小行星动力着陆多约束轨迹优化问题,提出了一种基于序列凸优化的小行星着陆轨迹优化算法。首先采用多面体引力场模型计算小行星的引力场,其可用于描述任意形状的小行星引力场,且比质点群法和球谐函数展开法等方法计算精度更高。为了在凸约束下解决小行星着陆过程燃料消耗最优问题,通过对探测器动力学模型及其约束进行线性化和离散化,将原来的非凸连续时间优化问题转化为凸化的子问题,即二阶锥规划问题(SOCP);然后引入了虚拟控制项和信赖域,以增强算法的鲁棒性。通过在形状不规则小行星上的着陆模拟,验证了所提出算法的有效性,仿真结果满足各项约束条件,可实现高精度着陆和燃料消耗最优的目标。

Design and Analysis of a Novel Compliant Mechanism with RPR Degrees of Freedom

A novel compliant mechanism with RPR degrees of freedom(DOF)is proposed where R and P represent rotation and translation DOFs,respectively.The proposed compliant mechanism is obtained from dimension synthesizing a 2-RPU-UPR rigid parallel mechanism with the method of optimization of motion/force transfer characteristic.R,P and U represent rotation,translation and universal pairs,respectively.Firstly,inverse kinematics and Jacobian matrix are analyzed for the dimensional synthesis.Then,output transmission indexes of branches in the parallel mechanism are given.Dimensional synthesis is completed based on the normalized design parameter.And optimization of flexure joints based on constrained energy is carried out.Afterwards,the novel compliant mechanism is obtained by direct replacing method.Mechanical model of the compliant mechanism including static stiffness and input stiffness is built based on the pseudo-rigid body modeling method and virtual work principle.Finally,FEA simulation by Ansys Workbench is carried out to verify DOF,effectiveness of the dimension synthesis,and compliant model.Optimization of motion/force transfer characteristic is first applied for the design of compliant mechanisms to suppress drift of rotation axis in the paper.

A novel two-degree-of-freedom spherical ultrasonic motor using three travelling-wave type annular stators

In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.

Model calibration concerning risk coefficients of driving safety field model

Driving safety field(DSF) model has been proposed to represent comprehensive driving risk formed by interactions of driver-vehicle-road in mixed traffic environment. In this work, we establish an optimization model based on grey relation degree analysis to calibrate risk coefficients of DSF model. To solve the optimum solution, a genetic algorithm is employed. Finally, the DSF model is verified through a real-world driving experiment. Results show that the DSF model is consistent with driver's hazard perception and more sensitive than TTC. Moreover, the proposed DSF model offers a novel way for criticality assessment and decision-making of advanced driver assistance systems and intelligent connected vehicles.

Nonlinear dynamic response analysis of supercavitating vehicles

A finite element model for the supercavitating underwater vehicle was developed by employing 16-node shell elements of relative degrees of freedom.The nonlinear structural dynamic response was performed by introducing the updated Lagrangian formulation.The numerical results indicate that there exists a critical thickness for the supercavitating plain shell for the considered velocity of the vehicle.The structure fails more easily because of instability with the thickness less than the critical value,while the structure maintains dynamic stability with the thickness greater than the critical value.As the velocity of the vehicle increases,the critical thickness for the plain shell increases accordingly.For the considered structural configuration,the critical thicknesses of plain shells are 5 and 7 mm for the velocities of 300 and 400 m/s,respectively.The structural stability is enhanced by using the stiffened configuration.With the shell configuration of nine ring stiffeners,the maximal displacement and von Mises stress of the supercavitating structure decrease by 25% and 17% for the velocity of 300 m/s,respectively.Compared with ring stiffeners,longitudinal stiffeners are more significant to improve structural dynamic performance and decrease the critical value of thickness of the shell for the supercavitating vehicle.

Model Simplification and Parameter Modification for Offshore Platforms Using Experiment Data

In this paper, a computation method has been developed so as to compare the finite element method (FEM) with the test results directly. The structure is divided into the 'master' and 'slave' degrees of freedom. The simplified model can be obtained with modal reduction. Then the design sensitivity analysis of the eigenvalues and eigenvectors has been carried out using the modal frequency and modal shape of the test. A two-story frame structure and a jacket model structure have been calculated. Meanwhile, the modified coefficient, the FEM computational and experimental values have been given. It has been shown that the FEM model modified using the test modal value is efficient.

六自由度机械臂若干基本问题的研究

六自由度机械臂作为一种重要的工业自动化设备,其应用越来越广泛,基于此,分析了近几年我国六自由度机械臂的研究文献,探讨了当下该领域研究的主流方向和相应的研究方法,总结了部分研究的创新之处.通过分析研究方法中的异同,结合市场调研结果指出了当下六自由度机械臂研究中存在的一些问题,总结为动力学问题、控制问题、感知问题、精度问题及软硬件集成问题,并根据当下研究成果针对每个问题提出了改进措施,最后对未来六自由度机械臂发展方进行了展望.

超空泡航行体锥段结构对其尾拍运动影响的数值研究

超空泡航行体的外形设计关乎其尾拍运动特性。为获得航行体的锥段结构对其尾拍运动特性的影响规律,采用动网格技术结合流体体积多相流模型、SST k-ω湍流模型和Schnerr-Sauer空化模型,对4种不同锥段结构的航行体尾拍运动特性开展数值模拟研究,分析超空泡航行体的尾拍运动过程及弹道特性。研究结果表明:在一定俯仰角速度扰动下,航行体锥段结构变化对其尾拍稳定性的影响体现出非线性特点,锥段部分过长或过短均会导致航行体的肩部沾湿而形成二次空泡,二次空泡的发展会抑制航行体尾部沾湿,从而回转力矩无法促使俯仰角减小,导致尾拍运动失稳,弹道稳定性较差。该研究成果可为超空泡航行体外形设计提供一定的理论指导。

新型双体波浪能转换装置多自由度耦合水动力特性研究

提出一种新型双体波浪能转换装置,其主体由浮标和可调节质心的摆体构成。利用AQWA进行频域仿真,获取装置的水动力参数,建立含黏性项的多自由度耦合的时域模型,并将水动力参数代入模型,分别开展规则波、不规则波的仿真,研究质心位置、PTO(power take-off)阻尼对装置性能的影响,最终根据真实海况划分若干不规则波并分别开展仿真,研究装置在真实海况下的发电性能。结果表明,装置可通过调节配重位置在不同周期的波浪中高效发电,且装置在小波高情况下也可以有效利用波浪能量,具有持续的发电能力。

弹塑性SDOF系统的地震输入能量谱

以4种场地土条件下40条强震记录为输入,分析了弹塑性单自由度(Single Degree of Freedom,SDOF)系统的地震输入能量谱,并对地震动强度和SDOF系统参数对地震输入能量谱的影响进行了研究。结果表明:能量谱峰值主要由地震动强度决定,阻尼比和延性系数有很大影响。在长周期范围,延性系数一定时,随着阻尼比的增大,能量谱值也有所增大;随延性系数增大,能量谱值随阻尼比增加而增大的趋势有所减缓。采用归一化方法,根据能量谱的特征建议了简化三段式地震输入能量谱,并根据能量谱分析结果的统计,建议了弹塑性SDOF系统能量谱峰值和能量谱曲线参数的确定方法。

悬臂结构地震响应分析的广义单自由度模型研究

针对有限元方法存在计算时间过长的缺点,不适用于需要多次响应分析的结构抗震性能评估问题。进行了悬臂结构线性地震响应分析的广义单自由度模型研究,提出了多项式形函数和基于多项式形函数的单自由度模型,并通过与有限元分析结果的对比分析,调查了基于多项式形函数的单自由度模型对典型地震波激励下结构响应分析的有效性。结果表明:提出的基于多项式形函数的广义单自由度模型平均误差为7.20%,为提高建模准确性,建议采用水平集中荷载施加方法进行多项式形函数参数估计。

人体复合训练设备的逆运动学分析及仿真

针对传统的三轴人体离心机,提出了一种新型的四轴双臂人体短臂离心机。阐述了人体复合训练设备的基本结构及功能特点。根据逆运动学,提出了在给定3个方向上的人体过载值Gx、Gy、Gz时,可确定俯仰角度α和旋转角度β,以及主轴电机转速n和有效回转半径R之间的关系的控制要求。采用旋转矩阵坐标变换的方法,对设备的多自由度运动过程进行了分析,建立了数学模型,应用逆运动学求解了α、β、n、R。通过MATLAB仿真验证了分析方法的正确性,得出了Gt在Ox、Oy、Oz方向上的影响规律。总体的结构设计和模型建立与前人所设计的设备对比,轴的控制从三轴增加到了四轴,解决了逆运动学模型和模拟算法太过复杂的问题,用简单且计算量小的模型实现了给定人体过载值,确定离心机各轴的运动状态的目的,适合实际的运动控制应用,为电机选型以及控制系统设计提供有效的依据。

平臂式塔式起重机自振周期计算方法研究

塔式起重机的自振周期是其基本属性,关乎风振动力系数的选取,影响风载荷及其对塔身偏移的计算。文章以永茂5513型塔帽式和中天6513型平头式塔式起重机为例,简化塔身的刚度简化,将塔式起重机简化为单自由度模型,推导了自振周期简化公式,对比分析了现场测试和有限元模拟结果,验证了该公式的可行性,并引入考虑塔机质量分布影响的修正系数,修正了其简化公式。结果表明:塔式起重机自振周期简化公式计算结果与现场实测自振周期吻合较好,在粗略计算塔式起重机自振周期时可以使用该简化计算公式。根据有限元模拟结果,给出了塔式起重机自振周期简化公式的修正公式,并给出了塔帽式、平头式塔式两种起重机修正系数的推荐值及线性内插公式。

基于双线性ADRC的翼伞系统三维航迹跟踪控制

目前翼伞系统的航迹跟踪主要针对二维路径,对于三维航迹跟踪的研究不多。针对翼伞系统6-DOF模型,采用具有天然解耦属性的自抗扰控制策略,设计一种基于双线性ADRC(B-ADRC)的三维轨迹跟踪控制方法。在水平面与纵向设计制导率与控制器,实现姿态与轨迹位置的跟踪,并对轨迹跟踪误差进行实时修正。跟踪过程中,将理想轨迹离散化获得一系列参考点,通过点切换的方式实现了复杂轨迹的跟踪。实验结果表明:所设计的双线性ADRC控制器能够实现对三维航迹的跟踪,具有良好的鲁棒性和抗干扰能力。

汽车半主动座椅悬架主要参数优化研究

半主动座椅悬架能有效改善驾驶平顺性,减少人体垂向振动,提升车内驾乘人员的乘坐体验.其中,半主动悬架的初始性能参数对悬架性能起到决定性作用.为此,本文针对半主动座椅悬架的初始性能参数(弹簧刚度和阻尼系数)的优化问题展开研究,在使用了随机路面模型、六自由度半车模型的基础上,以优化前后座椅垂向加速度之比作为适应度函数,利用遗传算法对半主动座椅悬架的刚度及阻尼系数进行优化.最后,利用MATLAB软件对优化结果进行仿真分析.结果表明,经算法优化后,座椅垂向加速度的均方根减少了16.4%,最大值下降了11.3%;座椅相对位移的均方根减少了36%,最大值下降了39.2%.

基于PSD的六自由度位移测量解耦方法研究

基于位置敏感探测器(Position Sensitive Detector,PSD)的六自由度(6 Degree of Freedom,6DOF)位移测量对紧凑空间内精密位移台初始位置和姿态的精密测量具有重要作用。精密位移台位移与PSD上光斑位移之间非线性关系的解耦是实现精密位移台亚微米及微弧度位移测量精度的关键。根据PSD与6DOF精密位移台上角锥棱镜之间的位置关系,构建了6DOF位移测量方案,建立了6DOF位移台位移与PSD上光斑位移之间的精确对应关系模型,采用数值计算法对该模型进行解耦求解,并与小角度近似法进行了对比分析。结果表明,当6DOF位移台单自由度位移范围为±10 mm和±10 mrad时,数值计算法引入的解算误差最大值为10^(-17)mm和10^(-15)~10^(-16)mrad量级,而小角度近似法引入的解算误差最大值为5.39μm和35.5μrad;在此基础上,采用蒙特卡洛法以随机均匀分布方式产生10000组六自由度位移进行分析,表明数值计算法引入的解算误差平均值为10^(-17)mm和10^(-17)mrad量级,而小角度近似法引入的解算误差平均值为10^(-3)~10^(-6)mm和10^(-5)mrad量级,其中z方向解算误差达到4.4μm,R_(x)和R_(y)方向解算误差达到28μrad,故小角度近似法无法满足上述位移测量精度要求。所提出的基于数值计算法的解耦方法对实现6DOF位移台的高精度位移测量具有重要意义。