基于控制变量参数化方法的自由漂浮空间机器人路径规划研究

针对自由漂浮空间机器人传统路径规划方法对基座卫星扰动较大的问题，提出了一种基于控制变量参数化的路径规划方法。该方法将路径规划问题转化成以基座姿态扰动最小为目标函数并满足一系列约束条件的最优控制问题，并采用控制变量参数化方法进行离散化处理，将最优控制问题转化成求解非线性规划问题，并给出了完整的理论收敛性证明，从而准确地估计出自由漂浮空间机器人末端执行器的最优路径。仿真结果表明，与传统的分解加速度方法相比，该方法得到的运动路径所引起的基座卫星姿态扰动为0.104rad，相比传统方法降低了17.53%，验证了所提路径规划方法的有效性与最优性。     

煤矿冲击地压与冒顶复合灾害研究

随着煤矿向深部发展,矿井动力灾害既表现出冲击地压的部分特征,又表现出冒顶的部分特征。2种典型的灾害打破以往冒顶与冲击地压的发生具有一种互为逆向性的认知规律,在深部高应力煤巷,特别是留顶煤巷道中出现了相互诱导、复合发生的新灾害类型。在总结山东、山西和新疆矿区典型巷道冲击致顶板(顶煤)动力灾害特征的基础上,提出了深部巷道冲击地压与冒顶复合灾害的概念、机理与分类,指出复合灾害机理关键点在于揭示巷道整体系统和破碎区子系统的稳定原理及其2者间的相互影响。建立了巷道发生复合灾害的力学模型,根据扰动响应失稳判据,提出并得到了巷道发生复合灾害的临界应力Pcr、临界软化区半径ρ_cr和最大容许采扰应力增量σ_max,厘清了灾害发生的主控因素,分析了煤岩冲击倾向指数K、支护强度ps、巷道半径ρ₀、煤岩强度σ_c等对灾害发生的影响规律,同时阐明了围岩塑性软化、破碎深度随地应力增加的发育规律。研究结果表明,破碎发育巷道的动力失稳主体为弹性区、软化区与破碎区构成的不稳定系统,垮落主体为破碎区;稳定的破碎区提升了巷道冲击启动临界值,使其启动难度增大,但破碎区的发育又易引起顶煤垮落;巷道稳定支护是解决复合灾害的关键,科学合理支护既能有效调控围岩破碎防冒,又能提升冲击启动临界值。通过理论研究,揭示了巷道冲击地压与冒顶复合灾害的发生机理,阐明了巷道软化与破碎区及其稳控支护对深部破碎发育巷道动力灾害防治的重要性。     

The three Rs of river ecosystem resilience: Resources,recruitment, and refugia

Resilience in river ecosystems requires that organisms must persist in the face of highly dynamic hydrological and geomorphological variations. Disturbance events such as floods and droughts are postulated to shape life history traits that support resilience, but river management and conservation would benefit from greater understanding of the emergent effects in communities of river organisms. We unify current knowledge of taxonomic‐, phylogenetic‐, and trait‐based aspects of river communities that might aid the identification and quantification of resilience mechanisms. Temporal variations in river productivity, physical connectivity, and environmental heterogeneity resulting from floods and droughts are highlighted as key characteristics that promote resilience in these dynamic ecosystems. Three community‐wide mechanisms that underlie resilience are (a) partitioning (competition/facilitation) of dynamically varying resources, (b) dispersal, recolonization, and recruitment promoted by connectivity, and (c) functional redundancy in communities promoted by resource heterogeneity and refugia. Along with taxonomic and phylogenetic identity, biological traits related to feeding specialization, dispersal ability, and habitat specialization mediate organism responses to disturbance. Measures of these factors might also enable assessment of the relative contributions of different mechanisms to community resilience. Interactions between abiotic drivers and biotic aspects of resource use, dispersal, and persistence have clear implications for river conservation and management. To support these management needs, we propose a set of taxonomic, phylogenetic, and life‐history trait metrics that might be used to measure resilience mechanisms. By identifying such indicators, our proposed framework can enable targeted management strategies to adapt river ecosystems to global change.     

冠状动脉系统的微分积分终端滑模混沌抑制

冠状动脉系统的混沌现象会导致严重的健康问题。以非线性冠状动脉系统为研究对象，建立了不确定性冠状动脉系统动力学模型，提出了不确定性冠状动脉系统的微分积分终端滑模混沌抑制方法，针对该模型的不确定性设计了扰动观测器，根据Lyapunov理论证明了所设计控制系统的稳定性，通过仿真实验验证了所提出的混沌抑制方法的有效性和可行性。     

An Improved Torque Sensorless Speed Control Method for Electric Assisted Bicycle With Consideration of Coordinate Conversion

In this paper, we propose an improved torque sensorless speed control method for electric assisted bicycle, this method considers the coordinate conversion. A low-pass filter is designed in disturbance observer to estimate and compensate the variable disturbance during cycling. A DC motor provides assisted power driving, the assistance method is based on the real-time wheel angular velocity and coordinate system transformation. The effect of observer is proved, and the proposed method guarantees stability under disturbances. It is also compared to the existing methods and their performances are illustrated through simulations. The proposed method improves the performance both in rapidity and stability.      

逆断层下盘工作面回采扰动引发断层活化特征的试验研究

为分析逆断层下盘工作面回采对断层面错动失稳影响,在双轴等压加载条件下,试验获得了逆断层下盘煤层回采扰动下断层活化失稳特征。结果表明:回采工作面围岩由内向外形成采动卸压区、支承升压区、原始应力区的动态演化将诱发断层构造错动活化,且逆断层构造更易受回采工作面扰动区影响;双向等压条件下逆断层下盘煤层开挖,垂直方向扰动与水平方向扰动载荷比由1逐渐增加至6,断层面发生离层或剪滑失稳的危险升高;断层构造面附近应变呈不均匀分布,且煤层处应变明显高于顶、底板岩层;煤层开挖引发的声发射事件84%能量分布在10-13~10-10 J,主要分布于煤层顶板岩层,且跨越断层面声发射事件较少,表明断层构造对应力扰动有阻断作用;开挖煤层与断层面交叉处是声发射事件集聚区域,发生错动失稳危险性较高。对比赵楼煤矿1303工作面实际矿震数据,矿震震源与试验声发射源空间分布特征具有一定相似性,佐证了类逆断层组合结构岩石试验方法的可行性。     

Progressive fracture processes around tunnel triggered by blast disturbances under biaxial compression with different lateral pressure coefficients

To investigate the progressive fracture processes around a tunnel triggered by static stress and dynamic disturbance, experiments and numerical simulations were performed. The results show that the spatial distributions of acoustic emission (AE) events become very different as lateral pressure coefficients change. The combined effect of static stress and dynamic disturbance causes the damage around the tunnel, and initial stress conditions control the damage morphology. The blast disturbance cannot fundamentally change the damaged area but will deepen the extent of damage and accelerate the failure speed. The more significant the difference between the vertical and horizontal stresses is, the higher the impact on the tunnel by the dynamic disturbance is. The AE activity recovers to a relatively stable state within a short time after the blast and conforms to power-law characteristics.     

Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy.     

An enhanced anti-disturbance attitude control law for flexible spacecrafts subject to multiple disturbances

As well-known disturbance rejection methods, active disturbance rejection control and disturbance observer-based control can effectively improve the control performances of complex systems in the presence of disturbances. However, the accurate rejection of multiple disturbances for control systems of practical engineering, for example, the attitude control system of flexible spacecraft, is still a bottleneck problem. In order to further improve the anti-disturbance capability and reduce the conservativeness, this paper proposes a novel enhanced anti-disturbance control law for the attitude control system of flexible spacecraft by combining active disturbance rejection control and disturbance observer-based control in a unified framework. More specifically, the disturbance from flexible vibration is described by an uncertain exogenous system based on the partially known information including elastic damping ratios and modal frequencies. The disturbance observer-based control is utilized to estimate and thereby reject this disturbance. On the other hand, the other disturbances such as external environmental disturbance and complex model nonlinearity are merged into a equivalent disturbance with bounded derivative, which is compensated by using the active disturbance rejection control law. Stability and robustness analysis are carried out for the disturbance observer and extended state observer. Finally, simulation results of low-earth-orbit flexible satellite are presented to verify the effectiveness of proposed methods.     

Adaptive sliding mode current control with sliding mode disturbance observer for PMSM drives

This paper focuses on the current control of a permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and external disturbances. To improve the performance of the PMSM current loop in terms of the speed of response, tracking accuracy, and robustness, a hybrid control strategy is proposed by combining the adaptive sliding mode control and sliding mode disturbance observer (SMDO). An adaptive law is introduced in the sliding mode current controller to improve the dynamic response speed of the current loop and robustness of the PMSM drive system to the existing parameter variations. The SMDO is used as a compensator to restrain the external disturbances and reduce the sliding mode control gains. Experiments results demonstrate that the proposed control strategy can guarantee strong anti-disturbance capability of the PMSM drive system with improved current and speed-tracking performance.