The dynamic performance of high-speed trains is significantly influenced by sudden changes in aerodynamic loads(ADLs)when exiting a tunnel in a windy environment.Focusing on a double-track tunnel under construction in...The dynamic performance of high-speed trains is significantly influenced by sudden changes in aerodynamic loads(ADLs)when exiting a tunnel in a windy environment.Focusing on a double-track tunnel under construction in a mountain railway,we established an aerodynamic model involving a train exiting the tunnel,and verified it in the Fluent environment.Overset mesh technology was adopted to characterize the train’s movement.The flow field involving the train,tunnel,and crosswinds was simulated using the Reynolds-averaged turbulence model.Then,we built a comprehensive train-track coupled dynamic model considering the influences of ADLs,to investigate the vehicles’dynamic responses.The aerodynamics and dynamic behaviors of the train when affected by crosswinds with different velocities and directions are analyzed and discussed.The results show that the near-wall side crosswind leads to sharper variations in ADLs than the far-wall side crosswind.The leading vehicle suffers from more severe ADLs than other vehicles,which worsens the wheel-rail interaction and causes low-frequency vibration of the car body.When the crosswind velocity exceeds 20 m/s,significant wheel-rail impacts occur,and the running safety of the train worsens rapidly.展开更多
Inspired by the demand of improving the riding comfort and meeting the lightweight design of the vehicle, an inerter-based X-structure nonlinear energy sink(IXNES) is proposed and applied in the half-vehicle system to...Inspired by the demand of improving the riding comfort and meeting the lightweight design of the vehicle, an inerter-based X-structure nonlinear energy sink(IXNES) is proposed and applied in the half-vehicle system to enhance the dynamic performance. The X-structure is used as a mechanism to realize the nonlinear stiffness characteristic of the NES, which can realize the flexibility, adjustability, high efficiency, and easy operation of nonlinear stiffness, and is convenient to apply in the vehicle suspension, and the inerter is applied to replacing the mass of the NES based on the mass amplification characteristic. The dynamic model of the half-vehicle system coupled with the IX-NES is established with the Lagrange theory, and the harmonic balance method(HBM) and the pseudo-arc-length method(PALM) are used to obtain the dynamic response under road harmonic excitation. The corresponding dynamic performance under road harmonic and random excitation is evaluated by six performance indices, and compared with that of the original half-vehicle system to show the benefits of the IX-NES. Furthermore, the structural parameters of the IX-NES are optimized with the genetic algorithm. The results show that for road harmonic and random excitation, using the IX-NES can greatly reduce the resonance peaks and root mean square(RMS) values of the front and rear suspension deflections and the front and rear dynamic tire loads, while the resonance peaks and RMS values of the vehicle body vertical and pitching accelerations are slightly larger.When the structural parameters of the IX-NES are optimized, the vehicle body vertical and pitching accelerations of the half-vehicle system could reduce by 2.41% and 1.16%,respectively, and the other dynamic performance indices are within the reasonable ranges.Thus, the IX-NES combines the advantages of the inerter, X-structure, and NES, which improves the dynamic performance of the half-vehicle system and provides an effective option for vibration attenuation in the vehicle engineering.展开更多
In recent years,the escalation in accidental explosions has emerged as a formidable threat to tunnel infrastructures.Therefore,it is of great significance to conduct a dynamic performance analysis of the tunnels,to im...In recent years,the escalation in accidental explosions has emerged as a formidable threat to tunnel infrastructures.Therefore,it is of great significance to conduct a dynamic performance analysis of the tunnels,to improve the safety and maintain the functionality of underground transport hubs.To this end,this study proposes a dynamic performance assessment framework to assess the extent of damage of shallow buried circular tunnels under explosion hazards.First,the nonlinear dynamic finite element numerical model of soil-tunnel interaction system under explosion hazard was established and validated.Then,based on the validated numerical model,an explosion intensity(EI)considering both explosion equivalent and relative distance was used to further analyze the dynamic response characteristics under typical explosion conditions.Finally,this study further explored the influence of the integrity and strength of the surrounding soil,concrete strength,lining thickness,rebar strength,and rebar rate on the tunnel dynamic performance.Our results show that the dynamic performance assessment framework proposed for shallow circular tunnels fully integrates the coupling effects of explosion equivalent and distance,and is able to accurately measure the degree of damage sustained by these structures under different EI.This work contributes to designing and managing tunnels and underground transport networks based on dynamic performance,thereby facilitating decision-making and efficient allocation of resources by consultants,operators,and stakeholders.展开更多
Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to e...Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.展开更多
Based on the theoretical analyses, the dynamic and mathematical models of the system were developed. The models were implemented in the ambit of the Matlab/Simulink environment, and an integrated simulation model was ...Based on the theoretical analyses, the dynamic and mathematical models of the system were developed. The models were implemented in the ambit of the Matlab/Simulink environment, and an integrated simulation model was developed. The dynamic performance of the power shift clutch during engagement and disengagement was studied by using this assembly model. The sliding speed, torque transmitted through the clutch, and the rate at which energy is dissipated during the process were determined. Using this model, the calculation during simulation can be simplified. This lays a foundation for the dynamic performance research on the power train with the power shift clutch, and provides a powerful tool for developing an automatic, electronically controlled transmission.展开更多
In this paper,a modeling method for a pantograph-catenary system is put forward to investigate the dynamic contact behavior in space,taking into consideration of the appearance characteristics of the contact surfaces ...In this paper,a modeling method for a pantograph-catenary system is put forward to investigate the dynamic contact behavior in space,taking into consideration of the appearance characteristics of the contact surfaces of the pantograph and catenary.The dynamic performance of the pantograph-catenary system,including contact forces,accelerations,and the corresponding spectra,is analyzed.Furthermore,with the modeling method,the influences of contact wire irregularity and the vibration caused by the front pantograph on the rear pantograph for a pantograph-catenary system with double pantographs are investigated.The results show that the appearance characteristics of the contact surfaces play an important role in the dynamic contact behavior.The appearance characteristics should be considered to reasonably evaluate the dynamic performance of the pantograph-catenary system.展开更多
The methods of improving the dynamic performance of high speed on/off solenoid valve include increasing the magnetic force of armature and the slew rate of coil current, decreasing the mass and stroke of moving parts....The methods of improving the dynamic performance of high speed on/off solenoid valve include increasing the magnetic force of armature and the slew rate of coil current, decreasing the mass and stroke of moving parts. The increase of magnetic force usually leads to the decrease of current slew rate, which could increase the delay time of the dynamic response of solenoid valve. Using a high voltage to drive coil can solve this contradiction, but a high driving voltage can also lead to more cost and a decrease of safety and reliability. In this paper, a new scheme of parallel coils is investigated, in which the single coil of solenoid is replaced by parallel coils with same ampere turns. Based on the mathematic model of high speed solenoid valve, the theoretical formula for the delay time of solenoid valve is deduced. Both the theoretical analysis and the dynamic simulation show that the effect of dividing a single coil into N parallel sub-coils is close to that of driving the single coil with N times of the original driving voltage as far as the delay time of solenoid valve is concerned. A specific test bench is designed to measure the dynamic performance of high speed on/off solenoid valve. The experimental results also prove that both the delay time and switching time of the solenoid valves can be decreased greatly by adopting the parallel coil scheme. This research presents a simple and practical method to improve the dynamic performance of high speed on/off solenoid valve.展开更多
Widespread usage of bump-type foil journal bearing(BFJB) in oil-free microturbomachinery requires accurate predictions of dynamic performance characteristics, although it remains a challenging issue because BFJB refle...Widespread usage of bump-type foil journal bearing(BFJB) in oil-free microturbomachinery requires accurate predictions of dynamic performance characteristics, although it remains a challenging issue because BFJB reflects nonlinear both structurally and aerodynamically.This paper presented a simple experimental method to semi-directly obtain the minimum film thickness and dynamic stiffness of BFJB using the journal orbit. Numerical calculations and simulations are conducted to validate the experimental method. The micro-deformation and interaction of various foils are taken into consideration to improve the model precision. The results from the numerical model regarding the BFJB dynamic characteristics are compared with the experimental results coming from a dedicated test rig, which shows that the experimental results fluctuate obviously and agree not well with the numerical results at the start stage due to the presence of dry friction at that time, nevertheless, they show fantastic agreement as soon as a gas film is gradually generated to separate the shaft from the top foil. Therefore, the proposed experimental method is effective to predict film thickness and dynamic characteristics during the period from the lift-off time to the land-off time. The dynamic characteristics, along with the journal orbits also can be used to rapidly predict the dynamics behavior of rotor-bearing systems.展开更多
High speed on/off valve(HSV)is an essential component in aerospace digital hydraulic systems(ADHS).Dynamic performance and temperature rising characteristic are two important features,which determine the performance o...High speed on/off valve(HSV)is an essential component in aerospace digital hydraulic systems(ADHS).Dynamic performance and temperature rising characteristic are two important features,which determine the performance of HSV,and affect the response speed and reliability of ADHS.Increasing the driving voltage is an effective method for improving the dynamic performance of HSV.However,continuous high voltage excitation will lead to more wasted energy,higher temperature rising and lower reliability.To solve this problem,a pre-excitation control algorithm(PECA)is proposed in this paper based on the theoretical model of the influence of electrical parameters on dynamic performance and temperature rising characteristics.In PECA,an appropriate initial coil current is generated by pre-excitation instead of increasing driving voltage,which significantly shortens the switching delay time.Then,based on real-time current online calculation and feedback mechanism,the adaptive switching of five equivalent voltages is realized.Consequently,the coil current can be rapidly kept at the expected state without consuming more energy and generating more heat.Results indicate that compared with conventional PWM control algorithm,the PECA can improve dynamic performance of HSV,shorten the total switching time by 71.5%,and increase the maximum operation frequency.Therefore,the linear area of flow characteristic is expended by 80.0%,the adjusting time of HSV-controlled system is reduced by 23%,while shortening steady error by 46.7%.Moreover,the temperature rising characteristics of HSV are better,the maximum operation temperature is reduced by 68.6%,and the time to reach the steady state temperature is shortened by 20%.From the results,it can be concluded that the PECA is not only an effective and practical control algorithm for improving the performance of HSVs and HSV-controlled systems while reducing the heat generation and decreasing the temperature rising of HSV,but also can be a potential solution in ADHS.展开更多
Two-stage directional valves usually employ proportional pilot control technology,which has the disadvantages of dead zones,leakage,and the large moving mass of the pilot valve.It is difficult,therefore,to achieve fas...Two-stage directional valves usually employ proportional pilot control technology,which has the disadvantages of dead zones,leakage,and the large moving mass of the pilot valve.It is difficult,therefore,to achieve fast-response performance of the main valve.In order to overcome this problem,a switching pilot technology that employs two independent high-speed on/off valves(HSVs)is proposed to replace the traditional pilot proportional valve.Due to the rapid switching characteristics of HSVs,the dead zone of the pilot stage is avoided,and the dynamic response performance of the main valve is improved.The experiments indicate that the switching frequency of the pilot HSVs and supply pressure of the pilot stage have a very large effect on the dynamic performance and control accuracy of the main valve.Increasing the switching frequency of the pilot HSVs is helpful for improving main-valve control accuracy.The larger supply pressure of the pilot stage can achieve a faster dynamic performance of the main valve while causing larger static errors.The results show that the switching pilot technology can clearly improve the static and dynamic performances of the main valve.With the increase of pilot supply pressure,the step rise time is reduced from 21.4 ms to 16.8 ms,and the dynamic performance of the main valve is improved by 21.5%.With the increase of pilot switching frequency,the steady-state error decreases from 24μm to 20μm,and the control accuracy of the main valve is improved by 16.7%.展开更多
Logistical supply is costly for the deepwater oil and gas exploitation, thereby it is necessary to develop a novel power supply solution to improve the offshore structure’s self-holding capacity. The two-body point a...Logistical supply is costly for the deepwater oil and gas exploitation, thereby it is necessary to develop a novel power supply solution to improve the offshore structure’s self-holding capacity. The two-body point absorbers, as a renewable energy device, have achieved a rapid development. Heave plate is used to constrain the truss’ s motion in the two-body point absorber, and the floater moves along the truss up and down. This two-body point absorber can be considered to be an essentially mass-spring-damper system. And it is well known that the heave plates have been widely used in the Spar platform to suppress the heave motions. So if the two-body point absorber can be modified to combine with offshore floating structures, this system can not only offer electric power to support operations or daily lives for the platform, but also control the large motions in the vertical plane. Following this concept, a novel tuned heave plate(THP) system is proposed for the conventional semi-submersible platform. In order to investigate the dynamic performances of the single THP, two experiments are conducted in this paper. First, the hydrodynamic coefficients of the heave plates are studied, and then the THP experiments are carried out to analyze its dynamic performance. It can be concluded that this THP is feasible and achieves the design objective.展开更多
Energy-absorbing rockbolts have been widely adopted in burst-prone excavation support, and their serviceability is closely related to the frequency and magnitude of seismic events. In this research, the splittube drop...Energy-absorbing rockbolts have been widely adopted in burst-prone excavation support, and their serviceability is closely related to the frequency and magnitude of seismic events. In this research, the splittube drop test with varying impact energy was conducted to reproduce the dynamic performance of MP1rockbolts under a wide range of seismic event magnitudes. The test results showed that the impact process could be subdivided into four distinct stages, i.e. mobilization, strain hardening, plastic flow(ductile), and rebound stage, of which strain hardening and plastic flow are the primary energy absorbing stages. As the impact energy per drop increases from 8.1 to 46.7 k J, the strain rate of the shank varies between 1.20 and 2.70 s^(-1), and the average impact load is between 240 and 270kN, which may be considered as constant. The MP1 rockbolt has a cumulative maximum energy absorption(CMEA) of 31.9–40.0 k J/m, with an average of 35.0 k J/m, and the elongation rate is 11.4%–14.7%, with an average of 12.7%, both of which are negatively correlated with the impact energy per drop. Regression analysis shows that energy absorption and shank elongation, as well as momentum input and impact duration,conform to the linear relationship. The complete dynamic capacity envelope of MP1 rockbolts is proposed, which reflects the dynamic bearing capacity, elongation, and distinct stages. This study is helpful to better understand the dynamic characteristics of energy-absorbing rockbolts and assist design engineers in robust reinforcement systems design to mitigate rockburst damage in seismically active underground excavations.展开更多
Tuned Mass Dampers(TMDs)are often attached to a main structure to reduce vibration,and the TMDs’positions are important to affect the structural dynamic performance.However,the TMDs’positions and the material layout...Tuned Mass Dampers(TMDs)are often attached to a main structure to reduce vibration,and the TMDs’positions are important to affect the structural dynamic performance.However,the TMDs’positions and the material layout of the structure act on each other.This paper suggests a design optimization method by combining the topology optimization of the main structure and the layout of the attached TMDs under harmonic excitations.The main structure with the attached TMDs are modeled by the continuum FEA method to consider the change of TMDs’locations.Then they are optimized simultaneously by introducing a multi-level optimization frame,which includes the structural topology optimization and the optimal tuning of TMDs.The locations and damping parameters of TMDs are optimized in every step of the SIMP-based topology optimization of the main structure,so as to fully consider the interactions between each other to improve the dynamic performance.Numerical examples of cantilever structures are studied,and the results show that when the main structure and TMDs are optimized simultaneously,the modal strain energy is more concentrated compared with that obtained by the non-simultaneous optimization approach.Therefore,the dynamic compliance of the target mode is dramatically reduced.展开更多
Fractal theory provides scale?independent asperity contact loads and assumes variable curvature radii in the contact analyses of rough surfaces, the current research for which mainly focuses on the mechanism study. Th...Fractal theory provides scale?independent asperity contact loads and assumes variable curvature radii in the contact analyses of rough surfaces, the current research for which mainly focuses on the mechanism study. The present study introduces the fractal theory into the dynamic research of gas face seals under face?contacting conditions. Structure?Function method is adopted to handle the surface profiles of typical carbon?graphite rings, proving the fractal con?tact model can be used in the field of gas face seals. Using a numerical model established for the dynamic analyses of a spiral groove gas face seal with a flexibly mounted stator, a comparison of dynamic performance between the Majumdar?Bhushan(MB) fractal model and the Chang?Etsion?Bogy(CEB) statistical model is performed. The result shows that the two approaches induce differences in terms of the occurrence and the level of face contact. Although the approach distinctions in film thickness and leakage rate can be tiny, the distinctions in contact mechanism and end face damage are obvious. An investigation of fractal parameters D and G shows that a proper D(nearly 1.5) and a small G are helpful in raising the proportion of elastic deformation to weaken the adhesive wear in the sealing dynamic performance. The proposed research provides a fractal approach to design gas face seals.展开更多
To research the influence of asymmetric brake shoe forces(ABSF)induced by braking failure on the dynamic performance of six-axle locomotive,the static equilibrium model of three-axle bogie and dynamic model for locomo...To research the influence of asymmetric brake shoe forces(ABSF)induced by braking failure on the dynamic performance of six-axle locomotive,the static equilibrium model of three-axle bogie and dynamic model for locomotive are established.The coupling vibration equations of axle hung motor and wheelset are derived.For the air braking,the influence mechanism of ABSF on the wheel-rail asymmetric motion and force characteristics are discussed.It can be found that if the ABSF is applied in the front wheelset,all the wheelsets move laterally in the same direction.Once the ABSF occurs in the middle or rear one,other wheelsets may move laterally towards the opposite direction.The motion amplitude and direction of all wheelsets strictly depend on the resultant moment of suspension yawing moment and brake shoe asymmetric moment.For the asymmetric braking,the free lateral gap of axle-box could increase the wheelset motion amplitude,but could not change the moving direction.In both the straight line and curve,the ABSF may lead to wheelset misaligning motion,intensify the wheel-rail lateral dynamic interaction and deteriorate wheel-rail contact state.Especially for the steering wheelsets,the asymmetric braking increases the wheelset attack angle significantly,which forms the worst braking condition.展开更多
The complex operating state of aeroengines has an impact on the performance of finger seals. However, little work has been focused on the issue and the dynamic performance of finger seals is also rarely studied. There...The complex operating state of aeroengines has an impact on the performance of finger seals. However, little work has been focused on the issue and the dynamic performance of finger seals is also rarely studied. Therefore, a distributed mass equivalent model considering working conditions is proposed in this paper for solving the existing problems. The effects of the fiber bundle density and the preparation direction of the fiber bundle of a C/C composite on the dynamic performance of a finger seal are investigated in rotor tilt based on the proposed model. The difference between the C/C composite finger seal performances under the rotor precession and nutation tilt cases is also investigated. The results show that the fiber bundle density and the preparation direction of the fiber bundle have an influence on the dynamic performance of the finger seal as rotor tilt is considered, and the dynamic performance of the finger seal is different in the two kinds of tilting modes. In addition, a novel method for design of finger seals is presented based on the contact pressure between finger boots and the rotor. Finger seals with good leakage rates and low wear can be acquired in this method.展开更多
Implementing a CO2 flooding scheme successfully requires the capacity to get accurate information of reservoir dynamic performance and fluids injected. Despite some numerical simulation studies, the complicated drive ...Implementing a CO2 flooding scheme successfully requires the capacity to get accurate information of reservoir dynamic performance and fluids injected. Despite some numerical simulation studies, the complicated drive mechanisms and actual reservoir performance have not been fully understood. There is a strong need to develop models from different perspectives to complement current simulators and provide valuable insights into the reservoir performance during CO2 flooding. The aim of this study is to develop a model by using an improved material balance equation （MBE） to analyze quickly the performance of CO2 flooding. After matching the historical field data the proposed model can be used to evaluate, monitor and predict the overall reservoir dynamic performance during CO2 flooding. In order to account accurately for the complex displacement process involving compositional effect and multiphase flow, the PVT properties and flowability of reservoir fluids are incorporated in the model. This study investigates the effects of a number of factors, such as reservoir pressure, the amount of CO2 injected, the CO2 partition ratios in reservoir fluids, the possibility of the existence of a free CO2 gas cap, the proportion of reservoir fluids contacted with CO2, the starting time of CO2 flooding, oil swelling, and oil flowability improvement by mixing with CO2. The model was used to analyze the CO2 flooding project in Weyburn oil field, Saskatchewan, Canada. This study shows that the proposed model is an effective complementary tool to analyze and monitor the overall reservoir performance during CO2 flooding.展开更多
Combined heat and power （CHP） refers to a process/system designed to utilize the waste or residual heat from a power generation process. Thus, a CHP plant can produce both electricity and heat. The nature of such a ...Combined heat and power （CHP） refers to a process/system designed to utilize the waste or residual heat from a power generation process. Thus, a CHP plant can produce both electricity and heat. The nature of such a combination makes the process more complex than any single power generation process or boiler heating system. The paper focuses on modelling study and analysis of energy efficiency of the University of Warwick micro-CHP power plant. In this CHP modelling study, a gas turbine module is built to provide driving power and methane is used as fuel gas. Heat recovery system and auxiliary boiler modules are developed for thermal power generation. All the sub-systems are validated by comparing the simulation results with the operating data collected from the CHP plant. The dynamic performance of the key CHP process outputs is studied with respect to the variation of the input syngas stream, including electricity generation, thermal power output and water output temperature. Simplified controllers are also applied to the gas engineheat recovery subsystem and auxiliary boiler. Simulation results with/without feedback control are both analyzed. The study has highlighted the key factors which influence the plant performance and suggested the strategy for potential energy efficiency improvement.展开更多
With further increasing in running speed of newer high-speed EMUs（electric multiple units）,higher demand for wheelset dynamic balance is required.In order to study the influence of the dynamic unbalance of wheelset ...With further increasing in running speed of newer high-speed EMUs（electric multiple units）,higher demand for wheelset dynamic balance is required.In order to study the influence of the dynamic unbalance of wheelset on the stability,ride quality,and curving performance for a high-speed car,a detailed dynamic model of a high-speed EMU car is established using the software SIMPACK.The analysis results indicate that the dynamic unbalance of the wheelset significantly influences the dynamic performance of the high-speed car.The increase in dynamic unbalance of the wheelset will decrease the hunting critical speed,worsen the vertical ride quality,and increase the wheelset lateral force,derailment coefficient,and wheel unloading ratio.Therefore,in order to improve the stability,ride quality,and running safety of high-speed car,the values of dynamic unbalance of wheelset should be strictly controlled in manufacturing,and periodically monitored in operation.展开更多
Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. T...Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.展开更多
基金National Natural Science Foundation of China(No.52388102)New Cornerstone Science Foundation through the Xplorer Prize.
文摘The dynamic performance of high-speed trains is significantly influenced by sudden changes in aerodynamic loads(ADLs)when exiting a tunnel in a windy environment.Focusing on a double-track tunnel under construction in a mountain railway,we established an aerodynamic model involving a train exiting the tunnel,and verified it in the Fluent environment.Overset mesh technology was adopted to characterize the train’s movement.The flow field involving the train,tunnel,and crosswinds was simulated using the Reynolds-averaged turbulence model.Then,we built a comprehensive train-track coupled dynamic model considering the influences of ADLs,to investigate the vehicles’dynamic responses.The aerodynamics and dynamic behaviors of the train when affected by crosswinds with different velocities and directions are analyzed and discussed.The results show that the near-wall side crosswind leads to sharper variations in ADLs than the far-wall side crosswind.The leading vehicle suffers from more severe ADLs than other vehicles,which worsens the wheel-rail interaction and causes low-frequency vibration of the car body.When the crosswind velocity exceeds 20 m/s,significant wheel-rail impacts occur,and the running safety of the train worsens rapidly.
基金Project supported by the National Natural Science Foundation of China (Nos. 12172153 and51805216)the China Postdoctoral Science Foundation (No. 2023M731668)the Major Project of Basic Science (Natural Science) of the Jiangsu Higher Education Institutions of China(No. 22KJA410001)。
文摘Inspired by the demand of improving the riding comfort and meeting the lightweight design of the vehicle, an inerter-based X-structure nonlinear energy sink(IXNES) is proposed and applied in the half-vehicle system to enhance the dynamic performance. The X-structure is used as a mechanism to realize the nonlinear stiffness characteristic of the NES, which can realize the flexibility, adjustability, high efficiency, and easy operation of nonlinear stiffness, and is convenient to apply in the vehicle suspension, and the inerter is applied to replacing the mass of the NES based on the mass amplification characteristic. The dynamic model of the half-vehicle system coupled with the IX-NES is established with the Lagrange theory, and the harmonic balance method(HBM) and the pseudo-arc-length method(PALM) are used to obtain the dynamic response under road harmonic excitation. The corresponding dynamic performance under road harmonic and random excitation is evaluated by six performance indices, and compared with that of the original half-vehicle system to show the benefits of the IX-NES. Furthermore, the structural parameters of the IX-NES are optimized with the genetic algorithm. The results show that for road harmonic and random excitation, using the IX-NES can greatly reduce the resonance peaks and root mean square(RMS) values of the front and rear suspension deflections and the front and rear dynamic tire loads, while the resonance peaks and RMS values of the vehicle body vertical and pitching accelerations are slightly larger.When the structural parameters of the IX-NES are optimized, the vehicle body vertical and pitching accelerations of the half-vehicle system could reduce by 2.41% and 1.16%,respectively, and the other dynamic performance indices are within the reasonable ranges.Thus, the IX-NES combines the advantages of the inerter, X-structure, and NES, which improves the dynamic performance of the half-vehicle system and provides an effective option for vibration attenuation in the vehicle engineering.
基金Project(22dz1201202)supported by the Shanghai Science and Technology Committee Program,ChinaProjects(52108381,52090082)supported by the National Natural Science Foundation of China+1 种基金Project(2023QNRC001)supported by the Young Elite Scientists Sponsorship Program by CAST,ChinaProject(TSY2022QT161)supported by the Damage Database for Urban Rail Transit Underground Structures and Resilience Evaluation Algorithm Research。
文摘In recent years,the escalation in accidental explosions has emerged as a formidable threat to tunnel infrastructures.Therefore,it is of great significance to conduct a dynamic performance analysis of the tunnels,to improve the safety and maintain the functionality of underground transport hubs.To this end,this study proposes a dynamic performance assessment framework to assess the extent of damage of shallow buried circular tunnels under explosion hazards.First,the nonlinear dynamic finite element numerical model of soil-tunnel interaction system under explosion hazard was established and validated.Then,based on the validated numerical model,an explosion intensity(EI)considering both explosion equivalent and relative distance was used to further analyze the dynamic response characteristics under typical explosion conditions.Finally,this study further explored the influence of the integrity and strength of the surrounding soil,concrete strength,lining thickness,rebar strength,and rebar rate on the tunnel dynamic performance.Our results show that the dynamic performance assessment framework proposed for shallow circular tunnels fully integrates the coupling effects of explosion equivalent and distance,and is able to accurately measure the degree of damage sustained by these structures under different EI.This work contributes to designing and managing tunnels and underground transport networks based on dynamic performance,thereby facilitating decision-making and efficient allocation of resources by consultants,operators,and stakeholders.
基金Supported by National Key Research and Development Program of China (Grant Nos.2022YFB4703000,2019YFB1309900)。
文摘Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.
文摘Based on the theoretical analyses, the dynamic and mathematical models of the system were developed. The models were implemented in the ambit of the Matlab/Simulink environment, and an integrated simulation model was developed. The dynamic performance of the power shift clutch during engagement and disengagement was studied by using this assembly model. The sliding speed, torque transmitted through the clutch, and the rate at which energy is dissipated during the process were determined. Using this model, the calculation during simulation can be simplified. This lays a foundation for the dynamic performance research on the power train with the power shift clutch, and provides a powerful tool for developing an automatic, electronically controlled transmission.
基金Project supported by the National Natural Science Foundation of China (No.51075341)the National Basic Research Program (973) of China (No.2011CB711105)
文摘In this paper,a modeling method for a pantograph-catenary system is put forward to investigate the dynamic contact behavior in space,taking into consideration of the appearance characteristics of the contact surfaces of the pantograph and catenary.The dynamic performance of the pantograph-catenary system,including contact forces,accelerations,and the corresponding spectra,is analyzed.Furthermore,with the modeling method,the influences of contact wire irregularity and the vibration caused by the front pantograph on the rear pantograph for a pantograph-catenary system with double pantographs are investigated.The results show that the appearance characteristics of the contact surfaces play an important role in the dynamic contact behavior.The appearance characteristics should be considered to reasonably evaluate the dynamic performance of the pantograph-catenary system.
基金Supported by Science Fund for Creative Research Groups of National Natural Science Foundation of China(Grant No.51221004)National Natural Science Foundation of China(Grant No.50805127)Fundamental Research Funds for the Central Universities of China(Grant No.2011QNA4002)
文摘The methods of improving the dynamic performance of high speed on/off solenoid valve include increasing the magnetic force of armature and the slew rate of coil current, decreasing the mass and stroke of moving parts. The increase of magnetic force usually leads to the decrease of current slew rate, which could increase the delay time of the dynamic response of solenoid valve. Using a high voltage to drive coil can solve this contradiction, but a high driving voltage can also lead to more cost and a decrease of safety and reliability. In this paper, a new scheme of parallel coils is investigated, in which the single coil of solenoid is replaced by parallel coils with same ampere turns. Based on the mathematic model of high speed solenoid valve, the theoretical formula for the delay time of solenoid valve is deduced. Both the theoretical analysis and the dynamic simulation show that the effect of dividing a single coil into N parallel sub-coils is close to that of driving the single coil with N times of the original driving voltage as far as the delay time of solenoid valve is concerned. A specific test bench is designed to measure the dynamic performance of high speed on/off solenoid valve. The experimental results also prove that both the delay time and switching time of the solenoid valves can be decreased greatly by adopting the parallel coil scheme. This research presents a simple and practical method to improve the dynamic performance of high speed on/off solenoid valve.
基金funded by the Natural Science Foundation of China (No. 51775025, 51205015)China Key Research and Development Plan (No. 2017YFB0102102, 2018YFB0104100)。
文摘Widespread usage of bump-type foil journal bearing(BFJB) in oil-free microturbomachinery requires accurate predictions of dynamic performance characteristics, although it remains a challenging issue because BFJB reflects nonlinear both structurally and aerodynamically.This paper presented a simple experimental method to semi-directly obtain the minimum film thickness and dynamic stiffness of BFJB using the journal orbit. Numerical calculations and simulations are conducted to validate the experimental method. The micro-deformation and interaction of various foils are taken into consideration to improve the model precision. The results from the numerical model regarding the BFJB dynamic characteristics are compared with the experimental results coming from a dedicated test rig, which shows that the experimental results fluctuate obviously and agree not well with the numerical results at the start stage due to the presence of dry friction at that time, nevertheless, they show fantastic agreement as soon as a gas film is gradually generated to separate the shaft from the top foil. Therefore, the proposed experimental method is effective to predict film thickness and dynamic characteristics during the period from the lift-off time to the land-off time. The dynamic characteristics, along with the journal orbits also can be used to rapidly predict the dynamics behavior of rotor-bearing systems.
基金the National Natural Science Foundation of China(No.52005441)Young Elite Scientist Sponsorship Program by CAST(No.2022QNRC001)+3 种基金Natural Science Foundation of Zhejiang Province(No.LQ21E050017)“Pioneer”and“Leading Goose”R&D Program of Zhejiang Province(Nos.2022C01122 and 2022C01132)Postdoctoral Science Foundation(Nos.2021M692777 and 2021T140594)State Key Laboratory of Mechanical System and Vibration(No.MSV202316).
文摘High speed on/off valve(HSV)is an essential component in aerospace digital hydraulic systems(ADHS).Dynamic performance and temperature rising characteristic are two important features,which determine the performance of HSV,and affect the response speed and reliability of ADHS.Increasing the driving voltage is an effective method for improving the dynamic performance of HSV.However,continuous high voltage excitation will lead to more wasted energy,higher temperature rising and lower reliability.To solve this problem,a pre-excitation control algorithm(PECA)is proposed in this paper based on the theoretical model of the influence of electrical parameters on dynamic performance and temperature rising characteristics.In PECA,an appropriate initial coil current is generated by pre-excitation instead of increasing driving voltage,which significantly shortens the switching delay time.Then,based on real-time current online calculation and feedback mechanism,the adaptive switching of five equivalent voltages is realized.Consequently,the coil current can be rapidly kept at the expected state without consuming more energy and generating more heat.Results indicate that compared with conventional PWM control algorithm,the PECA can improve dynamic performance of HSV,shorten the total switching time by 71.5%,and increase the maximum operation frequency.Therefore,the linear area of flow characteristic is expended by 80.0%,the adjusting time of HSV-controlled system is reduced by 23%,while shortening steady error by 46.7%.Moreover,the temperature rising characteristics of HSV are better,the maximum operation temperature is reduced by 68.6%,and the time to reach the steady state temperature is shortened by 20%.From the results,it can be concluded that the PECA is not only an effective and practical control algorithm for improving the performance of HSVs and HSV-controlled systems while reducing the heat generation and decreasing the temperature rising of HSV,but also can be a potential solution in ADHS.
基金supported by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(No.GZKF-201906)the“Pioneer”and“Leading Goose”R&D Program of Zhejiang Province,China(No.2022C01132)+1 种基金the Natural Science Foundation of Zhejiang Province,China(No.LQ21E050017)the China Postdoctoral Science Foundation(Nos.2021M692777 and 2021T140594)。
文摘Two-stage directional valves usually employ proportional pilot control technology,which has the disadvantages of dead zones,leakage,and the large moving mass of the pilot valve.It is difficult,therefore,to achieve fast-response performance of the main valve.In order to overcome this problem,a switching pilot technology that employs two independent high-speed on/off valves(HSVs)is proposed to replace the traditional pilot proportional valve.Due to the rapid switching characteristics of HSVs,the dead zone of the pilot stage is avoided,and the dynamic response performance of the main valve is improved.The experiments indicate that the switching frequency of the pilot HSVs and supply pressure of the pilot stage have a very large effect on the dynamic performance and control accuracy of the main valve.Increasing the switching frequency of the pilot HSVs is helpful for improving main-valve control accuracy.The larger supply pressure of the pilot stage can achieve a faster dynamic performance of the main valve while causing larger static errors.The results show that the switching pilot technology can clearly improve the static and dynamic performances of the main valve.With the increase of pilot supply pressure,the step rise time is reduced from 21.4 ms to 16.8 ms,and the dynamic performance of the main valve is improved by 21.5%.With the increase of pilot switching frequency,the steady-state error decreases from 24μm to 20μm,and the control accuracy of the main valve is improved by 16.7%.
基金financially supported by the Fundamental Research Program of Shandong Province(Grant No.ZR2016EEQ23)the Youth Exploration Project of Shandong Province Mount Tai Scholar Advanced Disciplinary Talent Group
文摘Logistical supply is costly for the deepwater oil and gas exploitation, thereby it is necessary to develop a novel power supply solution to improve the offshore structure’s self-holding capacity. The two-body point absorbers, as a renewable energy device, have achieved a rapid development. Heave plate is used to constrain the truss’ s motion in the two-body point absorber, and the floater moves along the truss up and down. This two-body point absorber can be considered to be an essentially mass-spring-damper system. And it is well known that the heave plates have been widely used in the Spar platform to suppress the heave motions. So if the two-body point absorber can be modified to combine with offshore floating structures, this system can not only offer electric power to support operations or daily lives for the platform, but also control the large motions in the vertical plane. Following this concept, a novel tuned heave plate(THP) system is proposed for the conventional semi-submersible platform. In order to investigate the dynamic performances of the single THP, two experiments are conducted in this paper. First, the hydrodynamic coefficients of the heave plates are studied, and then the THP experiments are carried out to analyze its dynamic performance. It can be concluded that this THP is feasible and achieves the design objective.
基金CCTEG Coal Mining Research Institute(No.TDKC-2022-MS-01)the National Natural Science Foundation of China(No.52274123)the Mining Education Australia(MEA),Collaborative Research Grant Scheme(No.RS-59041).
文摘Energy-absorbing rockbolts have been widely adopted in burst-prone excavation support, and their serviceability is closely related to the frequency and magnitude of seismic events. In this research, the splittube drop test with varying impact energy was conducted to reproduce the dynamic performance of MP1rockbolts under a wide range of seismic event magnitudes. The test results showed that the impact process could be subdivided into four distinct stages, i.e. mobilization, strain hardening, plastic flow(ductile), and rebound stage, of which strain hardening and plastic flow are the primary energy absorbing stages. As the impact energy per drop increases from 8.1 to 46.7 k J, the strain rate of the shank varies between 1.20 and 2.70 s^(-1), and the average impact load is between 240 and 270kN, which may be considered as constant. The MP1 rockbolt has a cumulative maximum energy absorption(CMEA) of 31.9–40.0 k J/m, with an average of 35.0 k J/m, and the elongation rate is 11.4%–14.7%, with an average of 12.7%, both of which are negatively correlated with the impact energy per drop. Regression analysis shows that energy absorption and shank elongation, as well as momentum input and impact duration,conform to the linear relationship. The complete dynamic capacity envelope of MP1 rockbolts is proposed, which reflects the dynamic bearing capacity, elongation, and distinct stages. This study is helpful to better understand the dynamic characteristics of energy-absorbing rockbolts and assist design engineers in robust reinforcement systems design to mitigate rockburst damage in seismically active underground excavations.
基金co-supported by the National Natural Science Foundation of China(Nos.51975380 and 52005377)China Postdoctoral Science Foundation,China(No.2020M681346)。
文摘Tuned Mass Dampers(TMDs)are often attached to a main structure to reduce vibration,and the TMDs’positions are important to affect the structural dynamic performance.However,the TMDs’positions and the material layout of the structure act on each other.This paper suggests a design optimization method by combining the topology optimization of the main structure and the layout of the attached TMDs under harmonic excitations.The main structure with the attached TMDs are modeled by the continuum FEA method to consider the change of TMDs’locations.Then they are optimized simultaneously by introducing a multi-level optimization frame,which includes the structural topology optimization and the optimal tuning of TMDs.The locations and damping parameters of TMDs are optimized in every step of the SIMP-based topology optimization of the main structure,so as to fully consider the interactions between each other to improve the dynamic performance.Numerical examples of cantilever structures are studied,and the results show that when the main structure and TMDs are optimized simultaneously,the modal strain energy is more concentrated compared with that obtained by the non-simultaneous optimization approach.Therefore,the dynamic compliance of the target mode is dramatically reduced.
基金Supported by China Postdoctoral Science Foundation(Grant No.2017M621458)National Science and Technology Support Plan Projects(Grant No.2015BAA08B02)National Natural Science Foundation of China(Grant No.11632011),National Natural Science Foundation of China(Grant No.11372183)
文摘Fractal theory provides scale?independent asperity contact loads and assumes variable curvature radii in the contact analyses of rough surfaces, the current research for which mainly focuses on the mechanism study. The present study introduces the fractal theory into the dynamic research of gas face seals under face?contacting conditions. Structure?Function method is adopted to handle the surface profiles of typical carbon?graphite rings, proving the fractal con?tact model can be used in the field of gas face seals. Using a numerical model established for the dynamic analyses of a spiral groove gas face seal with a flexibly mounted stator, a comparison of dynamic performance between the Majumdar?Bhushan(MB) fractal model and the Chang?Etsion?Bogy(CEB) statistical model is performed. The result shows that the two approaches induce differences in terms of the occurrence and the level of face contact. Although the approach distinctions in film thickness and leakage rate can be tiny, the distinctions in contact mechanism and end face damage are obvious. An investigation of fractal parameters D and G shows that a proper D(nearly 1.5) and a small G are helpful in raising the proportion of elastic deformation to weaken the adhesive wear in the sealing dynamic performance. The proposed research provides a fractal approach to design gas face seals.
基金Projects(52072249,51605315)supported by the National Natural Science Foundation of ChinaProject(E2018210052)supported by the Natural Science Foundation of Hebei Province,ChinaProject(TPL1707)supported by the Open Funds for the State Key Laboratory of Traction Power,China。
文摘To research the influence of asymmetric brake shoe forces(ABSF)induced by braking failure on the dynamic performance of six-axle locomotive,the static equilibrium model of three-axle bogie and dynamic model for locomotive are established.The coupling vibration equations of axle hung motor and wheelset are derived.For the air braking,the influence mechanism of ABSF on the wheel-rail asymmetric motion and force characteristics are discussed.It can be found that if the ABSF is applied in the front wheelset,all the wheelsets move laterally in the same direction.Once the ABSF occurs in the middle or rear one,other wheelsets may move laterally towards the opposite direction.The motion amplitude and direction of all wheelsets strictly depend on the resultant moment of suspension yawing moment and brake shoe asymmetric moment.For the asymmetric braking,the free lateral gap of axle-box could increase the wheelset motion amplitude,but could not change the moving direction.In both the straight line and curve,the ABSF may lead to wheelset misaligning motion,intensify the wheel-rail lateral dynamic interaction and deteriorate wheel-rail contact state.Especially for the steering wheelsets,the asymmetric braking increases the wheelset attack angle significantly,which forms the worst braking condition.
基金co-supported by the National Natural Science Foundation of China (No. 51575445)the Natural Science Foundation of Shaanxi Province of China (No. 2014JM7266)
文摘The complex operating state of aeroengines has an impact on the performance of finger seals. However, little work has been focused on the issue and the dynamic performance of finger seals is also rarely studied. Therefore, a distributed mass equivalent model considering working conditions is proposed in this paper for solving the existing problems. The effects of the fiber bundle density and the preparation direction of the fiber bundle of a C/C composite on the dynamic performance of a finger seal are investigated in rotor tilt based on the proposed model. The difference between the C/C composite finger seal performances under the rotor precession and nutation tilt cases is also investigated. The results show that the fiber bundle density and the preparation direction of the fiber bundle have an influence on the dynamic performance of the finger seal as rotor tilt is considered, and the dynamic performance of the finger seal is different in the two kinds of tilting modes. In addition, a novel method for design of finger seals is presented based on the contact pressure between finger boots and the rotor. Finger seals with good leakage rates and low wear can be acquired in this method.
文摘Implementing a CO2 flooding scheme successfully requires the capacity to get accurate information of reservoir dynamic performance and fluids injected. Despite some numerical simulation studies, the complicated drive mechanisms and actual reservoir performance have not been fully understood. There is a strong need to develop models from different perspectives to complement current simulators and provide valuable insights into the reservoir performance during CO2 flooding. The aim of this study is to develop a model by using an improved material balance equation （MBE） to analyze quickly the performance of CO2 flooding. After matching the historical field data the proposed model can be used to evaluate, monitor and predict the overall reservoir dynamic performance during CO2 flooding. In order to account accurately for the complex displacement process involving compositional effect and multiphase flow, the PVT properties and flowability of reservoir fluids are incorporated in the model. This study investigates the effects of a number of factors, such as reservoir pressure, the amount of CO2 injected, the CO2 partition ratios in reservoir fluids, the possibility of the existence of a free CO2 gas cap, the proportion of reservoir fluids contacted with CO2, the starting time of CO2 flooding, oil swelling, and oil flowability improvement by mixing with CO2. The model was used to analyze the CO2 flooding project in Weyburn oil field, Saskatchewan, Canada. This study shows that the proposed model is an effective complementary tool to analyze and monitor the overall reservoir performance during CO2 flooding.
基金supported by Engineering and Physical Sciences Research Council(No.EP/I010955/1)Chinese Scholarship Council(CSC)
文摘Combined heat and power （CHP） refers to a process/system designed to utilize the waste or residual heat from a power generation process. Thus, a CHP plant can produce both electricity and heat. The nature of such a combination makes the process more complex than any single power generation process or boiler heating system. The paper focuses on modelling study and analysis of energy efficiency of the University of Warwick micro-CHP power plant. In this CHP modelling study, a gas turbine module is built to provide driving power and methane is used as fuel gas. Heat recovery system and auxiliary boiler modules are developed for thermal power generation. All the sub-systems are validated by comparing the simulation results with the operating data collected from the CHP plant. The dynamic performance of the key CHP process outputs is studied with respect to the variation of the input syngas stream, including electricity generation, thermal power output and water output temperature. Simplified controllers are also applied to the gas engineheat recovery subsystem and auxiliary boiler. Simulation results with/without feedback control are both analyzed. The study has highlighted the key factors which influence the plant performance and suggested the strategy for potential energy efficiency improvement.
基金supported by the National High Technology Research and Development Program of China(2009AA110303-06)the National S&T Program in the 11th Five-Year Plan Period (2009BAG12A02-B02-2)+1 种基金the Program for New Century Excellent Talents in Universities (NCET-10-0664)the Key Program of the Ministry of Railways (2010J003-E)
文摘With further increasing in running speed of newer high-speed EMUs（electric multiple units）,higher demand for wheelset dynamic balance is required.In order to study the influence of the dynamic unbalance of wheelset on the stability,ride quality,and curving performance for a high-speed car,a detailed dynamic model of a high-speed EMU car is established using the software SIMPACK.The analysis results indicate that the dynamic unbalance of the wheelset significantly influences the dynamic performance of the high-speed car.The increase in dynamic unbalance of the wheelset will decrease the hunting critical speed,worsen the vertical ride quality,and increase the wheelset lateral force,derailment coefficient,and wheel unloading ratio.Therefore,in order to improve the stability,ride quality,and running safety of high-speed car,the values of dynamic unbalance of wheelset should be strictly controlled in manufacturing,and periodically monitored in operation.
基金National Hi-tech Research and Development Program of China(863 Program,No.2001AA42330).
文摘Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.
