Optimal linear estimation for continuous stochastic systems with random observation delays

This paper is concerned with the linear minimum mean square error estimation for Itô‐type differential equation systems with random delays, where the delay process is modeled as a finite‐state Markov chain. By first introducing a set of equivalent delay‐free observations and then defining two reorganized Markov chains, the estimation problem of random delayed systems is reduced to the one of delay‐free Markov jump linear systems. The estimator is derived by using the innovation analysis method based on the Itô differential formula. And the analytical solution to this estimator is given in terms of two Riccati differential equations that are of finite dimensions. Conditions for existence, uniqueness, and stability of the steady‐state optimal estimator are studied for time‐invariant cases. In this case, the obtained estimator is very easy to implement, and all calculation can be performed off line, leading to a linear time‐invariant estimator. Copyright © 2011 John Wiley & Sons, Ltd.     

Delay dependent robust stability of singular systems with additive time-varying delays

This paper considers the problem of delay-dependent robust stability for uncertain singular systems with additive time-varying delays. The purpose of the robust stability problem is to give conditions such that the uncertain singular system is regular, impulse free, and stable for all admissible uncertainties. The results are expressed in terms of linear matrix inequalities (LMIs). Finally, two numerical examples are provided to illustrate the effectiveness of the proposed method.     

Modeling and robust discrete LQ repetitive control of electrically driven robots

Discrete linear quadratic control has been efciently applied to linear systems as an optimal control.However,a robotic system is highly nonlinear,heavily coupled and uncertain.To overcome the problem,the robotic system can be modeled as a linear discrete-time time-varying system in performing repetitive tasks.This modeling motivates us to develop an optimal repetitive control.The contribution of this paper is twofold.For the frst time,it presents discrete linear quadratic repetitive control for electrically driven robots using the mentioned model.The proposed control approach is based on the voltage control strategy.Second,uncertainty is efectively compensated by employing a robust time-delay controller.The uncertainty can include parametric uncertainty,unmodeled dynamics and external disturbances.To highlight its ability in overcoming the uncertainty,the dynamic equation of an articulated robot is introduced and used for the simulation,modeling and control purposes.Stability analysis verifes the proposed control approach and simulation results show its efectiveness.     

一种相控阵天线安装精度检测与校准

文中论述了一种相控阵雷达天线安装后的精度检测方法。按照雷达天线安装后的几何形态,采用光学测量仪器进行相关的数据采集,建立检测的数学模型,利用线性回归法以及最小二乘法进行数据拟合,计算出安装后雷达天线底面与水平面的最大夹角和天线边缘与正北方向的夹角,并进行了试验误差评估和分析,依据检测数据对雷达天线的水平和方位角度进行校...     

导水系数的空间变异性对地下水非恒定流计算的影响

在探讨水文地质参数空间变异性的基础上,考虑导水系数为常量及参数随空间变量发生改变的情况下,比较交替方向隐式差分法计算地下水二维非恒定流方程的异同。引入算例分别进行计算与分析,得出水文地质参数的空间变异性对地下水非恒定流计算存在影响的结论,进一步说明水文地质参数空间变异性研究工作的重要性与必要性,并提出今后研究工作的建议方向与重点。     

空气阻力系数对水滴运动及蒸发的影响

应用喷灌条件下水滴的运动、蒸发及分布模型对水滴的飞行时间、飞行距离以及蒸发率进行了预测,并对5种空气阻力系数计算公式 （Bird、Park、Fukui、伊沙叶夫、Wallis） 求得的预测值和实测值进行了比较。结果表明：应用Bird、Wallis、Fukui公式预测的水滴飞行时间与实测值随水滴直径的变化趋势一致,应用Park和伊沙叶夫公式求得的水滴飞行时间预测值与实测值的相对误差最小;5种阻力系数公式均能较准确地预测水滴飞行距离,其中Park公式的预测精度最高;5种阻力系数公式对于单个水滴蒸发率的预测结果与实测值之间的平均相对误差在26.1%~30.2%之间;5种阻力系数公式对总蒸发率的预测影响不明显,预测值与实测值之间的平均相对误差在15.2%~17.5%之间。建议在水滴运动和蒸发计算中采用Park阻力系数公式。     

泄水涵洞中平板闸门流量系数的试验研究

通过对有平板闸门泄水涵洞的水流进行了试验,对涵洞关键点的压强、流量以及闸后收 缩水深进行测量,对相应各点的水头损失进行了计算,对试验数据进行了分析,得出了涵洞中闸 后收缩水深的拟合计算式,最后分析得出了涵洞中平板闸门的流量系数。结果表明了涵洞中的闸 门流量系数主要与涵洞前水库水深和涵洞的高度有关,其值比堰顶的流量系数大,比管嘴出流的 流量系数小。     

非球形风沙粒子的低雷诺数绕流阻力特性研究

采用有限体积法计算了均匀来流条件下圆柱体和正四面体颗粒的低雷诺数三维绕流流场,得到了颗粒在不刚来流方向下的速度分布、压力分布,分析了其阻力特性.结果表明,非球型颗粒的在风场中的绕流阻力大小受来流方向的影响明显,在特定方向阻力最大,这与绕流后的剪切层结构有关.通过比较发现,以往非球型颗粒阻力经验公式给出的只是单一来流方向时的阻力值,而非平均值.根据计算结果给出了新的拟合非球体阻力系数计算公式,可以更准确地估算非球型风沙颗粒各来流方向的平均阻力值.     

低堰过流的数值分析

在中小型水利工程中,低堰应用是十分广泛的.而目前有关低堰的水力设计方面,包括设计准则和有关参数的选择,由于研究较少,只能延用高堰的一些标准和经验,导致设计的经济、合理受到影响.采用数值模拟可方便地对低堰的水力特性进行研究,节省工程时间和成本.文中采用Realizablek-ε两相紊流模型、VOF自由液面处理,对低堰进行...     

边坡卸荷带岩体渗透特性分析——以三峡永久船闸高边坡为例

为了准确描述卸荷带岩体的渗透特性,以三峡永久船闸高边坡为例,应用其监测资料,引入应变指标,将岩体卸荷带划分为强卸荷变形带、弱卸荷变形带和卸荷应力应变调整带.观测资料的计算分析表明:与未开挖岩体相比,强卸荷变形带、弱卸荷变形带和卸荷应力应变调整带的渗透系数分别增大了3 138～330,92～27倍和8～1倍.对整个分析过程作了详细介绍.