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An optimized methodology to design a more robust torpedo shell is proposed. The method has taken into account reliability requirements and controllable and uncontrollable factors such as geometry, load, material properties, manufacturing processes, installation, etc. as well as human and environmental factors. The result is a more realistic shell design. Our reliability optimization design model was developed based on sensitivity analysis. Details of the design model are given in this paper. An example of a torpedo shell design based on this model is given and demonstrates that the method produces designs that are more effective and reliable than traditional torpedo shell designs. This method can be used for other torpedo system designs. 相似文献
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为实现公路光伏声屏障发电系统的能源自洽,基于自适应粒子群算法提出了一套从光伏出力、蓄电池储能到充电桩用电的“光储充”容量配置方案。根据项目所在地的温度、辐射强度及光伏组件性能衰减规律建立光伏出力模型,结合公路光伏声屏障吸声降噪效果,计算光伏组件最佳倾角并获取该倾角下的光伏资源禀赋。基于光伏出力与负荷需求,获取蓄电池逐时荷电状态,利用雨流计数法和等效循环寿命法计算蓄电池的预估使用寿命,建立了涵盖初始投资、运行维护和设备更换3部分费用的成本模型,相较于传统固定寿命的成本模型更加具有实际意义。然后,以最小化总成本为优化目标,考虑系统的最小功率、占地面积、蓄电池荷电状态、系统负荷缺电率和系统弃能率5个约束条件,建立了公路“光储充”系统容量配置协调优化模型。采用自适应的粒子群算法,通过改进惯性权重提高了粒子的全局和局部搜索能力,得到了给定光伏板数量下蓄电池及充电桩的最优容量配置方案。结果表明:提出的公路“光储充”模型的能源自洽率达95%以上,对加快公路交通能源融合具有重要意义。针对蓄电池荷电状态,设定荷电状态全年处于0.2~0.8之间,防止了蓄电池的过充过放,显著提高了蓄电池的使用寿命;针对粒子... 相似文献
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Active heave compensation systems are usually employed in offshore and deep-sea operations to reduce the adverse impact of unexpected vessel’s vertical motion on the response of underwater instruments.This paper presents a control strategy for an active heave compensation system consisting of an electro-hydraulic system driven by a double rod actuator,which is subjected to parametric uncertainties and unmeasured environmental disturbances.Adaptive observer and discontinuous projection type updating law with bounded adaption rate are presented firstly to estimate the uncertain system parameters.Then a similar estimation algorithm is designed by using a multiple delayed version of the system to enhance the performance of parameter observation.A reduced order observer is also introduced to estimate unknown wave disturbances.Using the obtained uncertainty information,the resulting control development and stability analysis are implemented based on the Lyapunov’s direct method and back-stepping technique.The proposed controller guarantees the heave compensation error convergent to a bounded neighborhood around the origin.Simulations illustrate the effectiveness of the proposed control system. 相似文献
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In this paper, a gait control scheme is presented for planar quadruped robots based on a biologic concept, namely central pattern generator (CPG). A CPG is modeled as a group of the coupled nonlinear oscillators with an interaction weighting matrix which determines the gait patterns. The CPG model, mapping functions and a proportional-differential (PD) joint controller compose the basic gait generator. By using the duty factor of gait patterns as a tonic signal, the activity of the CPG model can be modulated, and as a result, a smooth transition between different gait patterns is achieved. Moreover, by tuning the parameters of the CPG model and mapping functions, the proposed basic gait generator can realize adaptive workspace trajectories for the robot to suit different terrains. Simulation results illustrate and validate the effectiveness of the proposed gait controllers. 相似文献
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