等倾干涉分段图解法

研磨面平尺是一种精密的平面标准器具。它是检定样板直尺工作棱边直线度的标准器，其工作面平面度有较高的准确度（见表1），可以依照JJG740—91研磨面平尺检定规程规定的方法求得其平面度误差值。尺寸较小的研磨面平尺可用平面平晶或长平晶以等厚干涉法直接测量。但对于较大的研磨面平尺，无大平晶时需用分段法测量，等厚干涉法保证不了其检定精度要求，必须采用等倾干涉法检定。本文叙述的等倾干涉分段图解法，可直观地显示研磨面平尺平面度误差的形状和数值，是检定研磨面平尺平面度的数据处理方法之一，是检定规程给出的计算法的补充…     

基于斜入射的平面度绝对检验方法

为了获得高反射率光学平面的绝对面形分布,提出了基于斜入射的平面度绝对检验方案.该方法通过菲索干涉仪的空腔干涉以及两次斜入射测量得到三组波面数据,使用Zemike多项式对波面拟合,通过求解待测表面的旋转不变量和旋转因变量获得整个平面的绝对面形分布.测量90 mm口径的镀铝反射镜,其绝对检验结果为0.266λ(PV),0.075λ(RMS).讨论了测试中斜入射角及旋转角的选取方法,并分别选择45°和54°进行测试.基于斜入射的平面度绝对检验方法操作步骤简单,特别适合于高反射率光学表面的绝对面形检测.     

一种机器人的平面约束自标定技术研究

针对目前基于平面约束的标定方法误差模型复杂、实验条件较为苛刻等问题,提出了一种操作简单的平面约束标定方法。首先提出了修正的末端位置误差模型;其次在标定块的角点上建立坐标系,利用测量头对经过该角点的三个平面分别进行接触式测量,记录接触瞬间的各组关节角度值并将机器人末端位置转换到标定块坐标系中,从而建立平面约束误差模型;另外通过接触式测量头及编程实现了自动化测量,提高了标定效率;最后对运动学参数误差进行辨识并将结果修正到控制器。实验表明,机器人的绝对位置精度有明显提高。该标定方法成本低、效率高、操作简单,在保证精度的前提下简化了误差模型,具有实际应用价值。     

基于倾斜入射的直角棱镜大面测量装置研究

针对直角棱镜大面测量中可以消除多重干涉背景干扰的倾斜入射测量系统,设计了一种能直接进行直角棱镜大面测量的正置式倾斜入射干涉仪装置.该装置包括相移干涉仪主机、一体化载物工作台以及一对参考平晶.讨论了直角面参与反射带来的光线簇造成的多重干涉背景误差,采用3D偏折的方法来避免全内反射光干扰直角棱镜大面测量.实验部分,组装了基...     

3D激光球杆仪伸缩导轨运动误差调整与测量

伸缩装置作为3D激光球杆仪的主要部件,其运动精度影响3D激光球杆仪俯仰角和偏摆角的测量值,为克服精密伸缩装置加工困难且成本较高的缺点,获得满足3D激光球杆仪测量精度的伸缩装置,提出以导轨为组件的伸缩导轨运动误差的调整和测量方法。该方法以直线度误差作为伸缩导轨运动精度的测量指标,采用自制准直仪进行伸缩导轨运动误差测量与调整。首先,通过标定实验和稳定性实验验证准直仪的测量可靠性。然后,以准直仪为测量基准进行导轨直线度误差测量,以导轨直线度调整方法为依据进行导轨直线度调整。最后,组装伸缩导轨,逐一运动各层导轨完成伸缩导轨运动误差测量;采用最小二乘法拟合得到上、下导轨与光轴在XR和YR平面的平行度误差,并计算上导轨和下导轨在XR和YR平面的平行度误差;调整上导轨角度,使上、下导轨平行,完成伸缩导轨运动误差调整。实验结果表明:上导轨X向和Y向直线度误差分别由44μm和439μm降到20μm和14μm,下导轨X向和Y向直线度误差分别由45μm和158μm降到25μm和37μm,伸缩导轨X向和Y向直线度误差分别由105μm和281μm降到47μm和48μm,达到提高精度的目的。     

线性位移台直线度高精密外差干涉测量装置

直线度测量中往往存在有限的测量范围、精度低和阿贝误差等问题。本文提出了一种高精密直线度外差干涉测量装置,该装置由Koester棱镜、角锥棱镜、1/4波片、楔面棱镜和楔面反射镜构成。楔面棱镜为直线度传感元件,角隅棱镜和楔面反射镜是测量信号的回光元件。双频激光信号进入直线度干涉仪后组成几何空间对称四光路测量信号。四路测量光走过几乎完全相同的路径有效地提高了干涉仪的稳定性,并且使空程误差最小化。使用楔角为1°的楔角棱镜和2π/512细分的相位计,直线度测量分辨力为17.71nm。该方法不需要与行程同长的大反射参考镜,但同样能实现高分辨率,理论和实验证明空间对称测量结构避免了由俯仰,偏转和滚转角引起的阿贝误差的串扰,而且光学元件少,结构简单,方便易用,结果可以直接溯源到米的定义。     

正交导轨垂直度误差标定方法的研究

航空航天和船舶工业的迅速发展,对直线导轨运动控制精度的要求越来越高,实现高速、高精度操作成为衡量一个控制系统的重要性能指标。针对正交直线导轨垂直度误差的标定问题进行了系统、深入地研究。将测头固定于正交导轨负载终端,对高精度方箱以等间距方式测量获得两个导轨各自的直线度误差数据,经最小二乘法拟合得到直线度误差曲线斜率,计算其垂直度误差。采用在线检测方式可大幅提高标定效率,且标定工具只需一个测头和高精度方箱,标定成本较低、易操作,可根据不同控制精度要求更换测头,灵活度大。大量实验和数据证明了该标定方法的有效性和可行性。     

高精度平面度测量技术研究

为解决高精度平面的测量提出了平直度光电组合测量法,开发了PG－1高精度平直度测量系统。平直度光电组合测量法和PG－1高精度平面度测量系统主要用于被测面能导电的中等尺寸工件的高精度平直度测量。系统采用双频激光直线光轴作为参考基准,进行单一线的连续非接触测量。通过若干测量线的相关检测构造出被测面的形貌,进而评定出符合国际规定的平面度或直线度误差。其主要技术指标如下：1．最大测量尺寸600×400mm2（平面度）或800mm（直线度）;2．测量分度值：0．01μm;3．量程：60μm或200μm;4．测量间隔：最小为1mm;5．测量不确…     

科技成果

大型工件外径测量系统该测量系统采用激光瞄准和激光测距技术，装有角隅棱镜的磁性定位和轻型导轨，实现了高精度大直径直接测量，同时使仪器轻便操作，能够在加工现场或加工机床上进行在位测量。关键技术包括：使用了体积小、重量轻的半导体激光长距离高精度准直系统，准直激光束光斑圆整，有效抑制了激光的漂移；轻型导轨不直线度误差实时测量与补偿，探测器位于一定距离，可同时探测五角棱镜平移和转动两项误差，实现了导轨误差的自动补偿；激光自准直瞄准被测工件直径；装备角隅棱镜和平面反射镜的磁性定位块，具有在不连续圆周表面上定…     

机床精度测量(一)

为了正确地理解机床精度检验的基本概念,帮助设备管理人员及机修工人和检验人员比较系统和全面地了解机床精度检验内容,掌握正确的测量方法,以便提高对机床检验和精度调整的技能,贯彻我国各类机床精度检验标准,更好地保证机床的精度。从本期起连载“机床精度测量”一稿。本讲座共分四部分: 一、机修工作的必要工具及量检具和直线度的检验。二、平面度、平行度和机床主轴部分精度的检验。三、等距度、垂直度和同轴度的检验。四、机床精度检验前的安装、调整和实际测量——C6140车床精度检验和对超差的修复。     

三绕组变压器的双绕组等效建模及在Matpower中的应用

针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。     

On the Relation of Load to Average Gap in the Contact Between Surfaces with Longitudinal Roughness

A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load.     

电站锅炉模糊风险评价方法研究与应用

针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。     

交通荷载作用下桥梁结构参数识别方法

应用动力节点加载法,将作用在桥梁上的交通荷载转化为等效节点荷载,再用两步构造法识别结构物理参数.第1步,用Newmark-β方法变换结构运动方程,并用结构的加速度响应求得变换空间内的位移、速度和加速度响应;第2步,基于最小二乘原理,构造出变换空间内求解结构参数的递推式,进行结构物理参数识别.数值模拟结果表明,在交通荷载作用下,该方法能够快速、准确地进行桥梁结构参数识别.     

RLS and LMS blind adaptive multi-user detection method and comparison in acoustic communication

RLS and LMS blind adaptive multi-user detection algorithm and multi-user detector was proposed to solve the problem of multi-user signal detection problem encountered in underwater acoustic communication networks.In simulation analysis,RLS and the LMS blind adaptive multi-user detector were designed and tested for synchronous and asynchronous multi-user communication process.The results of SIR comparison and MMSE comparison show that,both of the two methods can realize blind adaptive detection when any user change in multi-user communication,during this process,the training communication sequences are not needed.The RLS algorithm has about 5 dB higher in SIR compared with LMS algorithm,and the convergence velocity of RLS algorithm is also higher than LMS algorithm when the communication users change.RLS algorithm has better ability in multi-user detection than that of LMS algorithm,and it has great attraction and guiding significance for solving the problem of multiple access interference(MAI) in multi-user communication.     

Robust Impedance Control of Robots Using an Adaptive Interaction Force Observer

For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type ...     

Research on key techniques of expendable conductivity temperature depth measuring system

This paper analysis the developing of expendable conductivity temperature depth measuring system(XCTD)and introduce its principle of measuring about temperature,salinity and depth of ocean.Some key techniques are put forward.According to the real needs of XCTD,conductivity sensor with high sensitivity is designed by principle of electromagnetic induce,the ocean conductivity from induced electromotive force has been calculated.Adding temperature correction circuit would help to reduce error of conductivity measurement because of sharply changing temperature.Advanced temperature measuring circuit of high precision and the constant current source is used to weaken effect of self-heating of resistance and fluctuation of the source.On respect of remote data transmission,LVDS is a good choice for the purpose of guarantee the quality of data transmitted and the transmission distance is reaching to thousand meters in the seawater.Modular programming method is also brought into this research aimed at improve the stability,reliability and maintainability of the whole measuring system.In February,2015,the trials in South China Sea demonstrate that the developed XCTD realize effective measurement at a speed of 6 knots and detection depth at 800 m.The consistency coefficient of the acquired data is greater than 0.99 and the success rate of probe launching is above 90%.     

CHARACTERISTCS OF FLUID FILM IN OPTIMIZED SPIRAL GROOVE MECHANICAL SEAL

In order to investigate the sealing performance variation resulted from the thermal deformation of the end faces, the equations to calculate the fluid film pressure distribution, the bearing force and the leakage rate are derived, for the fluid film both in parallel gap and in wedgy gap. The geometrical parameters of the sealing members are optimized by means of heat transfer analysis and complex method. The analysis results indicate that the shallow spiral grooves can generate hydrodynamic pressure while the rotating ring rotates and the bearing force of the fluid film in spiral groove end faces is much larger than that in the flat end faces. The deformation increases the bearing force of the fluid film in flat end faces, but it decreases the hydrodynamic pressure of the fluid film in spiral groove end faces. The gap dimensions which determine the characteristics of the fluid film is obtained by coupling analysis of the frictional heat and the thermal deformation in consideration of the equilibrium condition of the bearing force and the closing force. For different gap dimensions, the relationship between the closing force and the leakage rate is also investigated, based on which the leakage rate can be controlled by adjusting the closing force.     

Quantum Cooperative Robotics and Autonomy

The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci...     

OPTIMIZATION METHOD ON IMPELLER MERIDIONAL CONTOUR AND 3D BLADE

An optimization method for 3D blade and meridional contour of centrifugal or mixed-flow impeller based on the 3D viscous computational fluid dynamics (CFD) analysis is proposed. The blade is indirectly parameterized using the angular momentum and calculated by inverse design method. The design variables are separated into two categories: the meridional contour design variables and the blade design variables. Firstly, only the blade is optimized using genetic algorithm with the meridional contour remained constant. The artificial neural network (ANN) techniques with the training sample data schemed according to design of experiment theory are adopted to construct the response relation between the blade design variables and the impeller performance. Then, based on the ANN approximated relation between the meridional contour design variables and impeller performance, the meridional contour is optimized. Fewer design variables and less calculation effort is required in this method that may be widely used in the optimization of three-dimension impellers. An optimized impeller in a mixed-flow pump, where the head and the efficiency are enhanced by 12.9% and 4.5% respectively, confirms the validity of this newly proposed method.