When is it reasonable to implement the discontinuous sliding‐mode controllers instead of the continuous ones? Frequency domain criteria

Professor Utkin proposed an example showing that the amplitude of chattering caused by the presence of parasitic dynamics (stable actuators) in some systems governed by the First‐Order Sliding‐Mode Controller is lower than that produced by the Super‐Twisting Algorithm. This example served to motivate this paper reconsidering the problem of comparison of chattering in systems with stable actuators, and driven by Discontinuous Sliding‐Mode Controllers (DSMCs) and Continuous Sliding‐Mode Controllers (CSMCs). Comparison of chattering produced by DSMC and CSMC taking into account their amplitudes, frequencies, and average power (AP) needed to maintain the system into real‐sliding modes, allowing to conclude the following: (i) for systems with slow actuators, the amplitude of oscillations and AP produced by DSMC be smaller than those caused by CSMC; (ii) for bounded disturbances with fixed Lipschitz constant, there exist sufficiently fast actuators for which the amplitude of oscillations and AP produced by CSMC be smaller than those caused by DSMC.     

磁悬浮控制力矩陀螺高速转子的高精度位置控制

在受到陀螺效应、动框架效应等影响后产生的磁力非线性问题是磁悬浮控制力矩陀螺(MSCMG)高速转子位置精度下降的主要因素。为解决以上问题,提高转子位置精度,本文分析了转子所受磁力的特性,建立了转子系统非线性动力学模型,提出了神经网络滑模控制方法。设计滑模控制律,采用径向基函数神经网络逼近控制律中的非线性模型,自适应算法根据误差在线调整神经网络的权值,同时可以保证整个系统的稳定性。仿真和实验结果表明,所提出方法的转子位置精度达到99%,稳态误差为0.000 2 mm。神经网络滑模控制可以实现MSCMG转子系统的高精度位置控制。     

强化研磨加工中喷射角度对GCr15轴承钢板塑性变形的影响

利用ABAQUS有限元仿真软件研究不同喷射角度强化研磨加工GCr15轴承钢板过程的塑性变形,得到不同喷射角度与等效塑性应变沿真实路径距离的关系,并通过拉伸试验进行验证。喷射角度为90°的强化研磨加工伸长率为1.4%,相比未经过强化研磨加工的伸长率数值缩减了2.0%。断口收缩率由空白组的4.9%降低到喷射角为90°的2.2%。结合仿真和试验可知,强化研磨加工中喷射角度越大,塑性变形能力越低,材料加工越难。     

基于双应力加速寿命试验的关节轴承寿命预测与可靠性分析

自润滑关节轴承寿命主要是由衬垫的磨损性能决定的,但衬垫的磨损一般是非线性的,使得寿命难以预测。采用同时改变载荷和摆频2种应力的方法进行加速寿命试验,建立以pv值、磨损量退化数据为输入参数,寿命值为输出参数的灰色神经网络预测模型。经验证该预测模型对关节轴承寿命预测的最大误差仅为7.33%,平均误差仅为3.892%。对不同加速应力下自润滑关节轴承可靠性进行评估,结果表明,关节轴承的可靠性在L_(10)(可靠度为90%时的寿命)之前下降趋势缓慢,然后迅速下降,pv值越大可靠性下降越迅速;随着pv值的增大,关节轴承寿命近似呈指数下降,经验证可用逆幂率加速模型反映二者关系。     

基于RBF网络滑模的电动助力制动系统液压力控制

针对汽车电动助力制动系统（Electro-booster，EBooster）的液压力控制中液压负载的非线性和不一致性问题，提出一种基于径向基函数（Radial based function，RBF）神经网络的滑模变结构控制方法。设计EBooster系统压力控制架构，建立液压制动系统等效结构简化模型，据此设计基于RBF网络滑模变结构的液压力控制方法，通过设计RBF网络的自适应律来实现系统滑模控制参数的自适应调整，并利用李雅普诺夫函数方法分析算法的稳定性。最后搭建电动助力制动系统的快速原型试验平台来验证算法的有效性。试验结果表明，采用RBF神经网络滑模变结构的控制策略对电动助力制动系统液压力的控制误差在2%以内，具有良好的控制效果。研究成果为EBooster系统的压力控制提出一种具有良好自适应性的算法设计思路。     

基于滑模的运载器主动段俯仰通道姿控系统设计

与传统比例-积分-微分（PID）控制方法相比，滑模控制（SMC）方法可以比较容易地将不确定性纳入控制器设计中，从而增强系统的鲁棒性。探索了SMC技术在运载器主动段姿态控制中的工程应用，首先通过分析基于趋近律的SMC系统，提出了降低不连续切换项系数的需求，然后研究了基于干扰上界的SMC方法。三通道小偏差仿真结果验证了两种方法的控制效果，表明第2种控制器的鲁棒性更好，稳态误差小，同时发动机喷管摆角需求较小。     

基于EEMD能量熵和混合算法的电机轴承故障诊断

针对提升机电机轴承振动信号的非平稳特性和单一粒子群算法(PSO) 优化径向基函数（RBF）神经网络时存在网络收敛速度慢和适应度值易陷入局部最小的缺点，提出基于集合经验模态分解（EEMD）能量熵和模拟退火粒子群混合算法（SAPSO）优化RBF神经网络的提升机电机轴承故障诊断方法。基于EEMD求取振动信号各固有模态函数分量的能量熵，并使用相关性分析方法剔除虚假的分量，把筛选后的有效数据作为故障识别的特征向量；利用模拟退火（SA）算法具有局部概率突跳的特性，将SA算法和PSO算法相结合，在优化RBF诊断模型隐含层参数时以实现不同算法间的优劣互补。仿真结果表明，使用SAPSO算法优化后的RBF神经网络模型在提升机电机轴承故障诊断中能够加快网络收敛速度和提升故障识别精度。     

基于MED和边际谱的自动倾斜器轴承故障诊断

针对直升机自动倾斜器轴承早期微弱故障特征易被强烈背景噪声淹没的问题，提出了一种基于最小熵反褶积（Minimum Entropy Deconvolution，MED）和边际谱的自动倾斜器轴承故障诊断方法。采用MED对采集的振动信号进行滤波降噪，提高了信号的信噪比，突出了轴承早期微弱故障特征；通过Hilbert变换和经验模态分解（Empirical Mode Decomposition，EMD）获取去噪包络信号的本征模态函数（Intrinsic Mode Functions，IMF）集，并引入峭度筛选准则选取合理IMF集计算局部Hilbert边际谱，有效地提取了故障特征频率，能够通过故障特征频率进行故障类型判别。通过某型直升机自动倾斜器故障诊断试验系统验证了该诊断方法的合理性和可行性。     

The influence of topography on the specific dissipated friction power in ultra-mild sliding wear: Experiment and simulation

Current political, economic and ecological guidelines demand the increase of power densities of nearly all machinery parts. In order to further lower the wear rate towards the ultra-mild sliding wear regime, an integral approach is needed, which has to regard contact conditions, surface topography, surface chemistry, as well as sub-surface properties. Still, there are no simple parameters to classify the performance of a tribosystem. In this study the area affected by tribocontacts is calculated by means of a three dimensional elastic–ideal plastic contact model. The surfaces are prepared by means of conventional machining procedures and characterized by scanning white light interferometry. The further input data as to normal and friction forces are derived by reciprocating sliding wear tests under boundary lubrication conditions of carburized steel against carburized steel and 52100 steel against case-hardened spheroidal cast iron. This contribution will depict the distinct influence of the topography on friction and ultra-mild sliding wear of common Fe-base materials and point out the marked importance of highly localized effects, which govern the acting mechanisms.     

Effects of sliding velocity on tribo-oxides and wear behavior of Ti–6Al–4V alloy

Dry sliding wear tests were performed for Ti–6Al–4V alloy on a pin-on-disc wear tester. The wear behavior of Ti–6Al–4V alloy at sliding velocities of 0.5–4 m/s was studied and the tribo-oxides and their function were explored. Ti–6Al–4V alloy presented a marked variation of wear rate as a function of velocity. With the rise and fall of wear rate, Ti–6Al–4V alloy underwent the transitions of wear mechanisms from the combination of delamination wear and oxidative wear at lower speeds to delamination wear at 2.68 m/s, and then to oxidative wear at 4 m/s. These phenomena were attributed to the appearance and disappearance of tribo-oxides. In spite of trace or a small amount, tribo-oxides would change the wear behavior, and even wear mechanism.