电梯曳引钢丝绳断股现象引发的思考

针对一起典型的电梯曳引钢丝绳断股案例,结合现场检查结果,从曳引绳张力偏差(要求曳引绳张力与平均值偏差不大于5%)、曳引机曳引条件(要求设计合理)、钢丝绳日常维护(要求定期维护保养及检查)、安装(要求安装正确并及时调整钢丝绳张力)等4个方面分析可能造成钢丝绳产生断股的原因,判定由于操作不当对钢丝绳表面造成的机械损伤是导致钢丝绳断股的主要原因。针对钢丝绳在永磁同步无齿轮曳引机上应用的特点,从钢丝绳设计及选型、安装、日常管理与维护等方面进行分析,提出影响钢丝绳安全性能的因素及改进措施。     

高强度堵水剂裂缝细管模型堵水模拟实验

在裂缝性致密储层中，裂缝既是油流通道又是水驱窜流通道，在注水开发中由于裂缝的存在导致水驱波及效率低，从而形成无效注水开发。此外，裂缝性储层的封堵又存在大裂缝封堵效果差、有效期短等问题。鉴于此研制了水溶性酚醛树脂冻胶和单体地层聚合高强度堵剂体系，测定了堵剂在70℃下的成胶性能、稳定性以及封堵强度等。通过细管模拟裂缝研究了不同因素对堵剂突破压力的影响；通过可视化细管研究了堵剂在管中的突破方式以及影响因素。研究结果表明，水溶性酚醛树脂冻胶的突破压力随着冻胶强度的增加而增加，随着管径的增加而减小，随着注水速度的增加先减小、后增加，最后稳定；单体地层聚合堵剂的突破压力随着堵剂强度的增加而增加，随着管径的增加先增大、后减小。在可视化细管实验中，堵剂突破时并不完全沿细管中心突破，其堵剂的强度与黏附性等因素有关。     

The vibration and pull-in mechanism of two coupled elastically restrained beams assembly subjected to electrostatic force

ABSTRACT

The novel model of the coupled beam-type electrodes with elastic roots, subjected to the AC and DC voltages is constructed. The exact critical pull-in voltage of the two coupled elastically restrained beams with size effect is presented. The analytical method of the general system subjected to the AC and DC voltages simultaneously is presented. The characteristic mechanism of coupled vibration is investigated.     

匹配机械弹性车轮的电子稳定控制器参数分析

为了提高匹配机械弹性车轮(MEW)的某越野车操纵稳定性，考虑MEW与传统子午线轮胎侧偏特性存在的不确定性摄动，基于Lyapunov稳定性理论为电子稳定控制(ESC)程序设计了鲁棒反馈控制器；引入轮胎侧偏刚度不确定性的范数有界模型，运用Schur补引理和线性矩阵不等式(LMI)求解反馈矩阵。设定不同的车速和路面附着系数，通过搭建CarSim/Simulink联合仿真平台对控制器展开鱼钩试验，仿真结果表明，匹配MEW的ESC控制器能够保证车辆行驶的稳定性，横摆角速度与质心侧偏角跟踪误差分别稳定在0.03~0.3 rad/s与0.06~0.1 rad之内，并且设计的控制算法对MEW在05倍普通充气车轮侧偏刚度变化范围内具有很好的鲁棒性，从而为匹配MEW的整车主动安全控制提供了理论参考。     

Immiscible PHB/PBS and PHB/PBSA blends: morphology,phase composition and modelling of elastic modulus

This paper reports the thermal, morphological and mechanical properties of environmentally friendly poly(3-hydroxybutyrate) (PHB)/poly(butylene succinate) (PBS) and PHB/poly[(butylene succinate)-co-(butylene adipate)] (PBSA) blends, prepared by melt mixing. The blends are known to be immiscible, as also confirmed by the thermodynamic analysis here presented. A detailed quantification of the crystalline and amorphous fractions was performed, in order to interpret the mechanical properties of the blends. As expected, the ductility increased with increasing PBS or PBSA amount, but in parallel the decrease in the elastic modulus appeared limited. Surprisingly, the elastic modulus was found properly described by the rule of mixtures in the whole composition range, thus attesting mechanical compatibility between the two blend components. This unusual behavior has been explained as due to co-continuous morphology, present in a wide composition range, but also at the same time as the result of shrinkage occurring during sequential crystallization of the two components, which can lead to physical adhesion between matrix and dispersed phase. For the first time, the elastic moduli of the crystalline and mobile amorphous fractions of PBS and PBSA and of the mobile amorphous fraction of PHB at ambient temperature have been estimated through a mechanical modelling approach. © 2021 The Authors. Polymer International published by John Wiley & Sons Ltd on behalf of Society of Industrial Chemistry.     

“Lattice Strain Matching”-Enabled Nanocomposite Design to Harness the Exceptional Mechanical Properties of Nanomaterials in Bulk Forms

Nanosized materials are known to have the ability to withstand ultralarge elastic strains (4–10%) and to have ultrahigh strengths approaching their theoretical limits. However, it is a long-standing challenge to harnessing their exceptional intrinsic mechanical properties in bulk forms. This is commonly known as “the valley of death” in nanocomposite design. In 2013, a breakthrough was made to overcome this challenge by using a martensitic phase transforming matrix to create a composite in which ultralarge elastic lattice strains up to 6.7% are achieved in Nb nanoribbons embedded in it. This breakthrough was enabled by a novel concept of phase transformation assisted lattice strain matching between the uniform ultralarge elastic strains (4–10%) of nanomaterials and the uniform crystallographic lattice distortion strains (4–10%) of the martensitic phase transformation of the matrix. This novel concept has opened new opportunities for developing materials of exceptional mechanical properties or enhanced functional properties that are not possible before. The work in progress in this research over the past six years is reported.     

Möbius变换下四次有理抛物-PH曲线的C2 Hermite插值

目的 曲线插值问题在机器人设计、机械工业、航天工业等诸多现代工业领域都有广泛的应用，而已知端点数据的Hermite插值是计算机辅助几何设计中一种常用的曲线构造方法，本文讨论了一种偶数次有理等距曲线，即四次抛物-PH曲线的C² Hermite插值问题。方法 基于M bius变换引入参数，利用复分析的方法构造了四次有理抛物-PH曲线的C² Hermite插值，给出了具体插值算法及相应的Bézier曲线表示和控制顶点的表达式。结果 通过给出"合理"的端点插值数据，以数值实例表明了该算法的有效性，所得12条插值曲线中，结合最小绝对旋转数和弹性弯曲能量最小化两种准则给出了判定满足插值条件最优曲线的选择方法，并以具体实例说明了与其他插值方法的对比分析结果。结论 本文构造了M bius变换下的四次有理抛物-PH曲线的C² Hermite插值，在保证曲线次数较低的情况下，达到了连续性更高的插值条件，计算更为简单，插值效果明显，较之传统奇数次PH曲线具有更加自然的几何形状，对偶数次PH曲线的相关研究具有一定意义。     

岩石破坏声发射与裂纹尺度增长试验研究

选取内蒙古哈不沁铁矿花岗岩为试验对象,进行了岩石单轴压缩声发射试验,研究采用声发射参量预测岩石破坏裂纹尺度增长的可行性。花岗岩的全应力-应变曲线和声发射各参量曲线分析结果表明,应变的逐渐增加加快了岩石内部聚集的弹性变形能的释放,随着弹性变形能的释放,声发射的幅度、振铃计数、能量等越来越频繁地跳跃,当进入岩石破坏阶段时,声发射参量呈现突发性增长。对比分析了在声发射参量下预测裂纹尺度与实测裂纹尺度的相关性,结果表明,径向破坏裂纹尺度是轴向位移的2倍,且预测值与实测值非常吻合,预测的裂纹尺度能够反映岩石的损伤破裂过程,也能够描述岩石应变的发展过程。     

A generalized control framework of assistive controllers and its application to lower limb exoskeletons

Various control methods have been studied for the natural assistance of human motions by exoskeletal robots, i.e., wearable robots for assisting the human motions. For example, impedance control and compliance control are widely used for controlling interaction forces between a human and a robot. When an accurate measurement of the human muscular force is available (e.g., electromyography), a direct use of the estimated human joint torque is possible in the control of an assistive robot. The human motions in a daily living, however, are so complex that they are constituted by multiple phases, such as walking, sitting, and standing, where the walking can be further categorized into multiple sub-phases. Therefore, a single control method cannot be the best option for all the motion phases; a switch in the control algorithms may be necessary for assisting human movements in multiple motion phases. In this paper, a generalized control framework is proposed to incorporate the various assistive control methods in one general controller structure, which consists of Feedforward Disturbance Compensation Control, Reference Tracking Feedback Control, Reference Tracking Feedforward Control, Model-based Torque Control. The proposed control framework is designed taking into consideration of the linearity of each control algorithm, and thus it enables the continuous and smooth switching of assistive control algorithms, and makes it possible to analyze the stability of the overall control loop. The proposed method is implemented into a lower-limb exoskeleton robot and is verified by experimental results.     

The effect of barium titanate ceramic loading on the stress relaxation behavior of barium titanate-silicone elastomer composites

The stress relaxation behavior of barium titanate (BTO)-elastomer (Ecoflex) composites, as used in large strain sensors, is studied using the generalized Maxwell-Wiechert model. In this article, we examine the stress relaxation behavior of ceramic polymer composites by conducting stress relaxation tests on samples prepared with varying the particle loading by 0, 10, 20, 30, and 40 wt% of 100 and 200 nm BTO ceramic particles embedded in a Ecoflex silicone-based hyperelastic elastomer. The influence of BTO on the Maxwell-Wiechert model parameters was studied through the stress relaxation results. While a pristine Ecoflex silicone elastomer is predominantly a hyperelastic material, the addition of BTO made the composite behave as a visco-hyperelastic material. However, this behavior was shown to have a negligible effect on the electrical sensing performance of the large strain sensor.