Multilevel adaptive control of nonlinear interconnected systems

This paper presents an adaptive backstepping-based multilevel approach for the first time to control nonlinear interconnected systems with unknown parameters. The system consists of a nonlinear controller at the first level to neutralize the interaction terms, and some adaptive controllers at the second level, in which the gains are optimally tuned using genetic algorithm. The presented scheme can be used in systems with strong couplings where completely ignoring the interactions leads to problems in performance or stability. In order to test the suitability of the method, two case studies are provided: the uncertain double and triple coupled inverted pendulums connected by springs with unknown parameters. The simulation results show that the method is capable of controlling the system effectively, in both regulation and tracking tasks.     

Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.     

镍基高温合金锥筒形件拉深旋压成形机理研究

针对镍基高温合金因加工硬化严重成形时极易产生破裂和起皱等典型缺陷的问题,以锥筒形壳体类零件为对象,提出了一种由锥形预制坯经过真空固溶处理后拉深旋压成形锥筒形件的方法,并对其成形机理进行了研究。基于Abaqus/Explicit平台,建立了锥筒形件拉深旋压有限元模型,分析了成形过程中的瞬态等效应力、等效塑性应变、切向应力、壁厚及三向应变分布规律。结果表明:在旋压成形过程中,最大瞬态等效应力位于旋轮接触区及附近区域、最大瞬态等效塑性应变位于坯料口部;瞬态切向压应力最大值位于旋轮接触区,而瞬态切向拉应力最大值位于旋轮接触区附近的两侧区域。筒形段中部壁厚减薄,而坯料口部壁厚增厚。旋压成形试验表明,锥形预制坯经拉深旋压后可获得壁厚均匀的锥筒形件。     

DP980+Z烘烤硬化值与退火温度的关系

摘要：为了研究退火温度对镀锌DP980+Z烘烤硬化值的影响，退火温度控制在760～820℃之间，系统分析退火温度对烘烤硬化值的影响。通过准静态拉伸试验机测量烘烤硬化值及抗拉强度，采用lepara试剂对组织中的马氏体进行着色，利用金相显微镜及图像处理软件测量马氏体的体积分数；采用扫描电镜观察DP980+Z的双相组织特点，并且将组织图片通过CAD转化成有限元图进行网格划分，建立代表性体积单元（RVE），通过有限元分析铁素体、马氏体强度对烘烤硬化值的影响。在同样的变形量情况下，DP980+Z的原始屈服强度越高，烘烤硬化值越高。     

不同制样方法对直流辉光放电质谱法测定氮化硼中27种杂质元素的影响

讨论了3种制样方法对直流辉光放电质谱法(dc-GDMS)检测氮化硼中的Na、Mg、Al、Si等27种杂质元素的影响。3种制样方法分别如下所示:方法1,直接把氮化硼压在铟薄片上;方法2,把氮化硼压在铟薄片上后,再盖上一层铟罩;方法3,把压碎后的氮化硼放在针状钽勺上。在优化的辉光放电参数下对比了3种不同制样方法对基体信号强度的影响。试验表明:在方法1中,当氮化硼尺寸约为3mm×3mm,厚度小于1mm时,基体¹¹B的信号可达1.8×10⁷ cps;在方法2中,选择铟孔大小合适的铟罩,基体¹¹B的信号可达1.0×10⁷ cps;方法3获得基体信号强度比方法1、方法2高一个数量级。大部分元素在中分辨率下可获得较好的结果,而对于在高分辨率下也较难分离的元素,可选择丰度较低的同位素在中分辨率下进行测定,如Ge选择⁷⁰Ge⁺,Se选择⁸²Se⁺,Cd选择¹¹¹Cd⁺,Sn选择¹¹⁹Sn⁺,Ag选择¹⁰⁹Ag⁺,Pt选择¹⁹⁴Pt⁺。氮化硼中的杂质元素含量可通过样品片中待测元素含量减去来自于铟薄片或钽勺中该元素贡献的含量来计算获得。将样品平行测定5次,相对标准偏差均在20%以内。对于Al、Si、Ti等元素的测定,3种制样方法的测定结果基本一致;方法1、方法2中检测到的In含量较大,使得铟中的Ni、Cu对氮化硼的测定值影响较大;方法3由于钽中Fe、Cu的贡献导致氮化硼中Fe、Cu的检测值较大,但方法3获得的基体信号强度大,可降低部分元素的检出限,如Cr、Mn、Ga、Ge等。综上所述,方法3为优选方法。     

Passive target detection and tracking from electromagnetic field measurements

This paper presents a novel approach to the localization of moving targets in a complex environment based on the measurement of the perturbations induced by the target presence on an independently‐generated time‐varying electromagnetic field. Field perturbations are measured via a set of sensors deployed over the domain of interest and used to detect and track a possible target by resorting to a particle Bernoulli filter (PBF). To comply with real‐time operation, the PBF works along with an artificial neural network (ANN) model of the environment trained offline via finite elements (FEs). The performance of the proposed algorithm is assessed via simulation experiments.     

Pull out of FRP reinforcement from masonry pillars: Experimental and numerical results

In this paper, debonding phenomena between carbon fiber reinforced polymer (CFRP) strips and masonry support were investigated on the basis of single-lap shear tests, considering different dimensions of the bond length. To capture the post-peak response of the CFRP–masonry joint, the slip between the support and the reinforcement strip was controlled using a clip gauge positioned at the end of the reinforcement. The tests were simulated by means of a finite element model able to capture the post-peak snap-back behavior due to the failure process. The numerical model is based on zero-thickness interface elements and on a proper non-linear cohesive law. The comparison between experimental and numerical results was performed in terms of overall response, measured by both the machine stroke and the clip gauge positioned at the free end of the reinforcement. The cases of effective bond length greater and lesser than the minimum anchorage length, suggested by the CNR Italian recommendation, were considered.     

基于康复训练中力信号的人体参与度建模

设计一种基于人机接触力的人体主动参与程度评估模型,用于康复机器人应用中的主动康复训练。通过人体的肌电信号得到肌肉活跃度,确定肌电信号与人体参与度的关系。分析这一过程中人机接触力的变化,将腿部力信号平均值以及腰部力信号方差作为模型输入,对基于肌电信号的参与度模型进行拟合,得到基于力信号的参与度模型,使用肌电信号参与度模型对力信号参与度模型进行验证,证明了该模型的有效性。该方法避免了肌电信号采集时干扰较大且准备工作繁琐等缺点,具有良好的实用性。     

Ti-6Al-4V电弧熔丝增材轧制复合制造的有限元模拟

增材制造过程中由于在凝固及随后的冷却阶段易产生残余应力,从而影响部件的成形和使用。在增材过程中引入轧制工序,可望降低宏观残余应力,从而降低部件的变形。本文通过建立Ti-6Al-4V钛合金电弧熔丝增材与层间轧制复合成形过程的有限元模型,研究圆柱形轧辊条件下不同压下量对部件温度、应力、应变及残余应力分布的影响规律。结果表明,层间轧制可显著降低沉积层金属中的残余宏观应力；同时降低对基板的整体应力。采用圆柱形轧辊并增加压下量可显著降低宏观残余应力,还可以通过塑性变形改变材料的微观组织,提高材料性能,为复合增材工艺的优化指明了方向。     

基于DEM的振动筛筛孔形状对潮湿原煤筛分效果影响的研究

随着原煤含水量的增加,引起原煤颗粒间相互粘聚,影响振动筛筛分效率。基于离散元法,运用EDEM软件模拟了潮湿原煤颗粒在圆形筛孔、方形筛孔和矩形筛孔的筛分过程,并且以筛分效率和阻碍粒排出率为衡量指标,对振动筛筛孔形状影响潮湿煤筛分效果进行了研究。结果表明:在筛孔名义尺寸相同的情况下,潮湿煤在矩形筛孔筛面上的筛分效果最好,方形筛孔次之,圆形筛孔最差。