2008 Vol.21(1)

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COLLISION AVOIDANCE DECISION- MAKING MODEL OF MULTI-AGENTS IN VIRTUAL DRIVING ENVIRONMENT WITH ANALYTIC HIERARCHY PROCESS
2008, 22(1).
[Abstract](2389) [PDF 510KB](88)
Abstract:
Collision avoidance decision-making models of multiple agents in virtual driving environ- ment are studied. Based on the behavioral characteristics and hierarchical structure of the collision avoidance decision-making in real life driving, delphi approach and mathematical statistics method are introduced to construct pair-wise comparison judgment matrix of collision avoidance decision choices to each collision situation. Analytic hierarchy process (AHP) is adopted to establish the agents’ collision avoidance decision-making model. To simulate drivers’ characteristics, driver factors are added to categorize driving modes into impatient mode, normal mode, and the cautious mode. The results show that this model can simulate human’s thinking process, and the agents in the virtual environment can deal with collision situations and make decisions to avoid collisions without intervention. The model can also reflect diversity and uncertainty of real life driving behaviors, and solves the multi-objective, multi-choice ranking priority problem in multi-vehicle collision scenarios. This collision avoidance model of multi-agents model is feasible and effective, and can provide richer and closer-to-life virtual scene for driving simulator, reflecting real-life traffic environment more truly, this model can also promote the practicality of driving simulator.
ADAPTIVE REPAIR APPROACH FOR RECOVERING COMPONENTS FROM DEFECTS
2008, 22(1).
[Abstract](2506) [PDF 403KB](236)
Abstract:
The geometry of each worn part is unique, so that a repair has to be tailored to each part individually. To ensure that a high quality repair is carried out, tool paths have to be generated adaptively for the unique geometry and pose of the part being repaired. A polygonal modelling approach is introduced to rapidly construct a geometric model of the part to be repaired, together with a defect-free model with identical geometry and poise. The two models are compared so that the defects are identified for direct use by the laser cladding, machining and inspection processes.
DESIGN OF NOVEL HIGH PRESSURE- RESISTANT HYDROTHERMAL FLUID SAMPLE VALVE
2008, 22(1).
[Abstract](2223) [PDF 331KB](118)
Abstract:
Sampling study is an effective exploration method, but the most extreme environments of hydrothermal vents pose considerable engineering challenges for sampling hydrothermal fluids. Moreover, traditional sampler systems with sample valves have difficulty in maintaining samples in situ pressure. However, decompression changes have effect on microorganisms sensitive to such stresses. To address the technical difficulty of collecting samples from hydrothermal vents, a new bidirectional high pressure-resistant sample valve with balanced poppet was designed. The sample valve utilizes a soft high performance plastic “PEEK” as poppet. The poppet with inapposite dimension is prone to occur to plastic deformation or rupture for high working pressure in experiments. To address this issue, based on the finite element model, simulated results on stress distribution of the poppet with different structure parameters and preload spring force were obtained. The static axial deformations on top of the poppet were experimented. The simulated results agree with the experimental results. The new sample valve seals well and it can withstand high working pressure.
VERTICAL NONCONTACT POSITIONING H∞ ROBUST CONTROL FOR MAGNETICALLY LEVITATED SURFACE MOTOR
2008, 22(1).
[Abstract](2110) [PDF 212KB](73)
Abstract:
To fulfill the stringent requirement, super-precision positioning and ultra cleanness, a surface motor with the integrated chip fabrication equipment is constructed by using permanent magnets and electromagnet coils as primary actuating components. It consists of stator and mover, and the mover is isolated from the stator by the magnetic bearing. The magnetic bearing in the stator is composed of eight air core electromagnet coils, the propulsion in the stator is composed of iron core and electromagnetic coils, and the mover is composed of NdFeB permanent magnets and levitated stage. Based on Lorentz law, some parameters, including permanent magnets dimensions, currents and levitation height, which may affect the stability, are analyzed and optimized. To improve the positioning accuracy in the vertical direction of the magnetic levitation surface motor, a robust controller is proposed using H∞ mixed sensitivity control theory. The simulation results show that by choosing appropriate weight functions, the controller can ensure the robustness of the closed loop system under the presence of uncertainties, and the H∞ robust controller is excellent for reducing steady error and increasing response speed.
INDIRECT ACCELERATED ADAPTIVE FUZZY CONTROLLER
2008, 22(1).
[Abstract](2130) [PDF 166KB](63)
Abstract:
According to a type of normal nonlinear system, an indirect adaptive fuzzy (IAF) controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To satisfy with system performance, an indirect accelerated adaptive fuzzy (IAAF) controller is proposed, and its general form is presented. The general form IAAF controller ensures necessary control criteria and system’s global stability using Lyapunov Theorem. It has been proved that the close-loop system error converges to a small neighborhood of equilibrium point. The optimal IAAF controller is derived to guarantee the process’s shortest settling time. Simulation results indicate the IAAF controller make the system more stable, accurate, and fast.
NEW TYPE OF LIMITED-SLIP DIFFERENTIAL WITH THREE-PITCH FLUCTUATING SPEED RATIO
2008, 22(1).
[Abstract](2123) [PDF 175KB](101)
Abstract:
A type of three-pitch fluctuating speed ratio limited-slip differential (TPLSD) is presented for the first time, analyzed its working principle, introduced the tooth profile design method of using non-involute tooth profile and separated tooth profile design along the pitch line. Performance comparison between vehicles equipped with three-pitch fluctuating speed ratio limited-slip differential and common open differential is finished. The data from experiments prove that three-pitch fluctuating speed ratio limited-slip differential can increase the traction of a vehicle, improve its acceleration performance, decrease braking distance and limit sideslip. The basic structure of new differential is the same of open differential, the only difference is that they have different tooth profile, so the new differential has a high performance price.
GUIDELESS SPATIAL COORDINATE MEASUREMENT TECHNOLOGY BASED ON CODING POLE
2008, 22(1).
[Abstract](2171) [PDF 171KB](59)
Abstract:
A new method of guideless spatial coordinate measurement technology based on coding pole and vision measurement is proposed. Unequal spacing of bar code is adopted to pole, so that the code combination of pole image in measuring field is unique. Holographic characteristics of numeric coding pole are adopted to obtain pole pose and pole probe position by any section of bar code on the pole. Spatial coordinates of measuring points can be obtained by coordinate transform. The contradiction between high resolution and large visual field of image sensor is resolved, thereby providing a new concept for surface shape measurement of large objects with high precision. The measurement principles of the system are expounded and mathematic model is established. The measurement equation is evaluated by simulation experiments and the measurement precision is analyzed. Theoretical analysis and simulation experiments prove that this system is characterized by simple structure and wide measurement range. Therefore it can be used in the 3-dimentional coordinate measurement of large objects.
EFFECTS OF POLYTROPIC EXPONENT ON DATA PROCESSING METHODS USED IN CONSTANT VOLUME DISCHARGE
2008, 22(1).
[Abstract](2173) [PDF 186KB](138)
Abstract:
In order to obtain the accurate sonic conductance of solenoid valves, the polytropic exponent is used in the data processing of the discharge method for measuring the flow rate characteristics of pneumatic components. Three data processing principles are first introduced, and then the discharge pressure data obtained from the measured solenoid valve are processed to obtain the sonic conductance with three methods: the partial polytropic exponent method, the complete polytropic exponent method and the adiabatic method. By comparison of the obtained results it indicates that the complete polytropic exponent method is the most accurate. However, the partial polytropic exponent method is of a high applicable value, because it is easy and simple to measure and the obtained results are relatively accurate.
MICRO-COURSE OF CAVITATION EROSION
2008, 22(1).
[Abstract](2157) [PDF 985KB](169)
Abstract:
By cavitation tests and scanning electron microscope (SEM) microanalysis, the micro- appearance of cavitation samples is studied. It is the first time that the micro-appearance of metals is pursued successfully. According to the changing course of the micro-appearance of metals, the damaging course of cavitation erosion is determined. The destructive way of collapsing bubbles on the metal surface is known. Firstly cavitation pinholes appear on the metal surface, then cracks generate and grow under the action of collapsing bubbles. When cracks connect each other, small pieces are re-moved from pinhole wall and pinholes develop into cavitation pits. When the previous surface is removed completely, new pinholes are produced again on the new surface. A pinhole is the result of the powerful striking of a micro-liquid jet ejected by a large collapsed bubble near the surface. At some stages, cracks grow in the way of fatigue. The corrosion phenomenon is observed during the cavitation erosion. The cavitation pattern can be used to explain the cavitation pregnancy and the changing regulation of sample surface.
PARAMETRIC IDENTIFICATION OF PARALLEL MANIPULATOR WITH REDUNDANCY DRIVEN BY PNEUMATIC MUSCLES
2008, 22(1).
[Abstract](2141) [PDF 384KB](78)
Abstract:
A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy. Due to the special physical properties of the parallel manipulator studied, the regression model for parametric identification is characterized by multicollinearity, which will result in unreliable and inaccurate parameter estimations with large covariance if the conventional parameter estimation algorithm based on single error minimizing criterion is used. To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator, a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles. The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator, and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.
ANALYTICAL CHIP FORMATION MODEL OF MICRO-END-MILLING
2008, 22(1).
[Abstract](2184) [PDF 270KB](132)
Abstract:
A new analytical chip formation model is proposed for micro-end-milling operations. The model calculates an instantaneous uncut chip thickness by considering the combination of exact trochoidal trajectory of the tool tip and tool run-out, while the simplified circular trajectory and the neglected run-out create negligible change in conventional-scale chip formation models. Newton-Raphson iterative method is employed during the calculation to obtain quadratic convergence. The proposed approach allows the calculation of instantaneous uncut chip thickness to be done accurately and rapidly, and the prediction accuracy of this model is also verified by comparing the simulation results to experimental cutting forces.
EVOLUTIONARY ALGORITHMS WITH PREFERENCE FOR MANUFACTURING CELLS FORMATION
2008, 22(1).
[Abstract](2130) [PDF 245KB](53)
Abstract:
Due to the combinatorial nature of cell formation problem and the characteristics of multi-objective and multi-constrain, a novel method of evolutionary algorithm with preference is proposed. The analytic hierarchy process (AHP) is adopted to determine scientifically the weights of the sub-objective functions. The satisfaction of constraints is considered as a new objective, the ratio of the population which doesn’t satisfy all constraints is assigned as the weight of new objective. In addition, the self-adaptation of weights is applied in order to converge more easily towards the feasible domain. Therefore, both features multi-criteria and constrains are dealt with simultaneously. Finally, an example is selected from the literature to evaluate the performance of the proposed approach. The results validate the effectiveness of the proposed method in designing the manufacturing cells.
FOUR-PARAMETER AUTOMATIC TRANSMISSION TECHNOLOGY FOR CONSTRUCTION VEHICLE BASED ON ELMAN RECURSIVE NEURAL NETWORK
2008, 22(1).
[Abstract](2154) [PDF 269KB](99)
Abstract:
From the viewpoint of energy saving and improving transmission efficiency, the ZL50E wheel loader is taken as the study object. And the system model is analyzed based on the transmission system of the construction vehicle. A new four-parameter shift schedule is presented, which can keep the torque converter working in the high efficiency area. The control algorithm based on the Elman recursive neural network is applied, and four-parameter control system is developed which is based on industrial computer. The system is used to collect data accurately and control 4D180 power-shift gearbox of ZL50E wheel loader shift timely. An experiment is done on automatic transmission test-bed, and the result indicates that the control system could reliably and safely work and improve the efficiency of hydraulic torque converter. Four-parameter shift strategy that takes into account the power consuming of the working pump has important operating significance and reflects the actual working status of construction vehicle
ANALYSIS AND SIMULATION ON THE MECHANISM OF A NOVEL DUAL-WAVE SHOCK TEST MACHINE
2008, 22(1).
[Abstract](2206) [PDF 315KB](241)
Abstract:
For qualifying the anti-shock performance of shipboard equipments and simulating actual underwater explosion environments, a novel dual-wave shock test machine is proposed to increase testing capability of shock test machines as well as to meet certain shock testing specification. The machine can generate a double-pulse acceleration shock for test articles according to specification defined in BV043/85. On the basis of the impact theory, a nonlinear dynamic model of the hydraulically-actuated test machine is established with thorough analysis on its mechanism which involves conversion of gas potential energy and dissipation of kinetic energy. Simulation results have demonstrated that the machine can produce a double-pulse acceleration shock in the time domain or a desired shock response spectrum in the frequency domain, which sets a theoretical base for the construction of the proposed machine.
RESEARCH AND DEVELOPMENT OF VIRTUAL PROTOTYPE OF RUNNING GEARS FOR RAILWAY VEHICLE
2008, 22(1).
[Abstract](2185) [PDF 304KB](186)
Abstract:
Virtual prototype is an important idea to resolve design problems of railway vehicle. A different development method, which is based on national product and autonomous development, and would like to reflect the specialty of railway vehicle development in China, is presented. According to the developing process of railway vehicle, the research contents and developing method are pointed out. The integration between CAD and performance analysis software on dynamics and strength is mainly considered. In CAD environment, the properties for dynamics computing are extracted directly from the model and exported with model. This method can avoid data losing caused by model rebuilding in CAE software, and increase the direct dependence of product CAD. Then the vehicle model with properties will be used for real-time dynamics and kinematics analysis and simulation. Therefore, the strength of the parts can be analyzed. The results of dynamics and strength analysis will be fed back to optimize the design model. All operations are dispatched by a control platform, and all data are managed according to the principle of PDM. Testing results show this method is correct.
VIBRATION CONTROL OF FLUID- FILLED PRISMATIC SHELL WITH ACTIVE CONSTRAINED LAYER DAMPING TREATMENTS
2008, 22(1).
[Abstract](2186) [PDF 389KB](78)
Abstract:
Active constrained layer damping (ACLD) combines the simplicity and reliability of passive damping with the light weight and high efficiency of active actuators to obtain high damping over a wide frequency band. A fluid-filled prismatic shell is set up to investigate the validity and efficiency of ACLD treatments in the case of fluid-structure interaction. By using state subspace identification method, modal parameters of the ACLD system are identified and a state space model is established subsequently for the design of active control laws. Experiments are conducted to the fluid-filled prismatic shell subjected to random and impulse excitation, respectively. For comparison, the shell model without fluid interaction is experimented as well. Experimental results have shown that the ACLD treatments can suppress vibration of the fluid-free and fluid-filled prismatic shell effectively. Under the same control gain, vibration attenuation is almost the same in both cases.
MULTIPLE ELECTRONIC CONTROL UNITS CALIBRATION SYSTEM BASED ON EXPLICIT CALIBRATION ROTOCOL AND J1939 PROTOCOL
2008, 22(1).
[Abstract](2154) [PDF 252KB](772)
Abstract:
The rising number of electronic control units (ECUs) in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol (XCP) and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network (CAN) are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP , with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.
SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO- RHEOLOGICAL DAMPERS: PART Ⅰ—CONTROLLER SYNTHESIS AND EVALUATION
2008, 22(1).
[Abstract](2177) [PDF 369KB](63)
Abstract:
A modified skyhook-based semi-active controller is proposed for implementing an asymmetric control suspension design with symmetric magneto-rheological (MR) dampers. The controller is formulated in current form, which is modulated by integrating a continuous modulation and an asymmetric damping force generation algorithms, so as to effectively minimize switching and hysteretic effects from the MR-damper. The proposed controller is implemented with a quarter-vehicle MR-suspension model, and its relative response characteristics are thus evaluated in terms of defined performance measures under varying amplitude harmonic, rounded pulse and random excitations. The sensitivity of the semi-active suspension performance to variations in controller parameters is thoroughly evaluated. The results illustrate that the proposed skyhook-based asymmetric semi-active MR-suspension controller has superior robustness on the system parameter variations, and can achieve desirable multi-objective suspension performance.
ADAPTIVE FEED-FORWARD COMPENSATOR FOR HARMONIC CANCELLATION IN ELECTRO- HYDRAULIC SERVO SYSTEM
2008, 22(1).
[Abstract](2176) [PDF 273KB](203)
Abstract:
Since the dead zone phenomenon occurs in electro-hydraulic servo system, the output of the system corresponding to a sinusoidal input contains higher harmonic besides the fundamental input, which causes harmonic distortion of the output signal. The method for harmonic cancellation based on adaptive filter is proposed. The task is accomplished by generating reference signals with frequency that should be eliminated from the output. The reference inputs are weighted by the adaptive filter in such a way that it closely matches the harmonic. The output of the adaptive filter is a harmonic replica and is injected to the fundamental signal such that the output harmonic is cancelled leaving the desired signal alone, and the total harmonic distortion (THD) is greatly reduced. The weights of filter are adjusted on-line according to the control error by using least-mean-square (LMS) algorithm. Simulation results performed with a hydraulic system demonstrate the efficiency and validity of the proposed adaptive feed-forward compensator (AFC) control scheme.
THREE DIMENSIONAL MULTIPHASE COMPUTATIONAL FLUID DYNAMICS ANALYSIS OF VENTILATED SUPERCAVITATION
2008, 22(1).
[Abstract](2162) [PDF 486KB](119)
Abstract:
For some vehicles travelling through water, it is advantageous to cover the vehicle in a supercavity for the sake of reducing the drag acting on it. The method of artificial ventilation is most effective for generating and dominating the supercavity. This paper focuses on the numerical simulation of flow field around three dimensional body. The method is based on the multiphase computational fluid dynamics (CFD) model combined with the turbulence model and the full cavity model. The flow field of cavity is simulated by solving the compressible Navier-Stokes equations. The fundamental similarity parameters of ventilated supercavitaty flows that include cavitation number, Froude number, ventilation rate and drag coefficient are all investigated numerically in the case of steady flow and gravity field. We discuss the following simulations results in section 3: The variations of the cavitation number and the supercavity’s relative diameter with ventilation rate (subtopic 3.1); The drag coefficient versus the cavitation number (subtopic 3.2); Deformation of supercavity axis caused by gravitational effect for three different fixed Froude numbers—2.8, 3.4, 4.2 (subtopic 3.3). In subtopic 3.2, we give the comparison results of the drag reduction ratio among numerical simulation and experiment conducted in hydrodynamic tunnel and towing tank respectively. In subtopic 3.3, we summarize our discussion of gravitational effect on the axis deformation of supercavity as follows: In the case of smaller Froude number, the inclination of the cavity axis increases monotonously with increasing horizontal length, and reaches its maximal value at the end of supercavity; This deformation can be almost completely negligible when the Froude number Fr>7. The comparisons with the experimental data in the hydrodynamic tunnel and the towing tank indicate that the present method is effective for predicting the flows around ventilated supercavity; that the numerical results is in good agreement with the experimental ones and that the maximal value of the drag reduction ratio can reach 88% compared with that the condition of fully-wetted.
DEFORMATION ANALYSIS OF SHEET METAL SINGLE-POINT INCREMENTAL FORMING BY FINITE ELEMENT METHOD SIMULATION
2008, 22(1).
[Abstract](2183) [PDF 373KB](105)
Abstract:
Single-point incremental forming (SPIF) is an innovational sheet metal forming method without dedicated dies, which belongs to rapid prototyping technology. In generalizing the SPIF of sheet metal, the deformation analysis on forming process becomes an important and useful method for the planning of shell products, the choice of material, the design of the forming process and the planning of the forming tool. Using solid brick elements, the finite element method(FEM) model of truncated pyramid was established. Based on the theory of anisotropy and assumed strain formulation, the SPIF processes with different parameters were simulated. The resulted comparison between the simulations and the experiments shows that the FEM model is feasible and effective. Then, according to the simulated forming process, the deformation pattern of SPIF can be summarized as the combination of plane-stretching deformation and bending deformation. And the study about the process parameters’ impact on deformation shows that the process parameter of interlayer spacing is a dominant factor on the deformation. Decreasing interlayer spacing, the strain of one step decreases and the formability of blank will be improved. With bigger interlayer spacing, the plastic deformation zone increases and the forming force will be bigger.
ANALYSIS OF MECHANICS IN BALL SPINNING OF THIN-WALLED TUBE
2008, 22(1).
[Abstract](2171) [PDF 276KB](164)
Abstract:
Ball spinning is applied to manufacturing thin-walled tube with high precision and high mechanical properties. On the basis of plastic mechanics, by simplifying ball spinning of thin-walled tube as plane strain problem, slab method is used for the purpose of calculating the contact deformation pressure. The spinning force components, the torsional moment, the deformation power and the deformation work are calculated further as well. The influence of the two important process parameters such as the feed ratio and the ball diameter on the spinning force components is analyzed in order to further control the spinning force components by regulating the two process variables during the ball spinning process. The stress and strain state in deformable zone as well as mechanics boundary conditions in ball spinning are obtained. The effect of the three spinning force components on the formability of the spun part is analyzed and validated through the ball spinning experiments. The theoretical and experimental results show that the radial spinning component plays a significant role in ball spinning of thin-walled tube, and the mechanics situation in backward ball spinning contributes to enhancing the plasticity of the metal material, but that in forward ball spinning contributes to advancing the axial flow of the metal material.
FAIRING TECHNIQUE OF THE CURVES AND SURFACES IN INDUSTRIAL STYLING DESIGN
2008, 22(1).
[Abstract](2143) [PDF 199KB](84)
Abstract:
To many industrial products such as cell phone, family appliance, vehicle, a pretty shape of nice visual effect is indispensable. To fulfill this target, designers are endeavoring to make the curve and surface of the products smooth and continuous during the shape design. Through the analysis and generalization of the present smoothing methods, the energy optimization method which combines the merits of energy method and least squares method together is studied, the target function of energy optimization method is derived, the solution to the target function and steps of curve fairing is introduced, the skills and methods building A-class surface which are based on cloud data measured from 3D scanning are studied, the validity of energy optimization method is verified with the example of the shape design of a mini-EV as well.
COUPLING EFFECT OF FLEXIBLE JOINT AND FLEXIBLE LINK ON DYNAMIC SINGULARITY OF FLEXIBLE MANIPULATOR
2008, 22(1).
[Abstract](2150) [PDF 160KB](114)
Abstract:
The coupling effect of the flexible joint and the flexible link on the dynamic singularity of the flexible manipulator is addressed. Firstly, the dynamic equations of a flexible manipulator with a flexible joint and a flexible link are derived. Secondly, the relationship and property between the flexible joint and the flexible link are analyzed. It shows that the flexible joint’s amplitude will increase abruptly, thereby the dynamic singularity occurs if the frequency of a flexible joint is near or equal to some natural frequency of a flexible link. Finally, some numerical simulations which will verify the correctness of the theoretical analysis, are carried out. The results are fundamental for the design of a flexible manipulator and for the avoidance of the dynamic singularity.