惯性平台稳定回路多闭环串级控制

针对惯性平台稳定回路中采用速率陀螺构成单速度环伺服控制系统的不足,本文提出采用直流测速机为电机转速测量反馈元件构成数字速度内环,采用陀螺为载体转速测量元件构成数字稳定外环组成双速度闭环串级控制结构.在常规的跟踪系统PI控制方式中,实现了由电流环,速度环,稳定环构成的三闭环控制模式,并和电流环,单速度稳定环构成的双闭环控制方式进行比较.实验结果表明:在扰动频率较高环境下,采用单速度环即可获得较好的稳定精度.而采用双速度环提高了系统对低频的抑制能力,并且对摩擦等非线性因素有更好的抑制作用.     

角度无静差陀螺稳定光电探测平台设计与实现

应用于地面战车的高精度陀螺稳定和跟踪装置在开炮瞬间会受到强烈冲击,易造成陀螺损坏及平台翻台.针对此问题,选用抗冲击力强的光学速率陀螺作为敏感元件,并针对速率陀螺反馈加传统PID控制不能实现稳定角度无静差的问题,尝试了一种PⅡ2(比例 积分 二重积分)加前置滤波的校正形式,通过极点配置的方法设计了平台速度稳定环与位置指令环.在3 000gcm干扰力矩的作用下,动态误差为30",静态角误差为零.结果表明,采用PⅡ2的控制结构,提高了系统的稳定刚度和稳态精度.     

陀螺稳定跟踪平台的滑模摩擦补偿双环控制研究

研究了应用于小型地面移动机器人的陀螺稳定跟踪平台的控制原理及控制效果.对陀螺稳定跟踪平台单环控制结构进行了分析,指出平台受到的外来力矩干扰是稳定环在惯性空间受到的载体姿态变化的干扰和电机传动轴受到的轴间摩擦力的干扰.针对这种情况,将滑模控制(SMC)应用于陀螺稳定平台的速度环摩擦补偿控制,结合PID稳定环,构造了PID...     

舰载视轴稳定系统的变结构控制研究

为了消除舰船摇摆对舰载光电跟踪设备稳定精度的影响,提高系统视轴稳定性能,根据舰船摇摆对视轴偏差影响的随机性,在描述视轴稳定回路的基础上,设计视轴稳定滑模变结构控制器,并引入约束条件,以减弱系统抖振.利用AR序列预测估计方法,实现视轴偏差预测估计,完成视轴稳定滑模变结构控制律的求取,并利用matlab仿真软件,对视轴稳定滑模变结构控制律进行数字计算.仿真结果表明,该控制方法能有效地消除了陀螺测量随机噪声带来的影响,减弱了系统抖振,对舰载视轴稳定有良好的性能.     

陀螺稳定平台速度环的一种神经网络自适应控制方法

提出一种利用神经网络的自学习特性,对陀螺稳定平台的速度环进行自 适应控制的方法。给出了采用自适应神经网络控制方法和采用传统频域校正控制方法的对比实验结果。实验结果表明,此种算法在应用中是很有效的。     

捷联稳定技术在两轴光电跟踪仪中的应用

载体平台摇摆对两轴光电跟踪仪光轴指向的扰动是制约光电跟踪仪跟踪稳定性和跟踪精度提高的关键因素.本文首先从控制原理出发比较了传统速率稳定方式与捷联稳定方式,然后针对两轴光电跟踪仪捷联稳定方式建立了扰动作用于光轴指向分量的数学模型,最后对某型光电跟踪仪采用了捷联稳定技术,并设计了相应的伺服系统,试验表明此系统设计合理,满足...     

安全稳定控制系统在鄂东环网中的应用

保证电力系统的安全稳定运行是所有电力系统员工极为重视的问题,其中防止系统暂态稳定破坏的控制仍然是当前电力系统中极为迫切的任务。本文主要对安全稳定控制系统在鄂东环网中的应用进行了分析,可供大家交流。     

基于改进欧拉法的电力系统暂态稳定分析

本文通过对电力系统主要元件机电暂态过程进行建模分析来确立算法,进而采用FORTRAN语言对电力系统暂态稳定计算进行设计程序。本程序包括采用牛顿拉夫逊法计算出电力系统扰动前的正常运行状态、求电力系统扰动情况下的初值条件、采用直接法解网络的代数方程等主要程序模块。最后根据计算出的发电机转子相对角度而绘出发电机转子摇摆曲线,据此来判定系统是否暂态稳定。     

惯性稳定平台建模及振动传递率分析

根据对称性,在任意一个自由度方向将惯性稳定平台简化为单自由度系统。根据动力学原理,建立了惯性稳定平台的驱动模型和数学模型。万向环和柔性支撑组合使用让惯性稳定平台系统结构紧凑,对线振动不敏感,能抑制部分角振动。转动惯量比较小时,驱动力矩主要由控制带宽决定。依据数学模型推导出振动传递率和惯性稳定平台系统扭转固有频率以及环境振动角频率之间的关系,惯性稳定平台系统结构上对大于6Hz的环境角扰动能够起到隔振作用。惯性稳定平台在两个自由度方向的闭环控制带宽都达到了100Hz,但系统闭环后的隔振效果有待进一步研究。     

加劲环式地下埋管的外压稳定分析

加颈环式地下埋管的稳定问题是埋藏式压力钢管设计中最棘手的问题之一，本文结合工程实例比例分析了国内外加颈环式地下埋管外压稳定的计算方法，就外压稳定的计算理论提出了自己的观点。     

The Research of Anti-Wear Properties of Organomolybdenum Compounds in the Engine Oils

A four-ball tester was used to evaluate the anti-wear performance of three kinds of organomolybdemun compounds in the engine oils, i. e., molybdenum dialkyldithiophosphate (MoDDP), molybdenum dialkyldithiocarbamate ( MoDTC), and sulphur and phosphorus freeorganomolybdeum (Molybdate). The results indicate that a low concentration of MoDDP doesn' t improve the anti-wear properties of the commercial engine oils, but a high concentration of MoDDP can obviously improve the anti-wear properties and the load-carrying capacity of the engine oils. MoDTC doesn' t improve the antiwear properties of the engine oils, but worsens the anti-wear properties of the oils. Signifi can timprove ment of frictional and wear characteristics is obtained with Molybdate added in the commercial engine oils and the formulated oils.     

Effect of Permeable Crystalline Material on Steel Reinforcement Corrosion of Concrete

Permeable crystalline materialcan permeate into pores and cracks of concrete and catalyze the reaction between Ca(OH) 2and unhydrated cement to generate a great quantity needle non-soluble crystals, which can stop up the pores and cracks of concrete, and increase the impermeability of concrete. This paper reported the results of a study conducted to evaluate steel reinforcement corrosion of concrete specimens uncoated and coated with permeable crystalline material as well as mixed with the permeable crystalline material. The properties evaluated for corrosion test were water impermeability, water absorption, compressive strength and potential. The results of water impermeability, water absorption, compressive strength clearly showed that the permeable crystalline material could prohibit water, any soluble salts and moisture from penetrating the concrete to cause corrosion, leaking, and other problems, and it did increase the compressive strength, which was favorable for protection of corrosion of reinforcing steel. Moreover, it was concluded from the potential-time curve that the steel reinforcement of uncoated specimen was in the state of activation whereas that of other specimens coated and mixed with the permeable crystalline material was in the state of inactivation. Above all, it was indicated that the permeable crystalline materialis very effective to protect the steel reinforcement of concrete from corrosion.     

The Research and Application About "Dry Peeling Off" Technology for Airplane Surface Paint Layer

In this paper, the principle of spurting take off lacquer were introduced; and with orthogonal method the unsaturate polyester was prepared ;it was easy to peel airplane paint layer off with this material and equipment.     

Quality Study of Honeycomb Core Shaping Without Wax Stabilization

Sandwich panels utilizing honeycomb cores result in lightweight, high-strength units that are very rigid. Indeed, they give honeycomb panels the best strength-to-weight ratio of any construction type available. Conventionally, the wax is poured into the cell of the core to strengthen the structure and prevent the core from being crushed during milling. Much time and labor is required to wax, mill, and clean the cores. In this study, the process of pouring wax into the core was skipped. In other words, the cutter directly milled the core. Experiments showed that the compressive strength of the core produced without wax stabilization was only 3% lower than that of cores produced using the traditional method. In addition, the drum peel strengths of cores produced without wax stabilization were 38.4% higher than cores produced using the traditional method, in which residual wax seriously polluted the adhesive. It was also found that eliminating the wax process can reduce costs.     

Certification Becomes Important for the I Quality; and Safety Supervision of the Chinese Liquor Sector

The end of 2007, over 200 unit products of more than 80 Chinese firms have passed the quality grade certification for liquor products. These products involve distilled spirits, beer, wine, yellow wine, fruit syrup wine and others, and cover over 80% of the national top-branded liquor products.……     

Deposition and Coating Properties on CVD Tungsten

Surface characterization and microstructure studies are performed on chemical vapor deposited (CVD) tungsten coating. There is about 2 μm thickness diffusion layer of tungsten in the molybdenum substrate. The thermal shock test shows tungsten coating has good adhesion with molybdenum substrate, but the elements of oxygen and carbon in the tungsten coating have the bad affection to the adhesion. The result of high-temperature diffusion experiment is the diffusion rate from molybdenum substrate to tungsten coating is faster.     

Analysis of marine hydrobiont lipid extracts as possible cryoprotective agents

We studied a combined effect of the cryoprotectants both of lipid and carbohydrate origin at the presence of DMSO or without it on cell viability and the RNA synthesis in the embryonic mollusc and echinoderm cell cultures obtained at different developmental stages. Cryoprotective properties of exogenous lipids correlated with their thermotropic behavior. Lipid extracts from marine hydrobiontes, which thermal transitions are characterized by relatively small part of calorimetric thermogram area lying at temperatures above 0 °C (6–18%), were found to possess a considerable cryoprotective activity. The results are discussed in relation to the prediction of the cryoprotective activity of lipid extracts for marine animal cells. In addition, it was found that marine invertebrate cells can be cryopreserved without DMSO at the presence of trehalose and lipid extracts of some marine hydrobiontes.     

In-process thermal treatment of polylactic acid in fused deposition modelling

Polylactic acid (PLA) is one of the most widely used open source fused filament fabrication materials due to its ease of extrusion, biodegradability, and mechanical strength. The mechanical strength of PLA largely depends on the proper growth of its semi-crystalline structure, which can be severely impaired by a low rate of crystallization, particularly in open source printers. This can be further aggravated by the non-uniform thermal distribution of heat that causes improper curing among the extruded beads of the printing material. As a result, PLA printed on open source printers does not achieve the best mechanical properties. This research, for the first time, proposes an additive-free solution implemented through a detailed set of experimentation to improve the curing rate through in-process temperature variations to cure the joints among the beads. Scanning electron microscopy (SEM), differential scanning calorimetry (DSC) and Fourier transform infrared (FTIR) spectroscopy is used to confirm the improvements in the bead joints. This work is conducted in two phases of experiments. In the first phase, a full factorial ANOVA is used to investigate various process parameters and the important variables are used in the second phase to print test specimens in four different sets.     

Low-Temperature Properties of Silver

Pure silver is used extensively in the preparation of high-temperature superconductor wires, tapes, films, and other configurations in which the silver not only shields the superconducting material from the surrounding materials, but also provides a degree of flexibility and strain relief, as well as stabilization and low-resistance electrical contact. Silver is relatively expensive, but at this stage of superconductor development, its unique combination of properties seems to offer the only reasonable means of achieving usable lengths of conductor. In this role, the low-temperature physical (electrical, thermal, magnetic, optical) and mechanical properties of the silver all become important. Here we present a collection of properties data extracted from the cryogenic literature and, to the extent possible, selected for reliability.     

Early ironwork in Biscay: Survey,excavation, experimentation and materials characterization. An integral study of the mountainside ironworks (ferrerías de monte or “haizeolak”)

ABSTRACT

The production of iron in Biscay (Basque Country, Spain) has been a hallmark of this territory of the North of the Iberian Peninsula throughout its history. The Archaeology team of the Basque Country Mining Museum has spent 13 years, so far, studying the origins of this activity through the evidences left at the old pre-hydraulic iron production workshops known as mountainside ironworks (ferrerías de monte) or haizeolak. It has catalogued 170 archaeometallurgical sites of this type in Biscay, and the archeological excavation of some of them has led to the knowledge of the different stages of the production process that took place in these workshops. The team has also experimentally reproduced the work carried out in a mountainside ironworks from the High Middle Ages, and it has currently started the characterization process of this type of activity through the study of the collected materials.