2009 Vol.22(2)
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2009, 23(2).
Abstract:
To overcome some of the problems inherent in conventional hearing aids such as low gain at high frequencies due to acoustic feedback, discomfort in occlusion of the external ear canal and so on, implantable middle ear hearing devices (IMEHDs) have been developed over the past two decades. For such kinds of IMEHDs, this paper presents the design of a floating mass piezoelectric actuator using a PMN-30%PT stack as a new type of vibrator. The proposed piezoelectric actuator consists of only three components of a piezoelectric stack, a metal case and a clamp. For the purpose of aiding the design of this actuator, a coupling biomechanics model of human middle ear and the piezoelectric actuator was constructed. This model was built based on a complete set of computerized tomography section images of a healthy volunteer’s left ear by reverse engineering technology. The validity of this model was confirmed by comparing the motion of the tympanic membrane and stapes footplate obtained by this model with published experimental measurements on human temporal bones. It is shown that the designed actuator can be implanted on the incus long process by a simple surgical operation, and the stapes footplate displacement by its excitation at 10.5 V root-mean-square(RMS) voltage was equivalent to that from acoustic stimulation at 100 dB sound pressure level(SPL), which is adequate stimulation to the ossicular chain. The corresponding power consumption is 0.04 mW per volt of excitation at 1 kHz, which is low enough for the transducer to be used in an implantable middle ear device.
To overcome some of the problems inherent in conventional hearing aids such as low gain at high frequencies due to acoustic feedback, discomfort in occlusion of the external ear canal and so on, implantable middle ear hearing devices (IMEHDs) have been developed over the past two decades. For such kinds of IMEHDs, this paper presents the design of a floating mass piezoelectric actuator using a PMN-30%PT stack as a new type of vibrator. The proposed piezoelectric actuator consists of only three components of a piezoelectric stack, a metal case and a clamp. For the purpose of aiding the design of this actuator, a coupling biomechanics model of human middle ear and the piezoelectric actuator was constructed. This model was built based on a complete set of computerized tomography section images of a healthy volunteer’s left ear by reverse engineering technology. The validity of this model was confirmed by comparing the motion of the tympanic membrane and stapes footplate obtained by this model with published experimental measurements on human temporal bones. It is shown that the designed actuator can be implanted on the incus long process by a simple surgical operation, and the stapes footplate displacement by its excitation at 10.5 V root-mean-square(RMS) voltage was equivalent to that from acoustic stimulation at 100 dB sound pressure level(SPL), which is adequate stimulation to the ossicular chain. The corresponding power consumption is 0.04 mW per volt of excitation at 1 kHz, which is low enough for the transducer to be used in an implantable middle ear device.
2009, 23(2).
Abstract:
A novel method for robust collaborative design of complex products based on dual-response surface (DRS-RCO) is proposed to solve multidisciplinary design optimization (MDO) problems under uncertainty. Collaborative optimization (CO) which decomposes the whole system into a double-level nonlinear optimization problem is widely accepted as an efficient method to solve MDO problems. In order to improve the quality of complex product in design process, robust collaborative optimization (RCO) is developed to solve those problems under uncertain conditions. RCO does optimization on the linear sum of mean and standard deviation of objective function and gets an optimal solution with high robustness. Response surfaces method is an important way to do approximation in robust design. DRS-RCO is an improved RCO method in which dual-response surface replaces system uncertainty analysis module of CO. The dual-response surface is the approximate model of mean and standard deviation of objective function respectively. In DRS-RCO, All the information of subsystems is included in dual-response surfaces. As an additional item, the standard deviation of objective function is added to the subsystem optimization. This item guarantee both the mean and standard deviation of this subsystem is reaching the minima at the same time. Finally, a test problem with two coupled subsystems is conducted to verify the feasibility and effectiveness of DRS-RCO.
A novel method for robust collaborative design of complex products based on dual-response surface (DRS-RCO) is proposed to solve multidisciplinary design optimization (MDO) problems under uncertainty. Collaborative optimization (CO) which decomposes the whole system into a double-level nonlinear optimization problem is widely accepted as an efficient method to solve MDO problems. In order to improve the quality of complex product in design process, robust collaborative optimization (RCO) is developed to solve those problems under uncertain conditions. RCO does optimization on the linear sum of mean and standard deviation of objective function and gets an optimal solution with high robustness. Response surfaces method is an important way to do approximation in robust design. DRS-RCO is an improved RCO method in which dual-response surface replaces system uncertainty analysis module of CO. The dual-response surface is the approximate model of mean and standard deviation of objective function respectively. In DRS-RCO, All the information of subsystems is included in dual-response surfaces. As an additional item, the standard deviation of objective function is added to the subsystem optimization. This item guarantee both the mean and standard deviation of this subsystem is reaching the minima at the same time. Finally, a test problem with two coupled subsystems is conducted to verify the feasibility and effectiveness of DRS-RCO.
2009, 23(2).
Abstract:
Multiple dominant gear meshing frequencies are present in the vibration signals collected from gearboxes and the conventional spiky features that represent initial gear fault conditions are usually difficult to detect. In order to solve this problem, we propose a new gearbox deterioration detection technique based on autoregressive modeling and hypothesis testing in this paper. A stationary autoregressive model was built by using a normal vibration signal from each shaft. The established autoregressive model was then applied to process fault signals from each shaft of a two-stage gearbox. What this paper investigated is a combined technique which unites a time-varying autoregressive model and a two sample Kolmogorov-Smirnov goodness-of-fit test, to detect the deterioration of gearing system with simultaneously variable shaft speed and variable load. The time-varying autoregressive model residuals representing both healthy and faulty gear conditions were compared with the original healthy time-synchronous average signals. Compared with the traditional kurtosis statistic, this technique for gearbox deterioration detection has shown significant advantages in highlighting the presence of incipient gear fault in all different speed shafts involved in the meshing motion under variable conditions.
Multiple dominant gear meshing frequencies are present in the vibration signals collected from gearboxes and the conventional spiky features that represent initial gear fault conditions are usually difficult to detect. In order to solve this problem, we propose a new gearbox deterioration detection technique based on autoregressive modeling and hypothesis testing in this paper. A stationary autoregressive model was built by using a normal vibration signal from each shaft. The established autoregressive model was then applied to process fault signals from each shaft of a two-stage gearbox. What this paper investigated is a combined technique which unites a time-varying autoregressive model and a two sample Kolmogorov-Smirnov goodness-of-fit test, to detect the deterioration of gearing system with simultaneously variable shaft speed and variable load. The time-varying autoregressive model residuals representing both healthy and faulty gear conditions were compared with the original healthy time-synchronous average signals. Compared with the traditional kurtosis statistic, this technique for gearbox deterioration detection has shown significant advantages in highlighting the presence of incipient gear fault in all different speed shafts involved in the meshing motion under variable conditions.
2009, 23(2).
Abstract:
Automatic weld seam tracking technology to be used in hyperbaric underwater damaged pipeline repair welding is much more important, because of poor bevel preparation and severe working condition. A weld seam tracking system based on digital signal processing(DSP) passive light weld image processing technology has been established. A convenient charge coupled device(CCD) camera system was used in the high pressure environment with the help of an aperture and focus altering mechanism to guarantee overall image visibility in the scope of pressure below 0.7MPa. The system can be used in the hyperbaric environment to pick up the real welding image of both the welding arc and the welding pool. The newly developed DSP technology was adopted to achieve the goal of system real time characteristics. An effective weld groove edge recognition technique including narrow interesting window opening, middle value wave filtering, Sobel operator weld edge detecting and edge searching in a defined narrow area was proposed to remove the guide error and system accuracy was ensured. The results of tracking simulation and real tracking application with arc striking have proved the validity and the accuracy of the mentioned system and the image processing method.
Automatic weld seam tracking technology to be used in hyperbaric underwater damaged pipeline repair welding is much more important, because of poor bevel preparation and severe working condition. A weld seam tracking system based on digital signal processing(DSP) passive light weld image processing technology has been established. A convenient charge coupled device(CCD) camera system was used in the high pressure environment with the help of an aperture and focus altering mechanism to guarantee overall image visibility in the scope of pressure below 0.7MPa. The system can be used in the hyperbaric environment to pick up the real welding image of both the welding arc and the welding pool. The newly developed DSP technology was adopted to achieve the goal of system real time characteristics. An effective weld groove edge recognition technique including narrow interesting window opening, middle value wave filtering, Sobel operator weld edge detecting and edge searching in a defined narrow area was proposed to remove the guide error and system accuracy was ensured. The results of tracking simulation and real tracking application with arc striking have proved the validity and the accuracy of the mentioned system and the image processing method.
2009, 23(2).
Abstract:
Image quality is one of the most important specifications of optical lithography tool and is affected notably by temperature, vibration, and contamination of projection lens(PL). Traditional method of local temperature control is easier to introduce vibration and contamination, so temperature control system with multi-closed loops is developed to control the temperature inside the PL, and to isolate the influence of vibration and contamination. A new remote indirect-temperature-control(RITC) method is proposed in which cooling water is circulated to perform indirect-temperature-control of the PL. Heater and cooler embedded temperature control unit(TCU) is used to condition the temperature of the cooling water, and the TCU must be kept away from the PL so that the influence of vibration and contamination can be avoided. A new multi-closed loops control structure incorporating an internal cascade control structure(CCS) and an external parallel cascade control structure(PCCS) is designed to prevent large inertia, multi-delay, and multi-disturbance of the RITC system. A nonlinear proportional-integral(PI) algorithm is applied to further enhance the convergence rate and precision of the control process. Contrast experiments of different control loops and algorithms were implemented to verify the impact on the control performance. It is shown that the temperature control system with multi-closed loops reaches a precision specification at ±0.006 ℃ with fast convergence rate, strong robustness, and self-adaptability. This method has been successfully used in an optical lithography tool which produces a pattern of 100 nm critical dimension(CD), and its performances are satisfactory.
Image quality is one of the most important specifications of optical lithography tool and is affected notably by temperature, vibration, and contamination of projection lens(PL). Traditional method of local temperature control is easier to introduce vibration and contamination, so temperature control system with multi-closed loops is developed to control the temperature inside the PL, and to isolate the influence of vibration and contamination. A new remote indirect-temperature-control(RITC) method is proposed in which cooling water is circulated to perform indirect-temperature-control of the PL. Heater and cooler embedded temperature control unit(TCU) is used to condition the temperature of the cooling water, and the TCU must be kept away from the PL so that the influence of vibration and contamination can be avoided. A new multi-closed loops control structure incorporating an internal cascade control structure(CCS) and an external parallel cascade control structure(PCCS) is designed to prevent large inertia, multi-delay, and multi-disturbance of the RITC system. A nonlinear proportional-integral(PI) algorithm is applied to further enhance the convergence rate and precision of the control process. Contrast experiments of different control loops and algorithms were implemented to verify the impact on the control performance. It is shown that the temperature control system with multi-closed loops reaches a precision specification at ±0.006 ℃ with fast convergence rate, strong robustness, and self-adaptability. This method has been successfully used in an optical lithography tool which produces a pattern of 100 nm critical dimension(CD), and its performances are satisfactory.
2009, 23(2).
Abstract:
The rolling bearing friction torque which is characterized by its uncertainty and nonlinearity affects heavily the dynamic performance of a system such as missiles, spacecrafts and radars, etc. It is difficult to use the classical statistical theory to evaluate the dynamic evaluation of the rolling bearing friction torque for the lack of prior information about both probability distribution and trends. For this reason, based on the information poor system theory and combined with the correlation dimension in chaos theory, the concepts about the mean of the dynamic fluctuant range (MDFR) and the grey relation are proposed to resolve the problem about evaluating the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque. Friction torque experiments are done for three types of the rolling bearings marked with HKTA, HKTB and HKTC separately; meantime, the correlation dimension and MDFR are calculated to describe the nonlinear characteristic and the dynamic uncertainty of the friction torque, respectively. And the experiments reveal that there is a certain grey relation between the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque, viz. MDFR will become the nonlinear increasing trend with the correlation dimension increasing. Under the condition of fewer characteristic data and the lack of prior information about both probability distribution and trends, the unitive evaluation for the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque is realized with the grey confidence level of 87.7%−96.3%.
The rolling bearing friction torque which is characterized by its uncertainty and nonlinearity affects heavily the dynamic performance of a system such as missiles, spacecrafts and radars, etc. It is difficult to use the classical statistical theory to evaluate the dynamic evaluation of the rolling bearing friction torque for the lack of prior information about both probability distribution and trends. For this reason, based on the information poor system theory and combined with the correlation dimension in chaos theory, the concepts about the mean of the dynamic fluctuant range (MDFR) and the grey relation are proposed to resolve the problem about evaluating the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque. Friction torque experiments are done for three types of the rolling bearings marked with HKTA, HKTB and HKTC separately; meantime, the correlation dimension and MDFR are calculated to describe the nonlinear characteristic and the dynamic uncertainty of the friction torque, respectively. And the experiments reveal that there is a certain grey relation between the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque, viz. MDFR will become the nonlinear increasing trend with the correlation dimension increasing. Under the condition of fewer characteristic data and the lack of prior information about both probability distribution and trends, the unitive evaluation for the nonlinear characteristic and the dynamic uncertainty of the rolling bearing friction torque is realized with the grey confidence level of 87.7%−96.3%.
2009, 23(2).
Abstract:
As the development tends towards high-speed, large-scale and high-power, power of the ship main engine becomes larger and larger. This make the engine design and cabin arrangement become more and more difficult. Ship maneuverability becomes bad. A new ship propulsion system, integrated hydraulic propulsion (IHP), is put forward to meet the development of modern ship. Principle of IHP system is discussed. Working condition matching characteristic of IHP ship is studied based on its matching characteristic charts. According to their propulsion principle, dynamic mathematic models of IHP ship and direct propulsion (DP) ship are developed. These two models are verified by test sailing and test stand data. Based on the software Matlab/Simulink, comparison research between IHP ship and DP ship is conducted. The results show that cabin arrangement of IHP ship is very flexible, working condition matching characteristic of IHP ship is good, the ratio of power to weight of IHP ship is larger than DP ship, and maneuverability is excellent. IHP system is suitable for engineering ship, superpower ship and warship, etc.
As the development tends towards high-speed, large-scale and high-power, power of the ship main engine becomes larger and larger. This make the engine design and cabin arrangement become more and more difficult. Ship maneuverability becomes bad. A new ship propulsion system, integrated hydraulic propulsion (IHP), is put forward to meet the development of modern ship. Principle of IHP system is discussed. Working condition matching characteristic of IHP ship is studied based on its matching characteristic charts. According to their propulsion principle, dynamic mathematic models of IHP ship and direct propulsion (DP) ship are developed. These two models are verified by test sailing and test stand data. Based on the software Matlab/Simulink, comparison research between IHP ship and DP ship is conducted. The results show that cabin arrangement of IHP ship is very flexible, working condition matching characteristic of IHP ship is good, the ratio of power to weight of IHP ship is larger than DP ship, and maneuverability is excellent. IHP system is suitable for engineering ship, superpower ship and warship, etc.
2009, 23(2).
Abstract:
For the purpose of dealing with uncertainty factors in engineering optimization problems, this paper presents a new non-probabilistic robust optimal design method based on maximum variation estimation. The method analyzes the effect of uncertain factors to objective and constraints functions, and then the maximal variations to a solution are calculated. In order to guarantee robust feasibility the maximal variations of constraints are added to original constraints as penalty term; the maximal variation of objective function is taken as a robust index to a solution; linear physical programming is used to adjust the values of quality characteristic and quality variation, and then a bi-level mathematical robust optimal model is constructed. The method does not require presumed probability distribution of uncertain factors or continuous and differentiable of objective and constraints functions. To demonstrate the proposed method, the design of the two-bar structure acted by concentrated load is presented. In the example the robustness of the normal stress, feasibility of the total volume and the buckling stress are studied. The robust optimal design results show that in the condition of maintaining feasibility robustness, the proposed approach can obtain a robust solution which the designer is satisfied with the value of objective function and its variation.
For the purpose of dealing with uncertainty factors in engineering optimization problems, this paper presents a new non-probabilistic robust optimal design method based on maximum variation estimation. The method analyzes the effect of uncertain factors to objective and constraints functions, and then the maximal variations to a solution are calculated. In order to guarantee robust feasibility the maximal variations of constraints are added to original constraints as penalty term; the maximal variation of objective function is taken as a robust index to a solution; linear physical programming is used to adjust the values of quality characteristic and quality variation, and then a bi-level mathematical robust optimal model is constructed. The method does not require presumed probability distribution of uncertain factors or continuous and differentiable of objective and constraints functions. To demonstrate the proposed method, the design of the two-bar structure acted by concentrated load is presented. In the example the robustness of the normal stress, feasibility of the total volume and the buckling stress are studied. The robust optimal design results show that in the condition of maintaining feasibility robustness, the proposed approach can obtain a robust solution which the designer is satisfied with the value of objective function and its variation.
2009, 23(2).
Abstract:
An electro-hydraulic control system is designed and implemented for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). The excavator is being developed to autonomously dig trenches without human intervention. Since the behavior of the excavator arm is dominated by the nonlinear dynamics of the hydraulic actuators and by the large and unpredictable external disturbances when digging, it is difficult to provide adequate accurate, quick and smooth movement under traditional control methodology, e.g., PI/PID, which is comparable with that of an average human operator. The data-based dynamic models are developed utilizing the simplified refined instrumental variable (SRIV) identification algorithm to precisely describe the nonlinear dynamical behaviour of the electro-hydraulic actuation system. Based on data-based model and proportional-integral-plus (PIP) methodology, which is a non-minimal state space method of control system design based on the true digital control (TDC) system design philosophy, a novel control system is introduced to drive the excavator arm accurately, quickly and smoothly along the desired path. The performance of simulation and field tests which drive the bucket along straight lines both demonstrate the feasibility and validity of the proposed control scheme.
An electro-hydraulic control system is designed and implemented for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator (LUCIE). The excavator is being developed to autonomously dig trenches without human intervention. Since the behavior of the excavator arm is dominated by the nonlinear dynamics of the hydraulic actuators and by the large and unpredictable external disturbances when digging, it is difficult to provide adequate accurate, quick and smooth movement under traditional control methodology, e.g., PI/PID, which is comparable with that of an average human operator. The data-based dynamic models are developed utilizing the simplified refined instrumental variable (SRIV) identification algorithm to precisely describe the nonlinear dynamical behaviour of the electro-hydraulic actuation system. Based on data-based model and proportional-integral-plus (PIP) methodology, which is a non-minimal state space method of control system design based on the true digital control (TDC) system design philosophy, a novel control system is introduced to drive the excavator arm accurately, quickly and smoothly along the desired path. The performance of simulation and field tests which drive the bucket along straight lines both demonstrate the feasibility and validity of the proposed control scheme.
2009, 23(2).
Abstract:
Over the past years, more and more attention has been paid to artificial life research. The main object of artificial life research is to explore how to control the environments in which the digital organisms imitating natural life, under complicated competition and evolutionary conditions, develop their own wisdom, which can then be used to solve the problems in the real world. While most of the current researches applied one or another artificial life method to solve real problems, the fundamental mechanism of the emerging process of artificial life is seldom addressed. The research works on genetic algorithms, although bearing fruitful results, could only be deemed as constituting a basic stage in the process of artificial life development. This study proposes a new method of employing artificial life, to complement the contents of the research of mindless intelligence, which is regarded as a bridge linking genetic algorithms to general artificial life. And two important concepts, key manipulating parameters and contribution function in its context, are proposed to expand the mindless intelligence applications, in order to pave the way for the optimal design of an artificial life method, in an attempt to fill the conceptual gap between genetic algorithms and artificial life, and consequently clarifying the artificial life mechanism. As a case study we applied these innovative methods to solve an open problem: the Tower of Hanoi, to attest to the feasibility of our approach, and we have achieved satisfactory results.
Over the past years, more and more attention has been paid to artificial life research. The main object of artificial life research is to explore how to control the environments in which the digital organisms imitating natural life, under complicated competition and evolutionary conditions, develop their own wisdom, which can then be used to solve the problems in the real world. While most of the current researches applied one or another artificial life method to solve real problems, the fundamental mechanism of the emerging process of artificial life is seldom addressed. The research works on genetic algorithms, although bearing fruitful results, could only be deemed as constituting a basic stage in the process of artificial life development. This study proposes a new method of employing artificial life, to complement the contents of the research of mindless intelligence, which is regarded as a bridge linking genetic algorithms to general artificial life. And two important concepts, key manipulating parameters and contribution function in its context, are proposed to expand the mindless intelligence applications, in order to pave the way for the optimal design of an artificial life method, in an attempt to fill the conceptual gap between genetic algorithms and artificial life, and consequently clarifying the artificial life mechanism. As a case study we applied these innovative methods to solve an open problem: the Tower of Hanoi, to attest to the feasibility of our approach, and we have achieved satisfactory results.
2009, 23(2).
Abstract:
For estimating the vibration transmission accurately and performing vibration control efficiently in isolation systems, a novel general model is presented to predict the power flow transmitted into the complicate flexible bases of laminated beams. In the model, the laminated beam bases are simulated by the first-order shear deformation laminated plate theory, which is relatively simple and economic but accurate in predicting the vibration solutions of flexible isolation systems with laminated beam bases in comparison with classical laminated beam theories and higher order theories. On the basis of the presented model, substructure technique and variational principle are employed to obtain the governing equation of the isolation system and the power flow solution. Then, the vibration characteristics of the flexible isolation systems with laminated bases are investigated. Several numerical examples are given to show the validity and efficiency of the presented model. It is concluded that the presented model is the extension of the classical one and it can obtain more accurate power flow solutions.
For estimating the vibration transmission accurately and performing vibration control efficiently in isolation systems, a novel general model is presented to predict the power flow transmitted into the complicate flexible bases of laminated beams. In the model, the laminated beam bases are simulated by the first-order shear deformation laminated plate theory, which is relatively simple and economic but accurate in predicting the vibration solutions of flexible isolation systems with laminated beam bases in comparison with classical laminated beam theories and higher order theories. On the basis of the presented model, substructure technique and variational principle are employed to obtain the governing equation of the isolation system and the power flow solution. Then, the vibration characteristics of the flexible isolation systems with laminated bases are investigated. Several numerical examples are given to show the validity and efficiency of the presented model. It is concluded that the presented model is the extension of the classical one and it can obtain more accurate power flow solutions.
2009, 23(2).
Abstract:
Flatness is one of the most important criterion factors to evaluate the quality of the steel strip. To improve the strip’s flatness quality, the most frequently used methodology is to employ the closed-loop automatic shape control system. However, in the shape control system, the shape-meter is always installed at the down way of the exit of the cold rolling mill and can not sense the changes of the strip flatness in the rolling gap directly. This kind of installation results in the delay of the feedback in the control system. Therefore, the stability and response performance of the system are strongly affected by the delay. At present, there is still no mature way to design controllers for systems with time delay. Although the conventional PID controller used in most practical applications has the capability to compensate the delay, the effect of the compensation is limited, especially for the systems with long time delay. Smith predictor, as a compensator for solving this problem, is now widely used in industry systems. However, the request of highly precise model of the system and the poor adaptive performance to the changes of related parameters limit the application of the Smith predictor in practice. In order to overcome the drawbacks of the Smith predictor, a new Smith predictor based on single neural network PID (SNN-PID) is proposed. Because the single neural network is employed into the Smith predictor to improve the controller’s self-adaptability, the adaptive capability to the varying parameters of the system is improved. Meanwhile, for the purpose of solving the problems such as time-consuming and complicated calculation of the neural networks in real time, the learning coefficient of neural network is divided into several stages as usually done in expert control system. Therefore, the control system can obtain fast response due to the improved calculation speed of the neural networks. In order to validate the performance of the proposed controller, the experiment is conducted on the shape control system in a 300 mm four-high reversing cold rolling mill. The experimental results show that the SNN-PID with Smith predictor controller can effectively compensate the delay effects and achieve better control performance than the conventional PID controller.
Flatness is one of the most important criterion factors to evaluate the quality of the steel strip. To improve the strip’s flatness quality, the most frequently used methodology is to employ the closed-loop automatic shape control system. However, in the shape control system, the shape-meter is always installed at the down way of the exit of the cold rolling mill and can not sense the changes of the strip flatness in the rolling gap directly. This kind of installation results in the delay of the feedback in the control system. Therefore, the stability and response performance of the system are strongly affected by the delay. At present, there is still no mature way to design controllers for systems with time delay. Although the conventional PID controller used in most practical applications has the capability to compensate the delay, the effect of the compensation is limited, especially for the systems with long time delay. Smith predictor, as a compensator for solving this problem, is now widely used in industry systems. However, the request of highly precise model of the system and the poor adaptive performance to the changes of related parameters limit the application of the Smith predictor in practice. In order to overcome the drawbacks of the Smith predictor, a new Smith predictor based on single neural network PID (SNN-PID) is proposed. Because the single neural network is employed into the Smith predictor to improve the controller’s self-adaptability, the adaptive capability to the varying parameters of the system is improved. Meanwhile, for the purpose of solving the problems such as time-consuming and complicated calculation of the neural networks in real time, the learning coefficient of neural network is divided into several stages as usually done in expert control system. Therefore, the control system can obtain fast response due to the improved calculation speed of the neural networks. In order to validate the performance of the proposed controller, the experiment is conducted on the shape control system in a 300 mm four-high reversing cold rolling mill. The experimental results show that the SNN-PID with Smith predictor controller can effectively compensate the delay effects and achieve better control performance than the conventional PID controller.
2009, 23(2).
Abstract:
Rational determination and reduction of local energy loss of oil flow at pipe junctions are of important significance to improve hydraulic pipeline’s work efficiency, especially for complex hydraulic pipeline connected by isodiametric T-type ducts with sharp corners to get combined and divided flow. From this point of view, the formulae of resistance loss for combined flow and divided flow through isodiametric T-type duct with sharp corners as well as the correlations of resistance loss coefficients in the branches of the duct are derived using energy method. On this basis, resistance characteristics of hydraulic oil in the duct are obtained by numerical simulation of different flow modes, which are commonly applied in hydraulic pipelines, using computational fluid dynamics (CFD) method, and the reasons for the resistance loss are analyzed based on the pressure change mechanism in the flow field. A part of simulation results was validated with the reference data. The research shows that for combined flows the resistance loss of symmetrical is lower than that of unsymmetrical to obtain low speed in common branch, but to gain high speed is quite the contrary, for divided flows, the symmetrical is always a reasonable choice to reduce resistance loss. These conclusions can be applied to optimize the design of hydraulic pipeline.
Rational determination and reduction of local energy loss of oil flow at pipe junctions are of important significance to improve hydraulic pipeline’s work efficiency, especially for complex hydraulic pipeline connected by isodiametric T-type ducts with sharp corners to get combined and divided flow. From this point of view, the formulae of resistance loss for combined flow and divided flow through isodiametric T-type duct with sharp corners as well as the correlations of resistance loss coefficients in the branches of the duct are derived using energy method. On this basis, resistance characteristics of hydraulic oil in the duct are obtained by numerical simulation of different flow modes, which are commonly applied in hydraulic pipelines, using computational fluid dynamics (CFD) method, and the reasons for the resistance loss are analyzed based on the pressure change mechanism in the flow field. A part of simulation results was validated with the reference data. The research shows that for combined flows the resistance loss of symmetrical is lower than that of unsymmetrical to obtain low speed in common branch, but to gain high speed is quite the contrary, for divided flows, the symmetrical is always a reasonable choice to reduce resistance loss. These conclusions can be applied to optimize the design of hydraulic pipeline.
2009, 23(2).
Abstract:
Structural components of varying thickness draw increasing attention these days due to economy and light-weight considerations. In view of the absence of research in vibration analysis of viscoelastic plate with varying thickness, this study devotes to investigate the dynamic behaviors of axially moving viscoelastic plate with varying thickness. Based on the thin plate theory and the two-dimensional viscoelastic differential constitutive relation, the differential equation of motion of the axially moving viscoelastic rectangular plate is derived, the plate constituted by Kelvin-Voigt model has linearly varying thickness in the y-direction. The dimensionless complex frequencies of axially moving viscoelastic plate with four edges simply supported are calculated by the differential quadrature method, curves of real parts and imaginary parts of the first three-order dimensionless complex frequencies versus dimensionless moving speed are obtained, the effects of the aspect ratio, thickness ratio, the dimensionless moving speed and delay time on the dynamic behaviors of the axially moving viscoelastic rectangular plate with varying thickness are analyzed. When other parameters keep constant, with the decrease of thickness ratio, the real parts of the first three-order natural frequencies decrease, and the critical divergence speeds of various modes decrease too, moreover, whether the delay time is large or small, the frequencies are all complex numbers.
Structural components of varying thickness draw increasing attention these days due to economy and light-weight considerations. In view of the absence of research in vibration analysis of viscoelastic plate with varying thickness, this study devotes to investigate the dynamic behaviors of axially moving viscoelastic plate with varying thickness. Based on the thin plate theory and the two-dimensional viscoelastic differential constitutive relation, the differential equation of motion of the axially moving viscoelastic rectangular plate is derived, the plate constituted by Kelvin-Voigt model has linearly varying thickness in the y-direction. The dimensionless complex frequencies of axially moving viscoelastic plate with four edges simply supported are calculated by the differential quadrature method, curves of real parts and imaginary parts of the first three-order dimensionless complex frequencies versus dimensionless moving speed are obtained, the effects of the aspect ratio, thickness ratio, the dimensionless moving speed and delay time on the dynamic behaviors of the axially moving viscoelastic rectangular plate with varying thickness are analyzed. When other parameters keep constant, with the decrease of thickness ratio, the real parts of the first three-order natural frequencies decrease, and the critical divergence speeds of various modes decrease too, moreover, whether the delay time is large or small, the frequencies are all complex numbers.
2009, 23(2).
Abstract:
Reduction of drag torque in disengaged wet clutch is one of important potentials for vehicle transmission improvement. The flow of the oil film in clutch clearance is investigated. A three-dimension Navier-Stokes(N-S) equation based on laminar flow is presented to model the drag torque. Pressure and speed distribution in radial and circumferential directions are deduced. The theoretical analysis reveals that oil flow acceleration in radial direction caused by centrifugal force is the key reason for the shrinking of oil film as constant feeding flow rate. The peak drag torque occurs at the beginning of oil film shrinking. A variable is introduced to describe effective oil film area and drag torque after oil film shrinking is well evaluated with the variable. Under the working condition, tests were made to obtain drag torque curves at different clutch speed and oil viscosity. The tests confirm that simulation results agree with test data. The model performs well in the prediction of drag torque and lays a theoretical foundation to reduce it.
Reduction of drag torque in disengaged wet clutch is one of important potentials for vehicle transmission improvement. The flow of the oil film in clutch clearance is investigated. A three-dimension Navier-Stokes(N-S) equation based on laminar flow is presented to model the drag torque. Pressure and speed distribution in radial and circumferential directions are deduced. The theoretical analysis reveals that oil flow acceleration in radial direction caused by centrifugal force is the key reason for the shrinking of oil film as constant feeding flow rate. The peak drag torque occurs at the beginning of oil film shrinking. A variable is introduced to describe effective oil film area and drag torque after oil film shrinking is well evaluated with the variable. Under the working condition, tests were made to obtain drag torque curves at different clutch speed and oil viscosity. The tests confirm that simulation results agree with test data. The model performs well in the prediction of drag torque and lays a theoretical foundation to reduce it.
2009, 23(2).
Abstract:
Network-based manufacturing is a kind of distributed system, which enables manufacturers to finish production tasks as well as to grasp the opportunities in the market, even if manufacturing resources are insufficient. One of the main problems in network-based manufacturing is the allocation of resources and the assignment of tasks rationally, according to flexible resource distribution. The mapping rules and relations between production techniques and resources are proposed, followed by the definition of the resource unit. Ultimately, the genetic programming method for the optimization of the manufacturing system is put forward. A set of software for the optimization system of simulation process using genetic programming techniques has been developed, and the problems of manufacturing resource planning in network-based manufacturing are solved with the simulation of optimizing methods by genetic programming. The optimum proposal of hardware planning, selection of company and scheduling will be obtained in theory to help company managers in scientific decision-making.
Network-based manufacturing is a kind of distributed system, which enables manufacturers to finish production tasks as well as to grasp the opportunities in the market, even if manufacturing resources are insufficient. One of the main problems in network-based manufacturing is the allocation of resources and the assignment of tasks rationally, according to flexible resource distribution. The mapping rules and relations between production techniques and resources are proposed, followed by the definition of the resource unit. Ultimately, the genetic programming method for the optimization of the manufacturing system is put forward. A set of software for the optimization system of simulation process using genetic programming techniques has been developed, and the problems of manufacturing resource planning in network-based manufacturing are solved with the simulation of optimizing methods by genetic programming. The optimum proposal of hardware planning, selection of company and scheduling will be obtained in theory to help company managers in scientific decision-making.
2009, 23(2).
Abstract:
Steel strips are the main of steel products and flatness is an important quality indicator of steel strips. Flatness control is the key and highly difficult technique of strip mills. The bottle-neck restricting the improvement of flatness control techniques is that the research on flatness theories and control mathematic models is not in accordance with the requirement of technique developments. To build a simple, rapid and accurate explicit formulation control model has become an urgent need for the development of flatness control technique. This paper puts forward the conception of dynamic effective matrix based on the effective matrix method for flatness control proposed by the authors under the consideration of the influence of the change of parameters in rolling processes on the effective matrix, and the concept is validated by industrial productions. Three methods of the effective matrix generation are induced: the calculation method based on the flatness prediction model; the calculation method based on the data excavation in rolling processes and the direct calculation method based on the network model. A fuzzy neural network effective matrix model is built based on the clusters, and then the network structure is optimized and the high-speed-calculation problem of the dynamic effective matrix is solved. The flatness control scheme for cold strip mills is proposed based on the dynamic effective matrix. On stand 5 of the 1 220 mm five-stand 4-high cold strip tandem mill, the industrial experiment with the control methods of tilting roll and bending roll is done by the control scheme of the static effective matrix and the dynamic effective matrix, respectively. The experiment result proves that the control effect of the dynamic effective matrix is much better than that of the static effective matrix. This paper proposes a new idea and method for the dynamic flatness control in the rolling processes of cold strip mills and develops the theory and model of the flatness control effective matrix method.
Steel strips are the main of steel products and flatness is an important quality indicator of steel strips. Flatness control is the key and highly difficult technique of strip mills. The bottle-neck restricting the improvement of flatness control techniques is that the research on flatness theories and control mathematic models is not in accordance with the requirement of technique developments. To build a simple, rapid and accurate explicit formulation control model has become an urgent need for the development of flatness control technique. This paper puts forward the conception of dynamic effective matrix based on the effective matrix method for flatness control proposed by the authors under the consideration of the influence of the change of parameters in rolling processes on the effective matrix, and the concept is validated by industrial productions. Three methods of the effective matrix generation are induced: the calculation method based on the flatness prediction model; the calculation method based on the data excavation in rolling processes and the direct calculation method based on the network model. A fuzzy neural network effective matrix model is built based on the clusters, and then the network structure is optimized and the high-speed-calculation problem of the dynamic effective matrix is solved. The flatness control scheme for cold strip mills is proposed based on the dynamic effective matrix. On stand 5 of the 1 220 mm five-stand 4-high cold strip tandem mill, the industrial experiment with the control methods of tilting roll and bending roll is done by the control scheme of the static effective matrix and the dynamic effective matrix, respectively. The experiment result proves that the control effect of the dynamic effective matrix is much better than that of the static effective matrix. This paper proposes a new idea and method for the dynamic flatness control in the rolling processes of cold strip mills and develops the theory and model of the flatness control effective matrix method.
2009, 23(2).
Abstract:
The operating performance of positive discharge blower is markedly influenced by the pulsation of the discharge flow, but difficult to be measured with experimental methods. The internal and discharge flow of positive discharge blower with involute type three-lobe are numerically investigated, both in air cooling and countercurrent cooling conditions by means of computational fluid dynamics (CFD). The unsteady compressible flow equations are solved using RNG κ-ε turbulent model. The finite difference method and the second order upwind difference scheme are applied into discrete equations. In the numerical simulation, the dynamic mesh techniques are used to approach the rotating displacement of cell cubage and the alterability of inlet, outlet flow area. The non-uniform mesh is applied to the rotor-stator coupled area. The reliability of the numerical method is verified by simulating the inner flow and comparing with the semi-empirical theory. The flow flux curves and the distributing of velocity vector showed obvious vortex motion in all the discharge process, both in air cooling and countercurrent cooling conditions. These vortexes with different positions, intension and numbers at different rotating angles have remarkable influences on the discharge flux. For air cooling, the vortex produced a second pulsation with big-amplitude in a cycle, and led to the early appearance of maximum of backflow. For countercurrent cooling, the frequency of pulsation increased due to the pre-inflow, but the backflow at the outlet is prevented, also the pulsation strength has greatly decreased.
The operating performance of positive discharge blower is markedly influenced by the pulsation of the discharge flow, but difficult to be measured with experimental methods. The internal and discharge flow of positive discharge blower with involute type three-lobe are numerically investigated, both in air cooling and countercurrent cooling conditions by means of computational fluid dynamics (CFD). The unsteady compressible flow equations are solved using RNG κ-ε turbulent model. The finite difference method and the second order upwind difference scheme are applied into discrete equations. In the numerical simulation, the dynamic mesh techniques are used to approach the rotating displacement of cell cubage and the alterability of inlet, outlet flow area. The non-uniform mesh is applied to the rotor-stator coupled area. The reliability of the numerical method is verified by simulating the inner flow and comparing with the semi-empirical theory. The flow flux curves and the distributing of velocity vector showed obvious vortex motion in all the discharge process, both in air cooling and countercurrent cooling conditions. These vortexes with different positions, intension and numbers at different rotating angles have remarkable influences on the discharge flux. For air cooling, the vortex produced a second pulsation with big-amplitude in a cycle, and led to the early appearance of maximum of backflow. For countercurrent cooling, the frequency of pulsation increased due to the pre-inflow, but the backflow at the outlet is prevented, also the pulsation strength has greatly decreased.
2009, 23(2).
Abstract:
The -Zn4Sb3, emerged as a compelling p-type thermoelectric material, is widely used in heat-electricity conversion in the 400-650 K range. In order to probe the effects of slight doping on the crystal structure and physical properties, we prepared the samples of Al-added Zn-Sb based alloys by spark plasma sintering and evaluated their microstructures and thermoelectric properties. After a limited Al addition into the Zn-Sb based alloys we observed many phases in the alloys, which include a major phase -Zn4Sb3, intermetallic phases ZnSb and AlSb. The major -Zn4Sb3 phase plays a fundamental role in controlling the thermoelectric performance, the precipitated phases ZnSb and AlSb are of great importance to tailor the transport properties, such as the gradual enhancement of lattice thermal conductivity, in spite of an increased phonon scattering in additional grain boundaries. The highest thermoelectric figure of merit of 0.55 is obtained for the alloy with a limited Al addition at 653 K, which is 0.08 higher than that of un-doped -Zn4Sb3 at the corresponding temperature. Physical property experiments indicate that there is a potentiality for the improvement of thermoelectric properties if a proper elemental doping is carried out into the Zn-Sb based alloys, which was confirmed by Al addition in the present work.
The -Zn4Sb3, emerged as a compelling p-type thermoelectric material, is widely used in heat-electricity conversion in the 400-650 K range. In order to probe the effects of slight doping on the crystal structure and physical properties, we prepared the samples of Al-added Zn-Sb based alloys by spark plasma sintering and evaluated their microstructures and thermoelectric properties. After a limited Al addition into the Zn-Sb based alloys we observed many phases in the alloys, which include a major phase -Zn4Sb3, intermetallic phases ZnSb and AlSb. The major -Zn4Sb3 phase plays a fundamental role in controlling the thermoelectric performance, the precipitated phases ZnSb and AlSb are of great importance to tailor the transport properties, such as the gradual enhancement of lattice thermal conductivity, in spite of an increased phonon scattering in additional grain boundaries. The highest thermoelectric figure of merit of 0.55 is obtained for the alloy with a limited Al addition at 653 K, which is 0.08 higher than that of un-doped -Zn4Sb3 at the corresponding temperature. Physical property experiments indicate that there is a potentiality for the improvement of thermoelectric properties if a proper elemental doping is carried out into the Zn-Sb based alloys, which was confirmed by Al addition in the present work.
2009, 23(2).
Abstract:
Through the study on the output signals of the electro-hydraulic regulating system in the thermal power plant, a novel method for online diagnosis of the plugging fault in the servo valve is presented. With the use of the AMESIM software, the changes of the piston displacement, the oil pressure, the magnitude attenuation and the phase lag of the system under different plugging states are studied after simulation. Besides, the influences of the symmetrical and unsymmetrical plugging on the system are also compared and the characteristic table is given. The duo-neural network is put forward to achieve an online diagnosis on the plugging fault of the servo valve. The first level of network helps to make the qualitative diagnosis of the plugging position while the second level is for the quantitative diagnosis of the degree of the plugged position. The research results show that plugging at different positions exerts different influences on the performance of the system. The unsymmetrical plugging mainly affects the regulation time while the symmetrical plugging leads to great changes in the magnitude attenuation and the phase lag.
Through the study on the output signals of the electro-hydraulic regulating system in the thermal power plant, a novel method for online diagnosis of the plugging fault in the servo valve is presented. With the use of the AMESIM software, the changes of the piston displacement, the oil pressure, the magnitude attenuation and the phase lag of the system under different plugging states are studied after simulation. Besides, the influences of the symmetrical and unsymmetrical plugging on the system are also compared and the characteristic table is given. The duo-neural network is put forward to achieve an online diagnosis on the plugging fault of the servo valve. The first level of network helps to make the qualitative diagnosis of the plugging position while the second level is for the quantitative diagnosis of the degree of the plugged position. The research results show that plugging at different positions exerts different influences on the performance of the system. The unsymmetrical plugging mainly affects the regulation time while the symmetrical plugging leads to great changes in the magnitude attenuation and the phase lag.
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