Rate constitutive equations for computational analyses of textile composite reinforcement mechanical behaviour during forming

Textile composite reinforcements are made up of fibres. Consequently, their mechanical behaviour is a result of the possible sliding and the interactions between the fibres. When they are formed on double curved shapes, these fabrics are submitted to large strains, in particular large in-plane shear. Among the mechanical behaviour models for these textile reinforcements, continuous models are most commonly used for forming simulations because they can be used with standard finite elements. The objective of the present paper is to propose a continuous approach for textile reinforcement deformation analysis based on a rate constitutive equation specific to materials made of fibres. The objective derivative of this constitutive model is defined by the fibre rotation. This constitutive model is implemented in ABAQUS and can be used in most commercial F.E. software. The approach is extended to materials with two-fibre directions in order to perform simulations of woven fabric forming processes. A set of simulations of large deformations of textile composite reinforcements at the mesoscopic scale (deformation of a woven unit cell) and at the macroscopic scale (deep drawing) is presented to show the efficiency of the proposed approach.     

A cohesive zone model for fatigue and creep–fatigue crack growth in single crystal superalloys

A numerical analysis using cohesive zone model under cyclic loading is proposed to develop a coupled predictive approach of crack growth in single crystal. The process of material damage during fatigue crack growth is described using an irreversible cohesive zone model, which governs the separation of the crack flanks and eventually leads to the formation of free surfaces. The cohesive zone element is modeled to accumulate fatigue damage during loadings and no damage during unloadings. This paper presents the damage model and its application in the study of the crack growth for precracked specimens. The use of cohesive zone approach is validated through a convergence study. Then, a general procedure of parameters calibration is presented in pure fatigue crack growth. In the last section, an extension of the cohesive zone model is presented in the case of creep–fatigue regime at high temperature. The model showed its capability to predict with a good agreement the crack growth in the case of complex loading and complex specimen geometries.     

含预埋梁蜂窝夹层结构数值仿真与试验研究

含预埋梁蜂窝夹层结构是在纯蜂窝结构基础上改进得到的全新结构形式,综合了蜂窝结构和桁条铆接结构的优点,但该类结构的载荷分布形式以及失效模式缺乏相关研究。针对上述问题,结合国内在研尺寸最大的含预埋梁铝蜂窝夹层结构,采用层合板加筋方法进行了数值仿真,设计全尺寸物理试验对结构性能进行了试验验证。通过数值仿真和试验对比,验证了层合板加筋方法模拟含预埋梁蜂窝结构的准确性,同时研究了该类结构的载荷分布和失效模式,并为同类结构设计提供了参考依据。     

Novel gradient porous cathode for intermediate temperature solid oxide fuel cell

As a mixed ion electronic conducting oxide, PrBaCo₂O_5+δ is regarded as a promising solid oxide fuel cell cathode. To further improve PrBaCo₂O_5+δ cathode's oxygen reduction reaction activity, porosity graded PrBaCo₂O_5+δ-based cathode is prepared by screen printing technology. With a porous top and a comparative denser base, oxygen ions concentration and oxygen gas concentration in the cathode can be graded distributed. This concentration gradient works as driven force which can enhance the cathode catalytic activity. And distribution of relaxation time analysis is carried out to investigate cathodes performance optimization mechanism, the result shows that gradient porous PrBaCo₂O_5+δ cathode's area specific resistance value is much lower than the traditional homogeneous porosity PrBaCo₂O_5+δ cathode. The scaffold porosity modification promotes the cathode oxygen ions transfer processes without obvious impact on the cathode oxygen surface processes.     

Bio-inspired polygonal skeleton structure for vibration isolation: Design,modelling, and experiment

Science China Technological Sciences - Inspired by the safe landing of a cat falling from a high altitude, a bio-inspired polygonal skeleton (BIPS) structure is proposed, and its nonlinear...     

Analysis on Biological Stability and Influencing Factors of Northern Living District Water Distribution System

多柔性连杆机械臂的自抗扰控制

刘延芳^1,2, 刘宏¹,孟瑶³

（1. 哈尔滨工业大学 机器人技术与系统国家重点实验室,哈尔滨 150001;

2.哈尔滨工业大学 航天学院,哈尔滨 150001;

3.上海宇航系统工程研究所,上海 201109）

创新点说明

将自抗扰控制应用到多柔性连杆机械臂的运动控制上。

研究目的

主要解决多柔性连杆机械臂的运动控制问题,在转角运动控制的同时,抑制柔性臂杆的振动。

研究方法

首先基于时标分离,将系统分解为快时标系统和慢时标系统：快时标系统为内环,采用最优二次型控制器,实现臂杆振动的快速抑制;慢时标系统为外环,采用自抗扰控制,抑制系统外界干扰、未建模动态等内外扰动,实现转角位置的精确控制。

结 果

采用自抗扰控制器可以显著提高转角控制精度,并抑制臂杆的振动,其中自抗扰控制器中采用飞线性PD控制器时,优势更为明显。

结 论

自抗扰控制器在应用于多柔性连杆机械臂的运动控制中具有一定的优势,可以进行工程推广。

关键词：多柔性连杆机械臂;自抗扰控制;飞线性比例微分控制器;跟踪微分器;状态扩张观测器

     

Comparison study on the annealing behaviors of dispersion strengthened copper alloys with different nanoparticles

The hardness measurement,optical microscopy （OM）,and transmission electron microscopy （TEM） microstructure observation on the annealing behaviors of Cu-Al2O3 （2.25 vol.% and 0.54 vol.% Al2O3） and Cu-0.52vol.%Nb alloys were carried out. The results show that with the increase of annealing temperature,the hardness of Cu-Al2O3 alloys decreases slowly. No change of the fiber structure formed by cold rolling in the Cu-2.25vol.%Al2O3 alloy is observed even after annealing at 900℃and the higher dislocation density can still be observed by TEM. Less combination of fiber formed by cold rolling and subgrains are observed in the Cu-0.54vol.%Al2O3 alloy annealed at 900℃. With the increase of annealing temperature,the hardness of the Cu-0.52vol.%Nb alloy exhibits a general decreasing trend,and its falling rate is higher than that of the Cu-Al2O3 alloys,indicating that its ability of resistance to softening at elevated temperature is weaker than that of the Cu-Al2O3 alloys. However,when annealed at a temperature of 300-400℃,probably owing to the precipitation strengthening of niobium,the hardness of the Cu-0.52vol.%Nb alloy arises slightly. The fibers formed by cold rolling be-come un-clear and un-straight and have less combination,and considerably more subgrains are observed by TEM.     

空间桁架的人-机协作装配规划与试验验证

该文以空间直立桁架结构的人-机协作装配流程为研究对象,提出一种适用于径向快装桁架模块单元的创新构型,建立了基于状态矩阵和邻接矩阵的桁架结构装配序列、装配模式和装配过程的数学模型。该文还对空间环境下桁架装配的人-机能力约束进行分析,提出基于动素分析的装配任务层级化分解方法,利用比较分配原则制定了适用编程的人-机协作装配任务流程和分配方案。基于所提出方案,通过开展人穿戴模拟宇航服与机械臂协作装配 5 m 长直立桁架结构的地面演示试验,验证了该方案的合理性和组装流程的可行性,为空间大型设施在轨构建提供了技术原理支撑。     

An error-bounded B-spline curve approximation scheme using dominant points for CNC interpolation of micro-line toolpath

This paper presents a unified framework for computing a B-spline curve to approximate the micro-line toolpath within the desired fitting accuracy. First, a bi-chord error test extended from our previous work is proposed to select the dominant points that govern the overall shape of the micro-line toolpath. It fully considers the geometric characteristics of the micro-line toolpath, i.e., the curvature, the curvature variation and the torsion, appropriately determining the distribution of the dominant points. Second, an initial B-spline curve is constructed by the dominant points in the least square sense. The fitting error is unpredictable and uncontrollable. It is classified into two types: (a) the geometric deviations between the vertices of the polygon formed by the data points and the constructed B-spline curve; (b) those between the edges of the polygon and the constructed B-spline curve. Herein, an applicable dominant point insertion is employed to keep the first geometric deviation within the specified tolerance of fitting error. A geometric deviation model extended from our previous work is developed to estimate the second geometric deviation. It can be effectively integrated into global toolpath optimization. Computational results demonstrate that the bi-chord error test applies to both the planar micro-line toolpath and the spatial micro-line toolpath, and it can greatly reduce the number of the control points. Simulation and experimental results demonstrate that the proposed B-spline approximation approach can significantly improve machining efficiency while ensuring the surface quality.