双电机驱动关节的线性化控制研究

本文基于齿轮传动系统存在的齿隙非线性问题,提出了一种双电机驱动双主动齿轮啮合同一从动齿轮的驱动方案。设计了双电机协调控制算法,包括力矩线性化控制算法与单速度环速度反馈线性化控制算法,解决了电机齿轮传动系统运动过程中的齿隙非线性问题。本文首先介绍了双电机消隙原理与控制方案,然后建立双电机系统控制模型进行分析,最后搭建仿真模型进行控制方案的验证。仿真结果表明,本文所提出的双电机控制方案可以有效地解决齿轮传动中的齿隙非线性问题。     

Software for estimation of second order effective material properties of porous samples with geometrical and physical nonlinearity accounted for

A method and an algorithm for numerical estimation of effective mechanical properties of porous materials are presented. The effective properties are sought in the form of the nonlinear relation between the second Piola–Kirchhoff stress tensor and the Green strain tensor for anisotropic materials with second-order nonlinearities accounted for. The effective characteristics of test models are computed by means of a CAE Fidesys program module based on the proposed algorithm. The effective material properties as functions of porosity are examined. The finite element mesh that contained more than a million of elements was used while performing stress analysis of a specimen. To reduce computing time, assembly and solution of the global equation system was done in parallel using CUDA technology. The computations were carried out on NVIDIA Tesla C2050 graphics processors. Our results show that accounting for nonlinear effects is essential for correct estimation of effective properties of porous materials.     

结构尺寸对LNG低温螺旋波纹钢管弯曲性能的影响分析

基于ANSYS三维壳模型,依据结构几何尺寸对LNG低温螺旋波纹钢管进行参数化有限元建模.考虑低温环境下材料力学性能的改变和结构几何非线性因素,对弯曲载荷作用下低温螺旋波纹钢管结构力学性能进行数值模拟;分析管体弯曲失效模式和力学行为特点.改变结构几何尺寸,分析比较波峰和波谷极值应力以及管道整体力学性能,发现尺寸参数对低温波纹钢管力学性能的影响显著,分析相应的灵敏度规律,最后给出合理的截面尺寸参数.分析结果可以为低温柔性管道的结构设计提供参考.     

A modified dynamic surface approach for control of nonlinear systems with unknown input dead zone

This paper focuses on the robust output precise tracking control problem of uncertain nonlinear systems in pure‐feedback form with unknown input dead zone. By designing an extended state observer, the states unmeasurable problem in traditional feedback control is solved, and the lumped uncertainty, which is caused by system unknown functions and input dead zone, is estimated. In order to apply separation principle, finite‐time extended state observer is designed to obtain system states and estimate the lumped uncertainty. Then, by introducing tracking differentiator, a modified dynamic surface control approach is developed to eliminate the ‘explosion of complexity’ problem and guarantee the tracking performance of system output. Because tracking differentiator is a fast precise signal filter, the closed‐loop control performance is significantly improved when it is used in dynamic surface control instead of first‐order filters. The L _∞ stability of the whole closed‐loop system, which guarantees both the transient and steady‐state performance, is shown by the Lyapunov method and initialization technique. Numerical and experiment examples are performed to illustrate our proposed control scheme with satisfactory results. Copyright © 2013 John Wiley & Sons, Ltd.     

重力坝动力深层抗滑稳定性研究

基于我国西南某待建高碾压混凝土重力坝,建立了典型坝段三维有限元接触分析模型,分别采用强度折减动力分析法和时程安全系数分析法,综合研究了坝基动力深层抗滑稳定性。同时针对传统时程安全系数分析存在的局限性,基于概率统计深入探讨并改进了可靠度动力安全系数评价指标。研究结果表明,大坝满足动力深层抗滑稳定设计要求,本文所采用的理论方法能够考虑地震作用的往复性和随机性,评价结果更为科学合理,为重力坝动力抗滑稳定的定量判别进行了有益探索。     

基于改进型精密整流电路的电容式微位移传感器设计

介绍了一种改进型精密整流电路,该电路基于一个模拟多路复用器,无需二极管和匹配电阻,克服了传统整流电路中的非线性问题。同时基于该精密整流电路设计了一种电容式微位移传感器。测试结果表明,在0～1.6mm的量程内,该电容式微位移传感器的非线性误差小于0.6‰,灵敏度约为4.3V/mm。     

悬臂梁大变形的向量式有限元分析

为分析悬臂梁的几何非线性行为,用向量式有限元法将结构离散成质点系以及质点间的连接单元.根据牛顿第二定律得到每个质点在内力和外载荷作用下的运动方程以及悬臂梁在每个时刻的变形用该时刻质点系的运动表示.结合刚架元的节点内力和等效质量得出质点位移的迭代计算公式,采用FORTRAN编制计算程序,对悬臂梁分别承受集中载荷和弯矩下的大变形进行算例分析.计算结果与理论解吻合较好,表明该方法能很好地模拟分析悬臂梁的大变形.     

考虑非线性项的卫星编队保持

针对低轨道运行的编队卫星在非线性项作用下,伴随卫星运行的相对运动轨道发生偏移的情况,传统的李亚普诺夫方法能较好地控制轨道的初始偏移,使系统达到李亚普诺夫大范围一致稳定,但长期项误差震荡较大.本文提出了一种多回路结构的卫星轨道保持的控制方法,内回路选取使系统满足李亚普诺夫大范围一致稳定的控制律,外回路选取LQR线性状态调节器.此内外回路调节器能更好地抑制环绕卫星相对于基准轨道的误差漂移,更好地稳定编队队形.最后,数值仿真结果验证了此方法比传统的李亚普诺夫方法具有使编队更稳定的效果.     

Geometric nonlinear effects on the planar dynamics of a pivoted flexible beam encountering a point-surface impact

Flexible-body modeling with geometric nonlinearities remains a hot topic of research by applications in multibody system dynamics undergoing large overall motions. However, the geometric nonlinear effects on the impact dynamics of flexible multibody systems have attracted significantly less attention. In this paper, a point-surface impact problem between a rigid ball and a pivoted flexible beam is investigated. The Hertzian contact law is used to describe the impact process, and the dynamic equations are formulated in the floating frame of reference using the assumed mode method. The two important geometric nonlinear effects of the flexible beam are taken into account, i.e., the longitudinal foreshortening effect due to the transverse deformation, and the stress stiffness effect due to the axial force. The simulation results show that good consistency can be obtained with the nonlinear finite element program ABAQUS/Explicit if proper geometric nonlinearities are included in the floating frame formulation. Specifically, only the foreshortening effect should be considered in a pure transverse impact for efficiency, while the stress stiffness effect should be further considered in an oblique case with much more computational effort. It also implies that the geometric nonlinear effects should be considered properly in the impact dynamic analysis of more general flexible multibody systems.     

Stabilization of geometrically nonlinear topology optimization by the Levenberg–Marquardt method

This paper deals with the design of compliant mechanisms in a continuum-based finite-element representation. Because the displacements of mechanisms are intrinsically large, the geometric nonlinearity is essential for designing such mechanisms. However, the consideration of the geometric nonlinearity may cause some instability in topology optimization. The problem is in the analysis part but not in the optimization part. To alleviate the analysis problem and eventually stabilize the optimization process, this paper proposes to apply the Levenberg–Marquardt method to the nonlinear analysis of compliant mechanisms.