Quantitatively correcting the unconfined compressive strength for sample disturbance is an important research project in the practice of ocean engineering and geotechnical engineering. In this study, the specimens of ...Quantitatively correcting the unconfined compressive strength for sample disturbance is an important research project in the practice of ocean engineering and geotechnical engineering. In this study, the specimens of undisturbed natural marine clay obtained from the same depth at the same site were deliberately disturbed to different levels. Then, the specimens with different extents of sample disturbance were trimmed for both oedometer tests and unconfined compression tests. The degree of sample disturbance SD is obtained from the oedometer test data. The relationship between the unconfined compressive strength q u and SD is studied for investigating the effect of sample disturbance on q u. It is found that the value of q u decreases linearly with the increase in SD. Then, a simple method of correcting q u for sample disturbance is proposed. Its validity is also verified through analysis of the existing published data.展开更多
In this paper,the 3D leader–follower formation control problem,which focuses on swarms of fixed-wing Unmanned Aerial Vehicles(UAVs)with motion constraints and disturbances,has been investigated.Original formation err...In this paper,the 3D leader–follower formation control problem,which focuses on swarms of fixed-wing Unmanned Aerial Vehicles(UAVs)with motion constraints and disturbances,has been investigated.Original formation errors of the follower UAVs have been transformed into the Frenet-Serret frame.Formation control laws satisfying five motion constraints(i.e.,linear velocity,linear acceleration,heading rate,climb rate and climb angle)have been designed.The convergence of the control laws has been discussed via the Lyapunov stability tool.In addition,to address the unknown disturbances,an adaptive disturbance observer is exploited.Furthermore,formation control laws involving estimated disturbances are presented as well.The collision avoidance between UAVs is achieved with the artificial potential method.Simulation results obtained using four scenarios verify the effectiveness of the proposed method in situations with constant disturbances and varying disturbances,as well as without disturbances.展开更多
Active disturbance rejection controller(ADRC)uses tracking-differentiator(TD)to solve the contradiction between the overshoot and the rapid nature.Fractional order proportion integral derivative(PID)controller i...Active disturbance rejection controller(ADRC)uses tracking-differentiator(TD)to solve the contradiction between the overshoot and the rapid nature.Fractional order proportion integral derivative(PID)controller improves the control quality and expands the stable region of the system parameters.ADRC fractional order(ADRFO)PID controller is designed by combining ADRC with the fractional order PID and applied to reentry attitude control of hypersonic vehicle.Simulation results show that ADRFO PID controller has better control effect and greater stable region for the strong nonlinear model of hypersonic flight vehicle under the influence of external disturbance,and has stronger robustness against the perturbation in system parameters.展开更多
The disturbance torque generated via solar array drive assembly(SADA) can significantly degrade the key performance of satellite.The discussed SADA is composed of a two-phase hybrid stepping motor and a set of two-sta...The disturbance torque generated via solar array drive assembly(SADA) can significantly degrade the key performance of satellite.The discussed SADA is composed of a two-phase hybrid stepping motor and a set of two-stage straight gear reducer. Firstly, the vibration equation of the two-phase hybrid stepping motor is established via simplifying and linearizing the electromagnetic torque.Secondly, based on the vibration equation established, the disturbance torque model of SADA is created via force analysis and force system simplification. Thirdly, for precisely ground measuring the disturbance torque aroused by SADA, a measurement system,including a strain micro-vibrations measurement platform(SMMP) and a set of gravity unloading device(GUD), is designed.Fourthly, the proposed disturbance torque model is validated by measuring and simulating the disturbance torque produced via SADA driving rigid load through GUD. The results indicate that, the proposed disturbance torque model holds the ability to describe the disturbance torque caused by SADA with high precision. Finally, the disturbance torque emitted by SADA driving a flexible load, designed to simulate solar array, is modeled and simulated via using fixed-interface mode synthesis method(FIMSM). All the conclusions drawn from this article do have a meaningful help for studying the disturbance torque produced by SADA driving solar array on orbit.展开更多
文摘Quantitatively correcting the unconfined compressive strength for sample disturbance is an important research project in the practice of ocean engineering and geotechnical engineering. In this study, the specimens of undisturbed natural marine clay obtained from the same depth at the same site were deliberately disturbed to different levels. Then, the specimens with different extents of sample disturbance were trimmed for both oedometer tests and unconfined compression tests. The degree of sample disturbance SD is obtained from the oedometer test data. The relationship between the unconfined compressive strength q u and SD is studied for investigating the effect of sample disturbance on q u. It is found that the value of q u decreases linearly with the increase in SD. Then, a simple method of correcting q u for sample disturbance is proposed. Its validity is also verified through analysis of the existing published data.
基金co-supported by the National Natural Science Foundation of China(Nos.61803353 and U19B2029)the China Postdoctoral Science Foundation(No.2017M620858)。
文摘In this paper,the 3D leader–follower formation control problem,which focuses on swarms of fixed-wing Unmanned Aerial Vehicles(UAVs)with motion constraints and disturbances,has been investigated.Original formation errors of the follower UAVs have been transformed into the Frenet-Serret frame.Formation control laws satisfying five motion constraints(i.e.,linear velocity,linear acceleration,heading rate,climb rate and climb angle)have been designed.The convergence of the control laws has been discussed via the Lyapunov stability tool.In addition,to address the unknown disturbances,an adaptive disturbance observer is exploited.Furthermore,formation control laws involving estimated disturbances are presented as well.The collision avoidance between UAVs is achieved with the artificial potential method.Simulation results obtained using four scenarios verify the effectiveness of the proposed method in situations with constant disturbances and varying disturbances,as well as without disturbances.
基金Supported by the Innovation Foundation of Aerospace Science and Technology(CASC200902)~~
文摘Active disturbance rejection controller(ADRC)uses tracking-differentiator(TD)to solve the contradiction between the overshoot and the rapid nature.Fractional order proportion integral derivative(PID)controller improves the control quality and expands the stable region of the system parameters.ADRC fractional order(ADRFO)PID controller is designed by combining ADRC with the fractional order PID and applied to reentry attitude control of hypersonic vehicle.Simulation results show that ADRFO PID controller has better control effect and greater stable region for the strong nonlinear model of hypersonic flight vehicle under the influence of external disturbance,and has stronger robustness against the perturbation in system parameters.
文摘The disturbance torque generated via solar array drive assembly(SADA) can significantly degrade the key performance of satellite.The discussed SADA is composed of a two-phase hybrid stepping motor and a set of two-stage straight gear reducer. Firstly, the vibration equation of the two-phase hybrid stepping motor is established via simplifying and linearizing the electromagnetic torque.Secondly, based on the vibration equation established, the disturbance torque model of SADA is created via force analysis and force system simplification. Thirdly, for precisely ground measuring the disturbance torque aroused by SADA, a measurement system,including a strain micro-vibrations measurement platform(SMMP) and a set of gravity unloading device(GUD), is designed.Fourthly, the proposed disturbance torque model is validated by measuring and simulating the disturbance torque produced via SADA driving rigid load through GUD. The results indicate that, the proposed disturbance torque model holds the ability to describe the disturbance torque caused by SADA with high precision. Finally, the disturbance torque emitted by SADA driving a flexible load, designed to simulate solar array, is modeled and simulated via using fixed-interface mode synthesis method(FIMSM). All the conclusions drawn from this article do have a meaningful help for studying the disturbance torque produced by SADA driving solar array on orbit.