带迟滞非线性环节二元机翼的气动弹性响应分析

基于Theodorsen非定常气动力理论,采用Roger拟合得到时域气动力表达式;针对二元机翼俯仰自由度带有迟滞非线性环节的情况,采用分段线性方式,建立了二元机翼气动弹性系统无量纲运动方程。通过数值仿真得到了系统极限环振动响应的时间历程和相轨迹,并与带中心间隙型非线性刚度环节二元机翼的气动弹性响应特性进行了比较;结果表明在一定的来流速度下,二元机翼俯仰自由度具有的迟滞特性会导致整个系统的极限环振动;最后用描述函数法给出了迟滞非线性环节的等效刚度及等效阻尼表达式,并进行了具有迟滞非线性环节二元机翼气动弹性系统颤振边界的等效线化分析,与直接数值仿真的计算结果吻合较好。     

采用非定常涡气动力理论的非线性颤振主动抑制仿真研究

针对带后缘操纵面的二元机翼系统,采用非定常涡气动力理论建立了相应的气动弹性运动方程。对俯仰自由度存在迟滞型非线性刚度环节的情况,以后缘操纵面作为控制面,进行了非线性颤振主动抑制仿真。研究结果表明,对机翼颤振的抑制效果明显,所用非定常涡气动力理论适于进行非线性颤振的主动抑制仿真研究。     

基于谐波平衡法的跨声速风扇颤振特性数值模拟

由于叶片振动诱发的非定常响应具有时间周期性的特点,采用频域谐波平衡计算技术,结合结构动力学分析方法,基于流固单向耦合的方式数值模拟了振荡叶片下的非定常流场,通过评估结构和流体之间的能量传递关系对叶片的颤振特性进行了预测。针对某两级风扇的第一级转子叶片,通过给定不同的转速和出口背压条件对比研究了叶片的气动弹性稳定性,并给出了叶片的颤振失稳边界,计算结果显示:在100%、95%、90%转速下的非失速工况中叶片存在失稳风险,意味着发生颤振的类型为超音速非失速颤振;不同工况下,激波下游和叶顶前缘附近气流做功的综和效应决定了叶片的气动弹性稳定性。     

飞翼无人机颤振抑制仿真研究

以飞翼式无人机为例,采用频域偶极子网格法建立飞翼式无人机颤振主动抑制的气动弹性模型,针对经过模型降阶处理后低阶的最小状态近似转换后时域气动弹性状态方程设计相关控制律,对比分析飞翼式无人机开环与闭环颤振特性。研究结果和结论可为飞翼式无人机的研制提供参考。     

车辆半主动悬挂开关控制特性的研究

研究了车辆半主动悬挂在速度反馈开关控制模式下的控制规律及系统幅频特性。通过仿真计算,对不同阻尼控制规律下系统的幅频特性进行了对比;分析了在单自由度半主动悬挂模型中的开关颤振现象及其原因;提出了以减振器的相对速度为反馈信号的能避免颤振的控制规律,简单且易于实现。     

气压伺服系统高性能鲁棒控制器的设计

2自由度控制器越来越在伺服控制中显示其优越性。2自由度控制利用反馈控制来保证稳定性,利用前馈保证轨迹跟踪性能。首先辨识得到了气压系统的闭环传递函数。基于闭环系统辨识模型设计了零相位误差前馈控制器(ZPETC),ZPETC将闭环系统带宽拓宽为100 rad/s左右。系统的干扰抑制能力、鲁棒稳定性由控制器中反馈环节保证。设计了基于干扰观测器的内环反馈控制;外环反馈仍为位置反馈环节。与PID控制比较,整个控制器在试验中得到了良好的轨迹跟踪精度。     

磨削加工颤振稳定性研究综述

在磨削难加工材料制成或具有薄壁、大长径比、复杂曲面结构的零部件时,磨削系统颤振会直接影响零部件表面加工质量和轮廓精度,从而影响使用寿命。但是目前对磨削颤振系统产生机理,稳定性模型建立与分析的研究仍有不足。深入开展磨削加工过程中颤振稳定性研究对于提升加工质量、保障磨削系统稳定运行具有重要意义。围绕磨削颤振机理、磨削稳定性建模与求解方法和应用进行综述,首先分析磨削系统稳定性的主要影响因素,深入讨论颤振的成因和磨削系统动力学建模进展;然后,从频域、时域、实验等方面重点分析磨削稳定性模型的求解方法,比较并归纳各种求解方法的过程原理、研究现状与优缺点;最后总结稳定性分析应用方法与现状,并对磨削加工颤振稳定性研究未来的发展方向进行展望。     

复杂曲面薄壁件铣削颤振稳定性研究综述

针对复杂曲面薄壁件铣削过程中出现的颤振问题,基于再生型颤振理论,对复杂曲面薄壁件铣削颤振产生的原因进行了分析,阐述了抑制颤振发生的相关工艺优化策略和颤振稳定性分析之间的联系;在此基础上,对现阶段复杂曲面铣削稳定性分析中的频域法、时域法、试验法,以及工艺优化方法研究现状进行了综述和归纳,对现阶段国内外复杂曲面薄壁件铣削颤振的抑制方法的优缺点和适用条件进行了评价,并提出了整体式叶轮五轴加工非均匀余量工艺优化策略;通过分析影响颤振稳定性的因素,提出了今后复杂曲面薄壁件颤振抑制的研究方向。研究结果表明:相对于普通铣削颤振,复杂曲面薄壁件颤振抑制更为复杂,建立三维工艺系统稳定性模型,并考虑工件模态参数的变化,可有效抑制颤振的发生。     

某靶弹薄壁外筒加工稳定性分析与参数优化

薄壁件加工中,工件刚性较弱,不合理的加工参数会导致加工过程中发生颤振现象,加工稳定性分析是避免加工颤振和提高加工效率的重要途径。针对某靶弹薄壁外筒的加工时变动态特性,建立了其不同加工阶段下的有限元分析模型,分析了不同加工阶段下加工位置处的动态特性。建立了薄壁外筒镗削加工动力学方程,并转化到频域进行求解。利用频域稳定性预测模型结合频响函数对不同加工阶段下的稳定加工边界进行预测,得到了相应的稳定性lobe图。根据稳定性lobe图,给出了优化后的加工参数,提高了某靶弹薄壁外筒的加工效率。     

考虑刀具和工件动态耦合特性的薄壁件铣削稳定性研究

针对薄壁零件加工过程中的颤振现象,考虑刀具和工件的动态耦合特性,建立多自由度铣削颤振模型,并针对刀具和壁板类薄壁工件进行模态实验,获取相对传递函数,采用解析法(ZO A)绘制了颤振稳定性叶瓣图。通过对比仅考虑刀具或工件的动态特性,最终得到薄壁件多自由度系统稳定性极限预测模型。该模型精确绘制了薄壁件铣削稳定性叶瓣图,对以后的生产加工提供指导。     

H∞ control for flutter suppression of a laminated plate with self-sensing actuators

Active flutter suppression system of a composite plate wing model is designed using a reduced order model. The analysis for a laminated composite wing with segmented piezoelectric sensor/actuator pairs is conducted by the Ritz solution technique. Unsteady aerodynamic forces calculated by doublet lattice method are approximated as the transfer functions of the Laplace variable by the minimum state method. Among the aerodynamic states obtained from rational function approximation, only one aerodynamic state is included in the plant model for feedback purpose. The neglected aerodynamic states are regarded as modeling error. The control system uses the integrated and collocated piezoelectric self-sensing actuator pairs so as to prohibit the non-minimum phase model and the spillover due to the unmodeled dynamics. Based on the mixed-sensitivityH∞ control method, the control parameters are determined. Using a simple wing model, the performance of the controlled system is shown in the frequency and time domain respectively. The electric current and the power requirement for aeroelastic control are also predicted.     

Analysis of tiltrotor whirl flutter in time and frequency domain

The whirl flutter phenomenon in a rotor is induced by in-plane hub forces, and imposes a serious limit on the forward speed. In this paper, based on Greenberg’s model, quasi-steady and unsteady aerodynamic forces are formulated to examine the whirl flutter stability for a three-bladed rotor without flexible wing modes. Numerical results are obtained in both time and frequency domains. Generalized eigenvalue solution is utilized to estimate the whirl flutter stability in the frequency domain, and Runge-Kutta method is used to analyze it in time domain. The effects of varying the pylon spring stiffness and the swashplate geometric control coupling upon the flutter boundary are investigated. An optimum pitch-flap coupling parameter is discovered through the parametric study. Aeroelastic stability boundaries are estimated with the three different aerodynamic models. It is found that the analysis with the full unsteady aerodynamics predicts the highest flutter speed.     

主动气动弹性机翼的颤振主动抑制与阵风减缓研究

多输入／多输出系统的颤振主动抑制与阵风减缓是主动气动弹性机翼技术的重要研究方面。以一个带有两个后缘控制面的三角机翼风洞模型为研究对象，采用LQG／奇异值控制理论设计颤振主动抑制与阵风减缓的鲁棒控制律，对组成的闭环系统进行控制仿真。并从闭环稳定特性、阵风响应减缓效果、作动器功率需求和控制律的降阶四个方面提出评估指标，对闭环系统进行工程特性评估。结果表明，设计所得到的控制律能应用于工程实践。     

Aeroelastic response of an airfoil-flap system exposed to time-dependent disturbances

Aeroelastic response and control of airfoil-flap system exposed to sonic-boom, blast and gust loads in an incompressible subsonic flowfield are addressed. Analytical analysis and pertinent numerical simulations of the aeroelastic response of 3-DOF airfoil featuring plunging-pitching-flapping coupled motion subjected to gust and explosive pressures in terms of important characteristic parameters specifying configuration envelope are presented. The comparisons of uncontrolled aeroelastic response with controlled one of the wing obtained by feedback control methodology are supplied, which is implemented through the flap torque to suppress the flutter instability and enhance the subcritical aeroelastic response to time-dependent excitations.     

Characterisation of optimal human driver model and stability of a tractor-semitrailer vehicle system with time delay

In this paper, a vehicle/driver close-loop system is studied in order to characterise the inherent model parameters of an optimal human controller for a regulation task (e.g. stabilisation after a wind gust) in articulated vehicle motions. The tractor-semitrailer vehicle model consists of two articulated rigid bodies moving on a horizontal plane with a constant forward speed. The driver establishes his steering control through a time-delayed feedback from current vehicle states with respect to the desired motion. Identification of driver model parameters is achieved through an optimal control approach. The stability of the delayed dynamical system is also studied using a numerical method by computing the eigenvalues near the imaginary axis.     

基于状态反馈线性化的阀控非对称缸系统模型预测控制

针对使用PID方法对阀控非对称液压缸位置控制中出现的超调问题,以及传统非线性模型预测控制优化求解计算时间较长的问题,提出了一种基于状态反馈线性化的阀控非对称缸模型预测控制方案。首先建立了阀控系统状态空间模型,运用微分几何理论讨论系统可反馈线性化的充要条件,并将非线性系统映射为新坐标空间内的线性系统模型;设计了反馈线性化模型预测控制器(Feedback Linearization Model Predictive Controller, FLMPC),讨论了线性系统下的约束问题,其中由于系统仿真预测时域远小于系统响应时间,对模型预测控制的损失函数加以修正。结果证明,在相同输入情况下,反馈线性化系统与原系统的位置误差满足控制需要,且在保证被控对象快速稳定控制的条件下,对比该算法与非线性模型预测控制的单步计算时间,证明该算法能够缩短计算时间。     

射流管三级电液伺服阀建模与动态特性仿真研究

叙述了射流管式三级电液伺服阀的结构及其工作原理,针对其结构建立了数学模型,并加入PD校正环节,导入MATLAB软件进行仿真,获得其阶跃响应曲线和开环伯德图。通过时域和频域分析表明,加入PD校正环节,使得系统局部相位超前,增加了系统的幅值裕度和相位裕度,因此其可大幅缩短三级阀的调整时间并增强其稳定性,同时反馈杆刚度和功率级滑阀阀芯面积对三级阀的动态响应有很大影响。通过有限元分析了圆形截面和矩形截面的反馈杆刚度,结果表明,在等面积时,由于矩形截面惯性矩大于圆形截面惯性矩,在相同的力作用下,矩形截面的反馈杆的位移较小,因此其反馈杆刚度较大,可提高先导级阀的动态反馈性能,从而更有利于三级阀的动态响应。     

State feedback control with time delay

We consider the problem of assigning eigenvalues of a linear vibratory system by state feedback control in the presence of time delay. It is shown that for a system with n degrees of freedom we may assign 2n eigenvalues. Assigning 2n eigenvalues in a time-delayed system does not necessarily regulate the dynamics of the system or even guarantee its stability. We therefore separate the eigenvalues into two groups, primary and secondary eigenvalues. The primary eigenvalues are the 2n finite eigenvalues of the system without time delay. The secondary eigenvalues are the other eigenvalues emerging from infinity due to the delay. A method of a posteriori analysis to identify the primary eigenvalues and to ensure that they have been properly assigned is proposed in the paper. The method is demonstrated by various examples.     

Discretization of nonlinear systems with delayed multi-input via Taylor series and scaling and squaring technique

An input time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computers. In this paper a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed. The mathematical structure of the new discretization method is analyzed. On the basis of this structure the sampled-data representation of nonlinear systems with time-delayed multi-input is presented. The delayed multi-input general equation has been derived. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. Additionally, hybrid discretization schemes that result from a combination of the scaling and squaring technique (SST) with the Taylor series expansion are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method’s parameters to meet CPU time and accuracy requirements, are examined as well. A performance of the proposed method is evaluated using a nonlinear system with time delay: maneuvering an automobile.