Adaptive force–environment estimator for manipulators based on adaptive wavelet neural network

This study focuses on the accurate tracking control and sensorless estimation of external force disturbances on robot manipulators. The proposed approach is based on an adaptive Wavelet Neural Network (WNN), named Adaptive Force-Environment Estimator (WNN-AFEE). Unlike disturbance observers, WNN_AFEE does not require the inverse of the Jacobian transpose for computing the force, thus, it has no computational problem near singular points. In this scheme, WNN estimates the external force disturbance to attenuate its effects on the control system performance by estimating the environment model. A Lyapunov based design is presented to determine adaptive laws for tuning WNN parameters. Another advantage of the proposed approach is that it can estimate the force even when there are some parametric uncertainties in the robot model, because an additional adaptive law is designed to estimate the robot parameters. In a theorem, the stability of the closed loop system is proved and a general condition is presented for identifying the force and robot parameters. Some suggestions are provided for improving the estimation and control performance. Then, a WNN-AFEE is designed for a planar manipulator as an example, and some simulations are performed for different conditions. WNN_AFEE results are compared attentively with the results of an adaptive force estimator and a disturbance estimator. These comparisons show the efficiency of the proposed controller in dealing with different conditions.     

固液界面对流体动压润滑膜厚的影响

目的研究固液界面对流体动压润滑油膜厚度的影响。方法在面接触润滑油膜光学测量装置中,旋转的光学玻璃圆盘和静止的微型滑块平面构成面接触摩擦副。实验选取PAO6和80%甘油水溶液作为润滑剂,而滑块使用的表面材料为钢和二氧化硅两种。实验中分别利用同种润滑液体与不同滑块表面材料组合,以及不同润滑液体与同种滑块表面材料组合成不同界面组。针对不同界面组进行不同条件下的膜厚-速度关系曲线的测量。各界面的亲和性通过液体对固体的接触角评价。结果 PAO6/钢界面与PAO6/SiO_2界面产生的膜厚-速度曲线无明显差别,并与经典润滑理论计算值保持一致。而PAO6对钢表面和二氧化硅表面的接触角分别为17.5°和21.9°,两界面的亲和性差别不大。当界面组内各界面亲和性差别较大时,对应的膜厚表现出差别。亲和性较弱,或对应液体在固体的接触角较大时,膜厚相对较低。对于文中实验条件,界面效应随载荷的增加表现明显。初步分析表明,载荷的增加会加大摩擦副出口处油膜的剪切应变率,诱发滑移,从而使得界面效应明显。结论在流体动压薄膜润滑条件下,固液界面亲和性可以对膜厚产生明显的影响。     

Influence of the dissolved oxygen content on corrosion of the ferritic–martensitic steel P92 in supercritical water

The corrosion of the ferritic–martensitic steel P92 exposed to supercritical water at 550 °C under 25 MPa with the dissolved oxygen contents of 100, 300 and 2000 ppb was investigated. The results indicated that the weight gain increased with the dissolved oxygen content. The oxide scale with a typical dual-layered structure including a Fe-rich outer magnetite layer and a Cr-rich inner layer was formed on all samples in spite of different dissolved oxygen. Finally, the possible explanations for the influence of the dissolved oxygen content on the weight gain and exfoliation of oxide scale were given.     

直齿圆锥齿轮的时变弹流润滑分析

目的研究直齿圆锥齿轮传动过程中稳态和非稳态下的压力和膜厚,为降低直齿圆锥齿轮的表面磨损及齿轮设计提供理论指导。方法将一对直齿圆锥齿轮等效为一对圆锥滚子模型,运用无限长线接触理论,建立直齿圆锥齿轮啮合过程中的弹流润滑计算模型,先对直齿圆锥齿轮进行等温稳态弹流润滑分析,计算并分析了直齿圆锥齿轮大端和小端啮入、啮出点的油膜压力及油膜厚度,求解并分析了小端啮合区间五个特殊点的油膜压力和膜厚。考虑瞬态时变效应的影响,计算并分析了直齿圆锥齿轮在三个特殊瞬时点的油膜压力和油膜厚度。最后研究齿面在高斯分布粗糙度函数和余弦粗糙度函数作用下的弹流润滑数值解,在此基础上计算了不同幅值和波长下的油膜压力和油膜厚度。压力求解采用多重网格法,弹性变形采用多重网格积分法。结果稳态等温条件下,小端啮入点和啮出点的出口油膜厚度略小于大端,小端啮合区间的最小油膜厚度从啮入点到啮出点逐渐增大。在瞬态时变效应下,啮入点的油膜压力大于节点和啮出点的油膜压力,其油膜厚度较其他两个瞬时点的油膜厚度小。高斯分布粗糙度函数作用下的油膜压力在赫兹接触区有明显的局部压力峰,油膜厚度在赫兹接触区有局部波动;余弦粗糙度函数作用下的油膜压力和油膜厚度在赫兹接触区有波动,且粗糙度幅值和波长越大,波动程度越明显。结论采用高斯分布粗糙度函数时,油膜压力的变化相对比较缓和,采用余弦粗糙度函数的最大油膜压力小于采用高斯分布粗糙度函数的最大油膜压力,和高斯分布粗糙度函数相比,余弦粗糙度函数下的油膜厚度在赫兹接触区呈现周期性波动。     

Film thickness in a ball-on-disc contact lubricated with greases,bleed oils and base oils

Three different lubricating greases and their bleed and base oils were compared in terms of film thickness in a ball-on-disc test rig through optical interferometry. The theoretical values calculated according to Hamrock's equation are in close agreement with the base oil film thickness measurements, which validates the selected experimental methodology.The grease and bleed oil film thickness under fully flooded lubrication conditions presented quite similar behaviour and levels. Therefore, the grease film thickness under full film conditions might be predicted using their bleed oil properties, namely the viscosity and pressure-viscosity coefficient. The base and bleed oil lubricant parameter LP are proportional to the measured film thickness.A relationship between grease and the corresponding bleed oil film thickness was evidenced.     

硅烷偶联剂及氧化石墨烯二次改性对芳纶纤维界面性能的影响EI北大核心CSCD

为改善芳纶纤维(PPTA)与丁腈橡胶(NBR)复合材料之间的界面强度,采用硅烷偶联剂A172和氧化石墨烯(GO)对芳纶纤维表面进行接枝改性处理,并对处理前后的芳纶纤维进行化学结构、表面形貌及H抽出力分析。利用SEM对抽出纤维表面和橡胶基芳纶纤维复合材料截面进行微观结构分析。结果表明:硅烷偶联剂和氧化石墨烯对芳纶纤维进行二次表面改性后,纤维表面含氧基团增加,化学活性提高,处理后表面存在明显的表层附着物,纤维结构未发生明显损伤且表面粗糙度得到明显改善。每个处理阶段后H抽出力均有提高,且氧化石墨烯二次改性后的芳纶纤维H抽出力提高效果最佳,从18.192 MPa提高到48.748 MPa,芳纶纤维与丁腈橡胶的界面结合力得到了显著提升,从而证实了硅烷偶联剂和氧化石墨烯二次改性芳纶纤维的有效性,为橡胶基芳纶纤维复合材料性能的研究提供了参考。     

Specific energy and surface roughness of minimum quantity lubrication grinding Ni-based alloy with mixed vegetable oil-based nanofluids

Vegetable oil is a low toxic, excellent biodegradable and renewable energy source used as an ideal lubricating base oil in machining. Castor oil exhibits good lubrication performance but poor mobility, which limits its application especially in precision grinding. The main objective of the work presented to obtain optimal mixed vegetable based-oil and optimal nanoparticles adding concentration in grinding Ni-based alloy with minimum quantity lubrication. An experimental investigation is carried out first to study the different vegetable oils with excellent mobility mixed with castor oil. The lubrication property of the oil was evaluated in terms of grinding force, force ratio, specific grinding energy, and surface roughness. Based on the test conditions, it is found that soybean/castor mixed oil obtained the optimal results (μ= 0.379, U = 83.27 J/mm³ and Ra = 0.325 μm) and lubricating effect compared with castor oil and other mixed base oils. To further explore the lubricating capability of soybean/castor mixed oil, MoS₂ nanoparticles which have excellent lubricating property were added into the soybean/castor mixed oil to prepare different concentrations nanofluids. From the present study, it can be concluded that 8% mass fraction of the oil mixture should be added to obtain the optimal machining results, with the lowest force ratio (0.329), specific energy (58.60 J/mm³), and average grinding temperature (182.6 °C). Meanwhile, better surface microtopography of ground parts and grinding debris morphologies were also observed for the machining conditions.     

A theoretical simulation of thermal elastohydrodynamic lubrication for a Newtonian fluid in impact motion

In this work, the thermal elastohydrodynamic lubrication (TEHL) in an impact motion is explored using multigrid (MG) method and column by column scanning techniques. A steel ball impacts onto an infinite steel plane lubricated with a thin layer of oil. The study starts from a smooth contact problem and the results are compared with the corresponding isothermal ones. Then surface waviness is imposed on the steel ball surface to check the fluctuation in the oil film.     

表面形貌对砂轮磨削流体压力与润滑的影响

目的从磨削液压力及润滑方面找到减少磨粒磨损、磨削热和降低工件表面粗糙度的方法。方法基于实际情况,将砂轮突出的磨粒分布函数和工件在磨削之前存在的粗糙度函数等效为余弦函数,对陶瓷结合剂CBN砂轮磨削45号钢而产生的流体压力和膜厚进行了分析。结果考虑砂轮和工件的表面粗糙度时,压力波动集中在中心区域,磨削区最大压力和最大膜厚明显增大。在考虑热效应的情况下,当两表面波长相等、幅值同时增大时,最大膜厚及平均膜厚增大,而幅值相等、波长增大时,润滑情况没有改善;当砂轮表面幅值波长相等且变大时,最大膜厚及平均膜厚增大,由此也可以得出当砂轮表面幅值波长不变,工件表面如此变化时结果相同;当两表面幅值和波长不相等且都成倍增大时,最大膜厚及平均膜厚增大。结论膜厚增大利于润滑时,能降低磨削温度,减少磨削烧伤和热变形,降低工件磨削后的表面粗糙度,减少非工作磨粒的磨损,减少砂轮修正次数,延长砂轮寿命。但是膜厚不会无限增大,因为磨削区域并不封闭,在实际工程中可依据此理论来确定最优解,优化磨削过程。