Engineering shallow,large-span rock tunnels challenges deformation control and escalates construction costs.This study investigates the excavation compensation method(ECM)and its associated technologies to address the...Engineering shallow,large-span rock tunnels challenges deformation control and escalates construction costs.This study investigates the excavation compensation method(ECM)and its associated technologies to address these issues.Utilizing five key technologies,the ECM effectively modulates radial stress post-excavation,redistributes stress in the surrounding rock,and eliminates tensile stress at the excavation face.Pre-tensioning measures further enhance the rock’s residual strength,establishing a new stability equilibrium.Field tests corroborate the method’s effectiveness,demonstrating a crown settlement reduction of 3–8 mm,a nearly 50%decrease compared to conventional construction approaches.Additionally,material consumption and construction duration were reduced by approximately 30%–35%and 1.75 months per 100 m,respectively.Thus,the ECM represents a significant innovation in enhancing the stability and construction efficiency of large-span rock tunnels,marking a novel contribution to the engineering field.展开更多
This article attempts to apply skopos theory and make a comparative study of the translation compensation methods of two English versions of Hong Lou Meng in terms of four-character chengyu from the linguistic perspec...This article attempts to apply skopos theory and make a comparative study of the translation compensation methods of two English versions of Hong Lou Meng in terms of four-character chengyu from the linguistic perspective.展开更多
In recent years,the mine tunneling method and the new Austrian tunneling method have been considered the main theories of tunneling approaches in China.It is difficult for the traditional technique to overcome the lar...In recent years,the mine tunneling method and the new Austrian tunneling method have been considered the main theories of tunneling approaches in China.It is difficult for the traditional technique to overcome the large deformation problems imposed by complex geological conditions of mountain soft rock tunneling.Hence,the compensation excavation method has been proposed to solve this issue under the consideration that all damage in tunneling originates from the excavation.It uses supportive strategies to counteract the excavation effects successfully.This paper provides an overview of the fundamental ideas of the compensation excavation method,methodologies,and field applications.The scientific validity and feasibility of the compensation excavation method were investigated through the practical engineering study of the Muzhailing and Changning tunnels.展开更多
Iterative methods based on finite element simulation are effective approaches to design mold shape to compensate springback in sheet metal forming. However, convergence rate of iterative methods is difficult to improv...Iterative methods based on finite element simulation are effective approaches to design mold shape to compensate springback in sheet metal forming. However, convergence rate of iterative methods is difficult to improve greatly. To increase the springback compensate speed of designing age forming mold, process of calculating springback for a certain mold with finite element method is analyzed. Springback compensation is abstracted as finding a solution for a set of nonlinear functions and a springback compensation algorithm is presented on the basis of quasi Newton method. The accuracy of algorithm is verified by developing an ABAQUS secondary development program with MATLAB. Three rectangular integrated panels of dimensions 710 mmx750 mm integrated panels with intersected ribs of 10 mm are selected to perform case studies. The algorithm is used to compute mold contours for the panels with cylinder, sphere and saddle contours respectively and it takes 57%, 22% and 33% iterations as compared to that of displacement adjustment （DA） method. At the end of iterations, maximum deviations on the three panels are 0.618 4 mm, 0.624 1 mm and 0.342 0 mm that are smaller than the deviations determined by DA method （0.740 8 mm, 0.740 8 mm and 0.713 7 mm respectively）. In following experimental verification, mold contour for another integrated panel with 400 ram^380 mm size is designed by the algorithm. Then the panel is age formed in an autoclave and measured by a three dimensional digital measurement devise. Deviation between measuring results and the panel＇s design contour is less than 1 mm. Finally, the iterations with different mesh sizes （40 mm, 35 mm, 30 mm, 25 mm, 20 mm） in finite element models are compared and found no considerable difference. Another possible compensation method, Broyden-Fletcher-Shanmo method, is also presented based on the solving nonlinear fimctions idea. The Broyden-Fletcher-Shanmo method is employed to compute mold contour for the second panel. It only takes 50% iterations compared to that of DA. The proposed method can serve a faster mold contour compensation method for sheet metal forming.展开更多
The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenar...The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenarios, however, needs to be quantitatively evaluated. In this study, four compensation methods （i.e., the polynomial extrapolation, the linear acceleration extrapolation, the inverse compensation and the adaptive inverse compensation） are selected and compared experimentally using a frequency evaluation index （FEI） method. The effectiveness of the FEI method is first verified through comparison with the discrete transfer fimction approach for compensation methods assuming constant delay. Incomparable advantage is further demonstrated for the FEI method when applied to adaptive compensation methods, where the discrete transfer function approach is difficult to implement. Both numerical simulation and laboratory tests with predefined displacements are conducted using sinusoidal signals and random signals as inputs. Findings from numerical simulation and experimental results demonstrate that the FEI method is an efficient and effective approach to compare the performance of different compensation methods, especially for those requiring adaptation of compensation parameters.展开更多
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
In the practical application of pneumatic control devices, the nonlinearity of a pneumatic control valve become the main factor affecting the control effect, which comes mainly from the dynamic friction force. The dyn...In the practical application of pneumatic control devices, the nonlinearity of a pneumatic control valve become the main factor affecting the control effect, which comes mainly from the dynamic friction force. The dynamic friction inside the valve may cause hysteresis and a dead zone. In this paper, a dither compensation mechanism is proposed to reduce negative effects on the basis of analyzing the mechanism of friction force. The specific dither signal（using a sinusoidal signal） was superimposed on the control signal of the valve. Based on the relationship between the parameters of the dither signal and the inherent characteristics of the proportional servo valve, a parameter tuning method was proposed, which uses a displacement sensor to measure the maximum static friction inside the valve. According to the experimental results, the proper amplitude ranges are determined for different pressures. In order to get the optimal parameters of the dither signal, some dither compensation experiments have been carried out on different signal amplitude and gas pressure conditions. Optimal parameters are determined under two kinds of pressure conditions. Using tuning parameters the valve spool displacement experiment has been taken. From the experiment results, hysteresis of the proportional servo valve is significantly reduced. And through simulation and experiments, the cut-off frequency of the proportional valve has also been widened. Therefore after adding the dither signal, the static and dynamic characteristics of the proportional valve are both improved to a certain degree. This research proposes a parameter tuning method of dither signal, and the validity of the method is verified experimentally.展开更多
In recent years,there is a scenario in urban tunnel constructions to build super-large-span tunnels for traffic diversion and route optimization purposes.However,the increased size makes tunnel support more difficult....In recent years,there is a scenario in urban tunnel constructions to build super-large-span tunnels for traffic diversion and route optimization purposes.However,the increased size makes tunnel support more difficult.Unfortunately,there are few studies on the failure and support mechanism of the surrounding rocks in the excavation of supported tunnel,while most model tests of super-large-span tunnels focus on the failure characteristics of surrounding rocks in tunnel excavation without supports.Based on excavation compensation method(ECM),model tests of a super-large-span tunnel excavation by different anchor cable support methods in the initial support stage were carried out.The results indicate that during excavation of super-large-span tunnel,the stress and displacement of the shallow surrounding rocks decrease,following a step-shape pattern,and the tunnel failure is mainly concentrated on the vault and spandrel areas.Compared with conventional anchor cable supports,the NPR(negative Poisson’s ratio)anchor cable support is more suitable for the initial support stage of the super-large-span tunnels.The tunnel support theory,model test materials,methods,and the results obtained in this study could provide references for study of similar super-large-span tunnels。展开更多
为了演示和验证稳定器设计的就地相位补偿法在多机电力系统中的应用,介绍在多机电力系统中,就地补偿设计稳定器的2个应用实例。第1个实例是在多机电力系统中就地补偿设计电力系统稳定器（power system stabilizer,PSS）,阻尼电力系统局...为了演示和验证稳定器设计的就地相位补偿法在多机电力系统中的应用,介绍在多机电力系统中,就地补偿设计稳定器的2个应用实例。第1个实例是在多机电力系统中就地补偿设计电力系统稳定器（power system stabilizer,PSS）,阻尼电力系统局部模振荡。第2个实例是就地补偿设计附加在静态同步补偿器（static synchronous compensator,STATCOM）上的稳定器,抑制多机电力系统中的区域模振荡,并给出在一个16机电力系统中的应用计算和仿真结果。展开更多
1 INTRODUCTIONSince experimental determination of the mutual liquid diffusion coefficients atinfinite dilution is rather complicated,it is important,therefore,to be able to esti-mate the coefficients under various tem...1 INTRODUCTIONSince experimental determination of the mutual liquid diffusion coefficients atinfinite dilution is rather complicated,it is important,therefore,to be able to esti-mate the coefficients under various temperatures from one available coefficient ata certain temperature such as 298K.Empirical equations for this purpose are avail-able in many forms.Typical examples are the Wilke-Chang equation and the Tynequation,given展开更多
A novel fiber Bragg grating （FBG） sensor array system based on digital phase generated carrier （PGC） demodulation and reference compensation method is proposed and set up. Experimental results confirm that the dig...A novel fiber Bragg grating （FBG） sensor array system based on digital phase generated carrier （PGC） demodulation and reference compensation method is proposed and set up. Experimental results confirm that the digital PGC demodulation can be used for wavelength-division-multiplexed FBG sensor array and the reference compensation method can reduce the environmental interference by approximately 40 dB in the frequency range from 20 Hz to 2 kHz. The minimum detectable wavelength-shift of the sensor system is 1 × 10^-3 pm/Hz^1/2.展开更多
Open Access This article is licensed under a Creative Commons Attribution 4.0 International License,which permits use,sharing,adaptation,distribution and reproduction in any medium or format,as long as you give approp...Open Access This article is licensed under a Creative Commons Attribution 4.0 International License,which permits use,sharing,adaptation,distribution and reproduction in any medium or format,as long as you give appropriate credit to the original author(s)and the source,provide a link to the Creative Commons licence,and indicate if changes were made.The images or other third party material in this article are included in the article’s Creative Commons licence,unless indicated otherwise in a credit line to the material.If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use,you will need to obtain permission directly from the copyright holder.To view a copy of this licence,visit http://creativecommons.org/licenses/by/4.0/.展开更多
Based on particle-in-cell simulation, we studied the motions of ions and electrons. The results have shown that electrons are bounded by a magnetic field and only a small number of electrons can pass through the whirl...Based on particle-in-cell simulation, we studied the motions of ions and electrons. The results have shown that electrons are bounded by a magnetic field and only a small number of electrons can pass through the whirler channel. The plasma becomes non-neutral when it is emitted from the whirler, and the spatial charge leads to a beam divergence, which is unfavorable for mass separation. In order to compensate the spatial charge, a cathode is designed to transmit electrons and the quasi-neutral plasma beam. Experiment results have demonstrated that the auxiliary cathode can obviously improve the compensation degree of the spatial charge.展开更多
The number of wireless electronic gadgets used in mobile communication, vehicle collision avoidance system, compact radars, etc. is extremely increasing at a rapid rate. Thus, the characteristics of the antennas invol...The number of wireless electronic gadgets used in mobile communication, vehicle collision avoidance system, compact radars, etc. is extremely increasing at a rapid rate. Thus, the characteristics of the antennas involved in these gadgets are to be designed very stringently so as to avoid interferences & coupling and to improve compatibility, susceptibility, etc. Compact smart antenna with improved performance is highly essential to meet this challenging scenario. Mutual coupling between various elements of an array is one of the main factors which can be considered for improvement of performance of the antenna. Influence of mutual coupling on performance of the antenna is considered in this paper and various techniques to minimize this effect are presented. Effect of mutual coupling on radiation characteristics of the antenna can be compensated employing various methods like Conventional Mutual Impedance (CMI), Receiving Mutual Impedance (RMI). Analysis is presented as comparison between the two methods for different number of elements in the array. Analysis is also presented for different geometries of the array like circular and elliptical for improved performance. The results show performance improvement in the proposed array for parameters like SNR and Speed of convergence.展开更多
In the various methods of English Chinese translation,cultural differences will cause the loss of information,which willgreatly affect the quality of translation.Therefore,in order to express the meaning accurately,th...In the various methods of English Chinese translation,cultural differences will cause the loss of information,which willgreatly affect the quality of translation.Therefore,in order to express the meaning accurately,the translator must have a comprehen-sive understanding of the two cultures.The purpose of this paper is to help translators effectively reduce the loss of information,ex-press the original meaning completely and accurately,and improve the quality of translation.展开更多
Low-order wavefront error account for a large proportion of wave aberrations.A compensation method for low order aberration of projection lithography objective based on Interior Point Method is presented.Compensation ...Low-order wavefront error account for a large proportion of wave aberrations.A compensation method for low order aberration of projection lithography objective based on Interior Point Method is presented.Compensation model between wavefront error and degree of movable lens freedom is established.Converting over-determined system to underdetermined system,the compensation is solved by Interior Point Method(IPM).The presented method is compared with direct solve the over-determined system.Then,other algorithm GA,EA and PS is compared with IPM.Simulation and experimental results show that the presented compensation method can obtained compensation with less residuals compared with direct solve the over-determined system.Also,the presented compensation method can reduce computation time and obtain results with less residuals compare with AGA,EA and PS.Moreover,after compensation,RMS of wavefront error of the experimental lithography projection objective decrease from 56.05 nm to 17.88 nm.展开更多
The railway pantograph-catenary system employs a ratchet compensation device to sustain the tension of the contact wire.However,the excessive weight associated with the ratchet structure adversely affects the performa...The railway pantograph-catenary system employs a ratchet compensation device to sustain the tension of the contact wire.However,the excessive weight associated with the ratchet structure adversely affects the performance of the compensation device.An optimization design aimed at lightweight optimization of the ratchet wheel structure can enhance the system’s agility,improve material utilization,and reduce costs.This study uses a finite element model to establish an equivalent load model for the ratchet under service conditions and analyzes its load-bearing state.An optimization model was created and solved using ANSYS Workbench.The topological optimization configurations were compared under unconstrained conditions and four different periodic constraint scenarios.Following this,the structure was redesigned based on the topological optimization results,and a simulation analysis was conducted to compare the reconstructed model with the original model.The comparison results indicate that the masses of all four optimized models have been reduced by more than 10%.Additionally,under conditions of a fully wound compensation rope,the maximum stress has decreased by over 20%,leading to a more uniform stress distribution and improved overall performance.The topology optimization and redesign method based on periodic constraints offers a viable engineering solution for the lightweight design of the ratchet structure.展开更多
The interaction between poly(methymethacrylate) (PMMA) and poly(vinyl chloride) (PVC) has been studied indilute urea solutions of dimethylformamide (DMF) at 28℃ using a dilute solution viscometry method. The results ...The interaction between poly(methymethacrylate) (PMMA) and poly(vinyl chloride) (PVC) has been studied indilute urea solutions of dimethylformamide (DMF) at 28℃ using a dilute solution viscometry method. The results show thatthe polymer mixtures are compatible in DMF solution in the absence of urea. The influence of urea addition on the degree ofcompatibility of the polymer mixtures has been studied in terms of the compatibility parameters (△b_m and △[η]_m). It wasfound that the compatibility of the polymer mixtures is decreased with increasing urea addition, passing through a minimumat 0.5 M urea.展开更多
Due to unreliable and bandwidth-limited characteristics of communication link in networked control systems,the realtime compensated methods for single-output systems and multioutput systems are proposed in this paper ...Due to unreliable and bandwidth-limited characteristics of communication link in networked control systems,the realtime compensated methods for single-output systems and multioutput systems are proposed in this paper based on the compressed sensing(CS)theory and sliding window technique,by which the estimates of dropping data packets in the feedback channel are obtained and the performance degradation induced by packet drops is reduced.Specifically,in order to reduce the cumulative error caused by the algorithm,the compensated estimates for single-output systems are corrected via the regularization term;considering the process of single-packet transmission,a new sequential CS framework of sensor data streams is introduced to effectively compensate the dropping packet on single-channel of multi-output systems;in presence of the medium access constraints on multi-channel,the communication sequence for scheduling is coupled to the algorithm and the estimates of the multiple sensors for multi-output systems are obtained via the regularization term.Simulation results illustrate that the proposed methods perform well and receive satisfactory performance.展开更多
Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on s...Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on some weapon tracking servo system, a three layer BPNN was used to off line identify the backlash characteristics, then a nonlinear compensator was designed according to the identification results. Results The simulation results show that the method can effectively get rid of the sustained oscillation(limit cycle) of the system caused by the backlash characteristics, and can improve the system accuracy. Conclusion The method is effective on sloving the problems produced by the backlash characteristics in servo systems, and it can be easily accomplished in engineering.展开更多
基金Projects(42377148,51674265)supported by the National Natural Science Foundation of ChinaProject(2018YFC0603705)supported by the National Key Research and Development Program of China。
文摘Engineering shallow,large-span rock tunnels challenges deformation control and escalates construction costs.This study investigates the excavation compensation method(ECM)and its associated technologies to address these issues.Utilizing five key technologies,the ECM effectively modulates radial stress post-excavation,redistributes stress in the surrounding rock,and eliminates tensile stress at the excavation face.Pre-tensioning measures further enhance the rock’s residual strength,establishing a new stability equilibrium.Field tests corroborate the method’s effectiveness,demonstrating a crown settlement reduction of 3–8 mm,a nearly 50%decrease compared to conventional construction approaches.Additionally,material consumption and construction duration were reduced by approximately 30%–35%and 1.75 months per 100 m,respectively.Thus,the ECM represents a significant innovation in enhancing the stability and construction efficiency of large-span rock tunnels,marking a novel contribution to the engineering field.
文摘This article attempts to apply skopos theory and make a comparative study of the translation compensation methods of two English versions of Hong Lou Meng in terms of four-character chengyu from the linguistic perspective.
基金The authors would like to acknowledge the financial support from the Key Special Project of the National Natural Science Foundation of China(No.41941018)the Special Fund of Yueqi Scholars(No.800015Z1207).
文摘In recent years,the mine tunneling method and the new Austrian tunneling method have been considered the main theories of tunneling approaches in China.It is difficult for the traditional technique to overcome the large deformation problems imposed by complex geological conditions of mountain soft rock tunneling.Hence,the compensation excavation method has been proposed to solve this issue under the consideration that all damage in tunneling originates from the excavation.It uses supportive strategies to counteract the excavation effects successfully.This paper provides an overview of the fundamental ideas of the compensation excavation method,methodologies,and field applications.The scientific validity and feasibility of the compensation excavation method were investigated through the practical engineering study of the Muzhailing and Changning tunnels.
文摘Iterative methods based on finite element simulation are effective approaches to design mold shape to compensate springback in sheet metal forming. However, convergence rate of iterative methods is difficult to improve greatly. To increase the springback compensate speed of designing age forming mold, process of calculating springback for a certain mold with finite element method is analyzed. Springback compensation is abstracted as finding a solution for a set of nonlinear functions and a springback compensation algorithm is presented on the basis of quasi Newton method. The accuracy of algorithm is verified by developing an ABAQUS secondary development program with MATLAB. Three rectangular integrated panels of dimensions 710 mmx750 mm integrated panels with intersected ribs of 10 mm are selected to perform case studies. The algorithm is used to compute mold contours for the panels with cylinder, sphere and saddle contours respectively and it takes 57%, 22% and 33% iterations as compared to that of displacement adjustment （DA） method. At the end of iterations, maximum deviations on the three panels are 0.618 4 mm, 0.624 1 mm and 0.342 0 mm that are smaller than the deviations determined by DA method （0.740 8 mm, 0.740 8 mm and 0.713 7 mm respectively）. In following experimental verification, mold contour for another integrated panel with 400 ram^380 mm size is designed by the algorithm. Then the panel is age formed in an autoclave and measured by a three dimensional digital measurement devise. Deviation between measuring results and the panel＇s design contour is less than 1 mm. Finally, the iterations with different mesh sizes （40 mm, 35 mm, 30 mm, 25 mm, 20 mm） in finite element models are compared and found no considerable difference. Another possible compensation method, Broyden-Fletcher-Shanmo method, is also presented based on the solving nonlinear fimctions idea. The Broyden-Fletcher-Shanmo method is employed to compute mold contour for the second panel. It only takes 50% iterations compared to that of DA. The proposed method can serve a faster mold contour compensation method for sheet metal forming.
基金National Natural Science Foundation of China under Grant No.51378107the Fundamental Research Funds for the Central Universities and Priority Academic Program Development of Jiangsu Higher Education Institutions under Grant No.KYLX-0158the National Natural Science Foundation under Grant No.CMMI-1227962
文摘The delay compensation method plays an essential role in maintaining the stability and achieving accurate real-time hybrid simulation results. The effectiveness of various compensation methods in different test scenarios, however, needs to be quantitatively evaluated. In this study, four compensation methods （i.e., the polynomial extrapolation, the linear acceleration extrapolation, the inverse compensation and the adaptive inverse compensation） are selected and compared experimentally using a frequency evaluation index （FEI） method. The effectiveness of the FEI method is first verified through comparison with the discrete transfer fimction approach for compensation methods assuming constant delay. Incomparable advantage is further demonstrated for the FEI method when applied to adaptive compensation methods, where the discrete transfer function approach is difficult to implement. Both numerical simulation and laboratory tests with predefined displacements are conducted using sinusoidal signals and random signals as inputs. Findings from numerical simulation and experimental results demonstrate that the FEI method is an efficient and effective approach to compare the performance of different compensation methods, especially for those requiring adaptation of compensation parameters.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
基金Supported by National Natural Science Foundation of China(Grant No.51375045)the State Key Laboratory Program(Grant No.GZKF-201214)
文摘In the practical application of pneumatic control devices, the nonlinearity of a pneumatic control valve become the main factor affecting the control effect, which comes mainly from the dynamic friction force. The dynamic friction inside the valve may cause hysteresis and a dead zone. In this paper, a dither compensation mechanism is proposed to reduce negative effects on the basis of analyzing the mechanism of friction force. The specific dither signal（using a sinusoidal signal） was superimposed on the control signal of the valve. Based on the relationship between the parameters of the dither signal and the inherent characteristics of the proportional servo valve, a parameter tuning method was proposed, which uses a displacement sensor to measure the maximum static friction inside the valve. According to the experimental results, the proper amplitude ranges are determined for different pressures. In order to get the optimal parameters of the dither signal, some dither compensation experiments have been carried out on different signal amplitude and gas pressure conditions. Optimal parameters are determined under two kinds of pressure conditions. Using tuning parameters the valve spool displacement experiment has been taken. From the experiment results, hysteresis of the proportional servo valve is significantly reduced. And through simulation and experiments, the cut-off frequency of the proportional valve has also been widened. Therefore after adding the dither signal, the static and dynamic characteristics of the proportional valve are both improved to a certain degree. This research proposes a parameter tuning method of dither signal, and the validity of the method is verified experimentally.
基金supported by the Innovation Fund Research Project of State Key Laboratory for Geomechanics and Deep Underground Engineering,China University of Mining and Technology(Grant No.SKLGDUEK202201)the Foundation for the Opening of State Key Laboratory for Geomechanics and Deep Underground Engineering,China University of Mining and Technology(Grant No.SKLGDUEK2129)the Open Research Fund of State Key Laboratory of Geomechanics and Geotechnical Engineering,Institute of Rock and Soil Mechanics,Chinese Academy of Sciences(Grant No.Z020007)。
文摘In recent years,there is a scenario in urban tunnel constructions to build super-large-span tunnels for traffic diversion and route optimization purposes.However,the increased size makes tunnel support more difficult.Unfortunately,there are few studies on the failure and support mechanism of the surrounding rocks in the excavation of supported tunnel,while most model tests of super-large-span tunnels focus on the failure characteristics of surrounding rocks in tunnel excavation without supports.Based on excavation compensation method(ECM),model tests of a super-large-span tunnel excavation by different anchor cable support methods in the initial support stage were carried out.The results indicate that during excavation of super-large-span tunnel,the stress and displacement of the shallow surrounding rocks decrease,following a step-shape pattern,and the tunnel failure is mainly concentrated on the vault and spandrel areas.Compared with conventional anchor cable supports,the NPR(negative Poisson’s ratio)anchor cable support is more suitable for the initial support stage of the super-large-span tunnels.The tunnel support theory,model test materials,methods,and the results obtained in this study could provide references for study of similar super-large-span tunnels。
文摘为了演示和验证稳定器设计的就地相位补偿法在多机电力系统中的应用,介绍在多机电力系统中,就地补偿设计稳定器的2个应用实例。第1个实例是在多机电力系统中就地补偿设计电力系统稳定器（power system stabilizer,PSS）,阻尼电力系统局部模振荡。第2个实例是就地补偿设计附加在静态同步补偿器（static synchronous compensator,STATCOM）上的稳定器,抑制多机电力系统中的区域模振荡,并给出在一个16机电力系统中的应用计算和仿真结果。
文摘1 INTRODUCTIONSince experimental determination of the mutual liquid diffusion coefficients atinfinite dilution is rather complicated,it is important,therefore,to be able to esti-mate the coefficients under various temperatures from one available coefficient ata certain temperature such as 298K.Empirical equations for this purpose are avail-able in many forms.Typical examples are the Wilke-Chang equation and the Tynequation,given
基金supported by the National 863 Program under Grant No. 2007AA03Z415.
文摘A novel fiber Bragg grating （FBG） sensor array system based on digital phase generated carrier （PGC） demodulation and reference compensation method is proposed and set up. Experimental results confirm that the digital PGC demodulation can be used for wavelength-division-multiplexed FBG sensor array and the reference compensation method can reduce the environmental interference by approximately 40 dB in the frequency range from 20 Hz to 2 kHz. The minimum detectable wavelength-shift of the sensor system is 1 × 10^-3 pm/Hz^1/2.
文摘Open Access This article is licensed under a Creative Commons Attribution 4.0 International License,which permits use,sharing,adaptation,distribution and reproduction in any medium or format,as long as you give appropriate credit to the original author(s)and the source,provide a link to the Creative Commons licence,and indicate if changes were made.The images or other third party material in this article are included in the article’s Creative Commons licence,unless indicated otherwise in a credit line to the material.If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use,you will need to obtain permission directly from the copyright holder.To view a copy of this licence,visit http://creativecommons.org/licenses/by/4.0/.
基金supported by National Natural Science Foundation of China(No.51177020)
文摘Based on particle-in-cell simulation, we studied the motions of ions and electrons. The results have shown that electrons are bounded by a magnetic field and only a small number of electrons can pass through the whirler channel. The plasma becomes non-neutral when it is emitted from the whirler, and the spatial charge leads to a beam divergence, which is unfavorable for mass separation. In order to compensate the spatial charge, a cathode is designed to transmit electrons and the quasi-neutral plasma beam. Experiment results have demonstrated that the auxiliary cathode can obviously improve the compensation degree of the spatial charge.
文摘The number of wireless electronic gadgets used in mobile communication, vehicle collision avoidance system, compact radars, etc. is extremely increasing at a rapid rate. Thus, the characteristics of the antennas involved in these gadgets are to be designed very stringently so as to avoid interferences & coupling and to improve compatibility, susceptibility, etc. Compact smart antenna with improved performance is highly essential to meet this challenging scenario. Mutual coupling between various elements of an array is one of the main factors which can be considered for improvement of performance of the antenna. Influence of mutual coupling on performance of the antenna is considered in this paper and various techniques to minimize this effect are presented. Effect of mutual coupling on radiation characteristics of the antenna can be compensated employing various methods like Conventional Mutual Impedance (CMI), Receiving Mutual Impedance (RMI). Analysis is presented as comparison between the two methods for different number of elements in the array. Analysis is also presented for different geometries of the array like circular and elliptical for improved performance. The results show performance improvement in the proposed array for parameters like SNR and Speed of convergence.
文摘In the various methods of English Chinese translation,cultural differences will cause the loss of information,which willgreatly affect the quality of translation.Therefore,in order to express the meaning accurately,the translator must have a comprehen-sive understanding of the two cultures.The purpose of this paper is to help translators effectively reduce the loss of information,ex-press the original meaning completely and accurately,and improve the quality of translation.
文摘Low-order wavefront error account for a large proportion of wave aberrations.A compensation method for low order aberration of projection lithography objective based on Interior Point Method is presented.Compensation model between wavefront error and degree of movable lens freedom is established.Converting over-determined system to underdetermined system,the compensation is solved by Interior Point Method(IPM).The presented method is compared with direct solve the over-determined system.Then,other algorithm GA,EA and PS is compared with IPM.Simulation and experimental results show that the presented compensation method can obtained compensation with less residuals compared with direct solve the over-determined system.Also,the presented compensation method can reduce computation time and obtain results with less residuals compare with AGA,EA and PS.Moreover,after compensation,RMS of wavefront error of the experimental lithography projection objective decrease from 56.05 nm to 17.88 nm.
基金supported by the National Natural Science Foundation of China(Grant No.52075033)Research and Development Plan of REG(Grant No.2023-20)。
文摘The railway pantograph-catenary system employs a ratchet compensation device to sustain the tension of the contact wire.However,the excessive weight associated with the ratchet structure adversely affects the performance of the compensation device.An optimization design aimed at lightweight optimization of the ratchet wheel structure can enhance the system’s agility,improve material utilization,and reduce costs.This study uses a finite element model to establish an equivalent load model for the ratchet under service conditions and analyzes its load-bearing state.An optimization model was created and solved using ANSYS Workbench.The topological optimization configurations were compared under unconstrained conditions and four different periodic constraint scenarios.Following this,the structure was redesigned based on the topological optimization results,and a simulation analysis was conducted to compare the reconstructed model with the original model.The comparison results indicate that the masses of all four optimized models have been reduced by more than 10%.Additionally,under conditions of a fully wound compensation rope,the maximum stress has decreased by over 20%,leading to a more uniform stress distribution and improved overall performance.The topology optimization and redesign method based on periodic constraints offers a viable engineering solution for the lightweight design of the ratchet structure.
文摘The interaction between poly(methymethacrylate) (PMMA) and poly(vinyl chloride) (PVC) has been studied indilute urea solutions of dimethylformamide (DMF) at 28℃ using a dilute solution viscometry method. The results show thatthe polymer mixtures are compatible in DMF solution in the absence of urea. The influence of urea addition on the degree ofcompatibility of the polymer mixtures has been studied in terms of the compatibility parameters (△b_m and △[η]_m). It wasfound that the compatibility of the polymer mixtures is decreased with increasing urea addition, passing through a minimumat 0.5 M urea.
基金supported by the National Key Research and Development Plan(2018YFB1201601-12)。
文摘Due to unreliable and bandwidth-limited characteristics of communication link in networked control systems,the realtime compensated methods for single-output systems and multioutput systems are proposed in this paper based on the compressed sensing(CS)theory and sliding window technique,by which the estimates of dropping data packets in the feedback channel are obtained and the performance degradation induced by packet drops is reduced.Specifically,in order to reduce the cumulative error caused by the algorithm,the compensated estimates for single-output systems are corrected via the regularization term;considering the process of single-packet transmission,a new sequential CS framework of sensor data streams is introduced to effectively compensate the dropping packet on single-channel of multi-output systems;in presence of the medium access constraints on multi-channel,the communication sequence for scheduling is coupled to the algorithm and the estimates of the multiple sensors for multi-output systems are obtained via the regularization term.Simulation results illustrate that the proposed methods perform well and receive satisfactory performance.
文摘Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on some weapon tracking servo system, a three layer BPNN was used to off line identify the backlash characteristics, then a nonlinear compensator was designed according to the identification results. Results The simulation results show that the method can effectively get rid of the sustained oscillation(limit cycle) of the system caused by the backlash characteristics, and can improve the system accuracy. Conclusion The method is effective on sloving the problems produced by the backlash characteristics in servo systems, and it can be easily accomplished in engineering.
