2013 Vol.26(4)
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2013, 27(4).
Abstract:
When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To overcome this drawback, the zero phase filter is introduced to the mentioned filter, and a fault diagnosis method for speed-changing gearbox is proposed. Firstly, the gear meshing frequency of each gearbox is estimated by chirplet path pursuit. Then, according to the estimated gear meshing frequencies, an adaptive zero phase time-varying filter(AZPTF) is designed to filter the original signal. Finally, the basis for fault diagnosis is acquired by the envelope order analysis to the filtered signal. The signal consisting of two time-varying amplitude modulation and frequency modulation(AM-FM) signals is respectively analyzed by ATF and AZPTF based on MCSSD. The simulation results show the variances between the original signals and the filtered signals yielded by AZPTF based on MCSSD are 13.67 and 41.14, which are far less than variances (323.45 and 482.86) between the original signals and the filtered signals obtained by ATF based on MCSSD. The experiment results on the vibration signals of gearboxes indicate that the vibration signals of the two speed-changing gearboxes installed on one foundation bed can be separated by AZPTF effectively. Based on the demodulation information of the vibration signal of each gearbox, the fault diagnosis can be implemented. Both simulation and experiment examples prove that the proposed filter can extract a mono-component time-varying AM-FM signal from the multi-component time-varying AM-FM signal without distortion.
When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To overcome this drawback, the zero phase filter is introduced to the mentioned filter, and a fault diagnosis method for speed-changing gearbox is proposed. Firstly, the gear meshing frequency of each gearbox is estimated by chirplet path pursuit. Then, according to the estimated gear meshing frequencies, an adaptive zero phase time-varying filter(AZPTF) is designed to filter the original signal. Finally, the basis for fault diagnosis is acquired by the envelope order analysis to the filtered signal. The signal consisting of two time-varying amplitude modulation and frequency modulation(AM-FM) signals is respectively analyzed by ATF and AZPTF based on MCSSD. The simulation results show the variances between the original signals and the filtered signals yielded by AZPTF based on MCSSD are 13.67 and 41.14, which are far less than variances (323.45 and 482.86) between the original signals and the filtered signals obtained by ATF based on MCSSD. The experiment results on the vibration signals of gearboxes indicate that the vibration signals of the two speed-changing gearboxes installed on one foundation bed can be separated by AZPTF effectively. Based on the demodulation information of the vibration signal of each gearbox, the fault diagnosis can be implemented. Both simulation and experiment examples prove that the proposed filter can extract a mono-component time-varying AM-FM signal from the multi-component time-varying AM-FM signal without distortion.
2013, 27(4).
Abstract:
In one step inverse finite element approach, an initial blank shape is normally predicted from the final deformed shape. The final deformed shape needs to be trimmed into a final part after stamping, the trimmed area, therefore, needs to be compensated manually before using one step inverse approach, which causes low efficiency and in consistency with the real situation. To solve this problem, one step positive approach is proposed to simulate the sheet metal stamping process. Firstly the spatial initial solution of one step positive method is preliminarily obtained by using the mapping relationship and area coordinates, then based on the deformation theory the iterative solving is carried out in three-dimensional coordinate system by using quasi-conjugate-gradient method. During iterative process the contact judgment method is introduced to ensure that the nodes on the spatial initial solution are not separated from die surface. The predicted results of sheet metal forming process that include the shape and thickness of the stamped part can be obtained after the iterative solving process. The validity of the proposed approach is verified by comparing the predicted results obtained through the proposed approach with those obtained through the module of one step inverse approach in Autoform and the real stamped part. In one step positive method, the stamped shape of regular sheet can be calculated fast and effectively. During the iterative solution, the quasi-conjugate-gradient method is proposed to take the place of solving system of equations, and it can improve the stability and precision of the algorithm.
In one step inverse finite element approach, an initial blank shape is normally predicted from the final deformed shape. The final deformed shape needs to be trimmed into a final part after stamping, the trimmed area, therefore, needs to be compensated manually before using one step inverse approach, which causes low efficiency and in consistency with the real situation. To solve this problem, one step positive approach is proposed to simulate the sheet metal stamping process. Firstly the spatial initial solution of one step positive method is preliminarily obtained by using the mapping relationship and area coordinates, then based on the deformation theory the iterative solving is carried out in three-dimensional coordinate system by using quasi-conjugate-gradient method. During iterative process the contact judgment method is introduced to ensure that the nodes on the spatial initial solution are not separated from die surface. The predicted results of sheet metal forming process that include the shape and thickness of the stamped part can be obtained after the iterative solving process. The validity of the proposed approach is verified by comparing the predicted results obtained through the proposed approach with those obtained through the module of one step inverse approach in Autoform and the real stamped part. In one step positive method, the stamped shape of regular sheet can be calculated fast and effectively. During the iterative solution, the quasi-conjugate-gradient method is proposed to take the place of solving system of equations, and it can improve the stability and precision of the algorithm.
2013, 27(4).
Abstract:
The existing researches of miniature magnetic circuits focus on the single-sided permanent magnetic circuits and the Halbach permanent magnetic circuits. In the single-sided permanent magnetic circuits, the magnetic flux density is always very low in the work region. In the Halbach permanent magnetic circuits, there are always great difficulties in the manufacturing and assembly process. The static magnetic flux density required for nuclear magnetic resonance(NMR) chip is analyzed based on the signal noise ratio(SNR) calculation model, and then a miniature C-shaped permanent magnetic circuit is designed as the required magnetic flux density. Based on Kirchhoff’s law and magnetic flux refraction principle, the concept of a single shimming ring is proposed to improve the performance of the designed magnetic circuit. Using the finite element method, a comparative calculation is conducted. The calculation results demonstrate that the magnetic circuit improved with a single shimming has higher magnetic flux density and better magnetic field homogeneity than the one improved with no shimming ring or double shimming rings. The proposed magnetic circuit is manufactured and its experimental test platform is also built. The magnetic flux density measured in the work region is 0.7 T, which is well coincided with the theoretical design. The spatial variation of the magnetic field is within the range of the instrument error. At last, the temperature dependence of the magnetic flux density produced by the proposed magnetic circuit is investigated through both theoretical analysis and experimental study, and a linear functional model is obtained. The proposed research is crucial for solving the problem in the application of NMR-chip under different environmental temperatures.
The existing researches of miniature magnetic circuits focus on the single-sided permanent magnetic circuits and the Halbach permanent magnetic circuits. In the single-sided permanent magnetic circuits, the magnetic flux density is always very low in the work region. In the Halbach permanent magnetic circuits, there are always great difficulties in the manufacturing and assembly process. The static magnetic flux density required for nuclear magnetic resonance(NMR) chip is analyzed based on the signal noise ratio(SNR) calculation model, and then a miniature C-shaped permanent magnetic circuit is designed as the required magnetic flux density. Based on Kirchhoff’s law and magnetic flux refraction principle, the concept of a single shimming ring is proposed to improve the performance of the designed magnetic circuit. Using the finite element method, a comparative calculation is conducted. The calculation results demonstrate that the magnetic circuit improved with a single shimming has higher magnetic flux density and better magnetic field homogeneity than the one improved with no shimming ring or double shimming rings. The proposed magnetic circuit is manufactured and its experimental test platform is also built. The magnetic flux density measured in the work region is 0.7 T, which is well coincided with the theoretical design. The spatial variation of the magnetic field is within the range of the instrument error. At last, the temperature dependence of the magnetic flux density produced by the proposed magnetic circuit is investigated through both theoretical analysis and experimental study, and a linear functional model is obtained. The proposed research is crucial for solving the problem in the application of NMR-chip under different environmental temperatures.
2013, 27(4).
Abstract:
The research on the parameters optimization for gasbag polishing machine tools, mainly aims at a better kinematics performance and a design scheme. Serial structural arm is mostly employed in gasbag polishing machine tools at present, but it is disadvantaged by its complexity, big inertia, and so on. In the multi-objective parameters optimization, it is very difficult to select good parameters to achieve excellent performance of the mechanism. In this paper, a statistics parameters optimization method based on index atlases is presented for a novel 5-DOF gasbag polishing machine tool. In the position analyses, the structure and workspace for a novel 5-DOF gasbag polishing machine tool is developed, where the gasbag polishing machine tool is advantaged by its simple structure, lower inertia and bigger workspace. In the kinematics analyses, several kinematics performance evaluation indices of the machine tool are proposed and discussed, and the global kinematics performance evaluation atlases are given. In the parameters optimization process, considering the assembly technique, a design scheme of the 5-DOF gasbag polishing machine tool is given to own better kinematics performance based on the proposed statistics parameters optimization method, and the global linear isotropic performance index is 0.5, the global rotational isotropic performance index is 0.5, the global linear velocity transmission performance index is 1.012 3 ms in the case of unit input matrix, the global rotational velocity transmission performance index is 0.102 7 rads in the case of unit input matrix, and the workspace volume is 1. The proposed research provides the basis for applications of the novel 5-DOF gasbag polishing machine tool, which can be applied to the modern industrial fields requiring machines with lower inertia, better kinematics transmission performance and better technological efficiency.
The research on the parameters optimization for gasbag polishing machine tools, mainly aims at a better kinematics performance and a design scheme. Serial structural arm is mostly employed in gasbag polishing machine tools at present, but it is disadvantaged by its complexity, big inertia, and so on. In the multi-objective parameters optimization, it is very difficult to select good parameters to achieve excellent performance of the mechanism. In this paper, a statistics parameters optimization method based on index atlases is presented for a novel 5-DOF gasbag polishing machine tool. In the position analyses, the structure and workspace for a novel 5-DOF gasbag polishing machine tool is developed, where the gasbag polishing machine tool is advantaged by its simple structure, lower inertia and bigger workspace. In the kinematics analyses, several kinematics performance evaluation indices of the machine tool are proposed and discussed, and the global kinematics performance evaluation atlases are given. In the parameters optimization process, considering the assembly technique, a design scheme of the 5-DOF gasbag polishing machine tool is given to own better kinematics performance based on the proposed statistics parameters optimization method, and the global linear isotropic performance index is 0.5, the global rotational isotropic performance index is 0.5, the global linear velocity transmission performance index is 1.012 3 ms in the case of unit input matrix, the global rotational velocity transmission performance index is 0.102 7 rads in the case of unit input matrix, and the workspace volume is 1. The proposed research provides the basis for applications of the novel 5-DOF gasbag polishing machine tool, which can be applied to the modern industrial fields requiring machines with lower inertia, better kinematics transmission performance and better technological efficiency.
2013, 27(4).
Abstract:
The propagation of variations, such as fixture errors and datum errors resulting from assembly and machining processes, has been extensively studied. However, only a few studies that focus on form error propagation in assembly systems have been implemented. Machining errors, especially form errors, have great impact on assembly accuracy and accuracy stability of precision mechanical systems. With form errors being the research object, a method for calculating mating variation and specifying mating coordinate is proposed to improve the accuracy of the variation propagation model. Taking into account the form error of mating surfaces, the assembly variation propagation of a precision mechanical system is analyzed, and the brief derivation procedure of the variation propagation model is introduced afterwards. The variation propagation model involves a new concept of mating variation specified by the two mating surfaces. An innovative method, the difference surface search based method, is proposed to calculate the mating variation amongst the mating surfaces. The obtained mating variation is then utilized to specify the mating coordinate in the variation propagation model. Moreover, FEM is employed to simulate the contact state of the two mating surfaces to demonstrate effectiveness of the proposed method. Meanwhile, the mating variation and mating coordinate obtained are incorporated into the assembly variation propagation model, which is then verified by a following case study through a comparison between the calculated results and the experimental results. The comparing results indicate that the established model improves the prediction of assembly accuracy. The developed model enables the investigation of various fundamental issues in variation reduction, including variation analysis, process monitoring, accuracy prediction, and accuracy control.
The propagation of variations, such as fixture errors and datum errors resulting from assembly and machining processes, has been extensively studied. However, only a few studies that focus on form error propagation in assembly systems have been implemented. Machining errors, especially form errors, have great impact on assembly accuracy and accuracy stability of precision mechanical systems. With form errors being the research object, a method for calculating mating variation and specifying mating coordinate is proposed to improve the accuracy of the variation propagation model. Taking into account the form error of mating surfaces, the assembly variation propagation of a precision mechanical system is analyzed, and the brief derivation procedure of the variation propagation model is introduced afterwards. The variation propagation model involves a new concept of mating variation specified by the two mating surfaces. An innovative method, the difference surface search based method, is proposed to calculate the mating variation amongst the mating surfaces. The obtained mating variation is then utilized to specify the mating coordinate in the variation propagation model. Moreover, FEM is employed to simulate the contact state of the two mating surfaces to demonstrate effectiveness of the proposed method. Meanwhile, the mating variation and mating coordinate obtained are incorporated into the assembly variation propagation model, which is then verified by a following case study through a comparison between the calculated results and the experimental results. The comparing results indicate that the established model improves the prediction of assembly accuracy. The developed model enables the investigation of various fundamental issues in variation reduction, including variation analysis, process monitoring, accuracy prediction, and accuracy control.
2013, 27(4).
Abstract:
In the field of heavy forging, there are numerous researches on deformation rule in forging process by FEM simulation, however, not many scholars take the equipment constraint and the mutual reaction load between the forging manipulator clamp and the forging blank into account, which will impact on safety of manipulator body and quality of forging blank. This paper presents an impedance model to describe the load and formulates compliance strategies correspondingly to reduce the mutual reaction load for forging manipulator. Firstly, an FEM model of forging process is built. Meanwhile, the clamp of forging manipulator is added to the model as movement constraint and interaction part between the manipulator and the forming process. Secondly, a typical forging process is simulated by changing the movement constraint, and then an impedance model is established to describe the relationship between the load and movement constraint. Finally, two kinds of compliance strategies are formulated according to the impedance model, one is called free compliance, and the other is initiative/passive compliance. The simulation results show that compliance strategies reduce the load amounting to 5 000 kN in z direction between the manipulator clamp and the forging blank obviously, which may lead to serious accidents, such as the capsizing of forging manipulator, the fracture of manipulator clamp, and so on. The proposed research simulates the more real forging process, gets the initiative/passive compliance strategy which is more simple and suitable to the real producing and better for forming a forging process planning and control system in the modern production, and improves the quality and efficiency of heavy forging.
In the field of heavy forging, there are numerous researches on deformation rule in forging process by FEM simulation, however, not many scholars take the equipment constraint and the mutual reaction load between the forging manipulator clamp and the forging blank into account, which will impact on safety of manipulator body and quality of forging blank. This paper presents an impedance model to describe the load and formulates compliance strategies correspondingly to reduce the mutual reaction load for forging manipulator. Firstly, an FEM model of forging process is built. Meanwhile, the clamp of forging manipulator is added to the model as movement constraint and interaction part between the manipulator and the forming process. Secondly, a typical forging process is simulated by changing the movement constraint, and then an impedance model is established to describe the relationship between the load and movement constraint. Finally, two kinds of compliance strategies are formulated according to the impedance model, one is called free compliance, and the other is initiative/passive compliance. The simulation results show that compliance strategies reduce the load amounting to 5 000 kN in z direction between the manipulator clamp and the forging blank obviously, which may lead to serious accidents, such as the capsizing of forging manipulator, the fracture of manipulator clamp, and so on. The proposed research simulates the more real forging process, gets the initiative/passive compliance strategy which is more simple and suitable to the real producing and better for forming a forging process planning and control system in the modern production, and improves the quality and efficiency of heavy forging.
2013, 27(4).
Abstract:
The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the performance of multi-legged robot.
The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the performance of multi-legged robot.
2013, 27(4).
Abstract:
The existing torque roll axis(TRA) decoupling theories for a powertrain mounting system assume that the stiffness and viscous damping properties are constant. However, real-life mounts exhibit considerable spectrally varying stiffness and damping characteristics, and the influence of the spectrally-varying properties of the hydraulic mounts on the powertrain system cannot be ignored. To overcome the deficiency, an analytical quasi-linear model of the hydraulic mount and the coupled properties of the powertrain and hydraulic mounts system are formulated. The influence of the hydraulic mounts on the TRA decoupling of a powertrain system is analytically examined in terms of eigensolutions, frequency, and impulse responses, and then a new analytical axiom is proposed based on the TRA decoupling indices. With the experimental setup of a fixed decoupler hydraulic mount in the context of non-resonant dynamic stiffness testing procedure, the quasi-linear model of the hydraulic mount is verified by comparing the predictions with the measurement. And the quasi-linear formulation of the coupled system is also verified by comparing the frequency responses with the numerical results obtained by the direct inversion method. Finally, the mounting system with a combination of hydraulic mounts is redesigned in terms of the stiffness, damping and mount locations by satisfying the new axiom. The frequency and time domain results of the redesigned system demonstrate that the torque roll axis of the redesigned powertrain mounting system is indeed decoupled in the presence of hydraulic mounts (given oscillating torque or impulsive torque excitation). The proposed research provides an important basis and method for the research on a powertrain system with spectrally-varying mount properties, especially for the TRA decoupling
The existing torque roll axis(TRA) decoupling theories for a powertrain mounting system assume that the stiffness and viscous damping properties are constant. However, real-life mounts exhibit considerable spectrally varying stiffness and damping characteristics, and the influence of the spectrally-varying properties of the hydraulic mounts on the powertrain system cannot be ignored. To overcome the deficiency, an analytical quasi-linear model of the hydraulic mount and the coupled properties of the powertrain and hydraulic mounts system are formulated. The influence of the hydraulic mounts on the TRA decoupling of a powertrain system is analytically examined in terms of eigensolutions, frequency, and impulse responses, and then a new analytical axiom is proposed based on the TRA decoupling indices. With the experimental setup of a fixed decoupler hydraulic mount in the context of non-resonant dynamic stiffness testing procedure, the quasi-linear model of the hydraulic mount is verified by comparing the predictions with the measurement. And the quasi-linear formulation of the coupled system is also verified by comparing the frequency responses with the numerical results obtained by the direct inversion method. Finally, the mounting system with a combination of hydraulic mounts is redesigned in terms of the stiffness, damping and mount locations by satisfying the new axiom. The frequency and time domain results of the redesigned system demonstrate that the torque roll axis of the redesigned powertrain mounting system is indeed decoupled in the presence of hydraulic mounts (given oscillating torque or impulsive torque excitation). The proposed research provides an important basis and method for the research on a powertrain system with spectrally-varying mount properties, especially for the TRA decoupling
2013, 27(4).
Abstract:
During the electrochemical machining (ECM), the cathodes designed by the existing methods are mainly unitary cathodes, which can be only used to produce the workpieces with the same shapes. However, there are few researches on designing cathodes for machining the different workpieces with the different surfaces. This paper presents the grid cathode composed of the square cells to produce the workpieces with different shapes. Three types of the square cells, 2.5 mm2.5 mm, 3 mm3 mm, and 4 mm4 mm, are utilized to construct the plane, the slant, and the blade cathode. The material of the cathode and the anode is CrNi18Ti9, and the ingredient of electrolyte is 15% NaCl and 15% NaNO3. The machining equilibrium machining current and time are acquired and analyzed, the machining process and the workpiece quality are compared between using the grid cathode and the unitary cathode. Moreover, the machining errors on the workpiece surface are measured and analyzed, and the error reasons are traced and discussed to obtain the better surface quality of the workpiece. The experiment and analysis results show that the grid cathode can be used to manufacture the workpieces with complex shapes in certain range of the error. The workpiece quality improves with the size of the square cell being reduced, and if the square element is small enough, the workpiece quality is almost equal to the one machined by the unitary cathode. The proposed research realizes a single cathode machining the different workpieces with the different surfaces.
During the electrochemical machining (ECM), the cathodes designed by the existing methods are mainly unitary cathodes, which can be only used to produce the workpieces with the same shapes. However, there are few researches on designing cathodes for machining the different workpieces with the different surfaces. This paper presents the grid cathode composed of the square cells to produce the workpieces with different shapes. Three types of the square cells, 2.5 mm2.5 mm, 3 mm3 mm, and 4 mm4 mm, are utilized to construct the plane, the slant, and the blade cathode. The material of the cathode and the anode is CrNi18Ti9, and the ingredient of electrolyte is 15% NaCl and 15% NaNO3. The machining equilibrium machining current and time are acquired and analyzed, the machining process and the workpiece quality are compared between using the grid cathode and the unitary cathode. Moreover, the machining errors on the workpiece surface are measured and analyzed, and the error reasons are traced and discussed to obtain the better surface quality of the workpiece. The experiment and analysis results show that the grid cathode can be used to manufacture the workpieces with complex shapes in certain range of the error. The workpiece quality improves with the size of the square cell being reduced, and if the square element is small enough, the workpiece quality is almost equal to the one machined by the unitary cathode. The proposed research realizes a single cathode machining the different workpieces with the different surfaces.
2013, 27(4).
Abstract:
The theory on synchronization of two exciters is more widely used in engineering, while that of more than two exciters is less considered. So it is of great significant to investigate synchronization of three exciters. Firstly by introducing the average method of modified small parameters, the dimensionless coupling equations(DCE) of three exciters are derived, which convert the problem of synchronization into that of existence and stability of zero solutions for the DCE and lead to the construction on criterions of synchronization and stability in the simplified form for three exciters. Then the synchronization criterion is discussed numerically, as well as the abilities of synchronization and stability, some results thereof indicate that the synchronization ability increases with the increase of the coupling moment among three exciters, but decreases with that of their phase differences. Finally, an experiment on synchronization with three exciters is carried out. Through the comparison and analysis of experimental data on phase differences among three exciters, responses of system, and phases of three exciters recorded by high-speed camera, the parameters of system satisfying the above two criterions can ensure the synchronous and stable operation of three exciters. As a result, the average method of modified small parameters can be used as a theoretical apparatus studying reasonably the synchronization mechanism of three exciters, it is also proved to be useful and feasible by numeric and experiment. The present research lays the foundation and guidance for the establishment of synchronization theory system with multi-exciter and engineering design.
The theory on synchronization of two exciters is more widely used in engineering, while that of more than two exciters is less considered. So it is of great significant to investigate synchronization of three exciters. Firstly by introducing the average method of modified small parameters, the dimensionless coupling equations(DCE) of three exciters are derived, which convert the problem of synchronization into that of existence and stability of zero solutions for the DCE and lead to the construction on criterions of synchronization and stability in the simplified form for three exciters. Then the synchronization criterion is discussed numerically, as well as the abilities of synchronization and stability, some results thereof indicate that the synchronization ability increases with the increase of the coupling moment among three exciters, but decreases with that of their phase differences. Finally, an experiment on synchronization with three exciters is carried out. Through the comparison and analysis of experimental data on phase differences among three exciters, responses of system, and phases of three exciters recorded by high-speed camera, the parameters of system satisfying the above two criterions can ensure the synchronous and stable operation of three exciters. As a result, the average method of modified small parameters can be used as a theoretical apparatus studying reasonably the synchronization mechanism of three exciters, it is also proved to be useful and feasible by numeric and experiment. The present research lays the foundation and guidance for the establishment of synchronization theory system with multi-exciter and engineering design.
2013, 27(4).
Abstract:
Scissor-like element has a number of applications in deployable structures such as planar deployable structure (PDS) and ring deployable structure(RDS). However, the mobility analysis of the multi-loop deployable structures is made more difficulty by the traditional mobility formula, because the deployable structure is a very complex structure with multi-loop. Therefore, On the basis of screw theory, the calculation method of mobility of deployable structures of SLE is thoroughly discussed. In order to investigate the mobility, decomposing and composing structures(DCS) are developed, and the basic units are able to be obtained. On the basis of the deployable structures’ geometrical characteristics, there exists a closed-loop quadrilateral structure and some non-closed-loop quadrilateral structures in PDS. Also, a six legs parallel structure is present in RDS. The basic units’ mobility can be solved by both the methods of screw theory and topology constraint graphs. Then, composing the related basic units, the formula of planar deployable structures’ mobility can be built and solves the mobility of ring deployable structure. The analysis method solves the mobility analysis of the multi-loop deployable structures which is difficulty by the traditional method, and plays an important role in further research about the mobility of other complex deployable structures.
Scissor-like element has a number of applications in deployable structures such as planar deployable structure (PDS) and ring deployable structure(RDS). However, the mobility analysis of the multi-loop deployable structures is made more difficulty by the traditional mobility formula, because the deployable structure is a very complex structure with multi-loop. Therefore, On the basis of screw theory, the calculation method of mobility of deployable structures of SLE is thoroughly discussed. In order to investigate the mobility, decomposing and composing structures(DCS) are developed, and the basic units are able to be obtained. On the basis of the deployable structures’ geometrical characteristics, there exists a closed-loop quadrilateral structure and some non-closed-loop quadrilateral structures in PDS. Also, a six legs parallel structure is present in RDS. The basic units’ mobility can be solved by both the methods of screw theory and topology constraint graphs. Then, composing the related basic units, the formula of planar deployable structures’ mobility can be built and solves the mobility of ring deployable structure. The analysis method solves the mobility analysis of the multi-loop deployable structures which is difficulty by the traditional method, and plays an important role in further research about the mobility of other complex deployable structures.
2013, 27(4).
Abstract:
The researches of cavitation noise mainly focus on the incipiency and developing of cavitation to prevent the cavititation erosion in the hydraulic machinery, while there is few report about the collapse strength of cavitation bubbles produced by water jet through the cavitation nozzle to utilize efficiently the collapse energy of cavitation bubbles. The cavitation noise signals are collected with hydrophones for the cavitation nozzle and general nozzle at the target position and the nozzle exit separately in the conditions of different standoff distance. The features of signal’s frequency spectrum and power spectrum are analyzed for various nozzles by way of classical methods. Meanwhile, based on chaotic theory, phase space reconstruction is processed and the maximum Lyapunov index is calculated separately for each cavitation signal’s time series. The results of chaotic analysis are compared with the one of conventional analysis. The analyzed data show that there are the marked differences at the spectrum between the cavitation nozzle and general nozzle at the target position while the standoff distance is 35 mm, which mainly displays at the high frequency segment (60–120 kHz). The maximum Lyapunov index calculated appear at standoff distance 35 mm, which is an optimum standoff distance for the most bubbles to collapse at the target. At the nozzle exit, the noise signal of cavitation nozzle is different from the general nozzle, which also displays at the high frequency segment. The results demonstrate that the water jet modulated by the cavitation nozzle can produce effectually cavitation, and at the target position the amplitude and energy of noise spectrum in high frequency segment for cavitation nozzle are higher than conventional nozzle and the Lyapunov index of cavitation nozzle is larger than conventional nozzle as the standoff distance is less than 55 mm. The proposed research reveals that the cavitation noise produced by collapse of cavitation bubbles attributes mainly to the high frequency segment of the spectrum, which provides references for the research on cavitation noise.
The researches of cavitation noise mainly focus on the incipiency and developing of cavitation to prevent the cavititation erosion in the hydraulic machinery, while there is few report about the collapse strength of cavitation bubbles produced by water jet through the cavitation nozzle to utilize efficiently the collapse energy of cavitation bubbles. The cavitation noise signals are collected with hydrophones for the cavitation nozzle and general nozzle at the target position and the nozzle exit separately in the conditions of different standoff distance. The features of signal’s frequency spectrum and power spectrum are analyzed for various nozzles by way of classical methods. Meanwhile, based on chaotic theory, phase space reconstruction is processed and the maximum Lyapunov index is calculated separately for each cavitation signal’s time series. The results of chaotic analysis are compared with the one of conventional analysis. The analyzed data show that there are the marked differences at the spectrum between the cavitation nozzle and general nozzle at the target position while the standoff distance is 35 mm, which mainly displays at the high frequency segment (60–120 kHz). The maximum Lyapunov index calculated appear at standoff distance 35 mm, which is an optimum standoff distance for the most bubbles to collapse at the target. At the nozzle exit, the noise signal of cavitation nozzle is different from the general nozzle, which also displays at the high frequency segment. The results demonstrate that the water jet modulated by the cavitation nozzle can produce effectually cavitation, and at the target position the amplitude and energy of noise spectrum in high frequency segment for cavitation nozzle are higher than conventional nozzle and the Lyapunov index of cavitation nozzle is larger than conventional nozzle as the standoff distance is less than 55 mm. The proposed research reveals that the cavitation noise produced by collapse of cavitation bubbles attributes mainly to the high frequency segment of the spectrum, which provides references for the research on cavitation noise.
2013, 27(4).
Abstract:
Hexagonal metal honeycomb is widely used in energy absorption field for its special construction. However, many other metal honeycomb structures also show good energy absorption characteristics. Currently, most of the researches focus on hexagonal honeycomb, while few are performed into different honeycomb structures. Therefore, a new alternative square honeycomb is developed to expand the non-hexagonal metal honeycomb applications in the energy absorption fields with the aim of designing low mass and low volume energy absorbers. The finite element model of alternative square honeycomb is built to analyze its specific energy absorption property. As the diversity of honeycomb structure, the parameterized metal honeycomb finite element analysis program is conducted based on PCL language. That program can automatically create finite element model. Numerical results show that with the same foil thickness and cell length of metal honeycomb, the alternative square has better specific energy absorption than hexagonal honeycomb. Using response surface method, the mathematical formulas of honeycomb crashworthiness properties are obtained and optimization is done to get the maximum specific energy absorption property honeycomb. Optimal results demonstrate that to absorb same energy, alternative square honeycomb can save 10% volume of buffer structure than hexagonal honeycomb can do. This research is significant in providing technical support in the extended application of different honeycomb used as crashworthiness structures, and is absolutely essential in low volume and low mass energy absorber design.
Hexagonal metal honeycomb is widely used in energy absorption field for its special construction. However, many other metal honeycomb structures also show good energy absorption characteristics. Currently, most of the researches focus on hexagonal honeycomb, while few are performed into different honeycomb structures. Therefore, a new alternative square honeycomb is developed to expand the non-hexagonal metal honeycomb applications in the energy absorption fields with the aim of designing low mass and low volume energy absorbers. The finite element model of alternative square honeycomb is built to analyze its specific energy absorption property. As the diversity of honeycomb structure, the parameterized metal honeycomb finite element analysis program is conducted based on PCL language. That program can automatically create finite element model. Numerical results show that with the same foil thickness and cell length of metal honeycomb, the alternative square has better specific energy absorption than hexagonal honeycomb. Using response surface method, the mathematical formulas of honeycomb crashworthiness properties are obtained and optimization is done to get the maximum specific energy absorption property honeycomb. Optimal results demonstrate that to absorb same energy, alternative square honeycomb can save 10% volume of buffer structure than hexagonal honeycomb can do. This research is significant in providing technical support in the extended application of different honeycomb used as crashworthiness structures, and is absolutely essential in low volume and low mass energy absorber design.
2013, 27(4).
Abstract:
The control manner during the process to ensure the quality of pipe products mainly relies on the operator’s experience, so it is very necessary to study the setting round process and obtain its spring-back law. The setting round process is shaping an oval section pipe into circular section, so it is difficult to provide a quantificational analysis for its spring-back process because of the curvature inequality of pipe section neutral layer. However, the spring-back law of the circle-oval process can be easily predicted. The experimental method is firstly used to establish the equivalent effect between the setting round process and the circle-oval process. The setting round process can be converted into the circle-oval process. There are two difficulties in the theoretical analysis for the circle-oval process: elastic-plastic bending problem of curved beam; statically indeterminate problem. A quantitative analytic method for the circle-oval process is presented on the basis of combination of the spring-back law of plane curved beam with the element dividing idea in finite element method. The ovality after unloading versus the relative reduction is plotted with analytical and experimental results respectively, which shows a fair agreement. Finally, the method of quantitative prediction of reduction for large pipe setting round is given based on the equivalent effect and the analytical results. Five pipes, which are needed to be set round, are used to carry out experiment so as to verify this method. The results of verification experiment indicates that, in the experimental range, the residual ovality are all under 0.35% after the once only setting round with the theoretical prediction reductions. It is much less than the 1% requirement of pipe standard. Applying the established theoretical analysis is able to correct the pipe ovality with sufficient accuracy, which provides theoretical direction to plant use.
The control manner during the process to ensure the quality of pipe products mainly relies on the operator’s experience, so it is very necessary to study the setting round process and obtain its spring-back law. The setting round process is shaping an oval section pipe into circular section, so it is difficult to provide a quantificational analysis for its spring-back process because of the curvature inequality of pipe section neutral layer. However, the spring-back law of the circle-oval process can be easily predicted. The experimental method is firstly used to establish the equivalent effect between the setting round process and the circle-oval process. The setting round process can be converted into the circle-oval process. There are two difficulties in the theoretical analysis for the circle-oval process: elastic-plastic bending problem of curved beam; statically indeterminate problem. A quantitative analytic method for the circle-oval process is presented on the basis of combination of the spring-back law of plane curved beam with the element dividing idea in finite element method. The ovality after unloading versus the relative reduction is plotted with analytical and experimental results respectively, which shows a fair agreement. Finally, the method of quantitative prediction of reduction for large pipe setting round is given based on the equivalent effect and the analytical results. Five pipes, which are needed to be set round, are used to carry out experiment so as to verify this method. The results of verification experiment indicates that, in the experimental range, the residual ovality are all under 0.35% after the once only setting round with the theoretical prediction reductions. It is much less than the 1% requirement of pipe standard. Applying the established theoretical analysis is able to correct the pipe ovality with sufficient accuracy, which provides theoretical direction to plant use.
2013, 27(4).
Abstract:
The existing research on continuous structure is usually analyzed with finite element method (FEM) and granular medium with discrete element method (DEM), but there are few researches on the coupling interaction between continuous structure and discrete medium. To the issue of this coupling interaction, a multi-scale simulation method with coupled finite/discrete element model is put forward, in their respective domains of discrete and finite elements, the nodes follow force law and motion law of their own method, and on the their interaction interface, the touch type between discrete and finite elements is distinguished as two types: full touch and partial touch, the interaction force between them is calculated with linear elastic model. For full touch, the contact force is proportional to the overlap distance between discrete element and finite element patch. For partial touch, first the finite element patch is extended on all sides indefinitely to be a complete plane, the full contact force can be obtained with the touch type between discrete element and plane being viewed as full touch, then the full overlap area between them and the actual overlap area between discrete element and finite element patch are computed, the actual contact force is obtained by scaling the full contact force with a factor which is determined by the ratio of the actual overlap area to the full overlap area. The contact force is equivalent to the finite element nodes and the force and displacement on the nodes can be computed, so the ideal simulation results can be got. This method has been used to simulate the cutter disk of the earth pressure balance shield machine (EPBSM) made in North Heavy Industry (NHI) with its excavation diameter of 6.28 m cutting and digging the sandy clay layer. The simulation results show that as the gradual increase of excavating depth of the cutter head, the maximum stress occurs at the roots of cutters on the cutter head, while for the soil, the largest stress is distributed at the region which directly contacted with the cutters. The proposed research can provide good solutions for correct design and installation of cutters, and it is necessary to design mounting bracket to fix cutters on cutter head.
The existing research on continuous structure is usually analyzed with finite element method (FEM) and granular medium with discrete element method (DEM), but there are few researches on the coupling interaction between continuous structure and discrete medium. To the issue of this coupling interaction, a multi-scale simulation method with coupled finite/discrete element model is put forward, in their respective domains of discrete and finite elements, the nodes follow force law and motion law of their own method, and on the their interaction interface, the touch type between discrete and finite elements is distinguished as two types: full touch and partial touch, the interaction force between them is calculated with linear elastic model. For full touch, the contact force is proportional to the overlap distance between discrete element and finite element patch. For partial touch, first the finite element patch is extended on all sides indefinitely to be a complete plane, the full contact force can be obtained with the touch type between discrete element and plane being viewed as full touch, then the full overlap area between them and the actual overlap area between discrete element and finite element patch are computed, the actual contact force is obtained by scaling the full contact force with a factor which is determined by the ratio of the actual overlap area to the full overlap area. The contact force is equivalent to the finite element nodes and the force and displacement on the nodes can be computed, so the ideal simulation results can be got. This method has been used to simulate the cutter disk of the earth pressure balance shield machine (EPBSM) made in North Heavy Industry (NHI) with its excavation diameter of 6.28 m cutting and digging the sandy clay layer. The simulation results show that as the gradual increase of excavating depth of the cutter head, the maximum stress occurs at the roots of cutters on the cutter head, while for the soil, the largest stress is distributed at the region which directly contacted with the cutters. The proposed research can provide good solutions for correct design and installation of cutters, and it is necessary to design mounting bracket to fix cutters on cutter head.
2013, 27(4).
Abstract:
The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.
The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.
2013, 27(4).
Abstract:
A new method is developed to derive equilibrium equations of Metal-Ceramic beams based on first order shear deformation plate theory which is named first order shear deformation beam theory2(FSDBT2). Equilibrium equations obtained from conventional method (FSDBT1) is compared with FSDBT2 and the case of cylindrical bending of Metal-Ceramic composite plates for non-linear thermomechanical deformations and various loadings and boundary conditions. These equations are solved by using three different methods (analytical, perturbation technique and finite element solution). The through-thickness variation of the volume fraction of the ceramic phase in a Metal-Ceramic beam is assumed to be given by a power-law type function. The non-linear strain-displacement relations in the von-Kármán sense are used to study the effect of geometric non-linearity. Also, four other representative averaging estimation methods, the linear rule, Mori-Tanaka, Self-Consistent and Wakashima-Tsukamoto schemes, by comparing with the power-law type function are also investigated. Temperature distribution through the thickness of the beams in thermal loadings is obtained by solving the one-dimensional heat transfer equation. Finally it is concluded that for Metal-Ceramic composites, these two theories result in identical static responses. Also the displacement field and equilibrium equations in the case of cylindrical bending of Metal-Ceramic plates are the same as those supposed in FSDBT2.
A new method is developed to derive equilibrium equations of Metal-Ceramic beams based on first order shear deformation plate theory which is named first order shear deformation beam theory2(FSDBT2). Equilibrium equations obtained from conventional method (FSDBT1) is compared with FSDBT2 and the case of cylindrical bending of Metal-Ceramic composite plates for non-linear thermomechanical deformations and various loadings and boundary conditions. These equations are solved by using three different methods (analytical, perturbation technique and finite element solution). The through-thickness variation of the volume fraction of the ceramic phase in a Metal-Ceramic beam is assumed to be given by a power-law type function. The non-linear strain-displacement relations in the von-Kármán sense are used to study the effect of geometric non-linearity. Also, four other representative averaging estimation methods, the linear rule, Mori-Tanaka, Self-Consistent and Wakashima-Tsukamoto schemes, by comparing with the power-law type function are also investigated. Temperature distribution through the thickness of the beams in thermal loadings is obtained by solving the one-dimensional heat transfer equation. Finally it is concluded that for Metal-Ceramic composites, these two theories result in identical static responses. Also the displacement field and equilibrium equations in the case of cylindrical bending of Metal-Ceramic plates are the same as those supposed in FSDBT2.
2013, 27(4).
Abstract:
In the reliability designing procedure of the vehicle components, when the distribution styles of the random variables are unknown or non-normal distribution, the result evaluated contains great error or even is wrong if the reliability value R is larger than 1 by using the existent method, in which case the formula is necessary to be revised. This is obviously inconvenient for programming. Combining reliability-based optimization theory, robust designing method and reliability based sensitivity analysis, a new method for reliability robust designing is proposed. Therefore the influence level of the designing parameters’ changing to the reliability of vehicle components can be obtained. The reliability sensitivity with respect to design parameters is viewed as a sub-objective function in the multi-objective optimization problem satisfying reliability constraints. Given the first four moments of basic random variables, a fourth-moment technique and the proposed optimization procedure can obtain reliability-based robust design of automobile components with non-normal distribution parameters accurately and quickly. By using the proposed method, the distribution style of the random parameters is relaxed. Therefore it is much closer to the actual reliability problems. The numerical examples indicate the following: (1) The reliability value obtained by the robust method proposed increases (0.04%) comparing to the value obtained by the ordinary optimization algorithm; (2) The absolute value of reliability-based sensitivity decreases (0.01%), and the robustness of the products’ quality is improved accordingly. Utilizing the reliability-based optimization and robust design method in the reliability designing procedure reduces the manufacture cost and provides the theoretical basis for the reliability and robust design of the vehicle components.
In the reliability designing procedure of the vehicle components, when the distribution styles of the random variables are unknown or non-normal distribution, the result evaluated contains great error or even is wrong if the reliability value R is larger than 1 by using the existent method, in which case the formula is necessary to be revised. This is obviously inconvenient for programming. Combining reliability-based optimization theory, robust designing method and reliability based sensitivity analysis, a new method for reliability robust designing is proposed. Therefore the influence level of the designing parameters’ changing to the reliability of vehicle components can be obtained. The reliability sensitivity with respect to design parameters is viewed as a sub-objective function in the multi-objective optimization problem satisfying reliability constraints. Given the first four moments of basic random variables, a fourth-moment technique and the proposed optimization procedure can obtain reliability-based robust design of automobile components with non-normal distribution parameters accurately and quickly. By using the proposed method, the distribution style of the random parameters is relaxed. Therefore it is much closer to the actual reliability problems. The numerical examples indicate the following: (1) The reliability value obtained by the robust method proposed increases (0.04%) comparing to the value obtained by the ordinary optimization algorithm; (2) The absolute value of reliability-based sensitivity decreases (0.01%), and the robustness of the products’ quality is improved accordingly. Utilizing the reliability-based optimization and robust design method in the reliability designing procedure reduces the manufacture cost and provides the theoretical basis for the reliability and robust design of the vehicle components.
2013, 27(4).
Abstract:
Hall sensor is widely used for estimating rotor phase of permanent magnet synchronous motor(PMSM). And rotor position is an essential parameter of PMSM control algorithm, hence it is very dangerous if Hall senor faults occur. But there is scarcely any research focusing on fault diagnosis and fault-tolerant control of Hall sensor used in PMSM. From this standpoint, the Hall sensor faults which may occur during the PMSM operating are theoretically analyzed. According to the analysis results, the fault diagnosis algorithm of Hall sensor, which is based on three rules, is proposed to classify the fault phenomena accurately. The rotor phase estimation algorithms, based on one or two Hall sensor(s), are initialized to engender the fault-tolerant control algorithm. The fault diagnosis algorithm can detect 60 Hall fault phenomena in total as well as all detections can be fulfilled in 1/138 rotor rotation period. The fault-tolerant control algorithm can achieve a smooth torque production which means the same control effect as normal control mode (with three Hall sensors). Finally, the PMSM bench test verifies the accuracy and rapidity of fault diagnosis and fault-tolerant control strategies. The fault diagnosis algorithm can detect all Hall sensor faults promptly and fault-tolerant control algorithm allows the PMSM to face failure conditions of one or two Hall sensor(s). In addition, the transitions between health-control and fault-tolerant control conditions are smooth without any additional noise and harshness. Proposed algorithms can deal with the Hall sensor faults of PMSM in real applications, and can be provided to realize the fault diagnosis and fault-tolerant control of PMSM.
Hall sensor is widely used for estimating rotor phase of permanent magnet synchronous motor(PMSM). And rotor position is an essential parameter of PMSM control algorithm, hence it is very dangerous if Hall senor faults occur. But there is scarcely any research focusing on fault diagnosis and fault-tolerant control of Hall sensor used in PMSM. From this standpoint, the Hall sensor faults which may occur during the PMSM operating are theoretically analyzed. According to the analysis results, the fault diagnosis algorithm of Hall sensor, which is based on three rules, is proposed to classify the fault phenomena accurately. The rotor phase estimation algorithms, based on one or two Hall sensor(s), are initialized to engender the fault-tolerant control algorithm. The fault diagnosis algorithm can detect 60 Hall fault phenomena in total as well as all detections can be fulfilled in 1/138 rotor rotation period. The fault-tolerant control algorithm can achieve a smooth torque production which means the same control effect as normal control mode (with three Hall sensors). Finally, the PMSM bench test verifies the accuracy and rapidity of fault diagnosis and fault-tolerant control strategies. The fault diagnosis algorithm can detect all Hall sensor faults promptly and fault-tolerant control algorithm allows the PMSM to face failure conditions of one or two Hall sensor(s). In addition, the transitions between health-control and fault-tolerant control conditions are smooth without any additional noise and harshness. Proposed algorithms can deal with the Hall sensor faults of PMSM in real applications, and can be provided to realize the fault diagnosis and fault-tolerant control of PMSM.
2013, 27(4).
Abstract:
The existing researches of the magnetic liquid rotation seal have been mainly oriented to the seal at normal temperature and the seal with the smaller shaft diameter less than 100 mm. However, the large-diameter magnetic liquid rotation seal at low temperature has not been reported both in theory and in application up to now. A key factor restricting the application of the large-diameter magnetic liquid rotation seal at low temperature is the high breakaway torque. In this paper, the factors that influence the breakaway torque including the number of seal stages, the injected quantity of magnetic liquid and the standing time at normal temperature are studied. Two kinds of magnetic liquid with variable content of large particles are prepared first, and a seal feedthrough with 140 mm shaft diameter is used in the experiments. All experiments are carried out in a low temperature chamber with a temperature range from 200℃ to –100℃. Different numbers of seal stages are tested under the same condition to study the relation between the breakaway torque and the number of seal stages. Variable quantity of magnetic liquid is injected in the seal gap to get the relation curve of the breakaway torque and the injecting quantity of magnetic liquid. In the experiment for studying the relation between the breakaway torque and the standing time at the normal temperature, the seal feedtrough is laid at normal temperature for different period of time before it is put in the low temperature chamber. The experimental results show that the breakaway torque is proportional to the number of seal stages, the injected quantity of magnetic liquid and the standing time at the normal temperature. Meanwhile, the experimental results are analyzed and the torque formula of magnetic liquid rotation seal at low temperature is deduced from the Navier-Stokes equation on the base of the model of magnetic liquid rotation seal. The presented research can make wider application of the magnetic liquid seal in general. And the large-diameter magnetic liquid rotation seal at low temperature designed by using present research results are to be used in some special fields, such as the military field, etc.
The existing researches of the magnetic liquid rotation seal have been mainly oriented to the seal at normal temperature and the seal with the smaller shaft diameter less than 100 mm. However, the large-diameter magnetic liquid rotation seal at low temperature has not been reported both in theory and in application up to now. A key factor restricting the application of the large-diameter magnetic liquid rotation seal at low temperature is the high breakaway torque. In this paper, the factors that influence the breakaway torque including the number of seal stages, the injected quantity of magnetic liquid and the standing time at normal temperature are studied. Two kinds of magnetic liquid with variable content of large particles are prepared first, and a seal feedthrough with 140 mm shaft diameter is used in the experiments. All experiments are carried out in a low temperature chamber with a temperature range from 200℃ to –100℃. Different numbers of seal stages are tested under the same condition to study the relation between the breakaway torque and the number of seal stages. Variable quantity of magnetic liquid is injected in the seal gap to get the relation curve of the breakaway torque and the injecting quantity of magnetic liquid. In the experiment for studying the relation between the breakaway torque and the standing time at the normal temperature, the seal feedtrough is laid at normal temperature for different period of time before it is put in the low temperature chamber. The experimental results show that the breakaway torque is proportional to the number of seal stages, the injected quantity of magnetic liquid and the standing time at the normal temperature. Meanwhile, the experimental results are analyzed and the torque formula of magnetic liquid rotation seal at low temperature is deduced from the Navier-Stokes equation on the base of the model of magnetic liquid rotation seal. The presented research can make wider application of the magnetic liquid seal in general. And the large-diameter magnetic liquid rotation seal at low temperature designed by using present research results are to be used in some special fields, such as the military field, etc.
2013, 27(4).
Abstract:
High level architecture(HLA) is the open standard in the collaborative simulation field. Scholars have been paying close attention to theoretical research on and engineering applications of collaborative simulation based on HLA/RTI, which extends HLA in various aspects like functionality and efficiency. However, related study on the load balancing problem of HLA collaborative simulation is insufficient. Without load balancing, collaborative simulation under HLA/RTI may encounter performance reduction or even fatal errors. In this paper, load balancing is further divided into static problems and dynamic problems. A multi-objective model is established and the randomness of model parameters is taken into consideration for static load balancing, which makes the model more credible. The Monte Carlo based optimization algorithm(MCOA) is excogitated to gain static load balance. For dynamic load balancing, a new type of dynamic load balancing problem is put forward with regards to the variable-structured collaborative simulation under HLA/RTI. In order to minimize the influence against the running collaborative simulation, the ordinal optimization based algorithm(OOA) is devised to shorten the optimization time. Furthermore, the two algorithms are adopted in simulation experiments of different scenarios, which demonstrate their effectiveness and efficiency. An engineering experiment about collaborative simulation under HLA/RTI of high speed electricity multiple units(EMU) is also conducted to indentify credibility of the proposed models and supportive utility of MCOA and OOA to practical engineering systems. The proposed research ensures compatibility of traditional HLA, enhances the ability for assigning simulation loads onto computing units both statically and dynamically, improves the performance of collaborative simulation system and makes full use of the hardware resources.
High level architecture(HLA) is the open standard in the collaborative simulation field. Scholars have been paying close attention to theoretical research on and engineering applications of collaborative simulation based on HLA/RTI, which extends HLA in various aspects like functionality and efficiency. However, related study on the load balancing problem of HLA collaborative simulation is insufficient. Without load balancing, collaborative simulation under HLA/RTI may encounter performance reduction or even fatal errors. In this paper, load balancing is further divided into static problems and dynamic problems. A multi-objective model is established and the randomness of model parameters is taken into consideration for static load balancing, which makes the model more credible. The Monte Carlo based optimization algorithm(MCOA) is excogitated to gain static load balance. For dynamic load balancing, a new type of dynamic load balancing problem is put forward with regards to the variable-structured collaborative simulation under HLA/RTI. In order to minimize the influence against the running collaborative simulation, the ordinal optimization based algorithm(OOA) is devised to shorten the optimization time. Furthermore, the two algorithms are adopted in simulation experiments of different scenarios, which demonstrate their effectiveness and efficiency. An engineering experiment about collaborative simulation under HLA/RTI of high speed electricity multiple units(EMU) is also conducted to indentify credibility of the proposed models and supportive utility of MCOA and OOA to practical engineering systems. The proposed research ensures compatibility of traditional HLA, enhances the ability for assigning simulation loads onto computing units both statically and dynamically, improves the performance of collaborative simulation system and makes full use of the hardware resources.
2013, 27(4).
Abstract:
The mechanism type plays a decisive role in the mechanical performance of robotic manipulators. Feasible mechanism types can be obtained by applying appropriate type synthesis theory, but there is still a lack of effective and efficient methods for the optimum selection among different types of mechanism candidates. This paper presents a new strategy for the purpose of optimum mechanism type selection based on the modified particle swarm optimization method. The concept of sub-swarm is introduced to represent the different mechanisms generated by the type synthesis, and a competitive mechanism is employed between the sub-swarms to reassign their population size according to the relative performances of the mechanism candidates to implement the optimization. Combining with a modular modeling approach for fast calculation of the performance index of the potential candidates, the proposed method is applied to determine the optimum mechanism type among the potential candidates for the desired manipulator. The effectiveness and efficiency of the proposed method is demonstrated through a case study on the optimum selection of mechanism type of a heavy manipulator where six feasible candidates are considered with force capability as the specific performance index. The optimization result shows that the fitness of the optimum mechanism type for the considered heavy manipulator can be up to 0.578 5. This research provides the instruction in optimum selection of mechanism types for robotic manipulators.
The mechanism type plays a decisive role in the mechanical performance of robotic manipulators. Feasible mechanism types can be obtained by applying appropriate type synthesis theory, but there is still a lack of effective and efficient methods for the optimum selection among different types of mechanism candidates. This paper presents a new strategy for the purpose of optimum mechanism type selection based on the modified particle swarm optimization method. The concept of sub-swarm is introduced to represent the different mechanisms generated by the type synthesis, and a competitive mechanism is employed between the sub-swarms to reassign their population size according to the relative performances of the mechanism candidates to implement the optimization. Combining with a modular modeling approach for fast calculation of the performance index of the potential candidates, the proposed method is applied to determine the optimum mechanism type among the potential candidates for the desired manipulator. The effectiveness and efficiency of the proposed method is demonstrated through a case study on the optimum selection of mechanism type of a heavy manipulator where six feasible candidates are considered with force capability as the specific performance index. The optimization result shows that the fitness of the optimum mechanism type for the considered heavy manipulator can be up to 0.578 5. This research provides the instruction in optimum selection of mechanism types for robotic manipulators.
2013, 27(4).
Abstract:
Nanoparticles can be taken as additives and added into various fluids to improve their lubricating performances. At present, researches in this area are mainly concentrated on the improvement effects of nanoparticles on the lubricating performances of liquid such as oil and water. Nanoparticles will also affect gas lubrication, but few related studies have been reported. Nanoparticles-laden gas film (NLGF) is formed when adding nanoparticles into gas bearing. Then, the lubricating performances of gas bearing including pressure distribution and load-carrying capacity will change. The variations of pressure distribution and load-carrying capacity in nanoparticles-laden gas film thrust bearing are investigated by numerical method. Taking account of the compressibility of gas and the interactions between gas and nanoparticles, a computational fluid dynamics model based on Navier-Stokes equations is applied to simulate the NLGF flow. The effects of inlet nanoparticles volume fraction and orifice radius on film pressure distribution and load-carrying capacity of the NLGF are calculated. The numerical calculation results show that both of the film land pressure and the maximum film pressure both increase when the nanoparticles are added into gas bearing, and the film pressures increase with the rising of the inlet nanoparticles volume fraction. The nanoparticles have an enhancement effect on load-carrying capacity of the studied bearing, and the enhancement effect becomes greater as the film thickness decrease. Therefore, nanoparticles can effectively improve the lubricating performance of gas bearing. The proposed research provides a theoretical basis for the design of new-type nanoparticles-laden gas film bearings.
Nanoparticles can be taken as additives and added into various fluids to improve their lubricating performances. At present, researches in this area are mainly concentrated on the improvement effects of nanoparticles on the lubricating performances of liquid such as oil and water. Nanoparticles will also affect gas lubrication, but few related studies have been reported. Nanoparticles-laden gas film (NLGF) is formed when adding nanoparticles into gas bearing. Then, the lubricating performances of gas bearing including pressure distribution and load-carrying capacity will change. The variations of pressure distribution and load-carrying capacity in nanoparticles-laden gas film thrust bearing are investigated by numerical method. Taking account of the compressibility of gas and the interactions between gas and nanoparticles, a computational fluid dynamics model based on Navier-Stokes equations is applied to simulate the NLGF flow. The effects of inlet nanoparticles volume fraction and orifice radius on film pressure distribution and load-carrying capacity of the NLGF are calculated. The numerical calculation results show that both of the film land pressure and the maximum film pressure both increase when the nanoparticles are added into gas bearing, and the film pressures increase with the rising of the inlet nanoparticles volume fraction. The nanoparticles have an enhancement effect on load-carrying capacity of the studied bearing, and the enhancement effect becomes greater as the film thickness decrease. Therefore, nanoparticles can effectively improve the lubricating performance of gas bearing. The proposed research provides a theoretical basis for the design of new-type nanoparticles-laden gas film bearings.
2013, 27(4).
Abstract:
Laser nitriding is one of the effective techniques to improve the surface properties of titanium alloys and has potential application in the life extension of last-stage steam turbine blades. However, cracking of surface coating is a common problem due to heat concentration in laser nitriding process. Conventionally, the cracks can be avoided through heat treatment, which may have an important influence on the mechanical properties of coating. Crack-free TiN/Ti3Al IMC coatings on Ti6Al4V are prepared by plasma spraying and laser nitriding. The microstructures, phase constitutes and compositions of the coating are observed and analyzed with scanning electron microscopy(SEM), X-ray diffraction(XRD) and X-ray energy-dispersive spectroscopy(EDS). Microhardness, elastic modulus, fracture toughness of the coating are measured. The results show that the crack- and pore-free IMC coatings can be made through the proposed method; with increasing laser power, the amount and density of TiN phase in the coating first increased and then decreased, leading to the similar trend of microhardness and elastic modulus and the reverse trend of fracture toughness of the coating. Both the average microhardness and elastic modulus of the coating increase three times higher than those of the substrate. The volume fraction of the TiN reinforced phase in composite can be controlled by varying the laser power and the cracking problem in laser nitriding process is successfully solved.
Laser nitriding is one of the effective techniques to improve the surface properties of titanium alloys and has potential application in the life extension of last-stage steam turbine blades. However, cracking of surface coating is a common problem due to heat concentration in laser nitriding process. Conventionally, the cracks can be avoided through heat treatment, which may have an important influence on the mechanical properties of coating. Crack-free TiN/Ti3Al IMC coatings on Ti6Al4V are prepared by plasma spraying and laser nitriding. The microstructures, phase constitutes and compositions of the coating are observed and analyzed with scanning electron microscopy(SEM), X-ray diffraction(XRD) and X-ray energy-dispersive spectroscopy(EDS). Microhardness, elastic modulus, fracture toughness of the coating are measured. The results show that the crack- and pore-free IMC coatings can be made through the proposed method; with increasing laser power, the amount and density of TiN phase in the coating first increased and then decreased, leading to the similar trend of microhardness and elastic modulus and the reverse trend of fracture toughness of the coating. Both the average microhardness and elastic modulus of the coating increase three times higher than those of the substrate. The volume fraction of the TiN reinforced phase in composite can be controlled by varying the laser power and the cracking problem in laser nitriding process is successfully solved.
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