基于T-S模型的随机双线性系统的稳定问题

主要研究了基于T-S模型的随机双线性系统的稳定性问题。首先,利用并行分布补偿方法设计控制器,确保闭环系统是随机渐近稳定的。其次,基于It^o随机稳定性理论,利用Lyapunov函数方法、不等式变换技巧和Schur补引理,证明了定理所给的稳定条件下的结论是成立的。设计方法的有效性通过一个数值例子来验证。     

模糊微分方程的渐近稳定性

考虑了模糊微分方程u′＝f（ t,u）,利用李雅普诺夫函数的方法得到了方程平凡解渐近稳定的一个充分条件。     

超越离合器综合性能试验台测试系统

基于LabVlEW开发的超越离合器综合性能试验台测试系统是对超越离合器实验数据进行实时测量和处理的一套系统．本文从硬件、稳定性判定模型和软件这3个部分出发介绍了该系统的具体组成．通过该系统的硬件、软件两个部分完成对实验数据的测量、读取和记录,同时该测试系统中建立的容许波动幅度与单一量重复测量结果之间变化幅度的系统稳定性判定模型保证了测量数据的可靠性,有利于提高系统的分析处理能力以及减小外界干扰对系统稳定性的影响．通过使用发现该测量分析系统可靠性好,达到了预期的设计目的,为超越离合器全面、准确的性能评价和进一步的优化设计具有借鉴意义．     

Research of 6-DOF Serial-Parallel Mechanism Platform for Stability Training of Legged-Walking Robot

The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs, and 2-DOF serial mechanism with prismatic pairs. With this design, the platform has advantages of low platform countertop, big workspace, high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism, weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed, so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile, this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.     

Effect of vanadium and chromium on the microstructural features of V–Cr–Mn–Ni spheroidal carbide cast irons

The objective of this investigation is to study the influence of vanadium（5.0wt%–10.0wt%） and chromium（0–9.0wt%） on the microstructure and hardness of Cr-V-Mn-Ni white cast irons with spheroidal vanadium carbides. The alloys＇ microstructural features are presented and discussed with regard to the distribution of phase elements. The structural constituents of the alloys are spheroidal VC, proeutectoid cementite, ledeburite eutectic, rosette-shaped carbide eutectic（based on M7C3）, pearlite, martensite, and austenite. Their combinations and area fraction（AF） ratios are reported to be influenced by the alloys＇ chemical composition. Spheroidized VC particles are found to be sites for the nucleation of carbide eutectics. Cr and V are shown to substitute each other in the VC and M7C3 carbides, respectively. Chromium alloying leads to the formation of a eutectic（γ-Fe ＋ М7С3）, preventing the appearance of proeutectoid cementite in the structure. Vanadium and chromium are revealed to increase the total carbide fraction and the amount of austenite in the matrix. Cr is observed to play a key role in controlling the metallic matrix microstructure.     

Cooling rate effects on the structure and transformation behavior of Cu-Zn-Al shape memory alloys

Different fragments of a hot-rolled and homogenized Cu–Zn–Al shape memory alloy（SMA） were subjected to thermal cycling by means of a differential scanning calorimetric（DSC） device. During thermal cycling, heating was performed at the same constant rate of increasing temperature while cooling was carried out at different rates of decreasing temperature. For each cooling rate, the temperature decreased in the same thermal interval. During each cooling stage, an exothermic peak（maximum） was observed on the DSC thermogram. This peak was associated with forward martensitic transformation. The DSC thermograms were analyzed with PROTEUS software： the critical martensitic transformation start（Ms） and finish（Mf） temperatures were determined by means of integral and tangent methods, and the dissipated heat was evaluated by the area between the corresponding maximum plot and a sigmoid baseline. The effects of the increase in cooling rate, assessed from a calorimetric viewpoint, consisted in the augmentation of the exothermic peak and the delay of direct martensitic transformation. The latter had the tendency to move to lower critical transformation temperatures. The martensite plates changed in morphology by becoming more oriented and by an augmenting in surface relief, which corresponded with the increase in cooling rate as observed by scanning electron microscopy（SEM） and atomic force microscopy（AFM）.     

Stability analysis for natural slope by kinematical approach

The stability of natural slope was analyzed on the basis of limit analysis. The sliding model of a kind of natural slope was presented. A new kinematically admissible velocity field for the new sliding model was constructed. The stability factor formulation by the upper bound theorem leads to a classical nonlinear programming problem, when the external work rate and internal energy dissipation were solved, and the constraint condition of the programming problem was given. The upper bound optimization problem can be solved efficiently by applying a nonlinear SQP algorithm, and stability factor was obtained, which agrees well with previous achievements.     

Orthogonal design and numerical simulation of room and pillar configurations in fractured stopes

Room and pillar sizes are key factors for safe mining and ore recovery in open-stope mining. To investigate the influence of room and pillar configurations on stope stability in highly fractured and weakened areas, an orthogonal design with two factors, three levels and nine runs was proposed, followed by three-dimensional numerical simulation using ANSYS and FLAC3~. Results show that surface settlement after excavation is concentrically ringed, and increases with the decrease of pillar width and distances to stope gobs. In the meantime, the ore-control fault at the ore-rock boundary and the fractured argillaceous dolomite with intercalated slate at the hanging wall deteriorate the roof settlement. Additionally, stope stability is challenged due to pillar rheological yield and stress concentration, and both are induced by redistribution of stress and plastic zones after mining. Following an objective function and a constraint function, room and pillar configuration with widths of 14 m and 16 m, respectively, is presented as the optimization for improving the ore recovery rate while maintaining a safe working environment.     

Microstructure and mechanical properties of AZ31 alloy ingot fabricated by semi-continuous casting

The AZ31 alloy ingot with diameter of 110 mm and length of 3500 mm was fabricated successfully. The compositions and microstructure morphologies of the ingot at different locations were performed, which indicated that the chemical composition distributed homogeneously through the whole alloy ingot and the average grain size increased from the surface to the center. The results of the EDS and element face-scanning illustrated that the eutectic compounds mainly consisted of fl-Mg17Al12 and a small amount of fl-Mgl7（AlZn）12. Furthermore, slight improvements of the strength and ductility were observed from the center to the surface along the axial direction of the alloy ingot, while both the strength and elongation to failure of the samples along the radial direction are higher than that along the axial direction. The fine grain strengthening was the main contributors to the strength of the as-casted AZ31 alloy.     

某城市地铁振源系统参数影响预测

为了研究正在建设的某城市地铁振源系统,根据地铁拟采用的车型、块下胶垫和扣件等参数,建立车轨垂向耦合振动模型。计算车体、轮对和道床的垂向最大振动加速度,分析车体运行的平稳性及振源的减振效能。结果表明:该城市地铁拟采用的振源系统具有良好的减振效能;A型车车体运行平稳性优于B型车;低速时,参数的选取对振源系统的减振效能没有明显影响,随着车速的增加,减振效能呈降低趋势且不同参数间差距扩大,但当车速大于60 km/h时,减振效能趋于稳定;对减振效能的贡献,扣件最大,块下胶垫的阻尼其次,而A、B型车体和块下胶垫的刚度影响则不明显。