基于改进型锁相环和混沌振子的配电网故障选线

当小电流系统发生故障时,各线路零序电流特征呈现出复杂的非线性和非平稳性,并且故障点的电流非常小,给故障选线带来一定的困难,对此给出一种改进锁相环和混沌振子相结合的检测方法,改进型锁相环不但可以准确的跟踪特定频率的信号,而且不需要进行 dq变换和 ab变换;混沌振子系统对于与本身内驱动力同频的信号具有较高的敏度,外加信号不同时,Duffing系统的相图轨迹不同。首先用改进型锁相环锁定零序电流中的五次谐波,将此信号作为混沌系统的待测信号,通过Duffing振子系统检测此信号,正常线路和故障线路的待测信号通过混沌系统表现出来的相图状态是不一致的,由此判断出故障线路。对不同故障条件进行模拟,验证了算法的可靠性。     

基于多模型融合的内河船舶航行轨迹预测方法

内河航运是现代综合运输体系的重要组成部分,实时和高精度的船舶轨迹预测方法能够有效规避水上交通事故、增强船舶自动化与智能化监管能力。针对现有内河船舶轨迹预测方法精度不高的问题,以提高船舶轨迹短期预测精度为目标,综合使用待测船舶近期船舶自动识别系统(AIS)数据和历史AIS数据,基于轨迹与航速和航向间的内在联系以及内河航道特点,构建了面向航速和航向预测的时域卷积网络模型、船舶轨迹动力学方程模型、自适应双隐层径向基函数网络等模型,提出了基于多模型融合的船舶轨迹预测方法。实验结果表明,所提方法轨迹预测精度有明显提高,并能满足实时性要求。     

基于变预测时域MPC的自动驾驶汽车轨迹跟踪控制研究

为了保证自动驾驶汽车轨迹跟踪的精度及行驶过程中的稳定性,提出一种基于车辆横向稳定状态在线识别和模糊算法的变预测时域模型预测控制（MPC）方法。针对车辆稳定状态的在线识别,采用k-means聚类算法对车辆行驶状态参数进行聚类分析,得到聚类质心,通过在线对比当前车辆状态量与不同聚类质心之间的欧氏距离获取车辆的实时安全等级。同时计算出当前车辆的轨迹跟踪横向偏移量,以这二者为输入,通过模糊控制算法在线计算出预测时域的变化量并输出给MPC控制器实现预测时域的自适应调整,最后求解出自动驾驶车辆跟踪轨迹的最优的控制序列,以达到在保持车辆稳定的前提下实现高精度轨迹跟踪控制的目的。CarSim/Simulink联合仿真结果表明,改进后的变预测时域MPC算法在提高自动驾驶汽车轨迹跟踪精度及横向稳定性方面的表现优于传统MPC控制器。     

气动人工肌肉外骨骼机器人位置跟踪控制

针对以气动人工肌肉作为关节驱动器的外骨骼机器人关节位置跟踪控制问题进行了研究。首先,在动力学模型的基础上,设计了上层控制器,并结合自适应控制和滑模控制方法降低了动力学参数不准确和扰动项未知对外骨骼机器人的影响;其次,基于无模型方法设计了底层关节力矩控制器,调整外骨骼机器人的关节力矩;最后,针对上述控制方案设计仿真实验与外骨骼机器人的穿戴实验。结果表明,该控制方法对气动人工肌肉外骨骼机器人的关节位置跟踪控制是有效的。     

Deviation correction strategy for the earth pressure balance shield based on shield–soil interactions

The control system presently used in shield posture rectification is based on driver experience, which is marginally reliable. The study of the related theory is flawed. Therefore, a decision-making approach for the deviation correction trajectory and posture rectification load for an earth pressure balance (EPB) shield is proposed. A calculation model of posture rectification load of an EPB shield is developed by considering the interactions among the cutter head, shield shell, and ground. The additional position change during the shield attitude correction is highlighted. The posture rectification loads and shield behaviors results can be solved by the proposed method. The influences of the stratum distribution (i.e., bedrock height in the upper-soft and lower-hard strata) on shield behaviors and posture rectification loads are analyzed. Results indicated that the increase of pitch angle in the upper-soft and lower-hard strata causes a sharp rise in vertical displacement. The bedrock height increases the magnitudes of the required posture rectification moments when h_r/D > 0.5. For a tunnel with h_r/D ≤ 0.5, the variation of h_r/D has little effect on the posture rectification moments. Finally, the posture rectifying curves based on the theoretical model are compared with the target ones based on the double circular arc interpolation method. The required results can be obtained regardless of the soil–rock compound stratum distribution. The maximum rectification moment in the rock layer is almost 12.6 times that in the soil layer. Overall, this study provides a valuable reference for moment determination and the trajectory prediction of posture rectification in compound strata.     

矿山灾害应急救援生命保障孔钻井工艺研究

近年来国内外开展的救援钻孔实践推动了矿山和地下工程应急救援技术的发展,探索出的“小直径生命保障孔+大直径救生孔”模式是进行矿山和地下工程灾害救援的一种有效途径。本文以矿山灾害救援地面生命保障孔钻井工艺为主线,分析了小直径生命保障孔井身结构设计和套管选用方法;分别介绍了泥浆正循环钻进工艺和空气潜孔锤正循环钻进工艺,并以山东栖霞笏山金矿生命救援孔钻进实例分析了当前生命保障孔钻井工艺难点。依据轨迹设计理论,针对笏山金矿救援3号生命保障孔出现的偏斜问题,创新提出了超短距离螺旋纠偏技术,并取得了良好的应用效果,为后续生命保障孔施工积累了宝贵经验。     

摆辗机新型螺旋线运动轨迹研究

针对双偏心套摆辗机摆头的螺旋线运动轨迹,根据摆头运动原理,建立摆头运动方程,提出并分析摆头新型螺旋线运动轨迹的形成,总结该运动轨迹变化规律,为改进摆头结构、设计新型摆辗机、拓展摆辗成形工艺提供理论指导。     

安塞低渗油田水平多分支井钻井技术

针对安塞油田低渗透油藏地质特征,结合分支井开发方式的适应性及其技术特点,通过对分支井井身结构优化、钻头选型、轨迹控制、分支井眼侧钻、地质导向、摩阻扭矩分析等技术的研究和应用,成功完成了安塞油田第1口水平多分支井-杏平1井。该井完钻井深5068 m,水平位移1574.22 m,主水平段长1203 m,水垂深比1.16。在只能使用常规钻井设备及导向工具等难题下,成功采用低边侧钻技术在主水平段内侧钻了7个分支井眼,分支井眼总长2300m,累计打开目的储层3503 m,并实现了多次重入钻井,初步形成了适合安塞油田地质特点的分支井钻井技术。     

磁选机典型开放式磁路分析与仿真

开放式磁路是一种应用最早、广泛、成熟且仍不断创新的磁路形式,对该磁路的深入研究可为目标磁路设计、工艺流程优化及工程设备选型提供有益指导。借助于COMSOL Multiphysics软件,仿真并研究若干种典型的开放式磁路,并分析磁源、磁极深度、配比、辅助极、磁化方向等相关因素对磁路的影响,之后给出几种磁路下磁性颗粒的运动轨迹。     

Using a phenomenological computer model to investigate advanced combustion trajectories in a CIDI engine

This paper summarizes results from simulations of conventional, high-dilution, and high-efficiency clean combustion in a diesel engine based on a two-zone phenomenological model. The two-zone combustion model is derived from a previously published multi-zone model, but it has been further simplified to increase computational speed by a factor of over 100. The results demonstrate that this simplified model is still able to track key aspects of the combustion trajectory responsible for NO_x and soot production. In particular, the two-zone model in combination with highly simplified global kinetics correctly predicts the importance of including oxygen mass fraction (in addition to equivalence ratio and temperature) in lowering emissions from high-efficiency clean combustion. The methodology also provides a convenient framework for extracting information directly from in-cylinder pressure measurements. This feature is likely to be useful for on-board combustion diagnostics and controls. Because of the possibility for simulating large numbers of engine cycles in a short time, models of this type can provide insight into multi-cycle and transient combustion behavior not readily accessible to more computationally intensive models. Also the representation of the combustion trajectory in 3D space corresponding to equivalence ratio, flame temperature, and oxygen fraction provides new insight into optimal combustion management.