漂浮基柔性关节空间机器人自适应滑模运动控制及振动主动抑制

讨论了关节柔性且系统参数不确定的漂浮基空间机器人系统的动力学建模过程、运动轨迹跟踪控制算法设计及系统柔性振动的主动抑制问题。利用系统动量、动量矩守恒关系和拉格朗日法对系统动力学进行分析,并建立系统动力学方程。基于奇异摄动法将系统分解为表示系统刚性运动部分的慢变子系统和表示系统柔性运动部分的快变子系统。针对慢变子系统提出了一种自适应滑模控制算法。该控制算法是由基于滑模面的等效控制项、自适应控制项和PID反馈控制项组成。因此,它集合了滑模控制、自适应算法和PID技术的优点,且弥补了三种算法各自的缺点。该控制算法能够有效地补偿系统的转动误差和不确定参数,提高控制系统的精度。针对快变子系统,提出基于速度差值的反馈控制算法来抑制柔性关节引起的系统柔性振动,保证系统的稳定性。最后,通过仿真实验证明了提出的混合控制算法的有效性。     

双向粘弹性节理岩体时域等效分析

以双向粘弹性节理岩体为研究对象,基于一种简单等效假定和自适应算法,并结合有限元方法,得到递推格式的等效本构模型和等效粘弹性场计算模型.通过算例,将等效解与基于ANSYS的非均质解进行比较.从计算精度和效率平衡的角度而言,等效模型的结果是令人满意的.     

一种风力机气动计算的全自由涡尾迹模型

采用全自由方式建立风力机尾流场的涡尾迹模型,引入“虚拟周期”的概念,并发展一种自适应松弛因子方法,从而改善了自由尾迹迭代的稳定性,提高了迭代收敛速度。利用建立的自由涡尾迹模型,计算了风力机叶片的尾流场结构、气动性能及叶片载荷,并与实验结果进行了对比分析。结果表明,尖速比越大,自适应松弛因子方法对缩小模型计算时间越有效;全自由涡尾迹模型能准确给出风力机尾流场的结构,包括尾迹的扩张以及叶尖涡和叶根涡的产生、发展和耗散的过程,风轮扭矩与实验数据吻合;叶片载荷分布的计算结果在低风速下与实验值基本一致,但是在大风速下差别较大,说明需要一个准确的失速模型。     

Residual‐based artificial viscosity for simulation of turbulent compressible flow using adaptive finite element methods

In this paper, we present a finite element method with a residual‐based artificial viscosity for simulation of turbulent compressible flow, with adaptive mesh refinement based on a posteriori error estimation with sensitivity information from an associated dual problem. The artificial viscosity acts as a numerical stabilization, as shock capturing, and as turbulence capturing for large eddy simulation of turbulent flow. The adaptive method resolves parts of the flow indicated by the a posteriori error estimates but leaves shocks and turbulence under‐resolved in a large eddy simulation. The method is tested for examples in 2D and 3D and is validated against experimental data. Copyright © 2012 John Wiley & Sons, Ltd.     

Adaptive Runge–Kutta discontinuous Galerkin method for complex geometry problems on Cartesian grid

A Cartesian grid method using immersed boundary technique to simulate the impact of body in fluid has become an important research topic in computational fluid dynamics because of its simplification, automation of grid generation, and accuracy of results. In the frame of Cartesian grid, one often uses finite volume method with second order accuracy or finite difference method. In this paper, an h‐adaptive Runge–Kutta discontinuous Galerkin (RKDG) method on Cartesian grid with ghost cell immersed boundary method for arbitrarily complex geometries is developed. A ghost cell immersed boundary treatment with the modification of normal velocity is presented. The method is validated versus well documented test problems involving both steady and unsteady compressible flows through complex bodies over a wide range of Mach numbers. The numerical results show that the present boundary treatment to some extent reduces the error of entropy and demonstrate the efficiency, robustness, and versatility of the proposed approach. Copyright © 2013 John Wiley & Sons, Ltd.     

一个求解浅水波方程的时域分段展开算法

发展了一种时域分段展开自适应方法求解一维非线性浅水波方程。通过时域分段展开,将一个非线性的时空耦合初边值问题转化为一系列的线性空间边值问题,并采用有限元方法递推求解;通过展开阶数的递进,实现了分段时域的自适应计算,当不同步长时可保持稳定的计算精度。研究结果表明,当步长较大而Heun’s法、四阶Runge-Kutta法不能得到合理结果时,本文算法仍能保证足够的计算精度。     

一种新型频域均衡器在水声通信中的应用

在传统频域均衡器的基础上,结合多载波频移键控调制方式的频谱结构,利用接收信号和参考信号的相关性及均衡器的滤波系数,提出了一种兼具均衡与解调功能的新型频域均衡器结构.该均衡器简单、有效地克服了水声信道中多径传播产生的码间干扰和频率选择性衰落等问题,简化了水声通信系统接收机的复杂度. 新型频域均衡器的解调原理以非相关解调算法为基础,但由于利用了均衡器的计算结果,其差错性能优于传统的非相关解调算法,计算机仿真试验表明,改进后的方法使差错性能提高了2 dB;实际水声通信实验表明,该均衡器能够有效地提高水声通信系统的可靠性,具有很好的应用前景.     

股票市场的长记忆及其动态结构

本文提出了结合平均小波系数法和自回归原始自助法的稳健长记忆检验,蒙特卡罗模拟显示该方法对于短期记忆过程具有稳定性。基于该方法对2005年4月8日至2015年6月30日的中国、美国、香港和德国股市进行了实证分析。全局检验结果表明仅中国的股票市场存在显著的长记忆,并且风险因素无法对长记忆解释,而美国、德国和香港的股市不存在长记忆。基于递增窗口的动态Hurst指数分析显示,金融危机时期4个股市都存在显著的长记忆。2010年后,除中国股市外,其余三个股市几乎不存在长记忆现象。     

Adaptive Fourier decomposition‐based Dirac type time‐frequency distribution

The Dirac‐type time‐frequency distribution (TFD), regarded as ideal TFD, has long been desired. It, until the present time, cannot be implemented, due to the fact that there has been no appropriate representation of signals leading to such TFD. Instead, people have been developing other types of TFD, including the Wigner and the windowed Fourier transform types. This paper promotes a practical passage leading to a Dirac‐type TFD. Based on the proposed function decomposition method, viz., adaptive Fourier decomposition, we establish a rigorous and practical Dirac‐type TFD theory. We do follow the route of analytic signal representation of signals founded and developed by Garbo, Ville, Cohen, Boashash, Picinbono, and others. The difference, however, is that our treatment is theoretically throughout and rigorous. To well illustrate the new theory and the related TFD, we include several examples and experiments of which some are in comparison with the most commonly used TFDs. Copyright © 2016 John Wiley & Sons, Ltd.     

Synchronization of complex networks with time‐varying inner coupling and outer coupling matrices

Synchronization of complex networks with time‐varying coupling matrices is studied in this paper. Two kinds of time‐varying coupling are taken into account. One is the time‐varying inner coupling in the node state space and the other is the time‐varying outer coupling in the network topology space. By respectively setting linear controllers and adaptive controllers, time‐varying complex networks can be synchronized to a desired state. Meanwhile, different influences of the control parameters of linear controllers and adaptive controllers on the synchronization have also been investigated. Based on the Lyapunov function theory, we construct appropriate positive‐definite functions, and several sufficient synchronization criteria are obtained. Numerical simulations further illustrate the effectiveness of conclusions. Copyright © 2017 John Wiley & Sons, Ltd.