Altered age-hardening behavior in the ultrafine-grained surface layer of Mg-Zn-Y-Ce-Zr alloy processed by sliding friction treatment

To gain insight into the ageing behavior of ultrafine grain(UFG)structure,the precipitation phenom-ena and microstructural evolutions of Mg-6Zn-1Y-0.4Ce-0.5 Zr(wt.％)alloy processed by sliding friction treatment(SFT)were systematically studied using hardness texting,transmission electron microscopy(TEM)equipped with high-angle annular dark-field scanning(HADDF-STEM),X-ray diffraction(XRD)and XRD line broadening analysis.The microhardness of the SFT-processed(SFTed)sample initially decreases from 109.6 HV to 104.8 HV at ageing for 8 h,and then increases to the peak-ageing point of 115.4 HV at 16 h.Subsequently,it enters the over-aged period.The un-SFTed sample,as the counterpart,follows a regular ageing behavior that increases from 89.9 HV to 99.6 HV when ageing for 12 h,and then drops.A multi-mechanistic model is established to describe the strengthening due to grain refinement,disloca-tion accumulation,precipitation etc.The analysis reveals that the temperature sensitive UFG structure has an obvious grain coarsening effect,which arouses the soft phenomenon in the early ageing stage.But precipitation hardening provides an excellent hardness enhancement for overcoming the negative influ-ence and helping to reach the peak-aged point.In our microstructural observations,a lot of equilibrium ultrafine MgZn2 precipitates precipitate along dislocations because defects can provide the favorable conditions for the migration and segregation of solute atoms.     

水泵水轮机导叶动态水力矩特性分析

采用SST k-ω湍流模型对某高水头水泵水轮机进行全流道三维非定常数值模拟,分别对在水轮机工况和水泵工况运行下的导叶动态力矩特性进行分析。结果表明:在水轮机工况下,随着流量的增大,不同位置处导叶的动态水力矩变化规律一致,力矩值由正值变为负值,力矩脉动频率与转轮叶片数相关,流量越大,叶频影响越显著;在水泵工况下,最高扬程工况时导叶水力矩脉动频率主频为转频且脉动幅值较大,而最低扬程工况下导叶水力矩脉动主频为叶频,力矩脉动幅值较小。     

Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor helicopter control is proposed in presence of actuator faults. Radial Base Function Neural Network (RBFNN), Fuzzy Logic Control approach (FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Fault Tolerant Control (FTC), for each subsystem of the octorotor helicopter. The proposed FTC scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the proposed FTC can greatly alleviate the chattering effect, good tracking in presence of actuator faults.     

新型限力输出保护功能柔性夹钳的设计与参数评估

柔性夹钳因具有微/纳精密操作能力, 常应用于微操作系统中, 但因抓爪无法提供恒定输出力或恒力范围小, 容易造成操作对象的损伤或脱落。根据放大模块与常力模块串联的结构形式, 设计了一种具有常力特性的柔性夹钳。基于伪刚体法, 建立放大模块中桥式机构与杠杆机构的刚度和放大率数学模型, 通过对倾斜导向梁进行分析, 得到常力模块的力-位移关系式, 计算出恒定输出力为42.5 N, 输出范围为370 μm。最后, 结合不同柔顺梁的结构参数, 运用MATLAB仿真探究了各关键参数对常力特性的影响。研究结果可为常力柔性夹钳的构型设计和分析提供一定的理论支撑。     

Attitude control of spacecraft simulator without angular velocity measurement

In this paper the attitude control of a spacecraft simulator using Reaction Wheels (RW) as the actuators is investigated. The main goal of the current study is to bring the RWs to the rest at the end of the maneuver without angular velocity measurement. A modified feedback linearization controller is applied by considering the Euler angles of the simulator as the output and the RWs angular momentums as the internal state variables. The stability of the proposed controller and the internal dynamics is analyzed using Lyapunov theory. Two modified sliding mode observers are designed to estimate the angular velocities of the spacecraft attitude control subsystem simulator. The proposed observers do not use the control input and the detailed knowledge of the model and thus it can be implemented easily. The global stability of the system is proved. The proposed controller and observers are finally evaluated numerically and experimentally on an attitude spacecraft simulator.     

Study on maximum power point tracking of photovoltaic array in irregular shadow

Traditional maximum power point tracking (MPPT) methods can hardly find global maximum power point (MPP) because output characteristics curve of photovoltaic (PV) array may have multi local maximum power points in irregular shadow, and thus easily fall into the local maximum power point. To address this drawback, Considering that sliding mode variable structure (SMVS) control strategy have such advantages as simple structure, fast response and strong robustness, and P&O method have the advantages of simple principle and convenient implementation, so a new algorithm combining SMVS control method and P&O method is proposed, besides, PI controller is applied to reduce system chattering caused by switching sliding surface. It is applied to MPPT control of PV array in irregular shadow to solve the problem of multi-peak optimization in partial shadow. In order to verity the rationality of the proposed algorithm, the experimental circuit is built, which achieves MPPT control by means of the proposed algorithm and P&O method. The experimental results show that compared with the traditional P&O algorithm, the proposed algorithm can fast track the global MPP, tracking speed increases by 60% and the relative error decreased by 20%. Moreover, the system becomes more stable near the MPP, the fluctuations of output power is greatly reduced, and thus make full use of solar energy.     

Effects of system dynamics and applied force on adhesion measurement in colloidal probe technique

Dynamic pull-in/pull-off forces were quantitatively measured using an AFM colloidal probe technique. Two spherical colloids made of silicon dioxide (SiO₂) and gold (Au) that were attached to an AFM cantilever were approached to and retracted from a silicon wafer specimen, where the speed of tip approaching/retracting (i.e., vertical dynamics) and specimen sliding (i.e., horizontal dynamics) was controlled. First, when the vertical dynamics of colloidal tip was applied on the stationary silicon wafer specimen, it was observed that the slower tip approaching showed higher pull-in force, while the pull-off force was dependent on both the applied force and the retracting speed. For the two colloidal tips, it was found that the higher applied force and the faster tip retraction led to the higher pull-off force. Next, under the constant speed of tip approach and retraction, horizontal dynamics was applied to the silicon wafer specimen. It was observed that the horizontal motion of the specimen made the pull-off force lower, which could be attributed to the breakage of adhesive asperity junctions at the interface. The pull-off force was further decreased at faster horizontal motion of the specimen due to the longer sliding distance. Therefore, from the systematic experiments of dynamic adhesion measurement, it could be known that if a micro/nano-system is under dynamic surface interaction, its adhesive force cannot be fully described by a conventional quasi-static adhesion model but it should include the effects of applied system dynamics in both normal and tangential directions.     

Sliding mode based fault detection,reconstruction and fault tolerant control scheme for motor systems

The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework.     

陕西煤灰纱出现的特征性规律与防治

煤灰纱严重影响纺织产品质量,同时也是难以解决的技术问题。文章分析了煤灰纱出现的特征性规律,试图找到防治煤灰纱的措施,从而找到切实可行的技术解决途径。