简介:Liquid-solid(L-S)masstransfercoefficients(Ks)werecharacterizedinagas-liquid-solid(G-L-S)three-phasecountercurrentmagneticallystabilizedbed(MSB)usingamorphousalloySRNA-4asthesolidphase.Effectsofsuperficialliquidvelocity,superficialgasvelocity,magneticfieldstrength,liquidviscosityandsurfacetensionwereinvestigated.ExperimentalresultsindicatedthattheexternalmagneticfieldincreasedKsinthree-phaseMSB,ascomparedtothoseinconventionalG-L-Sfluidizedbeds;thatKsincreasedwithmagneticfieldstrength,superficialgasandliquidvelocitiesanddecreasedwithliquidviscosityandsurfacetension;andthatKsshoweduniformaxialandradialdistributionsexceptforsmallincreasesclosetothewall.DimensionlesscorrelationswereestablishedtoestimateKsoftheG-L-ScountercurrentMSBusingSRNA-4catalyst,withanaverageerrorof3.6%.
简介:Thispaperestablishesanon-linearfiniteelementmodel(NFEM)ofL4-L5lumbarspinalsegmentwithaccuratethree-dimensionalsolidligamentsandintervertebraldisc.Forthepurpose,theintervertebraldiscandsurroundingligamentsaremodeledwithfour-nodalthree-dimensionaltetrahedralelementswithhyper-elasticmaterialproperties.Puremomentof10N·mwithoutpreloadisappliedtotheuppervertebralbodyundertheloadingconditionsoflateralbending,backwardextension,torsion,andforwardfle...
简介:DrivenbycuriosityaboutpossibleflightoptionsfortheChang’e-2spacecraftafteritremainsattheSun-EarthL2point,effectiveapproachesweredevelopedfordesigningpreliminaryfuel-optimalnear-Earthasteroidflybytrajectories.Theapproachesincludetheuseofmodifiedunstablemanifolds,gridsearchofthemanifolds’parameters,andatwo-impulsemaneuverfororbitalphasematchingandz-axisbiaschange,andaredemonstratedtobeeffectiveinasteroidtargetscreeningandtrajectoryoptimization.Asteroidflybysareexpectedtobewithinadistanceof2×107kmfromtheEarthowingtotheconstrainedEarth-spacecraftcommunicationrange.Inthiscase,thespacecraft’sorbitalmotionissignificantlyaffectedbythegravitiesofboththeSunandtheEarth,andtherefore,theconceptofthe"heliocentricoscillating-Keplerorbit"isproposed,becausetheclassicalorbitalelementsoftheflybytrajectoriesreferencedintheheliocentricinertialframeoscillatesignificantlywithrespecttotime.Theanalysisandresultspresentedinthisstudyshowthat,amongtheasteroidswhoseorbitsarethemostaccuratelypredicted,"Toutatis","2005NZ6",or"2010CL19"mightbeencounteredbyChang’e-2inlate2012or2013withtotalimpulseslessthan100m/s.
简介:针对四旋翼无人机鲁棒自适应飞行问题,提出了一种基于指数收敛的控制方法。考虑到四旋翼系统的欠驱动、强耦合等非线性特性,采用线性化反馈控制策略实现对其轨迹追踪飞行能力的基本控制;针对线性化反馈控制易受系统内外部未知干扰等影响,采用基于指数收敛干扰观测器组合控制设计,实现四旋翼飞行的鲁棒与自适应控制;线性反馈及状态观测器控制系统基于指数收敛稳定。进行了仿真分析,结果表明,干扰观测器对四旋翼系统中存在的未知干扰具有很好的估计能力,所设计的基于指数收敛控制系统,结构简单,且具有较强的干扰抑制能力和较高的系统稳定性,满足四旋翼无人机的鲁棒及自适应飞行能力要求。
简介:针对四旋翼无人机轨迹追踪问题,提出了一种基于扩张状态观测器的鲁棒滑模控制方法。考虑无人机系统受到内外部扰动、线速度未知等不确定性影响,通过引入扩张状态观测器,对系统不确定因素进行实时估计并给予补偿,实现了系统对扰动的鲁棒性和对环境的高度适应性。同时,滑模控制通过引入切换函数来消除干扰及不确定项,但较大的切换增益会引起系统颤振,因此,干扰和不确定项是颤振的主要来源,利用扩张状态观测器来估计干扰及不确定项并加以补偿,消除了颤振。利用Lyapunov理论,证明了控制系统的稳定性。系统仿真实验结果表明,所提出的控制方法能够保证四旋翼无人机轨迹追踪的鲁棒性,旋翼转速最大跳变幅值降低86.4%-94.5%,提高了系统稳定性。