Table of Content

30 May 2009, Volume 30 Issue 5

Previous Issue    Next Issue

Paper

Foundation of Man-Gun Model and Simulation Analysis

BAO Jian-dong, WANG Chang-ming, HE Yun-feng

2009, 30(5):  513-517.  doi:10.3969/j.issn.1000-1093.2009.05.001

Asbtract ( )   PDF (4239KB) ( )  

References | Related Articles | Metrics

Lots of factors effect firing precision, thereinto, controlling gun ability of shooter is main factor. As it incarnates man-gun interaction, dynamics model of man-gun system was built firstly, by which the action of shoulder and arm on gun body are researched. Kinematics ana dynamics of man- gun interaction were analyzed by equivalent mass, spring and damping device applied on gun body sep?arately, dynamics differential equation was built. Accroding to knowing stature and weight of body, statistical law of mass and moment oi inertia of each tache was studied, to realize parameter estimation of equation. The simulation of man-gun system was performed by the model, the equation and the es?timated parameters, its result is similar to that of the experiment.

Study on Naval Gun Shell-feeding System Design and Experiment

WANG Gang，WANG Li-quan, MENG Xiang-wei,HU Sheng-hai

2009, 30(5):  518-524.  doi:10.3969/j.issn.1000-1093.2009.05.002

Asbtract ( )   PDF (6428KB) ( )  

References | Related Articles | Metrics

A new shell-feeding system composed of a multi-drum system, a single hoisting structure, and bidirectional swing system was proposed based on existing technology of naval gun’s shell-feeding. Structures of the intermittent drum system, the shell-hoisting system and the shell-swinging system were designed, the connective device between the systems was designed and optimized; the key mech?anism was analyzed kinematically; time sequences of the systems were investigated, the optimal time sequence scheme was given; experiment of the prototype was performed. The shell-feeding system can provide a new thinking and conception for improving its automatization level and changing ammunition type quickly.

Analysis of Flow Field Performance Back Blast Mechanism for Rarefaction Wave Gun

WANG Ying-ze, ZHANG Xiaobing, YUAN Ya-xiong

2009, 30(5):  525-530.  doi:10.3969/j.issn.1000-1093.2009.05.003

Asbtract ( )   PDF (5282KB) ( )  

References | Related Articles | Metrics

Base on the work theory of rarefaction wave gun, the models for back blast mechanism and launcher were separately established by segregate body method, and the interior ballistic circle includ?ing the dynamic venting process of venting mechanics was accurately described by nesting the interior ballistic program in the Fluent software with its user definition function. By the calculation and con?trast of different type back blast mechanism fluid fields, theoretical reference was provided for mechan?ic design and behavioral optimization of rarefaction wave gun.

Analysis of Real Gas Effect Under the Action of Hypersonic Shaped Charge Jet Top Shock Wave

SHEN Qin-can, TAO Gang

2009, 30(5):  531-534.  doi:10.3969/j.issn.1000-1093.2009.05.004

Asbtract ( )   PDF (3712KB) ( )  

References | Related Articles | Metrics

Considering the factors brought by molecule dissociation and particle reassembly under nigh temperature which are different from those of perfect gas, aerodynamics and thermodynamics of real gas effect above 20 Mach were researched by a model used to compute theoretical parameters of the high temperature equilibrium gas based on the gas assigned function. The Fortran program used to solve the hypersonic problems was compiled by the Godunov format without artificial viscocity and the model of theoretical parameter of high temperature equilibrium gas. It is found that the real gas effect is different from that of the perfect gas, and the thickness of stagnation zone is thinner than that of the perfect gas, and tne temperature is also lower.

Numerical Simulation for Burning Rate of Composite Modified Double Base Propellant Containing CL-20

XU Si-yu，ZHAO Feng-qi, YI Jian-hua,GAO Hong-xu，SONG Hong-chang，LI Shang-wen

2009, 30(5):  535-540.  doi:10.3969/j.issn.1000-1093.2009.05.005

Asbtract ( )   PDF (5784KB) ( )  

References | Related Articles | Metrics

The chemistry structure parameters of hexanitrohexaazaisorwurtzitane (CL-20) were con?firmed with thermal decomposition characteristics of CL-20. The one dimension gas phase reaction flow burning rate model was ameliorated by analyzing the burning properties of composite modified double base propellant containing CL-20 (CL:20-CMDB propellant). The burning rates of this type of propellant were simulated. The numerical simulation results show that the calculation results are in a- greement with test results very well, with CL-20 content increasing, the burning rate of the non-cat - alyzed CL-20-CMDB propellants increases, but the increased quantity isn’t so large as we thought before.

Measurement of Ammonium Nitrate Explosives’ Detonation Pressure by Polymethyl Methacrylate Method

ZENG Gui-yu，GAO Da-yuan, HUANG Hui，Lü Oiun-xu

2009, 30(5):  541-545.  doi:10.3969/j.issn.1000-1093.2009.05.006

Asbtract ( )   PDF (5126KB) ( )  

References | Related Articles | Metrics

In order to understand the effects of ammonium nitrate explosive states on their detonation performances more widely, the detonation velocities and detonation pressures of ammonium nitrate ex?plosives were measured by polymethyl methacrylate method. The method ’ s principle, experimental device were briefly described, then the detonation velocities and detonation pressures of common am- moning nitrate explosive and three expanded ammonium nitrate explosives were measured by the method. The measured results show that ammonium nitrate explosive has non — iaeal detonation char?acteristic of low detonation velocity and low detonation pressure, and expanded ammonium nitrate ex?plosives have much higher detonation velocities and detonation pressures than those of common ammo?nium nitrate explosive, the detonation pressure also increases with the reduction of explosive particle size. The polymethyl methacrylate methoa is a simple method of measuring the detonation velocity and detonation pressure of ammonium nitrate explosives simultaneously.

A Near Adaptive MTI System for Bimodal Clutter Suppression

SONG Jie, HE You, GUAN Jian, TANG Xiao-ming

2009, 30(5):  546-550.  doi:10.3969/j.issn.1000-1093.2009.05.007

Asbtract ( )   PDF (4986KB) ( )  

References | Related Articles | Metrics

Adaptive radar clutter suppression algorithm and realization are important things in radar signal processing system. A calculational method of optimal weight vector of the moving target indica?tion (MTI) filter based on the maximum average improvement factor criterion was discussed m theo?ry, a simple, practical near adaptive MTI system with bimodal clutter suppression ability was proposed from engineering angle, and a adaptive clutter suppression algorithm was used for measured radar data on the spot. Results of applying the adaptive clutter suppression algorithm on real radar data demon?strate that the algorithm gives the effective suppression of the clutter in real radar echoes.

Method of BS Model for Life Forecast of Electronic Products Based on Accelerated Test

MA Yan-heng, HAN Jiu-qiang, LI Gang

2009, 30(5):  551-554.  doi:10.3969/j.issn.1000-1093.2009.05.008

Asbtract ( )   PDF (4175KB) ( )  

References | Related Articles | Metrics

The performance degradation of electronic products is similar with the tiredness of physical materials. The electronic product life has a close relationship with the electric stress and environmental stress. According to the mentioned relationship, by an accelerated life test method, the failure appear?ance process was accelerated and the BS model parameters were obtained in a short period under accel?erated stress to avoid the trouble of gaining the parameters caused by electronic products’ long life. The electronic product life was predicted by BS model parameters under normal stress deduced from that under accelerated one based on gray forecast theory. Taking a power supply circuit board of a cer?tain type radar for example, it was verified that the method is feasible.

The EM Fields Produced by a Moving Horizontally-Directed Time- riarmonic Dipole in Two-layer Media

MAO Wei, LIN Chun-sheng

2009, 30(5):  555-560.  doi:10.3969/j.issn.1000-1093.2009.05.009

Asbtract ( )   PDF (5109KB) ( )  

References | Related Articles | Metrics

in order to really apply the shaft-rate electromagnetic( KM)fields to new type mine fuze, the EM fields at a fixed field point produced by a moving horizontally-directed time-harmonic dipole, locat?ed in the two-layer media were derived. The whole process was divided into two steps, in the first place, the EM fields at a fixed field point produced by a static dipole were derived; then based on the basic principle of the special theory of relativity and Lorentz transformation, the EM field produced by the moving dipole were derived; in the end, taking a ELF dipole moving slowly in the deep ocean for example, the numerical calculations of its EM fields were carried out. The practicality and correctness of the results were proved through contrasting the results with the experimented data.

Terminal Guidance Target Tracking Based on Gaussian Scale-space

CHEN Bing, ZHAO Yi-gong, LI Xin

2009, 30(5):  561-566.  doi:10.3969/j.issn.1000-1093.2009.05.010

Asbtract ( )   PDF (8185KB) ( )  

References | Related Articles | Metrics

In order to achieve robust tracking of a ground target whose size and pose change rapidly during terminal guidance, a new method based on Gaussian scale-space was proposed. It is steps of re?alizing the method that, the search area of the template in the query image is acquired, the Gaussian scale - space images of the search area are obtained; query images with different target sizes are esti?mated according to the scale parameter, correlation matching between the template and the query im?ages are performed, the scale of the optimum matching image is used to estimate target location and template size; the template is refreshed when template size has changed. The simulated results show that the proposed method is robust to the rapid changes in target size, and provides robust tracKing in heavy background clutter during terminal guidance.

HWIL Electrical Signal Simulation for Torpedo Acoustic Homing System Based on Ethernet

WANG Gang, HUANG Fei, QIAO Chun-jie,WANG Yue-ke

2009, 30(5):  567-571.  doi:10.3969/j.issn.1000-1093.2009.05.011

Asbtract ( )   PDF (5272KB) ( )  

References | Related Articles | Metrics

Because of the complexity of tactical environment in which the torpedo homing system worked, the torpedo homing system hardware-in-the-loop( HWIL) simulation has become an important method in developing and evaluating torpedo acoustic homing system performance in laboratory. A HWIL simulation system for torpedo acoustic homing based on Ethernet was proposed, of which tar?get/ background signals were simulated by electrical signal injection method, framework and principle were described, the mainly target/background models for acoustic simulation, such as narrowband spot and scale models, reverberation and ocean noise models, were discussed in detail. Hardware of the acoustic simulation signal source was designed by the direct digital signal synthesizer. The time-delay filter algorithm was proposed to realize synchronous output of multiple channel signals with time infor?mations in real time. The simulated results show that the HWIL simulation system is effective for de-veloping and evaluating torpedo acoustic homing system.

Research on Correlation Tracking Algorithm for Strap-down Imaging Seeker

LIN Zhe, YAO Yu, DI Xiao-guang,FU Xiao-wei

2009, 30(5):  572-579.  doi:10.3969/j.issn.1000-1093.2009.05.012

Asbtract ( )   PDF (7496KB) ( )  

References | Related Articles | Metrics

It is difficult that gate setting and target line-of-sight estimation are performed effectively by the traditional extended Kalman filter (EKF) according to a target motion model, because the optical detection base of strap-down imaging seeker changes with missile atlitude and its target imaging motion model presents nonlinear and time varying characteristics. To solve the mentioned above problem, the frame interval target motion model in the field of view of the seeker was established by taking tne tar?get maneuvering projection in inertial imaging coordinate system and the missile attitude as the input and the time-varying parameters respectively. A novel image correlation tracking algorithm was pro?posed by the central difference Kalman filter (CDKF) used for gate setting and precise target position estimating, and the improved template update strategy used for overcoming the influences of target size variety and template drifting on matching accuracy to improve the systematic tracking accuracy. The simulated results show that the algorithm nas a good tracking performance.

Fusion Assessment Method of Target Recognition Probability without Real Test Experiments

SUN Meng, WANG Zheng-ming

2009, 30(5):  580-585.  doi:10.3969/j.issn.1000-1093.2009.05.013

Asbtract ( )   PDF (5927KB) ( )  

References | Related Articles | Metrics

There is a strong military demand for assessing a certain tactical and technical performance index of a missile in battle without real test experiments, but the relative research is very little. Taking aim at assessing target recognition probability, a Logistic regression prediction model and a computer based simulation model were established to gain prior information; the fusion assessment method was performed by calculating each model’s confidence, which is compatible with Bayes fusion assessment method having field subsample. Each model ’ s confidence was computed by dividing the model into several parts and computing separately according to the physical background and the actual demand. The assessment sensitivity caused by the subjective parameters was also analyzed.

Theoretical Studies of the Passive Decoy to the Infrared Characteristics of Metal Constructions

JIANG Li-feng, YE Hong

2009, 30(5):  586-591.  doi:10.3969/j.issn.1000-1093.2009.05.014

Asbtract ( )   PDF (6188KB) ( )  

References | Related Articles | Metrics

A passive infrared simulation system was designed to simulate the infrared characteristic of metal constructions. The system was made up of pipe-plate, pump, receiver, and working fluid. The pipe-plate surface temperature used to simulate the infrared characteristic of metal constructions was controlled by the working fluid cycling through tne system. By numerical simulation, the influences of the pipe distribution density, working fluid mass density and the total mass of working fluid on varia?tions of average surface temperatures of the pipe-plates were discussed. It is found that the system can simulate surface thermal characteristics of the armor plates with different thicknesses, evenness degree of surface temperature of the pipe-plate is within 0.6 °C，and the max surface temperature difference between the pipe-plate and the armor plate is within 4 °C in the whole day.

Research on Grey Characteristics of Test Management of Electronic Warfare System and Its Application

KE Hong-fa，CHEN Yong-guang，LIU Si-feng,FANG Zhi-geng

2009, 30(5):  592-596.  doi:10.3969/j.issn.1000-1093.2009.05.015

Asbtract ( )   PDF (5915KB) ( )  

References | Related Articles | Metrics

Many uncertain decision-making problems, such as the incompleteness and uncertainty of in?formation and the short of data, exist in the test management system of electronic warfare system. The grey system theory is a powerful tool to settle such problems. From a systematic angle, the grey characteristics, containing structure grey, relation grey, datum grey and cognition grey, of the test management system were proposed. Ihe source ana the grey model of uncertain information in the test management system were studied. And an uncertainty measurement model of the test management da?tum was proposed. The test quality of an electronic warfare system was evaluated by grey relational analysis, and the preponderant factor which affects the test quality was analyzed. The researched con?clusions can be used to provide theoretic support for the application of grey system theory in the test management of electronic warfare system.

Experimental Research of TiAlN/TiN Composite Coatings Wear-resistant

LI Jin-heng, ZHOU Lan-ying，PANG Si-qin,HU Ji-bin

2009, 30(5):  597-601.  doi:10.3969/j.issn.1000-1093.2009.05.016

Asbtract ( )   PDF (5407KB) ( )  

References | Related Articles | Metrics

The TiAlN/TiN composite coatings were deposited on rotating seal ring by a multi-arc ion plating method. The composition, structure and mechanical properties of the coatings were investigat?ed using several analytical techniques, such as XRD, SEM and Micro hardness test. The mesured and tested results show that the main phase of TiAlN/TiN composite coatings is TiN, which growth is from crystal surface (111) ; the surface roughness of the coatings is 0.48 jum; the film base bonding force is 40 JN; the micro hardness of coatings is HV = 2 035; the inction coefficient of the coatings is 0.37; the average wear rate of the coatings is 7.96 X 1O-10 m3/h.

Support Vector Machines Based on Bayes Qriterion

YU Chuan-qiang, GUO Xiao-song, ZHANG Bao-sheng, ZHANG An

2009, 30(5):  602-606.  doi:10.3969/j.issn.1000-1093.2009.05.017

Asbtract ( )   PDF (5923KB) ( )  

References | Related Articles | Metrics

In handling classification problems, support vector machines (SVM) purely processes sam?ples and its effect of classification lies on character of the samples without considering current informa-tion of the classified problems. For resolving the phenomenon of data crossing in missile weapon sys?tems, the Bayes criterion was fused into the SVM by adding the prior probability item reflecting classi?fied problem present information to its decision function, to improve its classification effect; the deduc?ing process and realizing steps of the algorithm were given. The algorithm was verified by two in?stances .Results show that the new algorithm has better classification effect, the robust and the sensi?tivity than the normal SVM algorithm.

Design and Test for Micro Gyroscope Based on Nanoiilm Resonant Tunneling Effect

LIU Jun, MA Zong-min, SHI Yun-bo, et al

2009, 30(5):  607-612.  doi:10.3969/j.issn.1000-1093.2009.05.018

Asbtract ( )   PDF (5942KB) ( )  

References | Related Articles | Metrics

The resonant tunneling structure (RTS) micro gyroscope based on nano-ulm was proposed. The meso- piezoresistive effect of RTS was analyzed; the material structures of RTS and its processing methods were designed; the RTS that can reflect the resonant tunneling effect was fabricated. The structure can reduce the parasitic capacitance of the sensor, improve the negative resistance characteris?tics of the sensitive film, and be used in micro gyroscope. The structural design and simulation of mi?cro gyroscope based on resonant tunneling effect were carried out; the micro gyroscope was manufac?tured using bulk micromachming technology, and its key performance parameters were tested.

Experimental Technique and Analysis

Full Wave Analysis and Optimization of the Ortho-mode Transducers

WANG Hong-jian，LIU He-guang, FAN Bin,LIU Guang

2009, 30(5):  613-616.  doi:10.3969/j.issn.1000-1093.2009.05.019

Asbtract ( )   PDF (3670KB) ( )  

References | Related Articles | Metrics

A new ortho-mode transducer(OMT) composed of double-septums in main wave guide and single-septum in side waveguide was proposed.亡mite difference method in time domain(FDTD) and genetic algorithms(GA) were combined to analyse and optimize this new OMT. Numerical results of size and electric performance were simulated for an example. The simulated results show that cross po?larization level of OMT with feed horn is less than 一 25 dB. Voltage standing-wave ratio (VSWR) is less than I. I, main waveguide size decreases by 1/3 at using double-septums.

Area Source Filament Thermion Emission Flow Density And Uniformity Analysis

QIUYa-feng，CHANG Ben-kang, ZHANG Jun-ju,TIAN Si, FU Rong-guo

2009, 30(5):  617-621.  doi:10.3969/j.issn.1000-1093.2009.05.020

Asbtract ( )   PDF (4872KB) ( )  

References | Related Articles | Metrics

In order to test uniformity parameter of the image intensifier fluorescence screen, uniform electron emitting source is needed. The theoretical model of three shapes of the area source filament was established by the vacuum thermal radiation theory. The most rational filament shape was designed by the eatablished model based on analyzing thermal balance, current density and uniformity of thermion emitted from the electron emitting source. The proposed design method has instructive significance for theoretical research and practical fabrication of the electron emitting source.

Development and Test oi the Lrasoline Fueled Constant Volume L>ombustion Chamber with Built-in Adaptor

ZHANG Hong-guang, ZHENG Yi, ZHENG Guo-yong,WANG Yan, SONG Da-Iin

2009, 30(5):  622-627.  doi:10.3969/j.issn.1000-1093.2009.05.021

Asbtract ( )   PDF (6702KB) ( )  

References | Related Articles | Metrics

In order to make fundamental research on the combustion process of internal combustion en?gine, a new type gasoline fueled constant volume combustion chamber (CVCC) with more functions has been successfully developed, the combustion chamber is divided into two parts .(upper chamber and lower cnamber) by the built-in adaptor, then the simulation test for spark ignition, jet ignition and compression ignition (auto-ignition) of gasoline engine is available. I he structure, principle and lead?ing features of tKe CVCC test system are introduced in detail, some test results have been obtained by flame propagation photo ana gas pressure measurement, and then some preliminary conclusions have been presented. Owing to built-in adaptor with whole, higher flame propagation speed, higher com?bustion peak pressure value and higher combustion stability are availaole. In some conditions, because of flame trap effect, compression ignition (auto-ignition) occurs in the lower combustion chamber.

Short Papers

Research and Comparison on the Application of Hilbert- Huang Transform and Wavelet Transform to Fault Feature Extraction

YANG Lu, SHEN Huai-rong

2009, 30(5):  628-632.  doi:10.3969/j.issn.1000-1093.2009.05.022

Asbtract ( )   PDF (5225KB) ( )  

References | Related Articles | Metrics

The applications of the Hilbert-riuang transform (HHT) ana wavelet transform (WT) to fault feature extraction were studied. Taking the three-phase short fault in power system for example, the fault features were extracted by HHT and WT of fault voltage signals with and without aberration. The simulated results by HHT were compared with those by W T and the shortcomings of WT were analyzed. It is concluded that HHT is more valid than WT in the fault feature extraction, especially under the condition that the fault signal has the envelop variety but its frequency hardly changes.

Electro hydraulic Servo System Acceleration Harmonic Estimation Based on ANN

YAO Jian-jun, WANG Li-quan, WANG Xian-Cheng, JIA Peng，ZHANG Zhong-Iin

2009, 30(5):  633-638.  doi:10.3969/j.issn.1000-1093.2009.05.023

Asbtract ( )   PDF (5839KB) ( )  

References | Related Articles | Metrics

Because nonlinearities occur in the electro-hydraulic servo system, when the command signal is a sinusoidal wave, the acceleration output of the system contains higher harmonics, which causes harmonic distortion of the output acceleration signal. Using artificial neural network (ANN), a novel method for harmonic estimation was developed here. An Adaline neural network was used to on-line i- dentify the amplitudes and phase of harmonics as well as the fundamental acceleration output. The LMS algorithm was applied to update the weights of the Adaime according to the error between the ac?tual acceleration and the estimated acceleration to calculate the amplitudes and the phases of harmonics with the weights. The simulated results show that the method can identify harmonic signals on-line, fast, effectively and accurately.

Research Notes

Comparison and Analysis on Heat Dissipating Capacity Change for Strengthened Diesel Engines

LIU Chang, YUAN Yan-peng，ZHANG Wei-zheng，ZHAO Wei-mao, WANG Yue

2009, 30(5):  639-643.  doi:10.3969/j.issn.1000-1093.2009.05.024

Asbtract ( )   PDF (5275KB) ( )  

References | Related Articles | Metrics

Change rules of heat dissipating capacity for a certain strengthened diesel engines were inves?tigated. Through mutual coupling computation between the whole engine performance simulation and the temperature field simulation of heated components (piston, cylinder head, cylinder sleeve, valve), temperature field, heat-flux distribution as well as the whole engine heat dissipating capacity change rules before and after uprating the engine were calculated. Temperature field change tendencies, radia?tion proportion change rules as well as the reliable problems possibly appeared were inquired into. Alle?viated or solved measures were proposed.s

Influence of Variation of Heat Transfer Coefficient on Critical AmDient Temperature of Exothermic System

WANG Peng, DU Zhi-ming

2009, 30(5):  644-647.  doi:10.3969/j.issn.1000-1093.2009.05.025

Asbtract ( )   PDF (3633KB) ( )  

References | Related Articles | Metrics

Taking the heat transfer coefficient of exothermic system as the function of temperature into account, the influence of heat transfer coefficient on the critical ambient temperature of exothermic system was studied. Supposing the function of heat transfer coefficient influenced by temperature to be a power one, it was found out by analyzing that the solved critical ambient temperature at constant heat transfer coefficient is the minimum of that at variable one. The effect of neat transfer coefficient influenced by temperature on evaluating thermal safety of the exothermic system was investigated.

Accurate Near-Ineld Signal Juirection-of-Arrival Estimation Based on Signal Phase Match Algorithm

YAN Guang-hong，CHEN Zhi-fei, SUN Jin-cai

2009, 30(5):  648-651.  doi:10.3969/j.issn.1000-1093.2009.05.026

Asbtract ( )   PDF (3607KB) ( )  

References | Related Articles | Metrics

The reason, why precision of the near-field signal direction-of-arrival (DOA) estimation is lower, was analyzed based on signal phase match (sPM) principle, the method of accurate near-field signal DOA estimation was proposed based on the principle. The simulated results show that the method has sharp directionality, nigh resolution and directional precision, and simple calculation. Cor?rectness of the method was verified by the anechoic pool and field tests. The method can improve the precision of near-field signal DOA estimation effectively.

Research on the Method to Deal with Delay Compensation Time of Self-Oscillation Linear Actuator

YU Jian-qiao, LIN Fan, FANG Zheng

2009, 30(5):  652-656.  doi:10.3969/j.issn.1000-1093.2009.05.027

Asbtract ( )   PDF (5114KB) ( )  

References | Related Articles | Metrics

An effective method was proposed to deal with delay compensation time of self-oscillation linear actuator for a gun launched missile controlled with single channel. High frequency self-oscillation peculiarity of the actuator makes it rather difficult to measure and analyze the delay time of the actua?tor. To resolve this problem, it was proposed to use filter constructed based on missile dynamics to e- liminate the uncertainty brought by the nign frequency oscillation of the actuator, and to determine the delay compensation time of the actuator according to the delay of the missile normal acceleration. Data processing results show that by use of the method the delay compensation time of the self-oscillation linear actuator can be determined validly. A contrast between the amplitude-modulated rectangle wave order and sine wave order was made also in the point of view of whether it is convenient to compensate the delay time, and a conclusion that the self-oscillation linear actuator's response to the sine wave or?der is better than that to the rectangle wave order was offered.