自同步振动系统的动力学耦合特性及实验

为了研究双机驱动自同步振动系统的动力学耦合特性,引入两个激振器的平均角速度和相位差两个参数,对振动系统的参数进行无量纲化处理,得到振动系统的同步性条件和稳定性条件。定量分析了振动系统两个激振器的动力学耦合特性,发现系统的频率俘获力矩与相位差正弦值乘积的一半以阻力矩形式加在相位超前的电动机上以降低其角速度,另一半则以驱动力矩形式加在相位滞后的电动机上以增加其角速度。同步实验台振动系统的实验验证了该理论分析的正确性。     

Synchronization of two non-identical coupled exciters in a non-resonant vibrating system of plane motion

In the average method of modified small parameters, the synchronization of two coupled exciters is converted to a problem on the existence and stability of zero solutions for the average differential equations of small parameters over the average period of two exciters. To implement frequency capture, the torque of frequency capture should be greater than or equal to the absolute value of the difference between the residual electromagnetic torques of the two motors. Because each exciter is involved in the motion of the vibrating system it has excited, its relative moment of inertia is reduced. The reduction is proportional to half its coefficient of cosine effect of phase angles (CCEPA). Because one of the exciters is involved in the motion excited by the other, a coupled moment of inertia exists for the two exciters. The stability of the synchronization of the two exciters is affected by the reduction of their relative moments of inertia and their moment of coupling inertia. For the synchronization to be stable, two conditions must be satisfied: (1) the non-dimensional relative moments of inertia of the two exciters are all greater than zero, and (2) four times the product of their non-dimensional relative moments is greater than the square of the coefficient of coupled cosine effect (CCCPA). The stability of synchronization depends solely on the ratios of the masses of the two exciters to the mass of the vibrating system and the ratio of the distance between one exciter and the centroid of the rigid frame to the equivalent rotating radius of the vibrating system about its centroid of the rigid frame, and is independent of the parameters of the two induction motors.     

同向回转双机驱动振动系统的自同步特性

采用了一种新的分析方法研究同向回转双机驱动振动系统的自同步特性,通过引入激振器平均角速度和相位差的两个小参数,对振动系统的参数进行无量纲化处理,提出了频率俘获力矩的概念,得到了振动系统的频率俘获方程,把同步问题转化为频率俘获方程零解的存在和稳定性问题。计算机仿真结果表明,当振动系统的参数满足频率俘获和自同步稳定运转的条件时,振动系统能很快实现频率俘获并达到稳定的自同步运转状态,验证了理论分析的正确性。     

Theoretical, numerical and experimental study on synchronization of three identical exciters in a vibrating system

The theory on synchronization of two exciters is more widely used in engineering, while that of more than two exciters is less considered. So it is of great significant to investigate synchronization of three exciters. Firstly by introducing the average method of modified small parameters, the dimensionless coupling equations(DCE) of three exciters are derived, which convert the problem of synchronization into that of existence and stability of zero solutions for the DCE and lead to the construction on criterions of synchronization and stability in the simplified form for three exciters. Then the synchronization criterion is discussed numerically, as well as the abilities of synchronization and stability, some results thereof indicate that the synchronization ability increases with the increase of the coupling moment among three exciters, but decreases with that of their phase differences. Finally, an experiment on synchronization with three exciters is carried out. Through the comparison and analysis of experimental data on phase differences among three exciters, responses of system, and phases of three exciters recorded by high-speed camera, the parameters of system satisfying the above two criterions can ensure the synchronous and stable operation of three exciters. As a result, the average method of modified small parameters can be used as a theoretical apparatus studying reasonably the synchronization mechanism of three exciters, it is also proved to be useful and feasible by numeric and experiment. The present research lays the foundation and guidance for the establishment of synchronization theory system with multi-exciter and engineering design.     

振动同步传动及其工业应用

利用振动可将运动和能量传给一个或多个带有偏心质量的转子,这种传动原理我们称它为振动同步传动。作同步运动的转子的转数通常与振动系统的频率相同。例如,固定于同一振动系数中的带有偏心质量的两台激振电动机,当它们获得同步运转之后,即使将其中的一台激振电动机的电源切断,只要满足一定的条件,停止供电的电机将由于系统的振动继续保持回转运动。本文提出了实现同步传动的同步性判据及同步状态的稳定性判据。同时,通过理论研究与试验,证明了这种新原理具有实用的价值。     

三激振器振动系统的振动同步传动

在振动同步理论研究中,存在着一种特殊现象,无直接驱动源的激振器仍能跟随其他有源驱动的激振器进行同步运转,称之为振动同步传动。针对三机驱动水平放置的振动试验台,应用Lagrange能量方程建立动力学模型,根据线性叠加原理得到系统稳定时的响应,利用时间双尺度法获取系统的平均力矩平衡方程,并给出了系统实现振动同步和振动同步传动的同步性判据及同步状态与振动同步传动状态下的稳定性判据。在供电频率50Hz的试验条件下,测得电机2及电机3断电前后系统稳态时的激振器相位差,验证了理论推导的正确性,为振动同步传动理论在多机振动同步机械上的应用提供了依据。     

Frequency capture characteristics of vibration system with two degrees of freedom

In this study, the dynamical model of the vibration of the wind power system was established according to the Lagrange’s principle for investigating the phenomenon of frequency capture. The system response of the vibration of wind power device in the horizontal and vertical directions of tower was analyzed by numerical simulation. At the same time, the paper analyzed the characteristics of the vibration model comparing with the traditional model. Then the conditions of frequency capture were studied through the analysis of mathematical model. In particular, the effects that five key parameters had on the frequency capture characteristics were analyzed. Finally, the research reveal that reducing the eccentric mass and eccentricity of the blade, increasing the support stiffness and displacement damping coefficient, and increasing the torque of the input shaft can reduce vibration and avoid the phenomenon of frequency capture. The simulation results provide the theory basis for the design and installation of wind power device.     

Experimental investigation into the effects of exciter motions on the primary calibration of single-ended accelerometer

It is widely known that in the primary calibration of accelerometers by using a laser interferometer, a device under test (DUT) and the laser interferometer should measure vibration at the same reference position. However, this is not applicable to single-ended accelerometers because of the limitation of their design. One way of overcoming this limitation is to measure the vibration at several positions on the exciter table surface which connects DUT to a vibration exciter. However this can present the effects of rocking motions of the exciter. Although the motions of vibration exciters are presented in several studied, the different model of exciters might have different characteristics. This paper aims to study the motions of an air-bearing exciter (model 2911) used at National Institute of Metrology (Thailand) in order to expose their characteristics, their effects on the calibration results and the measurement errors due to these effects. The motions of the exciter are shown in terms of magnitude and phase shift distributions of sensitivities. These can be obtained by measuring the magnitudes and phase shifts at several positions on the exciter surface. The effects of exciter motions are measured in terms of how much the magnitudes and phase shifts at each measured positions deviate from the average values. To illustrate these effects, parametric studies were conducted. The influences of four parameters, i.e. the angular positions of the laser points, the distance of the laser positions from the centre of the exciter surface, the number of measured positions to be averaged and the mass loading effect, were examined experimentally. The frequency of interest is between 10 Hz and 15 kHz.     

风机叶片疲劳加载振动频率特性分析与试验

针对风机叶片疲劳加载过程振动特性,建立旋转偏心块驱动的叶片疲劳加载系统动力学模型。基于拉格朗日方程推导出系统的数学模型,利用平均法近似解析系统动力学方程,得出振动过程中电机转矩平衡方程。分析振动频率的变化规律,建立仿真模型,对系统频率捕获过程进行数值仿真,揭示系统的自同步振动特性。风机叶片疲劳加载试验表明:叶片在受迫振动时,叶片振动频率并不总等于驱动频率;驱动频率与叶片固有频率偏差较大时,叶片振动幅值及频率波动明显;频率偏差在较小区间范围(0.47~0.62Hz)时,偏心块驱动系统与叶片容易发生频率捕获,振幅较小并趋于稳定;在负载转矩较大而电机功率不足时,偏心块会发生转速跳变。     

Torque-based optimal acceleration control for electric vehicle

The existing research of the acceleration control mainly focuses on an optimization of the velocity trajectory with respect to a criterion formulation that weights acceleration time and fuel consumption. The minimum-fuel acceleration problem in conventional vehicle has been solved by Pontryagin＇s maximum principle and dynamic programming algorithm, respectively. The acceleration control with minimum energy consumption for battery electric vehicle（EV） has not been reported. In this paper, the permanent magnet synchronous motor（PMSM） is controlled by the field oriented control（FOC） method and the electric drive system for the EV（including the PMSM, the inverter and the battery） is modeled to favor over a detailed consumption map. The analytical algorithm is proposed to analyze the optimal acceleration control and the optimal torque versus speed curve in the acceleration process is obtained. Considering the acceleration time, a penalty function is introduced to realize a fast vehicle speed tracking. The optimal acceleration control is also addressed with dynamic programming（DP）. This method can solve the optimal acceleration problem with precise time constraint, but it consumes a large amount of computation time. The EV used in simulation and experiment is a four-wheel hub motor drive electric vehicle. The simulation and experimental results show that the required battery energy has little difference between the acceleration control solved by analytical algorithm and that solved by DP, and is greatly reduced comparing with the constant pedal opening acceleration. The proposed analytical and DP algorithms can minimize the energy consumption in EV＇s acceleration process and the analytical algorithm is easy to be implemented in real-time control.     

使用应变模态和遗传算法的有限元模型修正方法

提出了采用应变模态置信度为待修正响应特征的有限元模型修正方法。应变模态置信度是评价有限元仿真与试验测试结果相关性的方法,可以为模型修正提供全局的频率误差信息和局部的应变相关性信息。首先,介绍了应变模态和有限元模型修正的相关理论方法;然后,以某航空加筋壁板结构为对象,通过仿真分析和"仿真试验"获得结构的应变模态频率以及对应的应变振型,进一步计算频率误差和应变模态置信度误差;最后,基于两种误差构造模型修正的目标函数,采用遗传算法对目标函数进行优化,修正结构中的待修正参数,并将修正后参数代入模型,验证所提方法的正确性和有效性。结果表明:所采用的方法获得的修正后有限元模型具有复现修正响应特征的能力,并且对于未修正频段内的响应也具有较好的预测能力。     

永磁同步电机运行性能研究

针对凸极永磁同步电机,对其数学模型和定子电流最小控制方法进行了介绍,推导了定子电流最小控制方法对应的电流相角条件、基本转速和最大转矩。利用电机数学模型和不同电流控制规律建立了永磁同步电机运行性能仿真模型,避免了传统双闭环模型中控制器参数对仿真结果的影响。在此基础上深入研究了电机永磁磁链、凸极率、电枢电阻三个参数对电机基本转速、输出转矩等运行性能的影响,据此指出了电机电磁设计时应遵循的一般规律。     

Dynamic characteristics analysis and vibration experiment of Upper-time of Flight Counter (U-ToFC)

The dynamic characteristic parameters of Up-time of Flight Counter (U-ToFC) are important for research of structure optimization and reliability. However, the current simulation is performed based on homogenous material and simplified constraint model, the correct and reliability of results are difficult to be guaranteed. The finite element method based on identification of material parameters is proposed for this investigation on dynamic analysis, simulation and vibration experiment of the U-ToFC. The structure of the U-ToFC is complicated. Its’ outside is made of aluminum alloy and inside contains electronic components such as capacitors, resistors, inductors, and integrated circuits. The accurate material parameters of model are identified difficultly. Hence, the parameters identification tests are performed to obtain the material parameters of this structure. On the basis of the above parameters, the experiment and FEA are conducted to the U-ToFC. In terms of the flight acceptance test level, and two kinds of joints condition between the U-ToFC and fixture are considered. The natural frequencies, vibration shapes and the response of the power spectral density of the U-ToFC are obtained. The results show simulation which is based on parameters identification is similar with vibration experiment in natural frequencies and responses. The errors are less than 10% . The vibration modes of simulation and experiment are consistent. The paper provides a more reliable computing method for the dynamic characteristic analysis of large complicated structure.     

低频扭转振动攻丝基本工艺参数组研究

描述振动攻丝运动形式的参数组很多，不同参数组中影响攻丝扭矩和攻丝效率的参数个数不同，选择对攻丝扭矩和攻丝效率影响因素少的参数组可以大大减少振动攻丝工艺参数选择和优化的难度，在给定条件下，通过试验得到，当以纯切削角，角振幅和振动频率三元素组成工艺参数组时，可以使影响攻丝扭矩的参数由原来的3个下降到2个，因此认为该工艺参数组及其等价的参数组都可以作为低频扭转振动攻丝的基本工艺参数组。     

压电阵列双相能量收集器的有限元分析模型

文中基于压电阵列双相能量收集器的压电效应和磁–力–电耦合效应,提出了一种宽频的能量收集结构.该结构可同时俘获环境中广泛存在的机械振动和磁场能量,从而实现低功耗电子设备的自供电.利用有限元软件COMSOL建立了压电阵列双相能量收集器的几何模型并进行数值仿真,分析了不同载荷以及组份材料参数对俘能器性能的影响.研究结果表明,...     

计及阻尼影响的悬置系统响应解耦优化

为实现计及阻尼影响的动力总成悬置系统的解耦,建立了包含阻尼系统的动力总成悬置系统模型,计算了比例和非比例阻尼影响下的系统响应,根据悬置系统的响应特性和解耦优化原理,提出了响应解耦法。以怠速频率下100％扭矩轴响应解耦和固有频率的合理配置为优化目标,利用mode FRONTIER软件对悬置系统进行解耦优化,并在MATLAB中对优化后的解耦效果进行仿真验证,结果表明,在考虑非比例阻尼的情况下,所提出的解耦方法比能量解耦法的解耦效果更好。     

基于双滑模控制的PMSS直接转矩调速系统设计

针对永磁同步电主轴传统直接转矩控制策略存在较大的磁链和转矩脉动,系统在低速段难以精确控制,以及由于磁链和转矩脉动引起的噪声和抖动等问题,该文提出了基于双滑模变结构控制的永磁同步电主轴直接转矩调速控制方案。提出通过转矩和磁链的2个滑模控制器来代替传统直接转矩中的2个滞环控制器,其输出实现了空间电压矢量调制,保证了逆变器开关频率恒定,减小了磁链和转矩脉动;分析滑模变结构控制所产生抖振缺陷的机理,选择适当的趋近律在保证系统鲁棒性的前提下有效抑制了抖振。实验和仿真结果表明,该调速系统具有动态响应快,磁链和转矩脉动小以及较强的鲁棒性等优点。     

空间机器人捕获航天器操作的避撞柔顺无源神经网络H∞控制

研究了空间机器人在轨捕获非合作航天器过程避免关节受冲击破坏的避撞柔顺控制问题。为此在关节电机与机械臂之间配置了一种柔顺机构--旋转型串联弹性执行器(RSEA),可通过其内置弹簧的变形来吸收捕获过程目标航天器对空间机器人关节产生的冲击能量;结合所设计的开、关机控制策略可保证关节冲击力矩受限在安全范围内。首先利用拉格朗日方法及牛顿-欧拉法分别获得了捕获前空间机器人及目标航天器的分体系统动力学模型;之后,结合冲量定理、系统运动几何关系及力的传递规律,建立了捕获后两者形成混合体系统的动力学模型,并计算了碰撞过程的冲击力矩;最后,基于无源性理论提出了一种神经网络鲁棒H∞避撞柔顺控制策略以实现失稳混合体的镇定控制。数值仿真结果表明,配置柔顺空间机器人在捕获碰撞阶段最大可减小61.9%的关节冲击力矩,最小也可减小47.8%;而在镇定运动阶段,各关节冲击力矩均受限在安全范围内,实现了对关节有效地保护。     

四连杆电动椅电动机的动力学模型及仿真

基于人体工程学原理构建了四连杆电动按摩椅在做摆动运动时的动力学模型。运用了工业机器人的运动学和动力学仿真技术,将D-H参数法应用于电动按摩椅的运动学模型建立,探究了平面运动机构的D-H矩阵表示法,并用Matlab实现了对机构运动位姿的快速模拟;针对该休闲功能按摩椅的电动机选型问题,结合男、女两种不同的人体质量分布模型,对电动按摩椅的工作状态进行了动力学建模;通过Solidworks的动力学仿真分析,对结果进行了验证。结果显示建立的动力学模型能够很好地预测电动机力矩的变化趋势,且对男女模型趋势相同,为今后人机产品中结合质量模型的动力学研究提供了理论依据和实践基础。     

Integrated control strategy for CVT powertrains with consideration of vehicle drivability

During shift,power flow is not interrupted in powertrains equipped with continuously variable transmission(CVT).When hard acceleration is commanded,engine speed will flare and corresponding torque will be consumed,which leads to a drop in vehicle drive torque and also the vehicle acceleration.This is the reason why CVT vehicles have poor drivability during hard acceleration maneuver.Conventional method such as torque compensation doesn’t always work due to the limited backup torque of engine.According to this,means to evaluate the drivability of CVT vehicles are studied,affect factors of drivability are analyzed in detail.Hard acceleration process of CVT vehicle is studied by theoretical analysis,based on which engine torque and ratio change rate of CVT are identified as two key control parameters that decide the drivability of CVT vehicles during hard acceleration maneuver.Therefore,a control strategy based on restricting the change rate of CVT ratio together with torque compensation is proposed,and two different algorithms to establish the limitation of ratio change rate are proposed.These two algorithms are simulated and compared with each other,results indicate that drop of vehicle acceleration is eliminated evidently by limit the change rate of CVT ratio,but small ratio change rate also results in a longer time to finish the accelerate process,an algorithm to decide a proper ratio change rate is needed in order to tune these different characteristics.In order to get better control effects,a new fuzzy logic based algorithm is proposed to decide a proper ratio change rate during kick down conditions,simulation and experiment results indicate that,the amount of vehicle acceleration decrease is reduced from about 1 m/s2 to almost 0,in the mean time the accelerate process only delayed for about 0.3 s.The proposed control strategy and algorithm can effectively tune the characteristics of CVT equipped vehicle during kick down conditions.