气动肌肉驱动关节轨迹跟踪的自适应鲁棒控制

设计了一种简单、经济的单根肌肉关节驱动上肢外骨骼助力机器人.为解决单根肌肉关节轨迹跟踪控制精度差、抗干扰能力差及颤振严重等问题,基于反步法设计单根肌肉关节伺服系统的自适应鲁棒控制器.该控制器呈两层级联结构,每层均包含一个鲁棒反馈、参数自适应及快速动态补偿项,基于递归最小二乘法和梯度法分别设计参数自适应及快速动态补偿项....     

化工储罐群池火灾连锁效应分析

池火灾连锁效应是引发化工储罐群重大灾害性事故的主要原因之一。本文参考国内外关于连锁效应的研究结果,从连锁效应发生的机制对化工储罐群的池火灾连锁效应进行了分析,选择了较为合理的连锁效应阈值和辐射模型,计算出二次目标设备的本质安全距离,提出了相应的安全防护措施,为预防化工储罐群事故连锁效应的发生和扩展提供了依据。     

轮胎模态试验及在轮胎结构设计中的应用研究

分析了轮胎模态分析的试验方法及其在轮台设计中的应用,并建立了轮胎模态分析试验系统。测量了各类型轮胎的固有频率特性,分析了轮胎气压、胎面花纹和轮胎质量对轮胎的固有频率特性的影响规律、模态振动的噪声的关系,得出结论：轮胎气压增大,轮胎的固有频率也随之增高;同型号、同规格光面轮胎的基频低于有花纹轮胎;刚度变化对轮胎固有频率的影响大于轮胎质量的影响。此外,还用试验模态验证了有限元模态分析的正确性及产生误差的原因。     

High-performance polymer films. III. Preparation and characterization

A series of polyimide and copolyimide films were prepared by film casting, drying, and thermal imidization from the respective precursor poly(amic acid) (PAA) and copoly(amic acid) solutions derived from two dianhydrides, pyromellitic dianhydride (PMDA) and 3,3′,4,4′-benzophenonetetracarboxylic dianhydride (BTDA), and two diamines, 4,4′-oxydianiline (ODA) and a proprietary aromatic diamine (PD) as monomers. Depending on the solution's inherent viscosity value (molecular weight) and the nature of the polymer chains (derived from rigid or flexible monomers), precursor poly(amic acid) and copoly(amic acid) solution concentrations of 8–12% (w/w) were found to be suitable for the preparation of good quality polyimide/copolyimide films. The recovery of film toughness and creasability from the brittleness at the intermediate temperature of the cure cycle depended not only on the molecular weight of the precursor poly(amic acids)/copoly(amic acids) but also on their chain flexibility. The poly(amic acid) derived from both rigid dianhydride and diamine practically gave rise to a brittle film of polyimide even after curing to 360°C. The resulting polyimide and copolyimide films were compared with Du Pont's Kapton H film. The density of the films was in the range 1.39–1.42 g/cm³. The thickness of most of the films was in the range 20–30 μm. The HPF 3 film, based on PMDA–PD, appeared to be highly colored (reddish brown), and the HPF 2 film, based on BTDA–ODA, had the lightest yellow coloring among the films in this investigation, including Kapton H film. HPF 2, HPF 6, and HPF 8 films were more amorphous than the other films. © 2001 John Wiley & Sons, Inc. J Appl Polym Sci 82: 976–988, 2001     

基于焊接变形有限元分析的空调压缩机结构优化

建立了考虑相变的热弹塑性有限元法模型,针对敏感性参数如壳体高度、气缸材料性能、气缸与壳体接触状态以及气缸结构对压缩机焊接变形的影响进行了计算和讨论.气缸采用铸钢材料能有效降低压缩机滑片槽槽宽变形,压缩机壳体与气缸的接触状态对气缸变形有较大影响.为了提高计算效率,同时又能保证计算结果的准确性,进而采用了基于热弹塑性有限元法的固有应变法进行模拟.结果表明,固有应变法与热弹塑性有限元法及实测结果吻合较好,基于固有应变法的压缩机结构优化方法可以大大降低计算时间,这种方法可以应用于大型焊接结构的结构优化.     

Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory

Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method.     

焊接残余应力形成机制与消除原理若干问题的讨论

针对目前存在的一些对焊接残余应力形成机制和消除原理传统理论的质疑和不同观点，采用两端拘束杆件和长板各焊接的一维简化模型，分析比较了经受加热与冷却热循环以及直接从高温冷却下来时的应变历史和残余应力产生的机制。结果表明，前者存在残余压缩塑性应变，后者存在残余热收缩应变。两者对产生残余应力的作用完全是等价的，为了统一概念，建议引入固有应变理论。固有应变包括焊接过程中产生的塑性应变，热应变和相变应变，残余应力是在固有应变源作用下构件自动平衡的结果，消除焊接残余应力必须去除固有应变源，此外对若干容易混淆的问题进行了讨论。     

石油化工过程安全技术研究进展

对石油化工过程安全生产的一些关键技术研究的现状以及未来的发展前景做了综合性的述评与展望.介绍了国内外安全生产和事故预防若干关键技术的研究进展,包括过程监测与故障诊断技术、生产关键装置风险评估技术、石油和化工过程的柔性设计、本质安全技术的应用.     

基于固有应变法的地铁侧墙FSW焊接变形仿真

针对地铁列车铝合金地铁侧墙焊后变形问题,基于顺序热力耦合法和固有应变法,建立了完整的6005A-T6铝合金地铁侧墙搅拌摩擦焊有限元模型,并对其焊接变形进行仿真预测。首先,运用组合热源和顺序热力耦合方法,对侧墙局部结构进行三维热弹塑性有限元分析,提取结果并计算固有应变;然后采用固有应变法对全尺寸地铁铝合金侧墙模型进行弹塑性计算,获得地铁侧墙结构的焊接变形结果,并与实际测量值进行对比分析。结果表明,模拟计算得到的焊接变形趋势与实验结果相同,且模拟变形量与实验测量值之间的误差在20%以内,为地铁侧墙的实际生产提供了理论依据。     

Review on finite element analysis of welding deformation and residual stress

Welding deformation and residual stress have negative influence on assembly accuracy and service performance. Thermal elastic plastic (TEP) and inherent strain finite element analysis (FEA) methods were used to study this challenge. Basic principle of these two methods was first introduced. The influence of welding process, constraints, solid phase transformation and multi-pass welding on deformation and residual stress was discussed, and computation accuracy and efficiency were summarised. Loading method of inherent strain in inherent strain FEA was analysed, interface element was introduced to simulate effects of the gap on deformation in assembly welding especially for large structures. The future work, including accurately multiscale TEP model, efficiently transient prediction method of large structures, and flexible evaluation software, was planned.