Proposal of a modal-geometrical-based master nodes selection criterion in modal analysis

Dynamic condensation techniques, used to simplify the dynamic representation of complex mechanical systems, and experimental modal identifications, in terms of number of sensors and their location, are deeply influenced by the selection of the degrees of freedom.The paper deals with a methodology for selecting physical nodes involved in model reduction or in experimental sensor location, named modal-geometrical selection criterion (MoGeSeC). It is based on the geometrical properties of the structure and on mode shape displacements, evaluated through finite element models or measured data set.By means of the well-known system equivalent reduction expansion process (SEREP) approach applied with MoGeSeC methodology, the ill conditioning of mass and stiffness matrices of the reduced model is minimized with a very low computational cost.In order to test MoGeSeC performance, some optimal nodes placement techniques, based on the maximization of the independence of modal properties or on energetic approaches, have been investigated. Finally, by means of a tailored iterative procedure, the best and the worst master node selections are performed on a particular model.Modal properties and ill conditioning of mass and stiffness matrices of reduced models are computed for several cases of different kind (1D-beam, 2D-shell, and 3D-solid elements). Finally an FE model of an exhaust pipeline, characterised by different constraint conditions, is considered and experimentally tested in order to validate the proposed methodology.     

Concept for the integration of geometric and servo dynamic errors for predicting volumetric errors in five-axis high-speed machine tools: an application on a XYC three-axis motion trajectory using programmed end point constraint measurements

A modelling approach for volumetric error prediction taking into account geometric and servo dynamic errors in a five-axis high-speed machine tool is proposed in this paper. Polynomial functions are used to represent and then predict the geometric errors. A simple second-order transfer function model is used to model and predict the servo dynamic error. The servo dynamic errors are added to the axis position geometric errors and propagated to the tool and workpiece using matrix transformations. The validity of the error integration concept is tested for a XYC three-axis motion trajectory. Two experimental setups are used. The first experimental test used the KGM grid encoder instrument to estimate the parameters of the servo dynamic error models of the X- and Y-axes. The second experimental test used a programmed end point constraint procedure with measurement of the 3D volumetric positioning errors between a point on the tool holder and another fixed to the machine table. The tests involve maintaining the nominal coincidence of these two points whilst exercising the three axes. These last tests are used to estimate the geometric error parameters and also to validate the prediction performance of the integrated geometric and dynamic model. The result shows the effectiveness of the error integration concept.     

A response surface based sequential approximate optimization using constraint-shifting analogy

When a traditional response surface method (RSM) is used as a meta-model for inequality constraint functions, an approximate optimal solution is sometimes actually infeasible in a case where it is active at the constraint boundary. The paper proposes a new RSM that ensures the constraint feasibility with respect to an approximate optimal solution. Constraint-shifting is suggested in order to secure the constraint feasibility during the sequential approximate optimization process. A central composite design is used as a tool for design of experiments. The proposed approach is verified through a mathematical function problem and engineering optimization problems to support the proposed strategies.     

Transient dynamics in structures with non-homogeneous uncertainties induced by complex joints

This paper deals with numerical models for the prediction of the transient dynamical response induced by shocks upon structures with complex joints and shows experimental comparisons. The usual numerical methods for analysing such structures in the low- and medium-frequency ranges consist in using reduced matrix models constructed with the elastic modes. The contribution of the higher modes is very sensitive to the model errors and to the data errors. In this paper, a non-parametric probabilistic method is applied to construct the random matrix model allowing model errors and data errors to be taken into account. The paper presents an extension of the non-parametric method for the case of non-homogeneous model errors through the structure. A dynamic substructuring method is then used and the non-parametric probabilistic model of random uncertainties is used in each substructure with its own level of uncertainties. This approach is applied to a dynamical system made of two plates attached by a complex joint. Experiments have been performed and are used to validate the probabilistic predictive model.     

A robust component mode synthesis method for stochastic damped vibroacoustics

In order to reduce vibrations or sound levels in industrial vibroacoustic problems, the low-cost and efficient way consists in introducing visco- and poro-elastic materials either on the structure or on cavity walls. Depending on the frequency range of interest, several numerical approaches can be used to estimate the behavior of the coupled problem. In the context of low frequency applications related to acoustic cavities with surrounding vibrating structures, the finite elements method (FEM) is one of the most efficient techniques. Nevertheless, industrial problems lead to large FE models which are time-consuming in updating or optimization processes. A classical way to reduce calculation time is the component mode synthesis (CMS) method, whose classical formulation is not always efficient to predict dynamical behavior of structures including visco-elastic and/or poro-elastic patches. Then, to ensure an efficient prediction, the fluid and structural bases used for the model reduction need to be updated as a result of changes in a parametric optimization procedure. For complex models, this leads to prohibitive numerical costs in the optimization phase or for management and propagation of uncertainties in the stochastic vibroacoustic problem. In this paper, the formulation of an alternative CMS method is proposed and compared to classical (u,p) CMS method: the Ritz basis is completed with static residuals associated to visco-elastic and poro-elastic behaviors. This basis is also enriched by the static response of residual forces due to structural modifications, resulting in a so-called robust basis, also adapted to Monte Carlo simulations for uncertainties propagation using reduced models.     

Identification of a class of Wiener and Hammerstein-type nonlinear processes with monotonic static gains

In this paper a non-iterative approach to identifying Wiener and Hammerstein models, including model structure and parameters, is proposed. A single symmetrical relay test is conducted to determine the structure and then the parameters of the block-oriented nonlinear model possessing a static nonlinearity and a linear process in cascade. The static nonlinearity block is represented by a memoryless and monotonic function and the linear process by a second order transfer function model. A relay with hysteresis induces the limit cycle output signal and one cycle data of the output signal is used to identify the block-oriented nonlinear model. The proposed identification method is simple and gives better performance than previous methods for processes with static nonlinearity.     

模态综合法在阀门模态分析中的应用

随着计算机的日益发展,模态综合法在结构模态分析中的应用越来越广泛。介绍了模态综合法的理论基础,并详细阐述了固定界面模态综合法。基于ANSYS软件并以一阀门为例,比较了完整模型与子结构的前十阶模态,通过比较发现二者差别甚小。而模态综合法的求解规模以及计算量相比于完整结构则要小得多,这就大大提高了工作效率。同时也为模态分析的网格精细化提供了可能性,从而使得有限元分析的精度得到改善。这最终也为模态综合法在结构设计的广泛使用提供了依据。     

Nonlinear model identification of a frictional contact support

Accurate predictions of a structure dynamics require precise modeling of its boundary conditions including any nonlinear effects. This paper investigates the behavior of frictional supports that are examples of boundary conditions exhibiting nonlinear effects, such as stiction and slip phenomena, depending on the structure vibration amplitudes. The dependency of restoring forces in a frictional contact to the vibration amplitude level is identified in this study using experimental observations. In an experimental case study measured responses of a beam fixed at one end and frictionally supported at the other end were expanded using corresponding nonlinear normal modes of the structure and a reduced order model of the continuous system containing dominant nonlinear effects of the contact was obtained. The obtained discrete model constitutes bases for identification of restoring forces in the contact interface using force state mapping. The identified nonlinear restoring forces are then employed to specify parameters of a predictive contact model for the boundary support. The obtained contact model is capable of predicting damping and softening effects due to micro/macro-slippage and accurately regenerates the experimental results at various response levels.     

Integration of sketch-based conceptual design and commercial CAD systems for manufacturing

Sketch-based modeling is a very important step towards a complete design process digitalization. For a complete digitalization, integration of sketch-based design modeling and commercial CAD systems is being a necessity. This is because of the need of detailed modification and refinement for the 3D models created by sketching. The integration can speed up the design process and affect competition between companies. In this paper, we present a new method to achieve the integration between sketch-based interfaces and commercial CAD systems by using gesture-based sketch modeling techniques for producing 3D conceptual design models and then translating the 3D models into CAD systems with feature recognition through IGES exchange files. Gesture-based modeling method was used because it works in a similar way to feature-based design approach and it is easy to extract features from its 3D models. IGES file format was used for exchanging 3D geometric model information because it is widely available within commercial CAD systems for data exchange and it also can express features and hierarchy information. 3D models were created with a gesture-based sketch interface for modeling and then information was extracted from it. After that, information was translated into IGES entities which were organized in a specific order in an IGES file. This information can be inputted into commercial CAD systems and recognized as a feature-based model with feature recognition embedded within CAD systems. To evaluate the proposed method, we conducted four case studies. In these case studies, we created 3D models and then transferred them into Autodesk Inventor as a commercial CAD system. After the CAD system recognized the 3D models successfully, we applied some modifications on the 3D models such as changing dimensions, positions and drafting to demonstrate the effective integration.     

基于融合FCM-SVDD模型的滚动轴承退化状态识别

针对滚动轴承在长期工作过程中性能会出现不同程度的退化,提出一种融合FCM-SVDD模型的方法。利用自回归模型(AR)对轴承全寿命周期数据进行特征提取,再将提取的特征参数经过归一化处理后,用正常和失效样本特征建立模糊C均值(FCM)模型,用正常样本的特征数据建立支持向量数据描述(SVDD)模型,再将测试样本特征输入建立的FCM和SVDD模型得到的两个退化指标,将得到的退化指标作为特征矩阵输入到FCM模型,得到融合方法的性能退化曲线。描绘性能退化曲线,并对信号进行包络谱分析,验证初始故障位置。结果表明该方法对轴承初始故障点更加敏感,退化趋势更加明显,利用美国辛辛那提大学智能维护中心的轴承全寿命周期数据验证该方法的有效性和优越性。     

损伤零件点云模型配准的ICP算法

针对损伤零件的传统点云模型配准过程中存在着运算效率低与损伤部位损伤量确定误差较大等问题,提出一种基于原始ICP算法的改进算法。考虑模型因为损伤而引起的特征与表面形貌的改变,利用法矢夹角进行点云数据的精简,保留模型主要特征,再利用对应点的曲率约束与距离约束设定阈值剔除损伤区域点云,保证对应点之间快速准确地配准。最后,运用Matlab实现改进算法,并利用损伤的轮机叶片点云数据的配准验证该算法的有效性。     

面向踝关节康复的四自由度广义球面并联机构运动学性能*

针对现有踝关节康复机器人运动特性与人体踝关节实际运动特性存在明显差异,导致人机相容性不理想的问题,基于高匹配度的U₁U₂型踝关节运动拟合模型,提出一种适用于踝关节康复且结构紧凑的四自由度广义球面并联机构。基于螺旋理论分析其运动及约束特性,论证其与踝关节运动拟合模型运动的一致性;分别建立机构的位置及姿态运动学模型,证明了该机构的位置与姿态之间运动学完全解耦;基于雅可比矩阵极其条件数分析,阐明该机构在纯背伸趾屈和纯内外翻运动中均具有运动学的完全各向同性性质,且在踝关节工作空间内具有较好的灵巧性及可操作度,并无奇异位形等病态位置存在,通过数据对比验证该机构具有较好的运动学特性,适用于踝关节康复。     

Design and experimental realization of a robust decentralized PI controller for a coupled tank system

This paper presents design and realization of a robust decentralized PI controller for regulating the level of a coupled tank system. The proposed controller is designed based on a predefined reference transfer function model in which we adopt a frequency matching of actual and reference models. Realization of control algorithms for a multivariable system is often complicated owing to uncertainties in the process dynamics. In this paper, initially a frequency response fitting model reduction technique is adopted to obtain a First Order Plus Dead Time (FOPDT) model of each higher order decoupled subsystem. Further, using the obtained reduced order model, the proposed robust decentralized PI controller is designed. The stability and performance of the proposed controller are verified by considering multiplicative input and output uncertainties. The performance of the proposed robust decentralized controller has been compared with that of a decentralized PI controller. To validate the performance of the proposed control approach, real-time experimentation is pursed on a Feedback Instrument manufactured coupled tank system.     

A Numerical Contact Model Based on Real Surface Topography

A numerical finite element contact model is developed to make use of the high precision surface topography data obtained at the nanoscale by atomic force microscopy or other imaging techniques while minimizing computational complexity. The model uses degrees of freedom that are normal to the surface, and uses the Boussinesq solution to relate the normal load to the long-range surface displacement response. The model for contact between two rough surfaces is developed in a step-by-step manner, taking into account the far-field effects of the loads developed at asperities that have come to contact in previous steps. Method accuracy is verified by comparison to simple test cases with well-defined analytical solutions. Agreement was found to be within 1 % for a wide range of practical loads for the high precision models. Applicability of extrapolation from lower precision models is presented. The real contact area estimates for micrometer-size tribology test machine surfaces are calculated and convergence behavior with mesh refinement is investigated.     

Substructuring including interface reduction for the efficient vibro-acoustic simulation of fluid-filled piping systems

The operation of pumps and valves leads to strong acoustic excitation in fluid-filled piping systems. Efficient substructuring and model order reduction strategies are required for the sound prediction in piping systems, and in order to reduce the sound transmission to attached components, such as the floor panel in vehicles, for example. This research presents a finite element based automatic substructuring and component mode synthesis technique, which is a combination of an extended Craig–Bampton method for fluid–structure coupled piping systems and a novel, consecutive interface reduction. Hereby, the remaining interface degrees of freedom between different substructures are further reduced using appropriate Ritz vectors. The proposed model order reduction strategy accelerates the computation of transfer functions in fluid-filled extended piping systems. In order to validate the simulation results, experimental results are obtained by a hydraulic test bench for dynamic measurements, where fluid pulsation is induced by piezo-driven transducers. The observed fluid–structure interaction phenomena correspond to the predictions by the proposed computation approach.     

Constraint-force-based approach of modelling compliant mechanisms: Principle and application

Numerous works have been conducted on modelling basic compliant elements such as wire beams, and closed-form analytical models of most basic compliant elements have been well developed. However, the modelling of complex compliant mechanisms is still a challenging work. This paper proposes a constraint-force-based (CFB) modelling approach to model compliant mechanisms with a particular emphasis on modelling complex compliant mechanisms. The proposed CFB modelling approach can be regarded as an improved free-body- diagram (FBD) based modelling approach, and can be extended to a development of the screw-theory-based design approach. A compliant mechanism can be decomposed into rigid stages and compliant modules. A compliant module can offer elastic forces due to its deformation. Such elastic forces are regarded as variable constraint forces in the CFB modelling approach. Additionally, the CFB modelling approach defines external forces applied on a compliant mechanism as constant constraint forces. If a compliant mechanism is at static equilibrium, all the rigid stages are also at static equilibrium under the influence of the variable and constant constraint forces. Therefore, the constraint force equilibrium equations for all the rigid stages can be obtained, and the analytical model of the compliant mechanism can be derived based on the constraint force equilibrium equations. The CFB modelling approach can model a compliant mechanism linearly and nonlinearly, can obtain displacements of any points of the rigid stages, and allows external forces to be exerted on any positions of the rigid stages. Compared with the FBD based modelling approach, the CFB modelling approach does not need to identify the possible deformed configuration of a complex compliant mechanism to obtain the geometric compatibility conditions and the force equilibrium equations. Additionally, the mathematical expressions in the CFB approach have an easily understood physical meaning. Using the CFB modelling approach, the variable constraint forces of three compliant modules, a wire beam, a four-beam compliant module and an eight-beam compliant module, have been derived in this paper. Based on these variable constraint forces, the linear and non-linear models of a decoupled XYZ compliant parallel mechanism are derived, and verified by FEA simulations and experimental tests.     

特征弦约束随机Hough变换在椭圆检测中的应用

为了提高复杂图像中椭圆/类椭圆的检测效率及精度,提出了一种基于特征弦约束的随机Hough变换(RHT)思想的椭圆检测改进方法,借助特征弦的几何约束及特征弦端点的法向约束,大幅度降低RHT的无效采样和累积次数。通过对边缘图像中像素点的有效分布进行分析,建立用于存储特征弦的端点信息的二维数组累加器,在边界点提取之前利用椭圆幂剔除虚假椭圆中心的干扰,不仅能够提高空间采样点的可靠性,同时降低无效采样点的累积概率。实验表明,该算法具有更高的运行速度和检测精度,同时对于形变较大,轮廓缺失严重及噪声具有较强的抵抗能力。     

A High-Precision Circular Helicoidal Surface Meshing Model for Producing High-Performance Lead Screws

This paper presents a new circular helicoidal surface meshing model for producing high transmission performance lead screws. The formulation of the meshing model includes the analytical derivation of the helicoidal surface equation and the profile equations of revolving and non-revolving conjugate elements. These surface profile equations are derived and presented using several different theories and techniques including coordinate transformation, differential geometry and meshing principles. Since the meshing model is constructed systematically by rigorous differential geometry and meshing theories instead of the simple techniques of analytical geometry, the lead screw model thus built can lead to better transmission quality and higher system performance. In order to verify the effectiveness of the proposed models and the systematic modelling procedure, the performance of the system is evaluated numerically by three major indices including the transmissivity index, the manipulability index and the lubrication angle. The results obtained by using the proposed modelling procedure are also verified by experimental data taken directly from a sample product produced on an NC machine using the proposed theory. The comparative study further indicates that the proposed circular helicoidal surface meshing model presented in this paper is accurate and efficient. The proposed theory and performance indices presented in this paper can thus be used to design for various high transmission performance lead screw systems.     

Characteristic verification and parameter optimization of airbags cushion system for airborne vehicle

Abstract： The major methods to investigate the airbags cushion system are experimental method, thermodynamic method and finite element method （FEM）. Airbags cushion systems are very complicated and very difficult to be investigated thoroughly by such methods For experimental method, it is nearly impossible to completely analyze and optimize the cushion characteristics of airbags of airborne vehicle because of charge issue, safety concern and time constraint. Thermodynamic method fails to take the non-linear effects of large airbag deformation and varied contact conditions into consideration. For finite element method, the FE model is usually complicated and the calculation takes tens of hours of CPU time. As a result, the optimization of the design based on a nonlinear model is very difficult by traditional iterative approach method. In this paper, a model based on FEM and control volume method is proposed to simulate landing cushion process of airborne vehicle with airbags cushion system in order to analyze and optimize the parameters in airbags cushion system. At first, the performance of airbags cushion system model is verified experimentally. In airdrop test, accelerometers are fixed in 4 test points distributed over engine mount, top, bottom and side armor plate of hull to obtain acceleration curves with time. The simulation results are obtained under the same conditions of the airdrop test and the simulation results agree very well with the experimental results, which indicate the established model is valid for further optimization. To optimize the parameters of airbags, equivalent response model based on Latin Hypercube DOE and radial basis function is employed instead of the complex finite element model. Then the optimal results based on equivalent response model are obtained using simulated annealing algorithm. After optimization, the maximal acceleration of airborne vehicle landing reduces 19.83%, while the energy absorption by airbags increases 7.85%. The performance of the airbags cushion system thus is largely improved through optimization, which indicates the proposed method has the capability of solving the parameter optimization problem of airbags cushion system for airborne vehicle.     

Data reconciliation with uncertain models

Data reconciliation has proven to be an effective technique for providing frequent, accurate and consistent "best estimates" of plant operation data. However, in almost all the proposed techniques until today, the mathematical model of the process has been considered as exact. In point of fact, this hypothesis is uncommon and frequently the models used are uncertain. This paper proposes a new technique of data reconciliation which is able to exploit the knowledge about the uncertainties of the model with regard to which the reconciliation is done. It leads to the solution of a classical quadratic optimisation problem subject to constraints. The originality of the proposed technique is to use penalty functions for solving this problem and to weight each constraint with regard to their uncertainties.