基于VMD和互谱分析的供水管道泄漏定位方法

针对低信噪比(SNR)下的供水管道泄漏振动信号用于时延估计泄漏定位误差大的问题,提出基于变分模态分解(VMD)和互谱分析结合的供水管道泄漏定位方法。首先,利用VMD将管道泄漏信号分解为若干个本征模态函数(IMF),对供水管道泄漏信号进行互谱分析确定特征频带;然后,利用IMF分量在特征频带内的能量比例作为选取准则来确定有效IMF分量,并对选取的有效IMF分量进行重构;最后,对重构信号进行时延估计来确定泄漏点位置。为了验证所提泄漏定位算法的有效性,通过仿真和实验分别对互谱与VMD结合、互相关及VMD与相关系数结合3种方法进行研究。实验结果表明,以上3种定位算法的平均相对定位误差分别为2. 53%,8. 62%和16. 86%。     

基于四阶累积量的供水管道泄漏振动信号自适应时延估计

在相关高斯噪声干扰下,特别是在低信噪比时基于互相关的供水管道泄漏振动信号时延估计性能严重下降。因此,提出基于四阶累积量及递归最小二乘(RLS)自适应滤波的供水管道泄漏振动信号时延估计方法。首先,通过自、互四阶累积量分割信号频带,获得含有泄漏振动信号特征的一维切片;然后,引入可变步长的RLS算法,提高收敛速度;最后,利用RLS算法对上述一维切片进行迭代计算,分析滤波器权系数曲线及误差曲线得出时延估计结果。仿真与实验结果表明,该方法能够有效的实现供水管道泄漏定位:在低信噪比与相关高斯噪声背景下,互相关方法失效;与四阶累积量-互相关方法相比,所提方法的平均相对定位误差减少了2.56倍,标准差减小了1.736倍。     

供水管道泄漏定位中基于互谱的时延估计

供水管道泄漏时产生泄漏声波，根据泄漏声波到达安装在管道上的2个传感器的时间差可以估计泄漏位置。减小时延估计的方差必须对信号滤波以提高信噪比，但泄漏信号所在的频带是不能预先确知的。互谱相位谱和相干函数在频域上反映了2个信号的相关性，根据它们估计泄漏信号的频带、设定滤波器截止频率，在较低信噪比的情况下提高滤波效果及检测结果的置信度。实际检测结果表明，该方法减小了泄漏定位的误差。     

基于完全抗混叠DTCWPT和包络谱熵的轴承故障诊断

针对经典小波包和双树复小波包(dual tree complex wavelet package transform,DTCWPT)能量泄漏和频率混叠的缺陷,提出完全抗混叠的DTCWPT改进算法,该算法解决了经典小波包存在负频率以及经典小波包和DTCWPT滤波器频率不完全截止问题。根据高斯白噪声频率充满整个频带的特性,通过小波包变换对高斯白噪声进行分解,利用频带能量泄漏的定量分析方法,验证了改进DTCWPT具有完全的抗频带能量泄漏特性。将改进DTCWPT方法和包络谱熵引入到轴承故障诊断中,该方法的核心是:对轴承振动信号进行改进DTCWPT变换得到不同尺度的分解信号,分别计算各分解信号的包络谱熵,合并熵值较小的几个分量信号的包络谱,最后根据合并的包络谱来检测轴承故障。该方法在消除经典小波包变换和DTCWPT频率混叠和能量泄漏的同时还解决了小波包分量选择盲目的问题。最后应用轴承故障试验数据对该方法进行试验验证,结果表明:改进DTCWPT结合包络谱熵选择的方法能够很好提取出轴承故障特征频率的基频、倍频,提高了轴承故障的诊断效果。     

气体管道泄漏声发射单一非频散模态定位

针对气体管道泄漏声发射信号的多模态、频散特性导致互相关泄漏定位误差大的问题,提出采用单一非频散模态提取的气体管道泄漏声发射定位方法。对检测信号的互谱加窗,并根据模态波数确定窗参数,可获得泄漏声发射信号的单一非频散模态导波的互谱。对单一非频散模态导波的互谱进行傅里叶反变换,得到泄漏声发射中单一非频散模态信号的互相关函数以及时延估计,就可以采用单一非频散模态声速,更准确计算出泄漏位置。对气体管道泄漏进行定位实验,相比用未经分解的泄漏声发射信号进行定位,由于声发射单一非频散模态信号的相关性增强,且选用的声速更准确,定位相对误差平均降低7%以上。这表明,通过提取泄漏信号互谱的单一非频散模态成分进行时延估计,可以提高泄漏检测的有效性和减小定位误差。     

基于EWT及互时频的天然气管道泄漏定位

针对天然气管道泄漏定位的问题,提出一种基于经验小波变换(EWT)及互时频的泄漏定位方法。该方法首先采用EWT对泄漏信号进行分解,获得多个分量,进而提出根据互信息的敏感分量自适应选择算法,获取敏感分量;然后采用互时频法对敏感分量进行时频分析,根据互时频图的最大特征峰值计算时延和相关频率;最后根据频散曲线获得相关声波速度,实现对天然气管道泄漏点定位。实验结果表明,该方法能够实现管道泄漏点定位,与基于EMD的互时频法相比,定位精度明显提高。     

基于LMD包络谱熵及SVM的天然气管道微小泄漏孔径识别

针对管道泄漏信号的非平稳特征以及管道泄漏孔径大小难以识别的问题,提出一种基于局域均值分解包络谱熵及支持向量机的识别方法。该方法对管道泄漏信号进行局域均值分解,得到若干个瞬时频率具有物理意义的乘积函数(production Function, PF)分量;计算各PF分量的峭度值并据此选出包含主要泄漏信息的分量作为主PF分量,对这些分量进一步采用小波包分解能量法进行分析并重构;再对重构后的主PF分量进行希尔伯特变换求取包络谱,结合信息熵的概念提出包络谱熵并计算熵值;将归一化包络谱熵作为泄漏信号特征输入支持向量机分类器中,用以区分不同的泄漏孔径,完成对泄漏孔径的识别。通过试验采集大量的管道泄漏信号进行处理及分析,试验结果表明该方法能有效识别不同泄漏孔径类别。     

基于改进双树复小波变换的轴承多故障诊断

针对双树复小波变换产生频率混叠的缺陷,提出了改进双树复小波变换的轴承多故障诊断方法,该方法综合利用了双树复小波包变换和经验模态分解技术。首先,利用双树复小波变换将振动信号分解成不同频带的分量;然后,将各小波分量进行经验模态分解,获得各小波分量的主频率分量信号;最后,计算各小波分量的主频率分量信号的包络谱,根据包络谱识别齿轮箱轴承的故障部位和类型。通过仿真信号和齿轮箱轴承多故障振动实验信号的研究结果表明,该方法不仅消除了频率混叠现象,提高了信噪比和频带选择的正确性,而且提高了从强噪声环境中提取瞬态冲击特征的能力,能有效识别轴承的故障类型。     

基于小波包自适应Teager能量谱的滚动轴承早期故障诊断

针对滚动轴承早期故障特征信息难以识别以及从小波包分解后的频带不能有效确定并自适应提取共振带的问题,提出了频带幅值熵的概念。在此基础上,将小波包变换和Teager能量谱结合,提出了基于小波包变换自适应Teager能量谱的早期故障诊断方法。该方法首先利用小波包对采集到的振动信号进行分解,并计算各子带的频带幅值熵。然后将熵值按升序排列后依次作为阈值,提取频带幅值熵大于阈值的子带,依据峭度指标确定最佳熵阈值以及小波包最佳分解层数,从而自适应并且有效地提取出共振带。最后对共振带进行Teager能量谱分析,即可从中准确地识别出轴承的故障特征频率。通过信号仿真与实验数据分析验证了该方法的有效性。     

小波包能量谱在滚动轴承故障诊断中的应用

提出了基于小波包能量谱的滚动轴承故障诊断方法。首先,以6406轴承为例采集不同工况的振动信号,然后对试验数据进行小波包变换,振动信号被分解到独立的频段,不同频带内的信号能量变化反映了运行状态的改变,提取各频带小波包能量谱为特征向量,最后应用基于模糊聚类的故障诊断方法。经对大量实测数据的处理和分析,能够比较准确地诊断出轴承的故障。     

三绕组变压器的双绕组等效建模及在Matpower中的应用

针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。     

On the Relation of Load to Average Gap in the Contact Between Surfaces with Longitudinal Roughness

A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load.     

电站锅炉模糊风险评价方法研究与应用

针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。     

交通荷载作用下桥梁结构参数识别方法

应用动力节点加载法,将作用在桥梁上的交通荷载转化为等效节点荷载,再用两步构造法识别结构物理参数.第1步,用Newmark-β方法变换结构运动方程,并用结构的加速度响应求得变换空间内的位移、速度和加速度响应;第2步,基于最小二乘原理,构造出变换空间内求解结构参数的递推式,进行结构物理参数识别.数值模拟结果表明,在交通荷载作用下,该方法能够快速、准确地进行桥梁结构参数识别.     

RLS and LMS blind adaptive multi-user detection method and comparison in acoustic communication

RLS and LMS blind adaptive multi-user detection algorithm and multi-user detector was proposed to solve the problem of multi-user signal detection problem encountered in underwater acoustic communication networks.In simulation analysis,RLS and the LMS blind adaptive multi-user detector were designed and tested for synchronous and asynchronous multi-user communication process.The results of SIR comparison and MMSE comparison show that,both of the two methods can realize blind adaptive detection when any user change in multi-user communication,during this process,the training communication sequences are not needed.The RLS algorithm has about 5 dB higher in SIR compared with LMS algorithm,and the convergence velocity of RLS algorithm is also higher than LMS algorithm when the communication users change.RLS algorithm has better ability in multi-user detection than that of LMS algorithm,and it has great attraction and guiding significance for solving the problem of multiple access interference(MAI) in multi-user communication.     

Robust Impedance Control of Robots Using an Adaptive Interaction Force Observer

For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type ...     

Research on key techniques of expendable conductivity temperature depth measuring system

This paper analysis the developing of expendable conductivity temperature depth measuring system(XCTD)and introduce its principle of measuring about temperature,salinity and depth of ocean.Some key techniques are put forward.According to the real needs of XCTD,conductivity sensor with high sensitivity is designed by principle of electromagnetic induce,the ocean conductivity from induced electromotive force has been calculated.Adding temperature correction circuit would help to reduce error of conductivity measurement because of sharply changing temperature.Advanced temperature measuring circuit of high precision and the constant current source is used to weaken effect of self-heating of resistance and fluctuation of the source.On respect of remote data transmission,LVDS is a good choice for the purpose of guarantee the quality of data transmitted and the transmission distance is reaching to thousand meters in the seawater.Modular programming method is also brought into this research aimed at improve the stability,reliability and maintainability of the whole measuring system.In February,2015,the trials in South China Sea demonstrate that the developed XCTD realize effective measurement at a speed of 6 knots and detection depth at 800 m.The consistency coefficient of the acquired data is greater than 0.99 and the success rate of probe launching is above 90%.     

CHARACTERISTCS OF FLUID FILM IN OPTIMIZED SPIRAL GROOVE MECHANICAL SEAL

In order to investigate the sealing performance variation resulted from the thermal deformation of the end faces, the equations to calculate the fluid film pressure distribution, the bearing force and the leakage rate are derived, for the fluid film both in parallel gap and in wedgy gap. The geometrical parameters of the sealing members are optimized by means of heat transfer analysis and complex method. The analysis results indicate that the shallow spiral grooves can generate hydrodynamic pressure while the rotating ring rotates and the bearing force of the fluid film in spiral groove end faces is much larger than that in the flat end faces. The deformation increases the bearing force of the fluid film in flat end faces, but it decreases the hydrodynamic pressure of the fluid film in spiral groove end faces. The gap dimensions which determine the characteristics of the fluid film is obtained by coupling analysis of the frictional heat and the thermal deformation in consideration of the equilibrium condition of the bearing force and the closing force. For different gap dimensions, the relationship between the closing force and the leakage rate is also investigated, based on which the leakage rate can be controlled by adjusting the closing force.     

Quantum Cooperative Robotics and Autonomy

The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci...     

OPTIMIZATION METHOD ON IMPELLER MERIDIONAL CONTOUR AND 3D BLADE

An optimization method for 3D blade and meridional contour of centrifugal or mixed-flow impeller based on the 3D viscous computational fluid dynamics (CFD) analysis is proposed. The blade is indirectly parameterized using the angular momentum and calculated by inverse design method. The design variables are separated into two categories: the meridional contour design variables and the blade design variables. Firstly, only the blade is optimized using genetic algorithm with the meridional contour remained constant. The artificial neural network (ANN) techniques with the training sample data schemed according to design of experiment theory are adopted to construct the response relation between the blade design variables and the impeller performance. Then, based on the ANN approximated relation between the meridional contour design variables and impeller performance, the meridional contour is optimized. Fewer design variables and less calculation effort is required in this method that may be widely used in the optimization of three-dimension impellers. An optimized impeller in a mixed-flow pump, where the head and the efficiency are enhanced by 12.9% and 4.5% respectively, confirms the validity of this newly proposed method.