某两自由度弹药提升装置的建模、实验及仿真研究

弹药自动装填系统的研究已经成为火炮武器平台中机械系统设计的关键和难点,基于一种两自由度弹药提升装置,并根据该装置的工作原理构造数学模型,搭建实验平台,建立PID控制回路,同时创建该模型的虚拟样机模型,使用动力学仿真软件Recurdyn和Matlab/Simulink进行联合仿真,并通过实验与仿真的数据进行对比,验证该装置的可行性和所采用控制的有效性。     

基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

锻造液压机振动特性机液联合仿真

以YA32-315锻造液压机为研究对象，基于ADAMS、AMESim和ABAQUS平台，建立了锻造液压机弹性动力学联合仿真模型，研究了卸载冲击作用下锻造液压机均载和偏载工况的振动特性，分析了锻造力、系统压力、偏载量对振动特性的影响规律，结果表明：锻造力和偏载量越大，冲击越大；偏载量相同时，Y向振动大于X向振动；系统压力对振动影响不大。振动测试实验验证了联合仿真模型的正确性。     

Systematic design optimization of grabs considering bulk cargo variability

Ship unloader grabs are usually designed using the manufacturer’s in-house knowledge based on a traditional physical prototyping approach. The grab performance depends greatly on the properties of the bulk material being handled. By considering the bulk cargo variability in the design process, the grab performance can be improved significantly. A multi-objective simulation-based optimization framework is therefore established to include bulk cargo variability in the design process of grabs. The primary objective is to reach a maximized and consistent performance in handling a variety of iron ore cargoes. First, a range of bulk materials is created by varying levels of cohesive forces and plasticity in the elasto-plastic adhesive DEM contact model. The sensitivity analysis of the grabbing process to the bulk variability allowed three classes of iron ore materials to be selected that have significant influence on the product performance. Second, 25 different grab designs are generated using a random sampling method, Latin Hypercube Design, to be assessed as to their handling of the three classes of iron ore materials. Of this range of grab designs, optimal solutions are found using surrogate modelling-based optimization and the NSGA-II genetic algorithm. The optimization outcome is verified by comparing predictions of the optimization algorithm and results of DEM-MBD co-simulation. The established optimization framework offers a straightforward and reliable tool for designing grabs and other similar equipment.     

CyDER – an FMI-based co-simulation platform for distributed energy resources

The increased integration of distributed energy resources (DERs) is bringing a number of challenges to the power grid. These include reverse power flows in distribution systems and potentially transmission systems and grid stability. So far, specialized tools have been developed to capture some of the impact of DERs at the distribution level. However, distribution system operators lack visibility into the overall system conditions. Furthermore, the impact of increasing DERs is not limited to the distribution level but also influences the transmission grid. To support the planning and operation of the grid, we developed a co-simulation platform called CyDER (A Cyber Physical Co-simulation Platform for Distributed Energy Resources in Smart Grids) that integrates various domain-specific simulation tools. CyDER is based on the functional mock-up interface standard. This paper gives an overview of CyDER and demonstrates its use based on two applications.     

高速机动条件下坦克行进间火炮非线性振动动力学研究

为研究高速机动条件下坦克行进间非线性振动情况,基于动态协同仿真方法,建立了坦克行进间机械、电气与液压联合仿真模型。分别在机电一体化仿真软件Amesim中建立液压子系统模型,在仿真软件MATLAB/Simulink中建立控制子系统模型,在多体系统动力学软件RecurDyn中建立考虑身管柔性等多个非线性因素的坦克机械系统模型。运用谐波叠加法分别编写了考虑左右履带不平度相干性的D级、F级三维路面不平度计算程序。动力学计算结果表明：身管柔性会造成炮口振动的振幅大于摇架处;当路面不平度较小且行驶速度较低时,炮口相对于摇架整体向下弯曲;随着路面不平度的增大和行驶速度的提高,车体及摇架稳定性急剧恶化,稳定器无法保证稳定精度,此时,身管柔性造成的炮口与摇架处高低角位移差异显著减小;身管柔性因素对于射击精度的影响难以通过简单的静态修正得以解决,还需综合考虑坦克的行驶工况。     

扶正机械手推送油管的机液联合仿真分析

扶正机械手将油管顺利推送到所需区域是保证油管顺利移运、排放的关键。为找到合适游动滑车运动速度,保证油管与扶正机械手不发生脱离,以及油管与斜坡不发生干涉,利用三维软件SolidWorks和ADAMS软件建立了该系统的机液一体化虚拟样机。在游动滑车的不同速度下,对扶正机械手推送油管过程进行了仿真分析,得出游动滑车以0.2 m/s速度向上运动是最合理的,并得到了该速度下的液压缸作用力变化曲线,及连接座固定副反作用力变化曲线,为实际系统的分析与设计奠定了基础。     

一种可重构阵列结构及其任务调度算法

提出了一种可以利用计算时间覆盖配置时间和数据传输时间的可重构阵列结构,并且针对该可重构阵列结构提出了一种表调度算法进行任务调度.在SOCDesigner平台上进行了软硬件协同仿真,对于IDCT,FFT,4×4矩阵乘法新可重构阵列相比原来的可重构阵列有平均约10%的速度提升.     

基于AMESim和Matlab／Simulink的注塑机合模液压伺服系统的仿真研究

利用AMEsim和Matlab／simulink的各自特点,以电液伺服阀闭环PID控制的注射机合模液压系统为研究对象,建立了液压系统的动态模型。再利用遗传算法对PID控制参数进行了整定。同肘分析了开环比例控制和闭环比例控制的注射机合模液压系统。结果表明：PID闭环控制的注射机合模液压伺服系统具有较好的响应速度、稳定性与精度。     

基于刚柔-机电耦合的机床直线电机进给系统动态性能仿真研究

以某新型直线电机驱动的车铣复合机床Z轴进给模块为研究对象,在多刚体动力学仿真模型的基础上,考虑导板柔性和结合面参数,构建了Z轴模块刚柔耦合模型,采用快速正弦扫描实验对仿真模型进行了实验验证。进一步,将直线电机伺服控制系统考虑进来,提出了一种综合考虑刚柔—机电耦合作用的数控机床进给系统动态性能研究方法,并对其进行仿真分析。仿真结果表明,机床机械结构和伺服控制系统共同对机床进给系统的动态性能产生了重要的影响。