基于鲁棒滑模策略的电机伺服系统内模控制

在模型不确定性和干扰状态下建立了基于鲁棒滑模策略的改进内模控制模型.这种控制模型的特征表现为,将内模控制策略和滑模控制结合起来,在模型不确定条件下也可以高效控制,且系统的抗干扰性能显著提升.另外由于引入了二自由度增强型内模控制,大大提升了对未知扰动的鲁棒性.仿真与实验研究结果发现,建立的这种控制器跟踪精度和稳定性高,且...     

A study on the surface overpressure distribution and formation of a double curvature liner under a two-point initiation

The formation mechanism of an EFP(explosively formed projectile) using a double curvature liner under the overpressure effect generated by a regular oblique reflection was investigated in this paper.Based on the detonation wave propagation theory,the change of the incident angle of the detonation wave collision at different positions and the distribution area of the overpressure on the surface of the liner were calculated.Three-dimensional numerical simulations of the formation process of the EFP with tail as well as the ability to penetrate 45# steel were performed using LS-DYNA software,and the EFP ve-locity,the penetration ability,and the forming were assessed via experiments and x-ray photographs.The experimental results coincides with those of the simulations.Results indicate that the collision of the detonation wave was controlled to be a regular oblique reflection acting on the liner by setting the di-mensions of the unit charge and maintaining the pressure at the collision point region at more than 2.4 times the CJ detonation when the incident angle approached the critical angle.The distance from the liner midline to the boundary of the area within which the pressure ratio of the regular oblique reflection pressure to the CJ detonation pressure was greater than 2.5,2,and 1.5was approximately 0.66 mm,1.32 mm,and 3.3 mm,respectively.It is noted that pressure gradient caused the liner to turn inside out in the middle to form the head of the EFP and close the two tails of the EFP at approximately 120μs.The penetration depth of the EFP into a 45# steel target exceeded 30 mm,and there was radial expansion between the head and tail of the EFE increasing the penetration resistance of the EFP.Therefore,the structural size of the unit charge and the liner can be further optimized to reduce resistance to increase the penetration ability of the EFP.     

Driving force coordinated control of an 8 ×8 in-wheel motor drive vehicle with tire-road friction coefficient identification

Because of the complexities of tire-road interaction,the wheels of a multi-wheel distributed electric drive vehicle can easily slip under certain working conditions.As wheel slip affects the dynamic per-formance and stability of the vehicle,it is crucial to control it and coordinate the driving force.With this aim,this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel.In the proposed control strategy,the road identification module estimates tire-road forces using an unscented Kalman filter al-gorithm and recognizes the road adhesion coefficient by employing the recursive least-square method.According to road identification,the optimal slip ratio under the current driving condition is obtained,and a controller based on sliding mode control with a conditional integrator uses this value for accel-eration slip regulation.The anti-slip controller obtains the adjusting torque,which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control.The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-road forces as well as the friction coefficient,and thus,can effectively fulfill the purpose of driving force coordinated control under different driving conditions.     

矿区生态型和非矿区生态型蜈蚣草对铅胁迫的生理响应

探讨不同矿区生态型蜈蚣草对铅的耐性及其耐铅机理,为进一步研究蜈蚣草植物修复射击场土壤的铅污染提供理论依据。在水培铅胁迫的环境条件,对矿区生态型和非矿区生态型蜈蚣草生长过程中的生物量、色素含量、MDA质量摩尔浓度和CAT,POD,SOD活性等进行了研究。研究发现,营养液中铅的加入抑制了蜈蚣草的生长,降低了羽叶中的色素含量,大幅度提高了MDA质量摩尔浓度和CAT,POD,SOD活性。结果表明,蜈蚣草对铅有一定的耐性,并且矿区生态型蜈蚣草的耐性明显高于非矿区生态型。主要表现为矿区生态型蜈蚣草的抗氧化酶活性高于非矿区生态型,生物量和色素含量受铅胁迫影响的程度相对较小。当铅质量浓度达到300 mg/L,铅胁迫15 d后,非矿区生态型蜈蚣草抗氧化酶系统紊乱,植株接近枯死状态,而矿区生态型蜈蚣草的耐性表现相对较好。     

氧气体积分数对油气爆炸特性的影响

作为燃烧和爆炸三要素之一,氧气体积分数的控制对于爆炸事故的防治具有重要意义。实验研究了氧气体积分数对汽油蒸气-空气混合物（简称油气）爆炸极限和爆炸压力的影响。结果表明：随着氧气体积分数的降低,油气爆炸下限呈一阶指数规律缓慢增大,油气爆炸上限呈线性规律迅速减小;爆炸极限范围由0.92%~3.76%缩小为1点,该爆炸极限临界点为1.22%,对应的临界氧气体积分数为11.4%;油气的最大爆炸压力和最大压力上升速率随着氧气体积分数的降低而减小,油气体积分数越大,氧气体积分数影响越显著。     

多样化军事任务舆情演化及引导的仿真

针对海军遂行多样化军事任务所面临的日益复杂的社会舆论环境,采用基于Agent的建模理论与方法,建立了舆情演化过程的模型,并对其进行了仿真和分析。首先,提出了个体间观点交互的规则,建立了个体观点交互的舆情演化模型。其次,基于所建模型对不同条件下的舆情演化及引导进行了仿真实验与分析。仿真结果表明,模型的统计结果与实际舆情演化情况相符,具有较强的实际性。     

富氮气体对柴油氧化安定性影响

在95℃条件,考察了2种柴油在5种氮体积分数下氧化安定性随时间的变化,采用方差分析法分析了富氮气体对实际胶质、酸度的影响,拟合了实际胶质生成速率与氮体积分数的关系。结果表明:氮体积分数对实际胶质、酸度有显著性影响,实际胶质与储存时间呈一次函数关系,实际胶质生成速率与氮体积分数间存在幂函数关系,储存过程中氮体积分数越大,氧化生成有机酸越少。     

加强大型石化工业园区灭火救援工作的对策研究

通过对大型石化工业园区的实地调研,总结了新时期石化企业的工艺特点,分析了石化企业的火灾特点,提出了建立区域灭火救援中心、完善消防队站建设、加快消防装备配备、强化灭火救援训练和加强政府监管机制等对策加强大型石化工业园区的灭火救援工作。     

军事训练中学员发生运动性晕厥的原因与机理分析

采取问卷调查、跟踪观察等方法,通过对运动性晕厥发生的不同种类进行分析研究,指出产生的原因,分析发病的机理,提出预防的措施,为有效防止运动性晕厥的发生提供科学依据。