Modal parameter identification is a mature technology.However,there are some challenges in its practical applications such as the identification of vibration systems involving closely spaced modes and intensive noise ...Modal parameter identification is a mature technology.However,there are some challenges in its practical applications such as the identification of vibration systems involving closely spaced modes and intensive noise contamination.This paper proposes a new time-frequency method based on intrinsic chirp component decomposition(ICCD)to address these issues.In this method,a redundant Fourier model is used to ameliorate border distortions and improve the accuracy of signal reconstruction.The effectiveness and accuracy of the proposed method are illustrated using three examples:a cantilever beam structure with intensive noise contamination or environmental interference,a four-degree-of-freedom structure with two closely spaced modes,and an impact test on a cantilever rectangular plate.By comparison with the identification method based on the empirical wavelet transform(EWT),it is shown that the presented method is effective,even in a high-noise environment,and the dynamic characteristics of closely spaced modes are accurately determined.展开更多
Analytical and numerical studies of multi-degree-of-freedom(MDOF) nonlinear stochastic or deterministic dynamic systems have long been a technical challenge.This paper presents a highly-efficient method for determinin...Analytical and numerical studies of multi-degree-of-freedom(MDOF) nonlinear stochastic or deterministic dynamic systems have long been a technical challenge.This paper presents a highly-efficient method for determining the stationary probability density functions(PDFs) of MDOF nonlinear systems subjected to both additive and multiplicative Gaussian white noises. The proposed method takes advantages of the sufficient conditions of the reduced Fokker-Planck-Kolmogorov(FPK) equation when constructing the trial solution. The assumed solution consists of the analytically constructed trial solutions satisfying the sufficient conditions and an exponential polynomial of the state variables, and delivers a high accuracy of the solution because the analytically constructed trial solutions capture the main characteristics of the nonlinear system. We also make use of the concept from the data-science and propose a symbolic integration over a hypercube to replace the numerical integrations in a higher-dimensional space, which has been regarded as the insurmountable difficulty in the classical method of weighted residuals or stochastic averaging for high-dimensional dynamic systems. Three illustrative examples of MDOF nonlinear systems are analyzed in detail. The accuracy of the numerical results is validated by comparison with the Monte Carlo simulation(MCS) or the available exact solution. Furthermore, we also show the substantial gain in the computational efficiency of the proposed method compared with the MCS.展开更多
Developing advanced acoustic treatments,such as the Multi-Degree-of-Freedom(MDOF)septum liner,to realize the broadband noise reduction is critical for silent aeroengines.This study investigates experimentally the MDOF...Developing advanced acoustic treatments,such as the Multi-Degree-of-Freedom(MDOF)septum liner,to realize the broadband noise reduction is critical for silent aeroengines.This study investigates experimentally the MDOF septum liner and its impedance model on the Beihang Grazing Flow Duct(BGFD)setup,over a wide frequency range under grazing flows up to 0.5 Mach number and Sound Pressure Level(SPL)up to 150 dB,typically encountered in aeroengine nacelles.Several specimens varying in the numbers,types,and depths of septa among units are designed,fabricated,and measured.Their impedances and Transmission Losses(TL)are obtained using the mirror-based multimodal straightforward method and the mode decomposition technique,respectively.Generally,the model predictions show good agreement with the educed impedances in all cases,and such liners with a large-porosity facesheet exhibit low acoustic nonlinearities in the presence of high SPL,especially under high-velocity grazing flows.Moreover,a MDOF liner we delicately designed,compared with a conventional broadband three-layer perforated liner as the reference,is close to the resonant state at more frequencies and thus has higher and wider measured TL spectra almost from 1 kHz up to 10 kHz at studied Mach numbers,under the premise of saving 22.7 mm in the thickness.These show that,the MDOF septum liner,if well designed,can achieve an ultra-broadband efficient sound attenuation using more limited spaces in complex aeroacoustic environments.展开更多
As kinematic calculations are complicated, it takes a long time and is difficult to get the desired accurate result with a single processor in real-time motion control of multi-degree-of-freedom(MDOF) systems. Another...As kinematic calculations are complicated, it takes a long time and is difficult to get the desired accurate result with a single processor in real-time motion control of multi-degree-of-freedom(MDOF) systems. Another calculation unit is needed, especially with the increase in the degree of freedom. The main central processing unit(CPU) has additional loads because of numerous motion elements which move independently from each other and their closed-loop controls. The system designed is also complicated because there are many parts and cabling. This paper presents the design and implementation of a hardware that will provide solutions to these problems. It is realized using the Very High Speed Integrated Circuit Hardware Description Language(VHDL) and field-programmable gate array(FPGA). This hardware is designed for a six-legged robot and has been working with servo motors controlled via the serial port. The hardware on FPGA calculates the required joint angles for the feet positions received from the serial port and sends the calculated angels to the servo motors via the serial port. This hardware has a co-processor for the calculation of kinematic equations and can be used together with the equipment that would reduce the electromechanical mess. It is intended to be used as a tool which will accelerate the transition from design to application for robots.展开更多
Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years...Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.展开更多
In the docking process of aeroengine rotor parts,docking accuracy that indicates the gaps between the end faces is strictly required.A key issue is improving docking accuracy using automated docking equipment.In this ...In the docking process of aeroengine rotor parts,docking accuracy that indicates the gaps between the end faces is strictly required.A key issue is improving docking accuracy using automated docking equipment.In this paper,a systematic study is carried out on the error modeling and compensation of a novel six-degrees-of-freedom(6-DOF)docking equipment for aeroengine rotors.First,a new model for indicating the main indexes of docking accuracy is proposed.Then,the error model of a specially designed 6-DOF docking equipment is established based on a modified Denavit Hartenberg method with five parameters.Subsequently,two error compensation methods are proposed.Based on the above models,a docking accuracy simulation algorithm is proposed using the Monte Carlo method.Finally,verification experiments are conducted.The results show that,for the maximum values and standard deviations of the gaps between the rotor end-faces in the actual and target positions and attitudes,i.e.,main indexes that represent docking accuracy,the deviation rates between the simulation and experimental results are less than20%.The modeling methods have referential significance.The decline rates of these values are 50–65%when using the two proposed compensation methods.The compensation methods significantly improve the docking accuracy.展开更多
A homotopy analysis method（HAM）is presented for the primary resonance of multiple degree-of-freedom systems with strong non-linearity excited by harmonic forces.The validity of the HAM is independent of the existenc...A homotopy analysis method（HAM）is presented for the primary resonance of multiple degree-of-freedom systems with strong non-linearity excited by harmonic forces.The validity of the HAM is independent of the existence of small parameters in the considered equation.The HAM provides a simple way to adjust and control the convergence region of the series solution by means of an auxiliary parameter.Two examples are presented to show that the HAM solutions agree well with the results of the modified Linstedt-Poincar＇e method and the incremental harmonic balance method.展开更多
A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of ...A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of the cylinder. Control strategies for the two DOF trajectory following are studied and applied to the prototype USM. Vibration amplitude control is employed for speed regulation. The first trajectory following strategy is a step-by-step interpolation. The second strategy is vector decomposition control. Three pulse width modulation (PWM) methods for the exciting voltage regulation are investigated. These methods are compared and verified by several experiments. The key is to keep the phase differences of the three vibration constants and small exciting voltage distortion while the exciting voltages are changed for simplifing the control process and obtaining good control performance. The vector control method has advantages of small trajectory following error, smooth moving and low noise.展开更多
Resonance-based devices are extensively utilized in engineering applications due to their low energy consumption and high energy conversion efficiency.However,fluctuations in resonance frequency caused by variations i...Resonance-based devices are extensively utilized in engineering applications due to their low energy consumption and high energy conversion efficiency.However,fluctuations in resonance frequency caused by variations in stiffness and damping in the system can lead to a mismatch with the excitation frequency,which degrades the performance of the system.To address this issue,real-time resonance frequency tracking(RFT)is crucial.This study proposes a phase-locked loop-based adaptive extremum seeking control(PLL-AESC)method for online RFT,which is demonstrated using a three-degree-of-freedom resonance system.The method employs the response amplitude of the system as a cost function and estimates the local gradient in real time,which enables indirect optimization of the excitation frequency.Compared with conventional direct RFT approaches,PLL-AESC offers reduced computational complexity and improved real-time performance.Furthermore,its learning rate is adaptively adjusted based on the gradient and phase difference signals,which improves the efficiency of the method to various disturbances.The effectiveness of PLL-AESC is validated through simulations and comparative analyses.Results indicate that the proposed method demonstrates a shorter settling time than traditional extremum seeking control methods.Compared with the phase-locked loop method,it successfully maintains RFT performance under damping variation disturbances.展开更多
Determination of position and orientation is essential in advanced manufacturing,automation,and material physics analysis.Traditional high-precision multiple degree-of-freedom(DOF)measurement techniques often rely on ...Determination of position and orientation is essential in advanced manufacturing,automation,and material physics analysis.Traditional high-precision multiple degree-of-freedom(DOF)measurement techniques often rely on multiple probe beams to measure cooperative targets,introducing system complexity and potential measurement errors.Here,we present a novel method for three-degree-of-freedom measurement that employs low-coherence spatial interferometry(LCSI)with a single probe beam.Unlike conventional approaches,this method eliminates the need for cooperative targets and extends applicability to both smooth and rough surfaces.By leveraging the geometric characteristics of the coherence envelope and pulse alignment in a mode-locked femtosecond laser,our system acquires low-coherence interferograms at flexible axial positions,overcoming the constraint of equal-arm interference.Demonstrated at a real-time speed of 100 Hz,the method achieves arcsecond-level angular precision and sub-micrometer distance precision.Furthermore,it enables simultaneous measurement of multiple targets within the field of view,offering transformative potential for applications such as ensuring pose consistency in precision assembly and monitoring deformation during environmental testing.This work presents a novel single-probe-beam measurement approach,providing a compact and versatile solution for multi-DOF dynamic measurement.展开更多
基金Project supported by the National Natural Science Foundation of China(Nos.11702170,11320011,and 11802279)the China Postdoctoral Science Foundation(No.2016M601585)
文摘Modal parameter identification is a mature technology.However,there are some challenges in its practical applications such as the identification of vibration systems involving closely spaced modes and intensive noise contamination.This paper proposes a new time-frequency method based on intrinsic chirp component decomposition(ICCD)to address these issues.In this method,a redundant Fourier model is used to ameliorate border distortions and improve the accuracy of signal reconstruction.The effectiveness and accuracy of the proposed method are illustrated using three examples:a cantilever beam structure with intensive noise contamination or environmental interference,a four-degree-of-freedom structure with two closely spaced modes,and an impact test on a cantilever rectangular plate.By comparison with the identification method based on the empirical wavelet transform(EWT),it is shown that the presented method is effective,even in a high-noise environment,and the dynamic characteristics of closely spaced modes are accurately determined.
基金Project supported by the National Natural Science Foundation of China (Nos.11672111,11332008,11572215,and 11602089)the Program for New Century Excellent Talents in Fujian Province’s University+1 种基金the Natural Science Foundation of Fujian Province of China (No.2019J01049)the Scholarship for Overseas Studies from Fujian Province of China。
文摘Analytical and numerical studies of multi-degree-of-freedom(MDOF) nonlinear stochastic or deterministic dynamic systems have long been a technical challenge.This paper presents a highly-efficient method for determining the stationary probability density functions(PDFs) of MDOF nonlinear systems subjected to both additive and multiplicative Gaussian white noises. The proposed method takes advantages of the sufficient conditions of the reduced Fokker-Planck-Kolmogorov(FPK) equation when constructing the trial solution. The assumed solution consists of the analytically constructed trial solutions satisfying the sufficient conditions and an exponential polynomial of the state variables, and delivers a high accuracy of the solution because the analytically constructed trial solutions capture the main characteristics of the nonlinear system. We also make use of the concept from the data-science and propose a symbolic integration over a hypercube to replace the numerical integrations in a higher-dimensional space, which has been regarded as the insurmountable difficulty in the classical method of weighted residuals or stochastic averaging for high-dimensional dynamic systems. Three illustrative examples of MDOF nonlinear systems are analyzed in detail. The accuracy of the numerical results is validated by comparison with the Monte Carlo simulation(MCS) or the available exact solution. Furthermore, we also show the substantial gain in the computational efficiency of the proposed method compared with the MCS.
基金co-supported by the National Natural Science Foundation of China(No.52206039)the Taihang Laboratory of China(No.A2053)+1 种基金the Aeronautical Science Foundation of China(No.20240011051001)the National Key R&D Program of China(No.2021YFB3703900)。
文摘Developing advanced acoustic treatments,such as the Multi-Degree-of-Freedom(MDOF)septum liner,to realize the broadband noise reduction is critical for silent aeroengines.This study investigates experimentally the MDOF septum liner and its impedance model on the Beihang Grazing Flow Duct(BGFD)setup,over a wide frequency range under grazing flows up to 0.5 Mach number and Sound Pressure Level(SPL)up to 150 dB,typically encountered in aeroengine nacelles.Several specimens varying in the numbers,types,and depths of septa among units are designed,fabricated,and measured.Their impedances and Transmission Losses(TL)are obtained using the mirror-based multimodal straightforward method and the mode decomposition technique,respectively.Generally,the model predictions show good agreement with the educed impedances in all cases,and such liners with a large-porosity facesheet exhibit low acoustic nonlinearities in the presence of high SPL,especially under high-velocity grazing flows.Moreover,a MDOF liner we delicately designed,compared with a conventional broadband three-layer perforated liner as the reference,is close to the resonant state at more frequencies and thus has higher and wider measured TL spectra almost from 1 kHz up to 10 kHz at studied Mach numbers,under the premise of saving 22.7 mm in the thickness.These show that,the MDOF septum liner,if well designed,can achieve an ultra-broadband efficient sound attenuation using more limited spaces in complex aeroacoustic environments.
基金Project(No.KBü-BAP-13/1-DR-011)supported by the Department of Bilimsel Arastírma Progeleri,Karabük University,Turkey
文摘As kinematic calculations are complicated, it takes a long time and is difficult to get the desired accurate result with a single processor in real-time motion control of multi-degree-of-freedom(MDOF) systems. Another calculation unit is needed, especially with the increase in the degree of freedom. The main central processing unit(CPU) has additional loads because of numerous motion elements which move independently from each other and their closed-loop controls. The system designed is also complicated because there are many parts and cabling. This paper presents the design and implementation of a hardware that will provide solutions to these problems. It is realized using the Very High Speed Integrated Circuit Hardware Description Language(VHDL) and field-programmable gate array(FPGA). This hardware is designed for a six-legged robot and has been working with servo motors controlled via the serial port. The hardware on FPGA calculates the required joint angles for the feet positions received from the serial port and sends the calculated angels to the servo motors via the serial port. This hardware has a co-processor for the calculation of kinematic equations and can be used together with the equipment that would reduce the electromechanical mess. It is intended to be used as a tool which will accelerate the transition from design to application for robots.
基金Supported by National Natural Science Foundation of China(Grant Nos.51705066,51805128)Sichuan Science and Technology Program(Grant No.2019YFG0343)Fundamental Research Funds for the Central Universities of China(Grant Nos.ZYGX2019J041,ZYGX2016KYQD137).
文摘Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.
基金supported by Innovative Research Group Project of the National Natural Science Foundation of China (No. 51621064)
文摘In the docking process of aeroengine rotor parts,docking accuracy that indicates the gaps between the end faces is strictly required.A key issue is improving docking accuracy using automated docking equipment.In this paper,a systematic study is carried out on the error modeling and compensation of a novel six-degrees-of-freedom(6-DOF)docking equipment for aeroengine rotors.First,a new model for indicating the main indexes of docking accuracy is proposed.Then,the error model of a specially designed 6-DOF docking equipment is established based on a modified Denavit Hartenberg method with five parameters.Subsequently,two error compensation methods are proposed.Based on the above models,a docking accuracy simulation algorithm is proposed using the Monte Carlo method.Finally,verification experiments are conducted.The results show that,for the maximum values and standard deviations of the gaps between the rotor end-faces in the actual and target positions and attitudes,i.e.,main indexes that represent docking accuracy,the deviation rates between the simulation and experimental results are less than20%.The modeling methods have referential significance.The decline rates of these values are 50–65%when using the two proposed compensation methods.The compensation methods significantly improve the docking accuracy.
基金supported by the Fundamental Research Funds for the Central Universities(No.N090405009)
文摘A homotopy analysis method（HAM）is presented for the primary resonance of multiple degree-of-freedom systems with strong non-linearity excited by harmonic forces.The validity of the HAM is independent of the existence of small parameters in the considered equation.The HAM provides a simple way to adjust and control the convergence region of the series solution by means of an auxiliary parameter.Two examples are presented to show that the HAM solutions agree well with the results of the modified Linstedt-Poincar＇e method and the incremental harmonic balance method.
文摘A three degree-of-freedom (DOF) ultrasonic motor (USM) with a cylinder-shaped stator and a spherical rotor is introduced, which uses one first order longitudinal and two second order bending nature vibration modes of the cylinder. Control strategies for the two DOF trajectory following are studied and applied to the prototype USM. Vibration amplitude control is employed for speed regulation. The first trajectory following strategy is a step-by-step interpolation. The second strategy is vector decomposition control. Three pulse width modulation (PWM) methods for the exciting voltage regulation are investigated. These methods are compared and verified by several experiments. The key is to keep the phase differences of the three vibration constants and small exciting voltage distortion while the exciting voltages are changed for simplifing the control process and obtaining good control performance. The vector control method has advantages of small trajectory following error, smooth moving and low noise.
基金supported by the National Natural Science Foundation of China(Grant No.52375097)the State Key Laboratory of Mechanical System and Vibration,China(Grant No.MSV202509)Hubei Provincial Natural Science Foundation of China(Grant No.2025AFB621).
文摘Resonance-based devices are extensively utilized in engineering applications due to their low energy consumption and high energy conversion efficiency.However,fluctuations in resonance frequency caused by variations in stiffness and damping in the system can lead to a mismatch with the excitation frequency,which degrades the performance of the system.To address this issue,real-time resonance frequency tracking(RFT)is crucial.This study proposes a phase-locked loop-based adaptive extremum seeking control(PLL-AESC)method for online RFT,which is demonstrated using a three-degree-of-freedom resonance system.The method employs the response amplitude of the system as a cost function and estimates the local gradient in real time,which enables indirect optimization of the excitation frequency.Compared with conventional direct RFT approaches,PLL-AESC offers reduced computational complexity and improved real-time performance.Furthermore,its learning rate is adaptively adjusted based on the gradient and phase difference signals,which improves the efficiency of the method to various disturbances.The effectiveness of PLL-AESC is validated through simulations and comparative analyses.Results indicate that the proposed method demonstrates a shorter settling time than traditional extremum seeking control methods.Compared with the phase-locked loop method,it successfully maintains RFT performance under damping variation disturbances.
基金supported by the National Natural Science Foundation of China(Grants No.52327805,62227822).
文摘Determination of position and orientation is essential in advanced manufacturing,automation,and material physics analysis.Traditional high-precision multiple degree-of-freedom(DOF)measurement techniques often rely on multiple probe beams to measure cooperative targets,introducing system complexity and potential measurement errors.Here,we present a novel method for three-degree-of-freedom measurement that employs low-coherence spatial interferometry(LCSI)with a single probe beam.Unlike conventional approaches,this method eliminates the need for cooperative targets and extends applicability to both smooth and rough surfaces.By leveraging the geometric characteristics of the coherence envelope and pulse alignment in a mode-locked femtosecond laser,our system acquires low-coherence interferograms at flexible axial positions,overcoming the constraint of equal-arm interference.Demonstrated at a real-time speed of 100 Hz,the method achieves arcsecond-level angular precision and sub-micrometer distance precision.Furthermore,it enables simultaneous measurement of multiple targets within the field of view,offering transformative potential for applications such as ensuring pose consistency in precision assembly and monitoring deformation during environmental testing.This work presents a novel single-probe-beam measurement approach,providing a compact and versatile solution for multi-DOF dynamic measurement.
