2016 Vol.29(1)
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2016, 30(1): 1-10.
doi: 10.3901/CJME.2015.0710.091
Abstract:
The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modern parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the general multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way: over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue: the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering.
The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modern parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the general multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way: over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue: the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering.
2016, 30(1): 11-20.
doi: 10.3901/CJME.2015.1016.123
Abstract:
The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.
The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.
2016, 30(1): 21-32.
doi: 10.3901/CJME.2015.0921.112
Abstract:
The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.
The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.
2016, 30(1): 33-44.
doi: 10.3901/CJME.2015.1012.120
Abstract:
As a newly invented parallel kinematic machine(PKM), Exechon has found its potential application in machining and assembling industries due to high rigidity and high dynamics. To guarantee the overall performance, the loading conditions and deflections of the key components must be revealed to provide basic mechanic data for component design. For this purpose, a kinetostatic model is proposed with substructure synthesis technique. The Exechon is divided into a platform subsystem, a fixed base subsystem and three limb subsystems according to its structure. By modeling the limb assemblage as a spatial beam constrained by two sets of lumped virtual springs representing the compliances of revolute joint, universal joint and spherical joint, the equilibrium equations of limb subsystems are derived with finite element method(FEM). The equilibrium equations of the platform are derived with Newtons 2nd law. By introducing deformation compatibility conditions between the platform and limb, the governing equilibrium equations of the system are derived to formulate an analytical expression for systems deflections. The platforms elastic displacements and joint reactions caused by the gravity are investigated to show a strong position-dependency and axis-symmetry due to its kinematic and structure features. The proposed kinetostatic model is a trade-off between the accuracy of FEM and concision of analytical method, thus can predict the kinetostatics throughout the workspace in a quick and succinct manner. The proposed modeling methodology and kinetostatic analysis can be further expanded to other PKMs with necessary modifications, providing useful information for kinematic calibration as well as component strength calculations.
As a newly invented parallel kinematic machine(PKM), Exechon has found its potential application in machining and assembling industries due to high rigidity and high dynamics. To guarantee the overall performance, the loading conditions and deflections of the key components must be revealed to provide basic mechanic data for component design. For this purpose, a kinetostatic model is proposed with substructure synthesis technique. The Exechon is divided into a platform subsystem, a fixed base subsystem and three limb subsystems according to its structure. By modeling the limb assemblage as a spatial beam constrained by two sets of lumped virtual springs representing the compliances of revolute joint, universal joint and spherical joint, the equilibrium equations of limb subsystems are derived with finite element method(FEM). The equilibrium equations of the platform are derived with Newtons 2nd law. By introducing deformation compatibility conditions between the platform and limb, the governing equilibrium equations of the system are derived to formulate an analytical expression for systems deflections. The platforms elastic displacements and joint reactions caused by the gravity are investigated to show a strong position-dependency and axis-symmetry due to its kinematic and structure features. The proposed kinetostatic model is a trade-off between the accuracy of FEM and concision of analytical method, thus can predict the kinetostatics throughout the workspace in a quick and succinct manner. The proposed modeling methodology and kinetostatic analysis can be further expanded to other PKMs with necessary modifications, providing useful information for kinematic calibration as well as component strength calculations.
2016, 30(1): 45-55.
doi: 10.3901/CJME.2015.1021.125
Abstract:
Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C(R and C denote revolute and cylindric joints, respectively) mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes(sphere and cylinder manipulating modes) are carried out. This interesting mechanism feathering its single closed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.
Most current biped robots are equipped with two feet arranged in the right and left which inspired by the human body system. Different from the existing configurations, a novel biped robot with inner and outer feet based on a spatial six-bar 4R2C(R and C denote revolute and cylindric joints, respectively) mechanism is proposed. It can move along a line or a curve by three walking modes that are dwell adjustment mode, limit position adjustment mode and any position adjustment mode. Kinematic, gait planning and stability analyses are performed respectively, and a prototype is developed. Lastly, a potential application is considered and two manipulating modes(sphere and cylinder manipulating modes) are carried out. This interesting mechanism feathering its single closed-chain structure and unique work performance is expected to motivate the configuration creation of biped robots.
2016, 30(1): 56-62.
doi: 10.3901/CJME.2015.1015.122
Abstract:
The solution for the forward displacement analysis(FDA) of the general 6-6 Stewart mechanism(i.e., the connection points of the moving and fixed platforms are not restricted to lying in a plane) has been extensively studied, but the efficiency of the solution remains to be effectively addressed. To this end, an algebraic elimination method is proposed for the FDA of the general 6-6 Stewart mechanism. The kinematic constraint equations are built using conformal geometric algebra(CGA). The kinematic constraint equations are transformed by a substitution of variables into seven equations with seven unknown variables. According to the characteristic of anti-symmetric matrices, the aforementioned seven equations can be further transformed into seven equations with four unknown variables by a substitution of variables using the Grbner basis. Its elimination weight is increased through changing the degree of one variable, and sixteen equations with four unknown variables can be obtained using the Grbner basis. A 40th-degree univariate polynomial equation is derived by constructing a relatively small-sized 99 Sylvester resultant matrix. Finally, two numerical examples are employed to verify the proposed method. The results indicate that the proposed method can effectively improve the efficiency of solution and reduce the computational burden because of the small-sized resultant matrix.
The solution for the forward displacement analysis(FDA) of the general 6-6 Stewart mechanism(i.e., the connection points of the moving and fixed platforms are not restricted to lying in a plane) has been extensively studied, but the efficiency of the solution remains to be effectively addressed. To this end, an algebraic elimination method is proposed for the FDA of the general 6-6 Stewart mechanism. The kinematic constraint equations are built using conformal geometric algebra(CGA). The kinematic constraint equations are transformed by a substitution of variables into seven equations with seven unknown variables. According to the characteristic of anti-symmetric matrices, the aforementioned seven equations can be further transformed into seven equations with four unknown variables by a substitution of variables using the Grbner basis. Its elimination weight is increased through changing the degree of one variable, and sixteen equations with four unknown variables can be obtained using the Grbner basis. A 40th-degree univariate polynomial equation is derived by constructing a relatively small-sized 99 Sylvester resultant matrix. Finally, two numerical examples are employed to verify the proposed method. The results indicate that the proposed method can effectively improve the efficiency of solution and reduce the computational burden because of the small-sized resultant matrix.
2016, 30(1): 63-73.
doi: 10.3901/CJME.2015.1103.130
Abstract:
The existing studies, concerning the dressing process, focus on the major influence of the dressing conditions on the grinding response variables. However, the choice of the dressing conditions is often made, based on the experience of the qualified staff or using data from reference books. The optimal dressing parameters, which are only valid for the particular methods and dressing and grinding conditions, are also used. The paper presents a methodology for optimization of the dressing parameters in cylindrical grinding. The generalized utility function has been chosen as an optimization parameter. It is a complex indicator determining the economic, dynamic and manufacturing characteristics of the grinding process. The developed methodology is implemented for the dressing of aluminium oxide grinding wheels by using experimental diamond roller dressers with different grit sizes made of medium- and high-strength synthetic diamonds type АС32 and АС80. To solve the optimization problem, a model of the generalized utility function is created which reflects the complex impact of dressing parameters. The model is built based on the results from the conducted complex study and modeling of the grinding wheel lifetime, cutting ability, production rate and cutting forces during grinding. They are closely related to the dressing conditions (dressing speed ratio, radial in-feed of the diamond roller dresser and dress-out time), the diamond roller dresser grit size/grinding wheel grit size ratio, the type of synthetic diamonds and the direction of dressing. Some dressing parameters are determined for which the generalized utility function has a maximum and which guarantee an optimum combination of the following: the lifetime and cutting ability of the abrasive wheels, the tangential cutting force magnitude and the production rate of the grinding process. The results obtained prove the possibility of control and optimization of grinding by selecting particular dressing parameters.
The existing studies, concerning the dressing process, focus on the major influence of the dressing conditions on the grinding response variables. However, the choice of the dressing conditions is often made, based on the experience of the qualified staff or using data from reference books. The optimal dressing parameters, which are only valid for the particular methods and dressing and grinding conditions, are also used. The paper presents a methodology for optimization of the dressing parameters in cylindrical grinding. The generalized utility function has been chosen as an optimization parameter. It is a complex indicator determining the economic, dynamic and manufacturing characteristics of the grinding process. The developed methodology is implemented for the dressing of aluminium oxide grinding wheels by using experimental diamond roller dressers with different grit sizes made of medium- and high-strength synthetic diamonds type АС32 and АС80. To solve the optimization problem, a model of the generalized utility function is created which reflects the complex impact of dressing parameters. The model is built based on the results from the conducted complex study and modeling of the grinding wheel lifetime, cutting ability, production rate and cutting forces during grinding. They are closely related to the dressing conditions (dressing speed ratio, radial in-feed of the diamond roller dresser and dress-out time), the diamond roller dresser grit size/grinding wheel grit size ratio, the type of synthetic diamonds and the direction of dressing. Some dressing parameters are determined for which the generalized utility function has a maximum and which guarantee an optimum combination of the following: the lifetime and cutting ability of the abrasive wheels, the tangential cutting force magnitude and the production rate of the grinding process. The results obtained prove the possibility of control and optimization of grinding by selecting particular dressing parameters.
2016, 30(1): 74-83.
doi: 10.3901/CJME.2015.0908.110
Abstract:
The welding deviation detection is the basis of robotic tracking welding, but the on-line real-time measurement of welding deviation is still not well solved by the existing methods. There is plenty of information in the gas metal arc welding(GMAW) molten pool images that is very important for the control of welding seam tracking. The physical meaning for the curvature extremum of molten pool contour is revealed by researching the molten pool images, that is, the deviation information points of welding wire center and the molten tip center are the maxima and the local maxima of the contour curvature, and the horizontal welding deviation is the position difference of these two extremum points. A new method of weld deviation detection is presented, including the process of preprocessing molten pool images, extracting and segmenting the contours, obtaining the contour extremum points, and calculating the welding deviation, etc. Extracting the contours is the premise, segmenting the contour lines is the foundation, and obtaining the contour extremum points is the key. The contour images can be extracted with the method of discrete dyadic wavelet transform, which is divided into two sub contours including welding wire and molten tip separately. The curvature value of each point of the two sub contour lines is calculated based on the approximate curvature formula of multi-points for plane curve, and the two points of the curvature extremum are the characteristics needed for the welding deviation calculation. The results of the tests and analyses show that the maximum error of the obtained on-line welding deviation is 2 pixels(0.16 mm), and the algorithm is stable enough to meet the requirements of the pipeline in real-time control at a speed of less than 500 mm/min. The method can be applied to the on-line automatic welding deviation detection.
The welding deviation detection is the basis of robotic tracking welding, but the on-line real-time measurement of welding deviation is still not well solved by the existing methods. There is plenty of information in the gas metal arc welding(GMAW) molten pool images that is very important for the control of welding seam tracking. The physical meaning for the curvature extremum of molten pool contour is revealed by researching the molten pool images, that is, the deviation information points of welding wire center and the molten tip center are the maxima and the local maxima of the contour curvature, and the horizontal welding deviation is the position difference of these two extremum points. A new method of weld deviation detection is presented, including the process of preprocessing molten pool images, extracting and segmenting the contours, obtaining the contour extremum points, and calculating the welding deviation, etc. Extracting the contours is the premise, segmenting the contour lines is the foundation, and obtaining the contour extremum points is the key. The contour images can be extracted with the method of discrete dyadic wavelet transform, which is divided into two sub contours including welding wire and molten tip separately. The curvature value of each point of the two sub contour lines is calculated based on the approximate curvature formula of multi-points for plane curve, and the two points of the curvature extremum are the characteristics needed for the welding deviation calculation. The results of the tests and analyses show that the maximum error of the obtained on-line welding deviation is 2 pixels(0.16 mm), and the algorithm is stable enough to meet the requirements of the pipeline in real-time control at a speed of less than 500 mm/min. The method can be applied to the on-line automatic welding deviation detection.
2016, 30(1): 84-90.
doi: 10.3901/CJME.2015.1126.139
Abstract:
Magnetorheological (MR) fluid is a type of a smart material that can control its mechanical properties under a magnetic field. Iron particles in MR fluid form chain structures in the direction of an applied magnetic field, which is known as MR effect, resulting in variation of stiffness, shear modulus, damping and tribological characteristics of MR fluid. As MR effect depends on the density of particles in the fluid or the strength of a magnetic field, the experiments are conducted to evaluate the friction property under reciprocating motion by changing the types of MR fluid and the strength of a magnetic field. The material of aluminum, brass, and steel are chosen for specimen as they are the most common material in mechanical applications. The surfaces of specimen are also observed by optical microscope before and after experiments to compare the surfaces with test conditions. The comparing results show that the friction coefficient increases as the strength of a magnetic field increases in regardless of types of MR fluid or the material. Also the density of particle in MR fluid affects the friction characteristic. The results from this research can be used to improve the performance of mechanical applications using MR fluid.
Magnetorheological (MR) fluid is a type of a smart material that can control its mechanical properties under a magnetic field. Iron particles in MR fluid form chain structures in the direction of an applied magnetic field, which is known as MR effect, resulting in variation of stiffness, shear modulus, damping and tribological characteristics of MR fluid. As MR effect depends on the density of particles in the fluid or the strength of a magnetic field, the experiments are conducted to evaluate the friction property under reciprocating motion by changing the types of MR fluid and the strength of a magnetic field. The material of aluminum, brass, and steel are chosen for specimen as they are the most common material in mechanical applications. The surfaces of specimen are also observed by optical microscope before and after experiments to compare the surfaces with test conditions. The comparing results show that the friction coefficient increases as the strength of a magnetic field increases in regardless of types of MR fluid or the material. Also the density of particle in MR fluid affects the friction characteristic. The results from this research can be used to improve the performance of mechanical applications using MR fluid.
2016, 30(1): 91-97.
doi: 10.3901/CJME.2015.1209.143
Abstract:
The current techniques used for the fabrication of nanosteps are normally done by layer growth and then ion beam thinning. There are also extra films grown on the step surfaces in order to reduce the roughness. So the whole process is time consuming. In this paper, a nanoscale step height structure is fabricated by atomic layer deposition (ALD) and wet etching techniques. According to the traceable of the step height value, the fabrication process is controllable. Because ALD technology can grow a variety of materials, aluminum oxide (Al2O3) is used to fabricate the nanostep. There are three steps of Al2O3 in this structure including 8 nm, 18 nm and 44 nm. The thickness of Al2O3 film and the height of the step are measured by anellipsometer. The experimental results show that the thickness ofAl2O3 film is consistent with the height of the step. The height of the step is measured by AFM. The measurement results show that the height is related to the number of cycles of ALD and the wet etching time. The bottom and the sidewall surface roughness are related to the wet etching time. The step height is calibrated by Physikalisch-Technische Bundesanstalt (PTB) and the results were 7.51.5 nm, 15.52.0 nm and 41.82.1 nm, respectively. This research provides a method for the fabrication of step height at nanoscale and the nanostep fabricated is potential used for standard references.
The current techniques used for the fabrication of nanosteps are normally done by layer growth and then ion beam thinning. There are also extra films grown on the step surfaces in order to reduce the roughness. So the whole process is time consuming. In this paper, a nanoscale step height structure is fabricated by atomic layer deposition (ALD) and wet etching techniques. According to the traceable of the step height value, the fabrication process is controllable. Because ALD technology can grow a variety of materials, aluminum oxide (Al2O3) is used to fabricate the nanostep. There are three steps of Al2O3 in this structure including 8 nm, 18 nm and 44 nm. The thickness of Al2O3 film and the height of the step are measured by anellipsometer. The experimental results show that the thickness ofAl2O3 film is consistent with the height of the step. The height of the step is measured by AFM. The measurement results show that the height is related to the number of cycles of ALD and the wet etching time. The bottom and the sidewall surface roughness are related to the wet etching time. The step height is calibrated by Physikalisch-Technische Bundesanstalt (PTB) and the results were 7.51.5 nm, 15.52.0 nm and 41.82.1 nm, respectively. This research provides a method for the fabrication of step height at nanoscale and the nanostep fabricated is potential used for standard references.
2016, 30(1): 98-111.
doi: 10.3901/CJME.2015.0925.116
Abstract:
A new technique is used in Discrete Least Square Meshfree(DLSM) method to remove the common existing deficiencies of meshfree methods in handling of the problems containing cracks or concave boundaries. An enhanced Discrete Least Squares Meshless method named as VDLSM(Voronoi based Discrete Least Squares Meshless) is developed in order to solve the steady-state heat conduction problem in irregular solid domains including concave boundaries or cracks. Existing meshless methods cannot estimate precisely the required unknowns in the vicinity of the above mentioned boundaries. Conducted researches are limited to domains with regular convex boundaries. To this end, the advantages of the Voronoi tessellation algorithm are implemented. The support domains of the sampling points are determined using a Voronoi tessellation algorithm. For the weight functions, a cubic spline polynomial is used based on a normalized distance variable which can provide a high degree of smoothness near those mentioned above discontinuities. Finally, Moving Least Squares(MLS) shape functions are constructed using a varitional method. This straight-forward scheme can properly estimate the unknowns(in this particular study, the temperatures at the nodal points) near and on the crack faces, crack tip or concave boundaries without need to extra backward corrective procedures, i.e. the iterative calculations for modifying the shape functions of the nodes located near or on these types of the complex boundaries. The accuracy and efficiency of the presented method are investigated by analyzing four particular examples. Obtained results from VDLSM are compared with the available analytical results or with the results of the well-known Finite Elements Method(FEM) when an analytical solution is not available. By comparisons, it is revealed that the proposed technique gives high accuracy for the solution of the steady-state heat conduction problems within cracked domains or domains with concave boundaries and at the same time possesses a high convergence rate which its accuracy is not sensitive to the arrangement of the nodal points. The novelty of this paper is the use of Voronoi concept in determining the weight functions used in the formulation of the MLS type shape functions.
A new technique is used in Discrete Least Square Meshfree(DLSM) method to remove the common existing deficiencies of meshfree methods in handling of the problems containing cracks or concave boundaries. An enhanced Discrete Least Squares Meshless method named as VDLSM(Voronoi based Discrete Least Squares Meshless) is developed in order to solve the steady-state heat conduction problem in irregular solid domains including concave boundaries or cracks. Existing meshless methods cannot estimate precisely the required unknowns in the vicinity of the above mentioned boundaries. Conducted researches are limited to domains with regular convex boundaries. To this end, the advantages of the Voronoi tessellation algorithm are implemented. The support domains of the sampling points are determined using a Voronoi tessellation algorithm. For the weight functions, a cubic spline polynomial is used based on a normalized distance variable which can provide a high degree of smoothness near those mentioned above discontinuities. Finally, Moving Least Squares(MLS) shape functions are constructed using a varitional method. This straight-forward scheme can properly estimate the unknowns(in this particular study, the temperatures at the nodal points) near and on the crack faces, crack tip or concave boundaries without need to extra backward corrective procedures, i.e. the iterative calculations for modifying the shape functions of the nodes located near or on these types of the complex boundaries. The accuracy and efficiency of the presented method are investigated by analyzing four particular examples. Obtained results from VDLSM are compared with the available analytical results or with the results of the well-known Finite Elements Method(FEM) when an analytical solution is not available. By comparisons, it is revealed that the proposed technique gives high accuracy for the solution of the steady-state heat conduction problems within cracked domains or domains with concave boundaries and at the same time possesses a high convergence rate which its accuracy is not sensitive to the arrangement of the nodal points. The novelty of this paper is the use of Voronoi concept in determining the weight functions used in the formulation of the MLS type shape functions.
2016, 30(1): 112-123.
doi: 10.3901/CJME.2015.0922.113
Abstract:
The thermal elastic hydro dynamic (TEHD) lubrication analysis for the thrust bearing is usually conducted by combining Reynolds equation with finite element analysis (FEA). But it is still a problem to conduct the computation by combining computational fluid dynamics (CFD) and FEA which can simulate the TEHD more accurately. In this paper, by using both direct and separate coupled solutions together, steady TEHD lubrication considering the viscosity-temperature effect for a bidirectional thrust bearing in a pump-turbine unit is simulated combining a 3D CFD model for the oil film with a 3D FEA model for the pad and mirror plate. Cyclic symmetry condition is used in the oil film flow as more reasonable boundary conditions which avoids the oil temperature assumption at the leading and trailing edge. Deformations of the pad and mirror plate are predicted and discussed as well as the distributions of oil film thickness, pressure, temperature. The predicted temperature shows good agreement with measurements, while the pressure shows a reasonable distribution comparing with previous studies. Further analysis of the three-coupled-field reveals the reason of the high pressure and high temperature generated in the film. Finally, the influence of rotational speed of the mirror plate on the lubrication characteristics is illustrated which shows the thrust load should be balanced against the oil film temperature and pressure in optimized designs. This research proposes a thrust bearing computation method by combining CFD and FEA which can do the TEHD analysis more accurately.
The thermal elastic hydro dynamic (TEHD) lubrication analysis for the thrust bearing is usually conducted by combining Reynolds equation with finite element analysis (FEA). But it is still a problem to conduct the computation by combining computational fluid dynamics (CFD) and FEA which can simulate the TEHD more accurately. In this paper, by using both direct and separate coupled solutions together, steady TEHD lubrication considering the viscosity-temperature effect for a bidirectional thrust bearing in a pump-turbine unit is simulated combining a 3D CFD model for the oil film with a 3D FEA model for the pad and mirror plate. Cyclic symmetry condition is used in the oil film flow as more reasonable boundary conditions which avoids the oil temperature assumption at the leading and trailing edge. Deformations of the pad and mirror plate are predicted and discussed as well as the distributions of oil film thickness, pressure, temperature. The predicted temperature shows good agreement with measurements, while the pressure shows a reasonable distribution comparing with previous studies. Further analysis of the three-coupled-field reveals the reason of the high pressure and high temperature generated in the film. Finally, the influence of rotational speed of the mirror plate on the lubrication characteristics is illustrated which shows the thrust load should be balanced against the oil film temperature and pressure in optimized designs. This research proposes a thrust bearing computation method by combining CFD and FEA which can do the TEHD analysis more accurately.
2016, 30(1): 124-135.
doi: 10.3901/CJME.2015.1127.140
Abstract:
Particle swarm optimization (PSO) algorithm is an effective bio-inspired algorithm but it has shortage of premature convergence. Researchers have made some improvements especially in force rules and population topologies. However, the current algorithms only consider a single kind of force rules and lack consideration of comprehensive improvement in both multi force rules and population topologies. In this paper, a dynamic topology multi force particle swarm optimization (DTMFPSO) algorithm is proposed in order to get better search performance. First of all, the principle of the presented multi force particle swarm optimization (MFPSO) algorithm is that different force rules are used in different search stages, which can balance the ability of global and local search. Secondly, a fitness-driven edge-changing (FE) topology based on the probability selection mechanism of roulette method is designed to cut and add edges between the particles, and the DTMFPSO algorithm is proposed by combining the FE topology with the MFPSO algorithm through concurrent evolution of both algorithm and structure in order to further improve the search accuracy. Thirdly, Benchmark functions are employed to evaluate the performance of the DTMFPSO algorithm, and test results show that the proposed algorithm is better than the well-known PSO algorithms, such as PSO, MPSO, and EPSO algorithms. Finally, the proposed algorithm is applied to optimize the process parameters for ultrasonic vibration cutting on SiC wafer, and the surface quality of the SiC wafer is improved by 12.8% compared with the PSO algorithm in Ref. [25]. This research proposes a DTMFPSO algorithm with multi force rules and dynamic population topologies evolved simultaneously, and it has better search performance.
Particle swarm optimization (PSO) algorithm is an effective bio-inspired algorithm but it has shortage of premature convergence. Researchers have made some improvements especially in force rules and population topologies. However, the current algorithms only consider a single kind of force rules and lack consideration of comprehensive improvement in both multi force rules and population topologies. In this paper, a dynamic topology multi force particle swarm optimization (DTMFPSO) algorithm is proposed in order to get better search performance. First of all, the principle of the presented multi force particle swarm optimization (MFPSO) algorithm is that different force rules are used in different search stages, which can balance the ability of global and local search. Secondly, a fitness-driven edge-changing (FE) topology based on the probability selection mechanism of roulette method is designed to cut and add edges between the particles, and the DTMFPSO algorithm is proposed by combining the FE topology with the MFPSO algorithm through concurrent evolution of both algorithm and structure in order to further improve the search accuracy. Thirdly, Benchmark functions are employed to evaluate the performance of the DTMFPSO algorithm, and test results show that the proposed algorithm is better than the well-known PSO algorithms, such as PSO, MPSO, and EPSO algorithms. Finally, the proposed algorithm is applied to optimize the process parameters for ultrasonic vibration cutting on SiC wafer, and the surface quality of the SiC wafer is improved by 12.8% compared with the PSO algorithm in Ref. [25]. This research proposes a DTMFPSO algorithm with multi force rules and dynamic population topologies evolved simultaneously, and it has better search performance.
2016, 30(1): 136-144.
doi: 10.3901/CJME.2015.1204.142
Abstract:
The current research of electro-hydraulic servo valves mainly focuses on the vibration, pressure oscillating and source of noise. Unfortunately, literatures relating to the study of the influence of the magnetic reluctances of the magnetic elements are rarely available. This paper aims to analyze the influence of the magnetic reluctances of the magnetic elements on torque motor. Considering these magnetic reluctances ignored in previous literatures, a new mathematical model of servo valve torque motor is developed and proposed based on the fundamental laws of electromagnetism. By using this new mathematical model and the previous models, electromagnetic torque constant and magnetic spring stiffness are evaluated for a given set of torque motor parameters. A computer simulation by using AMESim software is also performed for the same set of torque motor parameters to verify the proposed model. The theoretical results of electromagnetic torque constant and magnetic spring stiffness evaluated by the proposed model render closer agreement with the simulation results than those evaluated by the previous models. In addition, an experimental measurement of the magnetic flux densities in the air-gaps is carried out by using SFL218 servo valve torque motor. Compared with the theoretical results of the magnetic flux densities in the air-gaps evaluated by the previous models, the theoretical results evaluated by the proposed model also show better agreement with the experimental data. The proposed model shows the influence of the magnetic reluctances of the magnetic elements on the servo valve torque motor, and offers modified and analytical expressions to electromagnetic torque constant and magnetic spring stiffness. These modified and analytical expressions could provide guidance more accurately for a linear control design approach and sensitivity analysis on electro-hydraulic servo valves than the previous expressions.
The current research of electro-hydraulic servo valves mainly focuses on the vibration, pressure oscillating and source of noise. Unfortunately, literatures relating to the study of the influence of the magnetic reluctances of the magnetic elements are rarely available. This paper aims to analyze the influence of the magnetic reluctances of the magnetic elements on torque motor. Considering these magnetic reluctances ignored in previous literatures, a new mathematical model of servo valve torque motor is developed and proposed based on the fundamental laws of electromagnetism. By using this new mathematical model and the previous models, electromagnetic torque constant and magnetic spring stiffness are evaluated for a given set of torque motor parameters. A computer simulation by using AMESim software is also performed for the same set of torque motor parameters to verify the proposed model. The theoretical results of electromagnetic torque constant and magnetic spring stiffness evaluated by the proposed model render closer agreement with the simulation results than those evaluated by the previous models. In addition, an experimental measurement of the magnetic flux densities in the air-gaps is carried out by using SFL218 servo valve torque motor. Compared with the theoretical results of the magnetic flux densities in the air-gaps evaluated by the previous models, the theoretical results evaluated by the proposed model also show better agreement with the experimental data. The proposed model shows the influence of the magnetic reluctances of the magnetic elements on the servo valve torque motor, and offers modified and analytical expressions to electromagnetic torque constant and magnetic spring stiffness. These modified and analytical expressions could provide guidance more accurately for a linear control design approach and sensitivity analysis on electro-hydraulic servo valves than the previous expressions.
2016, 30(1): 145-151.
doi: 10.3901/CJME.2015.1109.133
Abstract:
Static load tests are an important means of supervising and detecting a cranes lift capacity. Due to space restrictions, however, there are difficulties and potential danger when testing large bridge cranes. To solve the loading problems of large-tonnage cranes during testing, an equivalency test is proposed based on the similarity theory and BP neural networks. The maximum stress and displacement of a large bridge crane is tested in small loads, combined with the training neural network of a similar structure crane through stress and displacement data which is collected by a physics simulation progressively loaded to a static load test load within the material scope of work. The maximum stress and displacement of a crane under a static load test load can be predicted through the relationship of stress, displacement, and load. By measuring the stress and displacement of small tonnage weights, the stress and displacement of large loads can be predicted, such as the maximum load capacity, which is 1.25 times the rated capacity. Experimental study shows that the load reduction test method can reflect the lift capacity of large bridge cranes. The load shedding predictive analysis for Sanxia 1200 t bridge crane test data indicates that when the load is 1.25 times the rated lifting capacity, the predicted displacement and actual displacement error is zero. The method solves the problem that lifting capacities are difficult to obtain and testing accidents are easily possible when 1.25 times related weight loads are tested for large tonnage cranes.
Static load tests are an important means of supervising and detecting a cranes lift capacity. Due to space restrictions, however, there are difficulties and potential danger when testing large bridge cranes. To solve the loading problems of large-tonnage cranes during testing, an equivalency test is proposed based on the similarity theory and BP neural networks. The maximum stress and displacement of a large bridge crane is tested in small loads, combined with the training neural network of a similar structure crane through stress and displacement data which is collected by a physics simulation progressively loaded to a static load test load within the material scope of work. The maximum stress and displacement of a crane under a static load test load can be predicted through the relationship of stress, displacement, and load. By measuring the stress and displacement of small tonnage weights, the stress and displacement of large loads can be predicted, such as the maximum load capacity, which is 1.25 times the rated capacity. Experimental study shows that the load reduction test method can reflect the lift capacity of large bridge cranes. The load shedding predictive analysis for Sanxia 1200 t bridge crane test data indicates that when the load is 1.25 times the rated lifting capacity, the predicted displacement and actual displacement error is zero. The method solves the problem that lifting capacities are difficult to obtain and testing accidents are easily possible when 1.25 times related weight loads are tested for large tonnage cranes.
2016, 30(1): 152-162.
doi: 10.3901/CJME.2015.1202.141
Abstract:
The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.
The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.
2016, 30(1): 163-179.
doi: 10.3901/CJME.2015.0901.108
Abstract:
As one of the main failure modes, embedded cracks occur in beam structures due to periodic loads. Hence it is useful to investigate the dynamic characteristics of a beam structure with an embedded crack for early crack detection and diagnosis. A new four-beam model with local flexibilities at crack tips is developed to investigate the transverse vibration of a cantilever beam with an embedded horizontal crack; two separate beam segments are used to model the crack region to allow opening of crack surfaces. Each beam segment is considered as an Euler-Bernoulli beam. The governing equations and the matching and boundary conditions of the four-beam model are derived using Hamiltons principle. The natural frequencies and mode shapes of the four-beam model are calculated using the transfer matrix method. The effects of the crack length, depth, and location on the first three natural frequencies and mode shapes of the cracked cantilever beam are investigated. A continuous wavelet transform method is used to analyze the mode shapes of the cracked cantilever beam. It is shown that sudden changes in spatial variations of the wavelet coefficients of the mode shapes can be used to identify the length and location of an embedded horizontal crack. The first three natural frequencies and mode shapes of a cantilever beam with an embedded crack from the finite element method and an experimental investigation are used to validate the proposed model. Local deformations in the vicinity of the crack tips can be described by the proposed four-beam model, which cannot be captured by previous methods.
As one of the main failure modes, embedded cracks occur in beam structures due to periodic loads. Hence it is useful to investigate the dynamic characteristics of a beam structure with an embedded crack for early crack detection and diagnosis. A new four-beam model with local flexibilities at crack tips is developed to investigate the transverse vibration of a cantilever beam with an embedded horizontal crack; two separate beam segments are used to model the crack region to allow opening of crack surfaces. Each beam segment is considered as an Euler-Bernoulli beam. The governing equations and the matching and boundary conditions of the four-beam model are derived using Hamiltons principle. The natural frequencies and mode shapes of the four-beam model are calculated using the transfer matrix method. The effects of the crack length, depth, and location on the first three natural frequencies and mode shapes of the cracked cantilever beam are investigated. A continuous wavelet transform method is used to analyze the mode shapes of the cracked cantilever beam. It is shown that sudden changes in spatial variations of the wavelet coefficients of the mode shapes can be used to identify the length and location of an embedded horizontal crack. The first three natural frequencies and mode shapes of a cantilever beam with an embedded crack from the finite element method and an experimental investigation are used to validate the proposed model. Local deformations in the vicinity of the crack tips can be described by the proposed four-beam model, which cannot be captured by previous methods.
2016, 30(1): 180-187.
doi: 10.3901/CJME.2015.1118.135
Abstract:
In the study of electromechanical coupling vibration of mill main drive system, the influence of electrical system on the mechanical transmission is considered generally, however the research for the mechanism of electromechanical interaction is lacked. In order to research the electromechanical coupling resonance of main drive system on the F3 mill in a plant, the cycloconverter and synchronous motor are modeled and simulated by the MTLAB/SIMULINK firstly, simulation result show that the current harmonic of the cycloconverter can lead to the pulsating torque of motor output. Then the natural characteristics of the mechanical drive system are calculated by ANSYS, the result show that the modal frequency contains the component which is close to the coupling vibration frequency of 42Hz. According to the simulation result of the mechanical and electrical system, the closed loop feedback model including the two systems are built, and the mechanism analysis of electromechanical coupling presents that there is the interaction between the current harmonic of electrical system and the speed of the mechanical drive system. At last, by building and computing the equivalent nonlinear dynamics model of the mechanical drive system, the dynamic characteristics of system changing with the stiffness, damping coefficient and the electromagnetic torque are obtained. Such electromechanical interaction process is suggested to consider in research of mill vibration, which can induce strong coupling vibration behavior in the rolling mill drive system.
In the study of electromechanical coupling vibration of mill main drive system, the influence of electrical system on the mechanical transmission is considered generally, however the research for the mechanism of electromechanical interaction is lacked. In order to research the electromechanical coupling resonance of main drive system on the F3 mill in a plant, the cycloconverter and synchronous motor are modeled and simulated by the MTLAB/SIMULINK firstly, simulation result show that the current harmonic of the cycloconverter can lead to the pulsating torque of motor output. Then the natural characteristics of the mechanical drive system are calculated by ANSYS, the result show that the modal frequency contains the component which is close to the coupling vibration frequency of 42Hz. According to the simulation result of the mechanical and electrical system, the closed loop feedback model including the two systems are built, and the mechanism analysis of electromechanical coupling presents that there is the interaction between the current harmonic of electrical system and the speed of the mechanical drive system. At last, by building and computing the equivalent nonlinear dynamics model of the mechanical drive system, the dynamic characteristics of system changing with the stiffness, damping coefficient and the electromagnetic torque are obtained. Such electromechanical interaction process is suggested to consider in research of mill vibration, which can induce strong coupling vibration behavior in the rolling mill drive system.
2016, 30(1): 188-194.
doi: 10.3901/CJME.2015.1116.134
Abstract:
For capturing and recycling of CO2 in the internal combustion engine, Rankle cycle engine can reduce the exhaust pollutants effectively under the condition of ensuring the engine thermal efficiency by using the techniques of spraying water in the cylinder and optimizing the ignition advance angle. However, due to the water spray nozzle need to be installed on the cylinder, which increases the cylinder head design difficulty and makes the combustion conditions become more complicated. In this paper, a new method is presented to carry out the closing inlet and exhaust system for internal combustion engines. The proposed new method uses liquid oxygen to solidify part of cooled CO2 from exhaust system into dry ice and the liquid oxygen turns into gas oxygen which is sent to inlet system. The other part of CO2 is sent to inlet system and mixed with oxygen, which can reduce the oxygen-enriched combustion detonation tendency and make combustion stable. Computing grid of the IP52FMI single-cylinder four-stroke gasoline-engine is established according to the actual shape of the combustion chamber using KIVA-3V program. The effects of exhaust gas recirculation (EGR) rate are analyzed on the temperatures, the pressures and the instantaneous heat release rates when the EGR rate is more than 8%. The possibility of enclosing intake and exhaust system for engine is verified. The carbon dioxide trapping device is designed and the IP52FMI engine is transformed and the CO2 capture experiment is carried out. The experimental results show that when the EGR rate is 36% for the optimum EGR rate. When the liquid oxygen of 35.80437.40 g is imported into the device and last 120 min, respectively, 21.50701.30 g dry ice is obtained. This research proposes a new design method which can capture CO2 for vehicular internal combustion engine.
For capturing and recycling of CO2 in the internal combustion engine, Rankle cycle engine can reduce the exhaust pollutants effectively under the condition of ensuring the engine thermal efficiency by using the techniques of spraying water in the cylinder and optimizing the ignition advance angle. However, due to the water spray nozzle need to be installed on the cylinder, which increases the cylinder head design difficulty and makes the combustion conditions become more complicated. In this paper, a new method is presented to carry out the closing inlet and exhaust system for internal combustion engines. The proposed new method uses liquid oxygen to solidify part of cooled CO2 from exhaust system into dry ice and the liquid oxygen turns into gas oxygen which is sent to inlet system. The other part of CO2 is sent to inlet system and mixed with oxygen, which can reduce the oxygen-enriched combustion detonation tendency and make combustion stable. Computing grid of the IP52FMI single-cylinder four-stroke gasoline-engine is established according to the actual shape of the combustion chamber using KIVA-3V program. The effects of exhaust gas recirculation (EGR) rate are analyzed on the temperatures, the pressures and the instantaneous heat release rates when the EGR rate is more than 8%. The possibility of enclosing intake and exhaust system for engine is verified. The carbon dioxide trapping device is designed and the IP52FMI engine is transformed and the CO2 capture experiment is carried out. The experimental results show that when the EGR rate is 36% for the optimum EGR rate. When the liquid oxygen of 35.80437.40 g is imported into the device and last 120 min, respectively, 21.50701.30 g dry ice is obtained. This research proposes a new design method which can capture CO2 for vehicular internal combustion engine.
2016, 30(1): 195-203.
doi: 10.3901/CJME.2015.0907.109
Abstract:
Scanning ion conductance microscopy(SICM) is an emerging non-destructive surface topography characterization apparatus with nanoscale resolution. However, the low regulating frequency of probe in most existing modulated current based SICM systems increases the system noise, and has difficulty in imaging sample surface with steep height changes. In order to enable SICM to have the capability of imaging surfaces with steep height changes, a novel probe that can be used in the modulated current based hopping mode is designed. The design relies on two piezoelectric ceramics with different travels to separate position adjustment and probe frequency regulation in the Z direction. To further improve the resonant frequency of the probe, the material and the key dimensions for each component of the probe are optimized based on the multi-objective optimization method and the finite element analysis. The optimal design has a resonant frequency of above 10 kHz. To validate the rationality of the designed probe, microstructured grating samples are imaged using the homebuilt modulated current based SICM system. The experimental results indicate that the designed high frequency probe can effectively reduce the spike noise by 26% in the average number of spike noise. The proposed design provides a feasible solution for improving the imaging quality of the existing SICM systems which normally use ordinary probes with relatively low regulating frequency.
Scanning ion conductance microscopy(SICM) is an emerging non-destructive surface topography characterization apparatus with nanoscale resolution. However, the low regulating frequency of probe in most existing modulated current based SICM systems increases the system noise, and has difficulty in imaging sample surface with steep height changes. In order to enable SICM to have the capability of imaging surfaces with steep height changes, a novel probe that can be used in the modulated current based hopping mode is designed. The design relies on two piezoelectric ceramics with different travels to separate position adjustment and probe frequency regulation in the Z direction. To further improve the resonant frequency of the probe, the material and the key dimensions for each component of the probe are optimized based on the multi-objective optimization method and the finite element analysis. The optimal design has a resonant frequency of above 10 kHz. To validate the rationality of the designed probe, microstructured grating samples are imaged using the homebuilt modulated current based SICM system. The experimental results indicate that the designed high frequency probe can effectively reduce the spike noise by 26% in the average number of spike noise. The proposed design provides a feasible solution for improving the imaging quality of the existing SICM systems which normally use ordinary probes with relatively low regulating frequency.
2016, 30(1): 204-211.
doi: 10.3901/CJME.2015.1026.127
Abstract:
A Compound fault signal usually contains multiple characteristic signals and strong confusion noise, which makes it difficult to separate week fault signals from them through conventional ways, such as FFT-based envelope detection, wavelet transform or empirical mode decomposition individually. In order to realize single channel compound fault diagnosis of bearings and improve the diagnosis accuracy, an improved CICA algorithm named constrained independent component analysis based on the energy method (E-CICA) is proposed. With the approach, the single channel vibration signal is firstly decomposed into several wavelet coefficients by discrete wavelet transform(DWT) method for the purpose of obtaining multichannel signals. Then the envelope signals of the reconstructed wavelet coefficients are selected as the input of E-CICA algorithm, which fulfills the requirements that the number of sensors is greater than or equal to that of the source signals and makes it more suitable to be processed by CICA strategy. The frequency energy ratio(ER) of each wavelet reconstructed signal to the total energy of the given synchronous signal is calculated, and then the synchronous signal with maximum ER value is set as the reference signal accordingly. By this way, the reference signal contains a priori knowledge of fault source signal and the influence on fault signal extraction accuracy which is caused by the initial phase angle and the duty ratio of the reference signal in the traditional CICA algorithm is avoided. Experimental results show that E-CICA algorithm can effectively separate out the outer-race defect and the rollers defect from the single channel compound fault and fulfill the needs of compound fault diagnosis of rolling bearings, and the running time is 0.12% of that of the traditional CICA algorithm and the extraction accuracy is 1.4 times of that of CICA as well. The proposed research provides a new method to separate single channel compound fault signals.
A Compound fault signal usually contains multiple characteristic signals and strong confusion noise, which makes it difficult to separate week fault signals from them through conventional ways, such as FFT-based envelope detection, wavelet transform or empirical mode decomposition individually. In order to realize single channel compound fault diagnosis of bearings and improve the diagnosis accuracy, an improved CICA algorithm named constrained independent component analysis based on the energy method (E-CICA) is proposed. With the approach, the single channel vibration signal is firstly decomposed into several wavelet coefficients by discrete wavelet transform(DWT) method for the purpose of obtaining multichannel signals. Then the envelope signals of the reconstructed wavelet coefficients are selected as the input of E-CICA algorithm, which fulfills the requirements that the number of sensors is greater than or equal to that of the source signals and makes it more suitable to be processed by CICA strategy. The frequency energy ratio(ER) of each wavelet reconstructed signal to the total energy of the given synchronous signal is calculated, and then the synchronous signal with maximum ER value is set as the reference signal accordingly. By this way, the reference signal contains a priori knowledge of fault source signal and the influence on fault signal extraction accuracy which is caused by the initial phase angle and the duty ratio of the reference signal in the traditional CICA algorithm is avoided. Experimental results show that E-CICA algorithm can effectively separate out the outer-race defect and the rollers defect from the single channel compound fault and fulfill the needs of compound fault diagnosis of rolling bearings, and the running time is 0.12% of that of the traditional CICA algorithm and the extraction accuracy is 1.4 times of that of CICA as well. The proposed research provides a new method to separate single channel compound fault signals.
2016, 30(1): 212-218.
doi: 10.3901/CJME.2015.0831.107
Abstract:
The cone is widely used in mechanical design for rotation, centering and fixing. Whether the conicity error can be measured and evaluated accurately will directly influence its assembly accuracy and working performance. According to the new generationgeometrical product specification(GPS), the error and its measurement uncertainty should be evaluated together. The mathematical model of the minimum zone conicity error is established and an improved immune evolutionary algorithm(IIEA) is proposed to search for the conicity error. In the IIEA, initial antibodies are firstly generated by using quasi-random sequences and two kinds of affinities are calculated. Then, each antibody clone is generated and they are self-adaptively mutated so as to maintain diversity. Similar antibody is suppressed and new random antibody is generated. Because the mathematical model of conicity error is strongly nonlinear and the input quantities are not independent, it is difficult to use Guide to the expression of uncertainty in the measurement(GUM) method to evaluate measurement uncertainty. Adaptive Monte Carlo method(AMCM) is proposed to estimate measurement uncertainty in which the number of Monte Carlo trials is selected adaptively and the quality of the numerical results is directly controlled. The cone parts was machined on lathe CK6140 and measured on Miracle NC 454 Coordinate Measuring Machine(CMM). The experiment results confirm that the proposed method not only can search for the approximate solution of the minimum zone conicity error(MZCE) rapidly and precisely, but also can evaluate measurement uncertainty and give control variables with an expected numerical tolerance. The conicity errors computed by the proposed method are 20%-40% less than those computed by NC454 CMM software and the evaluation accuracy improves significantly.
The cone is widely used in mechanical design for rotation, centering and fixing. Whether the conicity error can be measured and evaluated accurately will directly influence its assembly accuracy and working performance. According to the new generationgeometrical product specification(GPS), the error and its measurement uncertainty should be evaluated together. The mathematical model of the minimum zone conicity error is established and an improved immune evolutionary algorithm(IIEA) is proposed to search for the conicity error. In the IIEA, initial antibodies are firstly generated by using quasi-random sequences and two kinds of affinities are calculated. Then, each antibody clone is generated and they are self-adaptively mutated so as to maintain diversity. Similar antibody is suppressed and new random antibody is generated. Because the mathematical model of conicity error is strongly nonlinear and the input quantities are not independent, it is difficult to use Guide to the expression of uncertainty in the measurement(GUM) method to evaluate measurement uncertainty. Adaptive Monte Carlo method(AMCM) is proposed to estimate measurement uncertainty in which the number of Monte Carlo trials is selected adaptively and the quality of the numerical results is directly controlled. The cone parts was machined on lathe CK6140 and measured on Miracle NC 454 Coordinate Measuring Machine(CMM). The experiment results confirm that the proposed method not only can search for the approximate solution of the minimum zone conicity error(MZCE) rapidly and precisely, but also can evaluate measurement uncertainty and give control variables with an expected numerical tolerance. The conicity errors computed by the proposed method are 20%-40% less than those computed by NC454 CMM software and the evaluation accuracy improves significantly.
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