Switching contact task control in hydraulic actuators: Stability analysis and experimental evaluation

A switching contact task control for hydraulic actuators is proposed. The controller is built upon three individually designed control laws for three phases of motion: (1) position regulation in free space, (2) impact suppression and stable transition from free to constrained motion and (3) force regulation in sustained‐contact motion. The position and force control schemes are capable of asymptotic set‐point regulation in the presence of actuator friction and without the complexity of sliding mode or adaptive control techniques. The intermediate impact control scheme is included for the first time to dampen the undesirable impacts and dissipate the impact energy that could potentially drive the whole system unstable. The solution concept and the stability of the complete switching control system are analyzed rigorously using the Filippov's solution concept and the concept of Lyapunov exponents. Both computer simulations and experiments are carried out to demonstrate the efficacy of the designed switching control law. Copyright © 2009 John Wiley & Sons, Ltd.     

仿盲人摸巷机理的机器人导航方法分析

根据“盲人摸巷”及昆虫“用须探物”的启发,结合物体接触后能产生力的特性,提出基于接触交互信息的机器人导航方法,移动机器人与环境的接触力感觉来自移动机器人的触须,该触须可以是2个多自由度机械臂,其末端装有多维力传感器,或由弹性材料特制而成,达到完成探测、自我定位及局部路径规划任务的目标,是应用图像、光、电磁、声等原理的现有导航方法的很好补充。     

电连接器接触件插拔特性仿真与试验研究

为探究电连接器接触件插拔过程中各监测量变化情况,并分析接触件不同结构参数对电连接器插拔特性的影响,利用ANSYS对接触件插拔过程进行仿真,得到了插拔过程中插孔簧片变形、应力分布以及插拔力和接触压力的变化情况,分析了接触件不同结构尺寸时接触压力等参量的变化规律。分析得知缩口量变化对各监测量影响最大,其次是插孔簧片长度和厚度,开槽宽度对接触件的影响很小。结果表明,有限元法能较好地模拟接触件插拔过程中各监测量的变化情况。该方法能为电连接器接触件的设计和可靠性测试提供依据。     

Efficient numerical methods for the large‐scale,parallel solution of elastoplastic contact problems

Quasi‐static elastoplastic contact problems are ubiquitous in many industrial processes and other contexts, and their numerical simulation is consequently of great interest in accurately describing and optimizing production processes. The key component in these simulations is the solution of a single load step of a time iteration. From a mathematical perspective, the problems to be solved in each time step are characterized by the difficulties of variational inequalities for both the plastic behavior and the contact problem. Computationally, they also often lead to very large problems. In this paper, we present and evaluate a complete set of methods that are (1) designed to work well together and (2) allow for the efficient solution of such problems. In particular, we use adaptive finite element meshes with linear and quadratic elements, a Newton linearization of the plasticity, active set methods for the contact problem, and multigrid‐preconditioned linear solvers. Through a sequence of numerical experiments, we show the performance of these methods. This includes highly accurate solutions of a three‐dimensional benchmark problem and scaling our methods in parallel to 1024 cores and more than a billion unknowns. Copyright © 2015 John Wiley & Sons, Ltd.     

Investigating the influence of tool shape during FSW of aluminum alloy via CFD analysis

This paper describes the application of the CFD code, Comsol Multiphysics, to modeling the 3-D metal flow in friction stir welding of AA 2024-T3 aluminum alloy in order to investigate the influence of tool shape over the metal flow. Heat transfer and non-Newtonian flow equations were solved simultaneously. The results from the benchmark experiments found in the literature were used for validation purposes. Scrolled shoulders and threaded pins were given as kinematic boundary conditions. This made the computational problem an easy one. A welding engineer can predict the metal flow around the tool with different scrolls and threads under any welding conditions without making expensive experiments. Investigation of the velocity field before actual welding can save a lot of engineering hours.     

不同接触尺度下PVA/HA复合水凝胶的滑动摩擦行为

采用UMT-II型多功能摩擦磨损试验机研究了不同接触尺度下PVA/HA复合水凝胶的滑动摩擦行为,并利用有限元模拟方法对PVA/HA复合水凝胶的滑动摩擦机理进行了探讨。结果表明:滑动过程中PVA/HA复合水凝胶的平均摩擦力、平均摩擦因数及变形深度随接触压头直径的增加逐渐减小,而随着接触载荷呈逐渐增加的趋势;随着接触压头直径的增加,液相的承载能力增大,从而平均摩擦力、变形深度减小;随着接触载荷的增加,液相流失增加,液相的承载力降低,从而平均摩擦力、变形深度增大。     

高温下液硅的润湿性

液硅在耐高温材料上的润湿性对于低成本太阳能电池生产过程中硅的精炼和铸造具有重要的研究意义。为了研究液硅的润湿性,采用座滴法分别研究真空和氩气气氛以及不同温度条件下液硅在高纯石墨以及刚玉基底材料上的接触角。实验结果表明,高纯石墨基底材料表面越粗糙,液硅所形成的接触角越小,从而润湿性越好;真空条件下液硅在刚玉上的接触角并没有随着加热温度的上升呈现下降的趋势,而是在88°~90°的范围内波动,分析图像的过程中可明显看到液硅在刚玉基底材料上左右来回蠕动的现象。     

聚氯乙烯食品接触材料中稀土热稳定剂检测方法探讨

广大消费者越来越关注食品安全问题.聚氯乙烯食品接触材料通常情况下不稳定,需加入热稳定剂使其不易见热分解,而这些热稳定剂有可能迁移入食品中,致使使用者出现毒物反应.本文依据检验工作实践,对PVC食品接触材料中稀土热稳定剂检验方法进行了探讨,并提出了需注意的问题.     

三维编织复合材料紧固件剪切强度预报

建立了三维缎纹编织复合材料代表性体积单元(RVE)和紧固件剪切试件模型,引入周期性边界条件,建立了材料的宏观力学性能预报方法,并采用跨尺度计算方法对不同受载角度下的紧固件剪切破坏过程进行了有限元模拟。进行了三维缎纹编织复合材料紧固件的剪切试验,有限元计算结果与试验结果吻合较好,验证了本方法的可行性。分析了不同受载角度对剪切破坏模式及强度的影响,结果表明,该编织复合材料剪切强度随受载角度增大而降低,且具有不同的损伤起始位置和扩展过程。