公路边坡护坡骨架施工车是聚焦于公路边坡土壤开槽和水泥混凝土滑模的工程机械装备。针对公路边坡护坡骨架施工车旋转臂在边坡环境的运动控制问题,设计一种基于模糊多参数自适应比例积分微分(proportional integral derivative,PID)的...公路边坡护坡骨架施工车是聚焦于公路边坡土壤开槽和水泥混凝土滑模的工程机械装备。针对公路边坡护坡骨架施工车旋转臂在边坡环境的运动控制问题,设计一种基于模糊多参数自适应比例积分微分(proportional integral derivative,PID)的位置反馈控制策略。考虑到非对称液压缸两腔的差异,采用面积差异等效建模法建立阀控非对称液压缸的线性数学模型。通过定义模糊子集、选取隶属函数、建立模糊规则,使用模糊多参数自适应PID控制算法,实现旋转臂非对称液压缸位置控制。仿真和试验结果表明,基于面积差异等效数学模型的模糊多参数自适应PID能够有效地提高液压缸位置跟踪控制精度,验证了所提控制算法的有效性。展开更多
A high production efficiency synthesis method was used to produce a stacked vanadium nitride nanoparticle structure with an inexpensive raw material as an anode material and high surface area polystyrene was used the ...A high production efficiency synthesis method was used to produce a stacked vanadium nitride nanoparticle structure with an inexpensive raw material as an anode material and high surface area polystyrene was used the cathode material for lithium ion hybrid capacitors. The Li-HCs cell displayed an excellent specific capacitance of 64.2 F·g^-1 at a current density of 0.25 A·g^-1 and a wide potential window of 0.01 to 3.5 V. Furthermore, the device exhibited a high energy density of 109.3 W·h·kg^-1 at a power density of 512.3 W·kg^-1 and retained an energy density of 69.2 W·h·kg^-1 at a high power density of 3 498.9 W· kg^-1 at 2 A·g^-1. Due to the short synthesis time and simple raw materials, this method is suitable for industrial production.展开更多
文摘公路边坡护坡骨架施工车是聚焦于公路边坡土壤开槽和水泥混凝土滑模的工程机械装备。针对公路边坡护坡骨架施工车旋转臂在边坡环境的运动控制问题,设计一种基于模糊多参数自适应比例积分微分(proportional integral derivative,PID)的位置反馈控制策略。考虑到非对称液压缸两腔的差异,采用面积差异等效建模法建立阀控非对称液压缸的线性数学模型。通过定义模糊子集、选取隶属函数、建立模糊规则,使用模糊多参数自适应PID控制算法,实现旋转臂非对称液压缸位置控制。仿真和试验结果表明,基于面积差异等效数学模型的模糊多参数自适应PID能够有效地提高液压缸位置跟踪控制精度,验证了所提控制算法的有效性。
基金Funded by the National Natural Science Foundation of China(No.51762031)the Foundation for Innovation Groups of Basic Research in the Gansu Province(No.1606RJIA322)
文摘A high production efficiency synthesis method was used to produce a stacked vanadium nitride nanoparticle structure with an inexpensive raw material as an anode material and high surface area polystyrene was used the cathode material for lithium ion hybrid capacitors. The Li-HCs cell displayed an excellent specific capacitance of 64.2 F·g^-1 at a current density of 0.25 A·g^-1 and a wide potential window of 0.01 to 3.5 V. Furthermore, the device exhibited a high energy density of 109.3 W·h·kg^-1 at a power density of 512.3 W·kg^-1 and retained an energy density of 69.2 W·h·kg^-1 at a high power density of 3 498.9 W· kg^-1 at 2 A·g^-1. Due to the short synthesis time and simple raw materials, this method is suitable for industrial production.
文摘利用无人机(Unmanned Aerial Vehicle,UAV)参与灭火是解决城市高层建筑消防问题的一种有效手段.针对无人机云台运动的控制问题,提出一种基于约束跟随理论的云台水枪喷嘴跟踪控制策略.根据高层建筑实际灭火需求,设计了云台水枪喷嘴两自由度驱动结构,采用Denavit-Hartenberg(D-H)方法对云台系统进行建模并由此完成云台运动学方程的建立.根据拉格朗日方程构建云台无约束动力学模型,把云台水枪喷嘴的期望轨迹作为约束,在不引入诸如拉格朗日乘数等任何变量或伪变量的情况下,基于Udwadia-Kalaba方程得到可以满足约束跟随需要的驱动转矩解析式,实现状态连续反馈控制,以达到水枪喷嘴轨迹跟踪的目的.为了减小跟踪误差,采用Baumgarte约束违约法进行稳定性处理,并在MATLAB/Simulink环境下对其轨迹跟踪控制进行仿真.搭建以数字信号处理器(Digital Signal Processor,DSP)为控制核心的实验平台进行轨迹跟踪控制实验.仿真和实验结果表明,基于约束跟随理论的轨迹跟踪控制算法能够有效地完成跟踪任务并实现对期望轨迹的高精度跟踪.
