磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

Highly stretchable self-sensing actuator based on conductive photothermally-responsive hydrogel

Soft robots built with active soft materials have been increasingly attractive. Despite tremendous efforts in soft sensors and actuators, it remains extremely challenging to construct intelligent soft materials that simultaneously actuate and sense their own motions, resembling living organisms’ neuromuscular behaviors. This work presents a soft robotic strategy that couples actuation and strain-sensing into a single homogeneous material, composed of an interpenetrating double-network of a nanostructured thermo-responsive hydrogel poly(N-isopropylacrylamide) (PNIPAAm) and a light-absorbing, electrically conductive polymer polypyrrole (PPy). This design grants the material both photo/thermal-responsiveness and piezoresistive-responsiveness, enabling remotely-triggered actuation and local strain-sensing. This self-sensing actuating soft material demonstrated ultra-high stretchability (210%) and large volume shrinkage (70%) rapidly upon irradiation or heating (13%/°C, 6-time faster than conventional PNIPAAm). The significant deswelling of the hydrogel network induces densification of percolation in the PPy network, leading to a drastic conductivity change upon locomotion with a gauge factor of 1.0. The material demonstrated a variety of precise and remotely-driven photo-responsive locomotion such as signal-tracking, bending, weightlifting, object grasping and transporting, while simultaneously monitoring these motions itself via real-time resistance change. The multifunctional sensory actuatable materials may lead to the next-generation soft robots of higher levels of autonomy and complexity with self-diagnostic feedback control.     

乙炔在磁稳定床中的选择性加氢研究

 制备了一种磁性Pd/Al₂O₃催化剂，采用磁稳定床考察了活性组分负载量、反应条件及CO浓度对乙炔加氢反应性能的影响。结果表明，当反应温度80℃、反应压力1.5MPa、空速9000h－1、磁场强度（H）25kA/m时，乙炔转化率为100％，乙烯选择性可达81％，具有优良的乙炔加氢活性和乙烯选择性，优于相同反应条件下的进口催化剂；250h稳定性实验结果表明，磁性Pd/Al2O3催化剂具有良好的初活性和乙烯选择性，催化剂性能稳定。     

智能化磁控谐振高压试验系统研究

目前电网智能化水平的提升对高压试验的智能化和试验效率也有了更高的需求,为解决现有的高压试验电源在高压交流绝缘试验中存在的不足,提升高压试验的效率,提出了一种智能化磁控谐振高压试验系统。该试验系统集升压、补偿和调谐于一体,具有升压调节平滑连续,结构紧凑等优势,可用于工频耐压试验。阐述了该系统的结构组成与基本原理,并搭建了该试验系统仿真模型,通过研究空载和负载运行特性验证了该系统原理的正确性。     

基于磁控电感低压电网线电压调节器的研究

为解决低压电网线路中由于电压调节技术原因导致电压畸变,提出了一种新型低压电网线路电压调节器(LVR),并设计了磁控电感元件(MCI)。该元件可以使用一个较小的铁芯,省去了开关元件和其他运动部件,减小了铁损耗和材料损耗。基于MCI设计三相电路模型及实验平台,通过实验与仿真结果,对比电压的变化和效率均达到预期结果,验证了具有电压的无极调节功能和高鲁棒性,使得该器件可以用于低压电网电路的调节,为今后电压调节器的进一步研究提供参考。     

Hypoxia/Temperature/pH Triple Stimuli–Responsive Block Copolymers: Synthesis,Self-Assembly,and Controlled Drug Release

The amphiphilic block copolymer poly(methacrylic acid-co-2-nitroimidazole acrylate)-b-poly(2-(N,N-dimethylamino)ethyl methacrylate) (P(MAA-co-NIMA)-b-PDMAEMA) with the hypoxia/temperature/pH triple responsiveness is synthesized by reversible addition-fragmentation chain transfer polymerization (RAFT), hydrolysis, and 3-(3-dimethylaminopropyl)-1-ethylcarbodiimide (EDC) reactions, and successfully self-assembled into micelles. The hypoxia response in vitro is realized, and then the sensitivity of the self-assembled micelles to the hypoxia condition is studied by controlling the grafting amount of aminated 2-nitroimidazole. Because 2-(N,N-dimethylamino) ethyl methacrylate (DMAEMA) is a typical material sensitive to temperature and pH conditions, the self-assembled micelles are also responsive to temperature and different acidic/basic conditions. In addition, the cumulative release rate of doxorubicin (DOX) at 42 °C, pH = 6.0, and hypoxic conditions increases significantly, and verifies the synergistic promotion effect of the above stimulations. This intelligent polymer with triple response mechanism improves the controllability and efficiency of drug release, and is expected to be a drug carrier for cancer treatment.     

Preparation of pH‐sensitive poly(vinyl alcohol‐g‐methacrylic acid) and poly(vinyl alcohol‐g‐acrylic acid) hydrogels by gamma ray irradiation and their insulin release behavior

A series of pH‐responsive hydrogels were studied as potential drug carriers for the protection of insulin from the acidic environment of the stomach before releasing in the small intestine. Hydrogels based on poly(vinyl alcohol) networks grafted with acrylic acid or methacrylic acid were prepared by a two‐step process. Poly(vinyl alcohol) hydrogels were prepared by gamma ray irradiation (50 kGy) and then followed by grafting either acrylic acid or methacrylic acid onto these poly(vinyl alcohol) hydrogels with subsequent irradiation (5–20 kGy). These graft hydrogels showed pH‐sensitive swelling behavior and were used as carriers for the controlled release of insulin. The in vitro release of insulin was observed for the insulin‐loaded hydrogels in a simulated intestinal fluid (pH 6.8) but not in a simulated gastric fluid (pH 1.2). The release behavior of insulin in vivo in a rat model confirmed the effectiveness of the oral delivery of insulin to control the level of glucose. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 91: 636–643, 2004     

Shape memory polymers based on uniform aliphatic urethane networks

Aliphatic urethane polymers have been synthesized and characterized, using monomers with high molecular symmetry, to form amorphous networks with very uniform supermolecular structures, which can be used as photo‐thermally actuable shape memory polymers (SMPs). The monomers used include hexamethylene diisocyanate (HDI), trimethylhexamethylenediamine (TMHDI), N,N,N′,N′‐tetrakis(hydroxypropyl)ethylenediamine (HPED), triethanolamine (TEA), and 1,3‐butanediol (BD). The new polymers were characterized by solvent extraction, NMR, XPS, UV/VIS, DSC, DMTA, and tensile testing. The resulting polymers were found to be single phase amorphous networks with very high gel fraction, excellent optical clarity, and extremely sharp single glass transitions in the range of 34–153°C. Thermomechanical testing of these materials confirms their excellent shape memory behavior, high recovery force, and low mechanical hysteresis (especially on multiple cycles), effectively behaving as ideal elastomers above T_g. We believe these materials represent a new and potentially important class of SMPs, and should be especially useful in applications such as biomedical microdevices. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci, 2007     

一种基于磁耦合谐振式的高效率双频无线能量传输系统

为了提高磁耦合谐振式无线能量传输系统的效率,本文提出了一种新型的双频无线能量传输的发射和接收装置.在发射端和接收端中,该装置在发射端和接收端中均采用一个馈电线圈对两个谐振线圈馈电;两个谐振线圈工作在不同的频率并通过磁耦合的方式把能量从发射端向接收端同频传输.由于两个谐振线圈均参与了能量传输,所以该传输装置能在较远的距离实现效率较高的双频能量传输.为了验证该理论模型的特性,本文将其设计在PCB板材上并进行仿真和实验测试.仿真和实验结果表明:该双频磁谐振耦合无线能量传输装置的能量传输频率为6.78和13.56 MHz;在传输距离为装置尺寸60%时达到最高效率,其最高效率分别为88.5%和56.7%.