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- 저자 : Zhiwu Han (검색결과 3 건)
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Ding Han,Guozheng Yan,Zhiwu Wang,Pingping Jiang,Lin Yan 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.6
A wireless power transfer system for targeted therapy microrobots has been received more attention recently. However, it usually fails to work due to weak coupling caused by misalignment in position and angle between the transmitting coil and the receiving coil. It will not be tolerated even if it occurs at certain angles. To address this issue, a three-dimensional hybrid transmitting coil, combining a fixed Helmholtz coil pair and an adjustable curved rectangular coil pair, is proposed. Based on the novel structure, the proposed hybrid transmitting coil could produce a three-dimensional magnetic field, realizing well coupled with the receiving coil embedded on the microrobot at any posture. To verify the efficiency and practical applicability of the transmitting coil proposed in this paper, we build the coil model via both analytical calculation and simulation analysis. Finally, the designed hybrid transmitting coil is also implemented in the wireless power transfer system with a receiving coil. The magnetic field distribution indicates that a large and uniform magnetic field could be obtained. The experimental results demonstrate that in the central zone of the transmitting coil, 300 × 200 mm, the magnetic field distribution is uniform, which can meet the requirements of the microrobot system working area. And the maximum output efficiency and power can be reached at 5% and 1001 mW, respectively. What's more, the proposed hybrid transmitting coil has solved the weak coupling problem due to misalignment in position and angle with which the electromagnetic energy decays quickly.
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A model for investigating vehicle-bridge interaction under high moving speed
Hanyun Liu,Zhiwu Yu,Wei Guo,Yan Han 국제구조공학회 2021 Structural Engineering and Mechanics, An Int'l Jou Vol.77 No.5
The speed of rail vehicles become higher and higher over two decades, and China has unveiled a prototype highspeed train in October 2020 that has been able to reach 400 km/h. At such high speeds, wheel-rail force items that had previously been ignored in common computational model should be reevaluated and reconsidered. Aiming at this problem, a new model for investigating the vehicle-bridge interaction at high moving speed is proposed. Comparing with the common model, the new model was more accurate and applicable, because it additionally considers the second-order pseudo-inertia forces effect and its modeling equilibrium position was based on the initial deformed curve of bridge, which could include the influences of temperature, pre-camber, shrinkage and creep deformation, and pier uneven settlement, etc. Taking 5 km/h as the speed interval, the dynamic responses of the classical vehicle-bridge system in the speed range of 5 km/h to 400 km/h are studied. The results show that ignoring the second-order pseudo-inertia force will underestimate the dynamic response of vehicle-bridge system and make the high-speed railway bridge structure design unsafe.
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Linhe Ge,Yang Zhao,Shouren Zhong,Zitong Shan,Fangwu Ma,Zhiwu Han,Konghui Guo 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
The steady-state error problem of autonomous vehicle MPC-based motion control has not been effectively solved for a long time. This problem is more serious for lateral and longitudinal coupling control problems of vehicles with over-actuated configurations. Based on our newly designed general offset-free MPC (OF-MPC) solver and the TMeasy tire model, a steady-state error free control strategy for simultaneous stability and path following control of four-wheel steering and four-wheel drive vehicles is proposed. OF-MPC uses the disturbances term to describe the model mismatch and external disturbances, then uses the Kalman filter to observe the disturbances, and finally considers the disturbances in the optimization stage to realize the control without steady-state error. Realtime simulation results show that OF-MPC can solve model mismatch and external disturbances problems, and the steady-state error free control is realized. The simulation results of the double lane change maneuver show that the OF-MPC dynamic control performance is also better than the traditional MPC (TRA-MPC), which is more obvious when the vehicle is at the stability boundary and under various constant or time-varying disturbances. Regardless of the dimensions and complex constraints of this problem, real-time performance is still guaranteed, thanks to the proposed OF-MPC. When the horizon length is 100, the average time consumption is only about 15 milliseconds.
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