The process of ground vehicle dynamic gravimetry is inevitably affected by the carrier’s maneuvering acceleration,which makes the result contain a large amount of dynamic error.In this paper,we propose a dynamic erro...The process of ground vehicle dynamic gravimetry is inevitably affected by the carrier’s maneuvering acceleration,which makes the result contain a large amount of dynamic error.In this paper,we propose a dynamic error suppression method of gravimetry based on the high-precision acquisition of external velocity for compensating the horizontal error of the inertial plat-form.On the basis of platform gravity measurement,firstly,the dynamic performance of the system is enhanced by optimizing the horizontal damping network of the inertial platform and selecting its parameter.Secondly,an improved federal Kalman filtering algorithm and a fault diagnosis method are designed using strapdown inertial navigation system(SINS),odometer(OD),and laser Doppler velocimeter(LDV).Simulation validates that these methods can improve the accuracy and robustness of the external velocity acquisition.Three survey lines are selected in Tianjin,China,for the gravimetry experiments with different maneuvering levels,and the results demonstrate that after dynamic error suppression,the internal coincidence accuracies of smooth and uniform operation,obvious acceleration and deceleration operation,and high-dynamic operation are improved by 70.2%,73.6%,and 77.9%to reach 0.81 mGal,1.30 mGal,and 1.94 mGal,respectively,and the external coinci-dence accuracies during smooth and uniform operation are improved by 48.6%up to 1.66 mGal.It is shown that the pro-posed method can effectively suppress the dynamic error,and that the accuracy improvement increases with carrier maneuver-ability.However,the amount of residual error that can not be entirely eliminated increases as well,so the ground vehicle dynamic gravimetry should be maintained in the carrier for smooth and uniform operation.展开更多
A new method was proposed, in which a high-power CO2 laser modulated by high frequency was used as the driv- ing source to heat up a surface-temperature sensor. The continual beam and the pulsed beam sent out by the s...A new method was proposed, in which a high-power CO2 laser modulated by high frequency was used as the driv- ing source to heat up a surface-temperature sensor. The continual beam and the pulsed beam sent out by the same laser could be used in the same system to carry on the static calibration of the radiation thermometer and the dynamic calibration of the temperature sensor to be checked. The frequency-response characteristics of high-speed radiation thermometer surpassed that of the temperature sensor, therefore it could be used as the reference value to calibrate the latter and let system error be cor- rected. Differences in the environment of the sensor installing and the error caused by the change of thermo-physical proper- ty could be avoided. Thus, the difficult problem of traceable dynamic calibration of temperature was solved. In experiment, to obtain the frequency characteristics of the thermocouple and the dynamic performance of the K type thermocouple, which could compensate the dynamic characteristics of the sensor, the sensor was dynamically corrected by using the method, and then the mathematical model was established.展开更多
The analysis and calculating method of dynamic errors of CMMs during probing are discussed.To relate the dynamic displacement errors with the dynamic rotational errors a method for obtaining the displacement errors at...The analysis and calculating method of dynamic errors of CMMs during probing are discussed.To relate the dynamic displacement errors with the dynamic rotational errors a method for obtaining the displacement errors at the probing position from dynamic rotational errors is presented.It is pointed out that the finite element method might be used for modeling dynamic errors.However,dynamic errors are difficult to be modeled so a combined practical and theoretical approach is needed.In addition,the dynamic errors are measured with inductive position sensors.展开更多
In this paper we address the dynamics of compensation cutting process from both Laplace s frequency domain and the time domain of the first time, using the two computer aided analyzing softwares: MATLAB and SIMULI...In this paper we address the dynamics of compensation cutting process from both Laplace s frequency domain and the time domain of the first time, using the two computer aided analyzing softwares: MATLAB and SIMULINK. Theoretical analysis and simulation experiments firstly show that not only the systematical stiffness of workpiece, spindle and tools, but also the regenerated coefficient affects the compensation displacement effect. The results show that the SREC is practicable in reality to decease the spindle induced errors in many engineering applications such as hard boring through simulation and the preliminary experiment results.展开更多
Aim To analyze the mathematical error model of a dynamically tuned gyro (DTG) strapdown northfinder in detail, guide the process of design, manufacture and adjustment of northfinder. Methods Each error source of thi...Aim To analyze the mathematical error model of a dynamically tuned gyro (DTG) strapdown northfinder in detail, guide the process of design, manufacture and adjustment of northfinder. Methods Each error source of this type of northfinder was determined, and the influence of each source on northfinding result was formulated. Results and Conclusion Under the guidance of the analysis, select relevant method for each source which has different effect on result to reduce northfinding error, a type of northfinder meeting the practical requirements of user was developed.展开更多
A dynamic model of a helical gear rotor system is proposed.Firstly,a generally distributed dynamic model of a helical gear pair with tooth profile errors is developed.The gear mesh is represented by a pair of cylinder...A dynamic model of a helical gear rotor system is proposed.Firstly,a generally distributed dynamic model of a helical gear pair with tooth profile errors is developed.The gear mesh is represented by a pair of cylinders connected by a series of springs and the stiffness of each spring is equal to the effective mesh stiffness.Combining the gear dynamic model with the rotor-bearing system model,the gear-rotor-bearing dynamic model is developed.Then three cases are presented to analyze the dynamic responses of gear systems.The results reveal that the gear dynamic model is effective and advanced for general gear systems,narrow-faced gear,wide-faced gear and gear with tooth profile errors.Finally,the responses of an example helical gear system are also studied to demonstrate the influence of the lead crown reliefs and misalignments.The results show that both of the lead crown relief and misalignment soften the gear mesh stiffness and the responses of the gear system increase with the increasing lead crown reliefs and misalignments.展开更多
This research reveals the dependency of floating point computation in nonlinear dynamical systems on machine precision and step-size by applying a multiple-precision approach in the Lorenz nonlinear equations. The pap...This research reveals the dependency of floating point computation in nonlinear dynamical systems on machine precision and step-size by applying a multiple-precision approach in the Lorenz nonlinear equations. The paper also demoastrates the procedures for obtaining a real numerical solution in the Lorenz system with long-time integration and a new multiple-precision-based approach used to identify the maximum effective computation time （MECT） and optimal step-size （OS）. In addition, the authors introduce how to analyze round-off error in a long-time integration in some typical cases of nonlinear systems and present its approximate estimate expression.展开更多
The effect of static transmission error on nonlinear dynamic response of the spiral bevel gear system combining with time-varying stiffness and backlash was investigated.Firstly,two different control equations of the ...The effect of static transmission error on nonlinear dynamic response of the spiral bevel gear system combining with time-varying stiffness and backlash was investigated.Firstly,two different control equations of the spiral bevel gear model were adopted,where the static transmission error was expressed in two patterns as predesigned parabolic function and sine function of transmission errors.The dynamic response,bifurcation map,time domain response,phase curve and Poincare map were obtained by applying the explicit Runge-Kutta integration routine with variable-step.A comparative study was carried out and some profound phenomena were detected.The results show that there are many different kinds of tooth rattling phenomena at low speed.With the increase of speed,the system enters into stable motion without any rattling in the region(0.72,1.64),which indicates that the system with predesigned parabolic function of transmission error has preferable capability at high speed.展开更多
The dynamic errors of gyros are the important error sources of a strapdown inertial navigation system. In order to identify the dynamic error model coefficients accurately, the static error model coefficients which la...The dynamic errors of gyros are the important error sources of a strapdown inertial navigation system. In order to identify the dynamic error model coefficients accurately, the static error model coefficients which lay a foundation for compensating while identifying the dynamic error model are identified in the gravity acceleration fields by using angular position function of the three-axis turntable. The angular acceleration and angular velocity are excited on the input, output and spin axis of the gyros when the outer axis and the middle axis of a three-axis turntable are in the uniform angular velocity state simultaneously, while the inner axis of the turntable is in different static angular positions. 8 groups of data are sampled when the inner axis is in 8 different angular positions. These data are the function of the middle axis positions and the inner axis positions. For these data, harmonic analysis method is applied two times versus the middle axis positions and inner axis positions respectively so that the dynamic error model coefficients are finally identified through the least square method. In the meantime the optimal angular velocity of the outer axis and the middle axis are selected by computing the determination value of the information matrix.展开更多
Accurate 3-D fracture network model for rock mass in dam foundation is of vital importance for stability,grouting and seepage analysis of dam foundation.With the aim of reducing deviation between fracture network mode...Accurate 3-D fracture network model for rock mass in dam foundation is of vital importance for stability,grouting and seepage analysis of dam foundation.With the aim of reducing deviation between fracture network model and measured data,a 3-D fracture network dynamic modeling method based on error analysis was proposed.Firstly,errors of four fracture volume density estimation methods(proposed by ODA,KULATILAKE,MAULDON,and SONG)and that of four fracture size estimation methods(proposed by EINSTEIN,SONG and TONON)were respectively compared,and the optimal methods were determined.Additionally,error index representing the deviation between fracture network model and measured data was established with integrated use of fractal dimension and relative absolute error(RAE).On this basis,the downhill simplex method was used to build the dynamic modeling method,which takes the minimum of error index as objective function and dynamically adjusts the fracture density and size parameters to correct the error index.Finally,the 3-D fracture network model could be obtained which meets the requirements.The proposed method was applied for 3-D fractures simulation in Miao Wei hydropower project in China for feasibility verification and the error index reduced from 2.618 to 0.337.展开更多
The paper is focused on identifying error sources in computational fluid dynamics(CFD) predictions of a spray drying process. Seven groups of drying and atomisation parameters were selected for analysis and 13simulati...The paper is focused on identifying error sources in computational fluid dynamics(CFD) predictions of a spray drying process. Seven groups of drying and atomisation parameters were selected for analysis and 13simulation trials were performed. The theoretical results were compared with experimental data and sensitivity of the simulation results to the analysed factors was determined. The following parameters affecting the accuracy of CFD spray modelling were found: gas turbulence model, particle dispersion, atomising air, initial parameters of atomisation and heat losses to the environment. A major difference in the errors committed during modelling of spray drying process for fine and coarse sprays was observed.展开更多
This paper presents a non-smooth multibody dynamic formulation and error analysis of an antenna pointing mechanism including frictional spatial revolute joints(FSRJs)with small clearance in the framework of the specia...This paper presents a non-smooth multibody dynamic formulation and error analysis of an antenna pointing mechanism including frictional spatial revolute joints(FSRJs)with small clearance in the framework of the special Euclidian group SE(3).The formulation leads to an inertial frame-invariant,a compact and unified description for rigid bodies and spatial revolute joints(SRJs).The geometric constraint of the bearing is covered by four open semi-cylinders,which can be treated as bilateral constraints assuming that the impact effects are negligible.The frictional contact problem is formulated as a horizontal linear complementary problem(HLCP),which is embedded in the Lie-group integration scheme.Error of the antenna pointing mechanism is modeled by means of the adjoint transformation and POE-based formula.The evolution of errors is obtained through the solution of non-smooth dynamics.The obtained numerical results illustrate the influences of FSRJs in dynamics modeling and error analysis of the antenna pointing mechanism.展开更多
The main cause of dynamic errors is due to frequency response limitation of measurement system. One way of solving this problem is designing an effective inverse filter. Since the problem is ill-conditioned, a small u...The main cause of dynamic errors is due to frequency response limitation of measurement system. One way of solving this problem is designing an effective inverse filter. Since the problem is ill-conditioned, a small uncertainty in the measurement will came large deviation in reconstncted signals. The amplified noise has to be suppressed at the sacrifice of biasing in estimation. The paper presents a kind of designing method of inverse filter in frequency domain based on stabilized solutions of Fredholm integral equations of the fast kind in order to reduce dynamic errors. Compared with previous several work, the method has advantage of generalization. Simulations with different Signal-to-Noise ratio （SNR） are investigated. Flexibility of the method is verified. Application of correcting dynamic error is given.展开更多
Monte Carlo method was adopted to calculate the meshing error considering the manufacture error and assembly error of the meshing point along the time-varying contact line for helical gear pair. The flexural-torsion-a...Monte Carlo method was adopted to calculate the meshing error considering the manufacture error and assembly error of the meshing point along the time-varying contact line for helical gear pair. The flexural-torsion-axis dynamic model coupled was established under the tooth friction force and solved by the perturbation method to compute real dynamic tooth load. The change laws of the friction force and friction torque were obtained in a meshing period. The transmission error formulation was analyzed to introduce meshing excitations. The maximum dynamic transmission error, the maximum meshing force and the maximum dynamic factor were calculated under different speeds, external loads and damping factors. The conclusions can provide theoretical basis for the gear design especially in tooth profile correction.展开更多
The turbine blades operate under high temperature and high pressure conditions,and when using radiation thermometry,the influence of radiation from surrounding blades leads to measurement errors.To address this issue,...The turbine blades operate under high temperature and high pressure conditions,and when using radiation thermometry,the influence of radiation from surrounding blades leads to measurement errors.To address this issue,this paper develops a three-dimensional discretized dynamic radiation transfer model based on the blade shape of the turbine.The relationship between the radiation angle coefficient of the surrounding blades and the rotation angle of the blade under test is analyzed.The radiation angle coefficient is calculated using the triangular element method,and temperature inversion is performed based on the effective emissivity to compute the measurement error.The results show that under dynamic high temperature conditions,the temperature measurement error caused by reflection at the selected 60%leaf height point varies with the rotation angle,and the maximum reaches 25.58K.The angular coefficient exhibits periodic fluctuations with changes in rotation angle,and the maximum effective emissivity increases as the rotation angle increases.As the blade height increases,the impact of reflected radiation on radiometric temperature measurement errors shows a decreasing trend.This study provides a reference for radiation thermometry in dynamic high-temperature environments.展开更多
To analyze the attitude errors of vertical docking test system of small satellite,the static error and kinematic error of test system are considered.The working principle of test system and coordinate of actuator are ...To analyze the attitude errors of vertical docking test system of small satellite,the static error and kinematic error of test system are considered.The working principle of test system and coordinate of actuator are introduced.The model of friction torque on the joints and torque on docking mechanism are built.Dynamics equation of actuator is built by the Lagrange equation and the Nielsen equation.Under the condition of 24 different angle groups,the calculation of dynamics equation is built by using MATLAB/SIMULINK platform and the kinematic errors of actuator are obtained.The attitude error models of docking mechanism are built.Results shows that the main angle error sources of yaw,row,pitch are not identical.The attitude error of yaw angle can be decreased by compensating the angle error around xaxis.The attitude error of row angle mainly originates in the system error,and it can be eliminated by adjusting non-orthogonal degree.展开更多
In the paper,a new method for the measurement of the dynamic transmission crror of preci-sion hobbing machines using only one sensor is proposed.The dynamic transmission error i ob-tained by demodulating the phase-mod...In the paper,a new method for the measurement of the dynamic transmission crror of preci-sion hobbing machines using only one sensor is proposed.The dynamic transmission error i ob-tained by demodulating the phase-modulated signal according to the Hilbert transform priple.The results of dynamic testing show that the new method is effective.展开更多
Angular measuring system is the most important component of a servo turntable in inertial test apparatus. Its function and precision determine the turntable＇ s function and precision. It attaches importance to resear...Angular measuring system is the most important component of a servo turntable in inertial test apparatus. Its function and precision determine the turntable＇ s function and precision. It attaches importance to research on inertial test equipment. This paper introduces the principle of the angular measuring system using amplitude discrimination mode. The dynamic errors axe analyzed from the aspects of inductosyn, amplitude and function error of double-phase voltage and wavefonn distortion. Through detailed calculation, theory is provided for practical application; system errors are allocated and the angular measuring system meets the accuracy requirement. As a result, the schedule of the angular measuring system can be used in practice.展开更多
This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already...This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already during the optimization.Consequently,the trajectory is designed such that the Linear Time-Varying(LTV)dynamic system,describing the controller’s error dynamics,is stable,while additionally the desired optimality criterion is optimized and all enforced constraints on the trajectory are fulfilled.This is achieved by means of a Lyapunov stability analysis of the LTV dynamics within the optimization problem using a time-dependent,quadratic Lyapunov function candidate.Special care is taken with regard to ensuring the correct definiteness of the ensuing matrices within the Lyapunov stability analysis,specifically considering a numerically stable formulation of these in the numerical optimization.The developed algorithm is applied to a trajectory design problem for which the LTV system is part of the path-following error dynamics,which is required to be stable.The main benefit of the proposed scheme in this context is that the designed trajectory trades-off the required stability and robustness properties of the LTV dynamics with the optimality of the trajectory already at the design phase and thus,does not produce unstable optimal trajectories the system must follow in the real application.展开更多
The method based on particle swarm optimization(PSO)integrated with functional link articial neural network(FLANN)for correcting dynamic characteristics of sensor is used to reduce sensor’s dynamic error caused by it...The method based on particle swarm optimization(PSO)integrated with functional link articial neural network(FLANN)for correcting dynamic characteristics of sensor is used to reduce sensor’s dynamic error caused by its system limitations.Combining the advantages of PSO and FLANN,with this method a dynamic compensator can be realized without knowing the dynamic model of the sensor.According to the input and output of the sensor and the reference model,the weights of the network trained were used to initialize one particle station of the whole particle swarm when the training of the FLANN had been finished.Then PSO algorithm was applied,and the global best particle station of the particle swarm was the parameters of the compensator.The feasibility of dynamic compensation method is tested.Simulation results from simulator of sensor show that the results after being compensated have given a good description to input signals.展开更多
基金supported by the Shanxi Provincial Natural Science Basic Research Program Young Talent Project(S2019-JC-QN-2408).
文摘The process of ground vehicle dynamic gravimetry is inevitably affected by the carrier’s maneuvering acceleration,which makes the result contain a large amount of dynamic error.In this paper,we propose a dynamic error suppression method of gravimetry based on the high-precision acquisition of external velocity for compensating the horizontal error of the inertial plat-form.On the basis of platform gravity measurement,firstly,the dynamic performance of the system is enhanced by optimizing the horizontal damping network of the inertial platform and selecting its parameter.Secondly,an improved federal Kalman filtering algorithm and a fault diagnosis method are designed using strapdown inertial navigation system(SINS),odometer(OD),and laser Doppler velocimeter(LDV).Simulation validates that these methods can improve the accuracy and robustness of the external velocity acquisition.Three survey lines are selected in Tianjin,China,for the gravimetry experiments with different maneuvering levels,and the results demonstrate that after dynamic error suppression,the internal coincidence accuracies of smooth and uniform operation,obvious acceleration and deceleration operation,and high-dynamic operation are improved by 70.2%,73.6%,and 77.9%to reach 0.81 mGal,1.30 mGal,and 1.94 mGal,respectively,and the external coinci-dence accuracies during smooth and uniform operation are improved by 48.6%up to 1.66 mGal.It is shown that the pro-posed method can effectively suppress the dynamic error,and that the accuracy improvement increases with carrier maneuver-ability.However,the amount of residual error that can not be entirely eliminated increases as well,so the ground vehicle dynamic gravimetry should be maintained in the carrier for smooth and uniform operation.
基金Research Project Supported by Shanxi Scholarship Council of China(No.2012-068)Taiyuan Science and Technology Agency(No.120247-20)Surface-temperature Sensor Dynamic Measurement and Calibration Technology Research of National Defense Fundamental Scientific Research
文摘A new method was proposed, in which a high-power CO2 laser modulated by high frequency was used as the driv- ing source to heat up a surface-temperature sensor. The continual beam and the pulsed beam sent out by the same laser could be used in the same system to carry on the static calibration of the radiation thermometer and the dynamic calibration of the temperature sensor to be checked. The frequency-response characteristics of high-speed radiation thermometer surpassed that of the temperature sensor, therefore it could be used as the reference value to calibrate the latter and let system error be cor- rected. Differences in the environment of the sensor installing and the error caused by the change of thermo-physical proper- ty could be avoided. Thus, the difficult problem of traceable dynamic calibration of temperature was solved. In experiment, to obtain the frequency characteristics of the thermocouple and the dynamic performance of the K type thermocouple, which could compensate the dynamic characteristics of the sensor, the sensor was dynamically corrected by using the method, and then the mathematical model was established.
文摘The analysis and calculating method of dynamic errors of CMMs during probing are discussed.To relate the dynamic displacement errors with the dynamic rotational errors a method for obtaining the displacement errors at the probing position from dynamic rotational errors is presented.It is pointed out that the finite element method might be used for modeling dynamic errors.However,dynamic errors are difficult to be modeled so a combined practical and theoretical approach is needed.In addition,the dynamic errors are measured with inductive position sensors.
文摘In this paper we address the dynamics of compensation cutting process from both Laplace s frequency domain and the time domain of the first time, using the two computer aided analyzing softwares: MATLAB and SIMULINK. Theoretical analysis and simulation experiments firstly show that not only the systematical stiffness of workpiece, spindle and tools, but also the regenerated coefficient affects the compensation displacement effect. The results show that the SREC is practicable in reality to decease the spindle induced errors in many engineering applications such as hard boring through simulation and the preliminary experiment results.
文摘Aim To analyze the mathematical error model of a dynamically tuned gyro (DTG) strapdown northfinder in detail, guide the process of design, manufacture and adjustment of northfinder. Methods Each error source of this type of northfinder was determined, and the influence of each source on northfinding result was formulated. Results and Conclusion Under the guidance of the analysis, select relevant method for each source which has different effect on result to reduce northfinding error, a type of northfinder meeting the practical requirements of user was developed.
基金Projects(51605361,51505357) supported by the National Natural Science Foundation of ChinaProjects(XJS16041,JB160411) supported by the Fundamental Research Funds for the Central Universities,China
文摘A dynamic model of a helical gear rotor system is proposed.Firstly,a generally distributed dynamic model of a helical gear pair with tooth profile errors is developed.The gear mesh is represented by a pair of cylinders connected by a series of springs and the stiffness of each spring is equal to the effective mesh stiffness.Combining the gear dynamic model with the rotor-bearing system model,the gear-rotor-bearing dynamic model is developed.Then three cases are presented to analyze the dynamic responses of gear systems.The results reveal that the gear dynamic model is effective and advanced for general gear systems,narrow-faced gear,wide-faced gear and gear with tooth profile errors.Finally,the responses of an example helical gear system are also studied to demonstrate the influence of the lead crown reliefs and misalignments.The results show that both of the lead crown relief and misalignment soften the gear mesh stiffness and the responses of the gear system increase with the increasing lead crown reliefs and misalignments.
基金This study was supported by the National Key Basic Research and Development Project of China 2004CB418303 the National Natural Science foundation of China under Grant Nos. 40305012 and 40475027Jiangsu Key Laboratory of Meteorological Disaster KLME0601.
文摘This research reveals the dependency of floating point computation in nonlinear dynamical systems on machine precision and step-size by applying a multiple-precision approach in the Lorenz nonlinear equations. The paper also demoastrates the procedures for obtaining a real numerical solution in the Lorenz system with long-time integration and a new multiple-precision-based approach used to identify the maximum effective computation time （MECT） and optimal step-size （OS）. In addition, the authors introduce how to analyze round-off error in a long-time integration in some typical cases of nonlinear systems and present its approximate estimate expression.
基金Project(2011CB706800) supported by the National Basic Research Program of ChinaProject(51275530) supported by the National Natural Science Foundation of China
文摘The effect of static transmission error on nonlinear dynamic response of the spiral bevel gear system combining with time-varying stiffness and backlash was investigated.Firstly,two different control equations of the spiral bevel gear model were adopted,where the static transmission error was expressed in two patterns as predesigned parabolic function and sine function of transmission errors.The dynamic response,bifurcation map,time domain response,phase curve and Poincare map were obtained by applying the explicit Runge-Kutta integration routine with variable-step.A comparative study was carried out and some profound phenomena were detected.The results show that there are many different kinds of tooth rattling phenomena at low speed.With the increase of speed,the system enters into stable motion without any rattling in the region(0.72,1.64),which indicates that the system with predesigned parabolic function of transmission error has preferable capability at high speed.
文摘The dynamic errors of gyros are the important error sources of a strapdown inertial navigation system. In order to identify the dynamic error model coefficients accurately, the static error model coefficients which lay a foundation for compensating while identifying the dynamic error model are identified in the gravity acceleration fields by using angular position function of the three-axis turntable. The angular acceleration and angular velocity are excited on the input, output and spin axis of the gyros when the outer axis and the middle axis of a three-axis turntable are in the uniform angular velocity state simultaneously, while the inner axis of the turntable is in different static angular positions. 8 groups of data are sampled when the inner axis is in 8 different angular positions. These data are the function of the middle axis positions and the inner axis positions. For these data, harmonic analysis method is applied two times versus the middle axis positions and inner axis positions respectively so that the dynamic error model coefficients are finally identified through the least square method. In the meantime the optimal angular velocity of the outer axis and the middle axis are selected by computing the determination value of the information matrix.
基金Project(51321065)supported by the Innovative Research Groups of the National Natural Science Foundation of ChinaProject(2013CB035904)supported by the National Basic Research Program of China(973 Program)Project(51439005)supported by the National Natural Science Foundation of China
文摘Accurate 3-D fracture network model for rock mass in dam foundation is of vital importance for stability,grouting and seepage analysis of dam foundation.With the aim of reducing deviation between fracture network model and measured data,a 3-D fracture network dynamic modeling method based on error analysis was proposed.Firstly,errors of four fracture volume density estimation methods(proposed by ODA,KULATILAKE,MAULDON,and SONG)and that of four fracture size estimation methods(proposed by EINSTEIN,SONG and TONON)were respectively compared,and the optimal methods were determined.Additionally,error index representing the deviation between fracture network model and measured data was established with integrated use of fractal dimension and relative absolute error(RAE).On this basis,the downhill simplex method was used to build the dynamic modeling method,which takes the minimum of error index as objective function and dynamically adjusts the fracture density and size parameters to correct the error index.Finally,the 3-D fracture network model could be obtained which meets the requirements.The proposed method was applied for 3-D fractures simulation in Miao Wei hydropower project in China for feasibility verification and the error index reduced from 2.618 to 0.337.
文摘The paper is focused on identifying error sources in computational fluid dynamics(CFD) predictions of a spray drying process. Seven groups of drying and atomisation parameters were selected for analysis and 13simulation trials were performed. The theoretical results were compared with experimental data and sensitivity of the simulation results to the analysed factors was determined. The following parameters affecting the accuracy of CFD spray modelling were found: gas turbulence model, particle dispersion, atomising air, initial parameters of atomisation and heat losses to the environment. A major difference in the errors committed during modelling of spray drying process for fine and coarse sprays was observed.
基金supported by the National Natural Science Foundation of China(No.51635002 Key Program,52075016,U20A20281)。
文摘This paper presents a non-smooth multibody dynamic formulation and error analysis of an antenna pointing mechanism including frictional spatial revolute joints(FSRJs)with small clearance in the framework of the special Euclidian group SE(3).The formulation leads to an inertial frame-invariant,a compact and unified description for rigid bodies and spatial revolute joints(SRJs).The geometric constraint of the bearing is covered by four open semi-cylinders,which can be treated as bilateral constraints assuming that the impact effects are negligible.The frictional contact problem is formulated as a horizontal linear complementary problem(HLCP),which is embedded in the Lie-group integration scheme.Error of the antenna pointing mechanism is modeled by means of the adjoint transformation and POE-based formula.The evolution of errors is obtained through the solution of non-smooth dynamics.The obtained numerical results illustrate the influences of FSRJs in dynamics modeling and error analysis of the antenna pointing mechanism.
基金The paper is sponsored by National Natural Science Foundation of China(No.50675211)Natural Science Foundation(No.2009011023)Returned Overseas Graduates Foundation(No.2008067) of Shanxi Provincein China
文摘The main cause of dynamic errors is due to frequency response limitation of measurement system. One way of solving this problem is designing an effective inverse filter. Since the problem is ill-conditioned, a small uncertainty in the measurement will came large deviation in reconstncted signals. The amplified noise has to be suppressed at the sacrifice of biasing in estimation. The paper presents a kind of designing method of inverse filter in frequency domain based on stabilized solutions of Fredholm integral equations of the fast kind in order to reduce dynamic errors. Compared with previous several work, the method has advantage of generalization. Simulations with different Signal-to-Noise ratio （SNR） are investigated. Flexibility of the method is verified. Application of correcting dynamic error is given.
基金Supported by National Basic Research Program of China("973"Program,No.2013CB632305)
文摘Monte Carlo method was adopted to calculate the meshing error considering the manufacture error and assembly error of the meshing point along the time-varying contact line for helical gear pair. The flexural-torsion-axis dynamic model coupled was established under the tooth friction force and solved by the perturbation method to compute real dynamic tooth load. The change laws of the friction force and friction torque were obtained in a meshing period. The transmission error formulation was analyzed to introduce meshing excitations. The maximum dynamic transmission error, the maximum meshing force and the maximum dynamic factor were calculated under different speeds, external loads and damping factors. The conclusions can provide theoretical basis for the gear design especially in tooth profile correction.
文摘The turbine blades operate under high temperature and high pressure conditions,and when using radiation thermometry,the influence of radiation from surrounding blades leads to measurement errors.To address this issue,this paper develops a three-dimensional discretized dynamic radiation transfer model based on the blade shape of the turbine.The relationship between the radiation angle coefficient of the surrounding blades and the rotation angle of the blade under test is analyzed.The radiation angle coefficient is calculated using the triangular element method,and temperature inversion is performed based on the effective emissivity to compute the measurement error.The results show that under dynamic high temperature conditions,the temperature measurement error caused by reflection at the selected 60%leaf height point varies with the rotation angle,and the maximum reaches 25.58K.The angular coefficient exhibits periodic fluctuations with changes in rotation angle,and the maximum effective emissivity increases as the rotation angle increases.As the blade height increases,the impact of reflected radiation on radiometric temperature measurement errors shows a decreasing trend.This study provides a reference for radiation thermometry in dynamic high-temperature environments.
基金supported by National Natural Science Foundation of China(No.51375125)the Foundation for Distinguished Young Scholars of Heilongjiang Province,China(No.JC201111)the Program for New Century Excellent Talents in University(No.NCET10-0146)
文摘To analyze the attitude errors of vertical docking test system of small satellite,the static error and kinematic error of test system are considered.The working principle of test system and coordinate of actuator are introduced.The model of friction torque on the joints and torque on docking mechanism are built.Dynamics equation of actuator is built by the Lagrange equation and the Nielsen equation.Under the condition of 24 different angle groups,the calculation of dynamics equation is built by using MATLAB/SIMULINK platform and the kinematic errors of actuator are obtained.The attitude error models of docking mechanism are built.Results shows that the main angle error sources of yaw,row,pitch are not identical.The attitude error of yaw angle can be decreased by compensating the angle error around xaxis.The attitude error of row angle mainly originates in the system error,and it can be eliminated by adjusting non-orthogonal degree.
文摘In the paper,a new method for the measurement of the dynamic transmission crror of preci-sion hobbing machines using only one sensor is proposed.The dynamic transmission error i ob-tained by demodulating the phase-modulated signal according to the Hilbert transform priple.The results of dynamic testing show that the new method is effective.
文摘Angular measuring system is the most important component of a servo turntable in inertial test apparatus. Its function and precision determine the turntable＇ s function and precision. It attaches importance to research on inertial test equipment. This paper introduces the principle of the angular measuring system using amplitude discrimination mode. The dynamic errors axe analyzed from the aspects of inductosyn, amplitude and function error of double-phase voltage and wavefonn distortion. Through detailed calculation, theory is provided for practical application; system errors are allocated and the angular measuring system meets the accuracy requirement. As a result, the schedule of the angular measuring system can be used in practice.
基金supported in part by the TUM University Foundation Fellowshipin part by the German Federal Ministry for Economic Affairs and Energy(BMWi)within the Federal Aeronautical Research Program LuFo V-3 through Project“HOTRUN”(No.20E1720A)。
文摘This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already during the optimization.Consequently,the trajectory is designed such that the Linear Time-Varying(LTV)dynamic system,describing the controller’s error dynamics,is stable,while additionally the desired optimality criterion is optimized and all enforced constraints on the trajectory are fulfilled.This is achieved by means of a Lyapunov stability analysis of the LTV dynamics within the optimization problem using a time-dependent,quadratic Lyapunov function candidate.Special care is taken with regard to ensuring the correct definiteness of the ensuing matrices within the Lyapunov stability analysis,specifically considering a numerically stable formulation of these in the numerical optimization.The developed algorithm is applied to a trajectory design problem for which the LTV system is part of the path-following error dynamics,which is required to be stable.The main benefit of the proposed scheme in this context is that the designed trajectory trades-off the required stability and robustness properties of the LTV dynamics with the optimality of the trajectory already at the design phase and thus,does not produce unstable optimal trajectories the system must follow in the real application.
基金Natural Science Foundation of Shanxi Province(No.2009011023)
文摘The method based on particle swarm optimization(PSO)integrated with functional link articial neural network(FLANN)for correcting dynamic characteristics of sensor is used to reduce sensor’s dynamic error caused by its system limitations.Combining the advantages of PSO and FLANN,with this method a dynamic compensator can be realized without knowing the dynamic model of the sensor.According to the input and output of the sensor and the reference model,the weights of the network trained were used to initialize one particle station of the whole particle swarm when the training of the FLANN had been finished.Then PSO algorithm was applied,and the global best particle station of the particle swarm was the parameters of the compensator.The feasibility of dynamic compensation method is tested.Simulation results from simulator of sensor show that the results after being compensated have given a good description to input signals.
