新型两转动自由度完全解耦并联机构及其特性

针对并联机构内部耦合性给其运动学和动力学分析以及控制系统的开发带来的问题,提出一种新型的两自由度转动解耦并联机构．运用约束螺旋法对机构的自由度和运动特性进行分析,通过修正的Kutzbach-Grübler公式计算出机构自由度数目;利用各构件间几何关系,求解机构位置正反解解析表达式;根据机构输入与输出参数间关系式,推导得到机构雅可比矩阵,进而依据雅可比矩阵表达式,验证了机构的解耦特性,并进而讨论了驱动输入的选择对机构奇异的影响．提出的解耦并联机构丰富了机构构型库,对进一步应用具有理论指导意义．     

A decoupled sliding mode control for a continuum arm

The paper treats the control problem of a class of robots constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The segment control system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. The primary benefit of the proposed method is that the dynamic equations are represented by a set of ODE’s in time instead of PDE’s in time and space, and the new curvature gradient lumped parameter model is used. A sliding mode control system is used in order to achieve the desired shape of the arm. The stability of the closed-loop control system is proven. Numerical simulations and an experimental platform are also provided to verify the effectiveness of the presented approach.     

Supervised Multi‐Rejector of Periodic Disturbances for Nonlinear Systems Using Decoupled State Multimodel

In this paper, a multi‐rejector of periodic disturbances is proposed for discrete‐time nonlinear systems represented by a decoupled state multimodel. We report a decoupled state multimodel repetitive‐predictive control based on a supervised algorithm to ensure reference trajectory tracking and periodic disturbances rejection. Partial predictors associated to the local controllers make the best choice of the most valid partial controller that meets the desired closed loop performances. The effectiveness of the supervised multi‐rejector is shown via a simulation example. The obtained results are satisfactory and show a good rejection of periodic disturbances and reference trajectory tracking.     

背衬对隔声去耦瓦吸声性能的影响

基于传递矩阵法,建立了不同背衬情况下的水下隔声去耦吸声覆盖层模型,讨论了软背衬、硬背衬、单层壳体背衬和双层壳体背衬条件下隔声去耦瓦的吸声性能。结果表明:双层壳体背衬条件下吸声系数曲线存在明显的调制现象,且壳间水层增厚,吸声峰值向低频移动,峰增多、变密,峰值有所减小,而外层壳板厚度变化对吸声系数影响不大;单层壳背衬条件下,钢板的厚度越大,第一吸声峰值向低频移动,且峰值变小;当钢板的厚度达到一定的厚度时,其吸声系数曲线逐渐与刚性背衬下隔声去耦瓦的吸声曲线接近。     

High-rate Decoupled Water Electrolysis System Integrated with α-MoO3 as a Redox Mediator with Fast Anhydrous Proton Kinetics

Hydrogen is a promising alternative to fossil fuels that can reduce greenhouse gas emissions. Decoupled water electrolysis system using a reversible proton storage redox mediator, where the oxygen evolution reaction and hydrogen evolution reaction are separated in time and space, is an effective approach to producing hydrogen gas with high purity, high flexibility, and low cost. To realize fast hydrogen production in such a system, a redox mediator capable of releasing protons rapidly is required. Herein, α-MoO₃, with an ultrafast proton transfer property that can be explained by a dense hydrogen bond network in the lattice oxygen arrays of HxMoO₃, is examined as a high-rate redox mediator for fast hydrogen production in acidic electrolytes. The α-MoO₃ redox mediator shows both a large capacity of 204 mAh g⁻¹ and fast hydrogen production at a current rate of 10 A cm⁻²(≈153 A g⁻¹), outperforming most of the previously reported solid-state redox mediators.     

考虑电网阻抗耦合的模块化多电平换流器交直流侧阻抗通用计算方法

以模块化多电平换流器(modular multilevel converter,MMC)为技术路线的柔性直流输电技术在风电接入、电网异步互联等领域迅速发展。MMC的阻抗建模是分析柔性直流输电系统振荡起源的重要依据。文中分析MMC在交、直流侧激励下的谐波传递机制,建立一种适用于交、直流侧阻抗计算的通用方法。对一次系统频域建模关联了MMC所连接的交、直流侧网络阻抗,并考虑包含解耦双同步参考坐标系锁相环及负序内环控制在内的全部控制模块。通过求解线性方程组对MMC阻抗进行计算,并在PSCAD/EMTDC环境中对双端背靠背MMC系统在多种工况下1～5kHz频段内进行扫频,验证该方法的准确性,并详细分析网络阻抗耦合、控制链路延时、功率等级、负序内环和外环控制等因素对MMC阻抗的影响。     

保留非线性的两级快速P-Q分解状态估计法

提出了一种新的状态估计算法,既保留了量测方程非线性又利用了快速P-Q分解方法,因此数学模型精度高且保留了快速P-Q分解的优点,提高了状态估计的计算精度和速度.采用系统分割方法将大系统分割为多个小系统,分别对每个小系统进行状态估计,然后对各小系统的状态估计结果进行协调,得到整个系统具有同一参考节点的状态估计结果,这样可大大提高状态估计的计算速度,有利于进行大电网的状态估计.在18节点系统上进行的数字仿真实验验证了该方法的有效性.     

三相电压型PWM整流器非线性解耦控制研究

基于非线性系统反馈线性化理论，建立了三相电压型PWM整流器非线性仿射模型，推导出其对应的非线性坐标变换矩阵和非线性状态反馈矩阵，得到了三相电压型PWM整流器反馈线性化模型，提出了三相电压型PWM整流器无功功率和有功功率的解耦控制策略。对三相电压型PWM整流器解耦控制特性进行了细致分析和研究。结果表明，反馈线性化能较好地实现三相电压型PWM整流器的解耦控制。给出的试验结果验证了文中理论研究的正确性。     

关于一种网格运行时结构的若干注记

进程是传统计算机系统的一个核心概念，自1960年出现以来一直沿用至今，进程的一个主要目的是为主体提供一种运行时结构，在操作系统和处理器硬件支持下，代表主体访问和使用各种资源，与传统的单机和并行机计算平台相比，网格计算机中进程所对应的概念面临新的挑战，包括网格资源繁杂、自主控制的条件下的单一系统映像和资源的共享与协同、与特定操作系统的松耦合、时间和空间的流动性、更高级的交互性，提出一种称为网程(grip)的运行时结构，试图解决上述问题，网程运行在网格操作系统之上，代表网格主体，访问和使用网格资源。     

阵列式平面集成磁件的研究

本文从磁路和电路的结合出发，提出了在矩阵变压器上集成电感，通过电路的有效组合实现了解耦集成，形成了阵列式解耦集成磁件，然后，将其平面化，从而形成了阵列式平面集成磁件。阵列式平面集成磁件的平面化和阵列式结构使其达到了轻、小、薄的目的，并降低了损耗。仿真和实验表明本文提出的阵列式平面集成磁件具有良好的性能。