突发地震灾害中无人驾驶救援车伺服控制系统研究

针对当前采用PID控制器控制无人驾驶救援车伺服系统时存在的轨迹跟踪精度不高,误差控制性能较差,灵活性、平稳性和安全性能不佳等问题,提出并设计基于BP神经网络整定PID控制器的无人驾驶救援车伺服控制系统,建立突发地震灾害中无人驾驶救援车伺服控制系统驱动模型,并以此模型作为被控对象;根据系统期望输出值与实际输出值构成的控制偏差获得PID控制规律,并通过调节PID控制器控制参数实现系统控制,在此基础上,采用BP神经网络通过对无人驾驶救援车伺服控制系统性能的学习,构建基于BP神经网络整定的PID控制器,并采用梯度下降法修正控制器加权系数,通过在线调整BP神经网络加权系数即可实现控制器的自适应调整,控制突发地震灾害中无人驾驶救援车实施救援。实验结果表明,设计的基于BP神经网络整定PID控制器的无人驾驶救援车伺服系统可有效提高轨迹跟踪精度,具有较好的灵活性,且能够保证驾驶员的安全和车辆平稳行驶。     

Time-averaged sub-layer concentration profiles in oscillatory sheet flows

Although thin on the order of several to tens of millimeters, sheet flows normally comprise a lower pick-up sub-layer and an upper contact-load sub-layer, separated at the bed level (z = 0). The time-averaged concentration profile in the pick-up sub-layer shows a ‘convex upward’ curvature, but ‘concave upward’ shape characterizes the time-averaged concentration profile in the contact-load sub-layer. The time-dependent concentration in the contact-load sub-layer is approximately in-phase with the free stream flow velocity, whereas it is nearly in anti-phase with the free stream flow velocity in the pick-up sub-layer. Two distinct analytical expressions of the time-averaged concentration profiles for the respective sub-layers are proposed. The expressions are validated with detailed observation datasets collected in the Groβer Wellenkanal (GWK) prototype wave flume in Hannover, Germany. The agreement between the predicted and the measured values is excellent. Interparticle collisions in the pick-up sub-layer and convective lifting processes associated with vortex shedding in the contact-load sub-layer are considered responsible for the opposite curvatures and in-phase/anti-phase concentration variations. Both transitional boundary and reference concentration are also elaborated.     

磁流变阻尼器的半主动控制及实时混合模拟试验研究

磁流变阻尼器作为一种比较典型的半主动控制元件,具有构造简单、响应速度快、耐久性好、阻尼力大且连续可调等优点。即使地震中能源中断,磁流变阻尼器仍可以作为被动耗能装置继续工作发挥作用,可靠性高。设计合理有效的磁流变阻尼器半主动控制方法,对于整体结构的减震效果尤其重要。提出一种改进的磁流变阻尼器的半主动控制策略-改进的Bang-Bang控制策略,对装有磁流变阻尼器的减震控制3层框架结构进行了一系列的实时混合模拟试验,对多种半主动控制方法下的振动控制效果进行试验分析。试验结果表明:磁流变阻尼器对框架结构的减震效果显著,并验证了提出的磁流变阻尼器半主动控制策略的有效性。     

吉林向海沼泽湿地土壤氮素的剖面分布

本文以二百方子湿地和付老文泡湿地为研究对象,对比分析了两典型区湿地土壤不同形态氮素和全氮含量在生长期和成熟期的剖面分布特征及其差异,结果表明封闭性湿地和开放性湿地土壤剖面的物理性状存在地域差异;封闭性湿地在两物候期内土壤氮素含量的剖面分布特征相似,均表现为由表层向下减少的总体分布趋势;开放性湿地土壤中碱解氮、有机氮和全氮含量剖面分布特征与封闭性湿地一致;但铵态氮含量的剖面变化则表现为先增后减的变化趋势,且硝态氮在成熟期内出现累积峰．     

基于模糊评价理论的海洋工程采办过程风险分析方法研究

在具体研究了现代项目风险分析和风险管理常用方法基础上,将其中的事故树法、智爆法及风险指数致命度分析法相结合,利用模糊评价理论,建立了海洋工程采办过程风险分析方法。应用该方法对“曹妃甸11-1／2(CFD11-1／2)”项目的采办过程进行风险分析,得到了采办过程中的风险事故树及风险指数排序,并对风险指数较大的风险点提出建议及改进措施,进行风险规避,对工程实践起到了很好的指导作用。     

现代黄河三角洲海岸演化研究

通过不同年代海图或地形图对比、不同年代的卫片对比、野外地质调查、不同年代潮滩剖面测量及对比等,研究了现代黄河三角洲海岸带不同时期的冲淤速率及其发展演化趋势。黄河尾闾1996年6月进行人工改道向东流入海,开始堆积现代黄河三角洲的第11个叶瓣,推测这次改道可能是第3个亚三角洲形成的开始,使黄河三角洲的发展呈第一、第二、第三亚三角洲逐次向东偏北方向推进之势。现代黄河三角洲及莱州湾海岸带可分成7个冲淤状态不同的岸段：大口河至顺江沟岸段为相对稳定海岸段;顺江沟至挑河口岸段为弱蚀退岸段;挑河口至106站岸段为强蚀退岸段;106站至孤东油田段为石堤护岸强制稳定海岸段;孤东油田至大汶流海堡岸段为强淤进岸段：大汶流海堡至淄脉沟岸段为弱淤进海岸段;淄脉沟口至胶莱河口岸段为稳定海岸段。预测10a内,各海岸段的冲淤状态基本保持不变,但各海岸段的蚀退或淤进速率有逐渐减缓之趋势。人类活动对岸线的变迁有明显影响。     

A response spectrum approach for seismic performance evaluation of actively controlled structures

To evaluate and measure the effectiveness of active control schemes in reducing the response of structures subjected to earthquake excitations, it is common to use recorded or artificially generated earthquakes as input motions. This paper introduces the response spectrum analysis to evaluate linear control systems for seismic inputs defined by code‐prescribed or site‐specific ground response spectra. Using such a method one can evaluate a control system in a single analysis for the ensemble of time histories that are represented by the input response spectra. The response spectrum analysis can also facilitate the implementation of comprehensive parametric studies. A generalized response spectrum method is used to analyse systems with non‐symmetrical matrices that are caused by the general nature of the control actions imposed on the structure. The application of the method is demonstrated on several numerical examples of a building structure where the control force is applied through an active tuned‐mass damper. Copyright © 2000 John Wiley & Sons, Ltd.     

Non‐linear seismic response of arch dams with contraction joint opening and joint reinforcements

A comprehensive study of non‐linear seismic response of arch dams with contraction joint opening and joint reinforcements has been conducted. A numerical model of contraction joint reinforcements is presented for optimization control of the joint opening. The objective of this control is to reduce the joint opening and expectantly to balance the sustained loads between the horizontal and the vertical components of the dam, thus avoiding an overstress in the cantilever while retaining the release of arch tensile stresses to some extent. Several parameter studies such as critical element size and required number of joints to be simulated for convergence are also performed. As an engineering application, a 292‐m high arch dam (the Xiaowan arch dam) and the Big Tujunga dam are analysed in detail. The results demonstrate that the joint opening and the corresponding load transfer from the arch to cantilever components of the dam during strong earthquakes are substantial. It is also evident that by providing sufficient strength and reinforcement flexibility, the joint opening can be controlled to some extent. However, the stress redistribution due to reinforcement control is not sufficient to avoid the overstress in the cantilever for the Xiaowan arch dam. Thus, alternative measures are discussed. Copyright © 2000 John Wiley & Sons, Ltd.     

Modeling of an actively braced full‐scale building considering control–structure interaction

Recently, the application of active control to seismic‐excited buildings has attracted international attention. To demonstrate the practical applicability of active control, we have conducted experimental tests using a full‐scale three‐storey building equipped with active bracing systems on the shake table at the National Center for Research on Earthquake Engineering (NCREE), Taiwan. Experimental results indicate that the control–structure interaction (CSI) effect is significant. A state‐space analytical model of this actively controlled building taking into account the CSI effect is established in this paper using a system identification technique based on curve‐fitting of transfer functions. To verify the accuracy of the analytical model for simulating the controlled response, four sets of linear quadratic Gaussian (LQG) controllers using acceleration feedback are designed and further experimental tests are conducted for comparison. It is demonstrated that the correlations between the simulation and experimental results are remarkable. The construction of an accurate analytical model is important for active control, and such an analytical model can be used for future benchmark studies of different control algorithms based on numerical simulations. Copyright © 2000 John Wiley & Sons, Ltd.