Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dyna...Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.展开更多
A particular emphasis is placed on the virtual prototype technology （VPT） of axial piston pump. With this technology it is convenient and flexible to build a complicated 3D virtual based on real physical model. The ...A particular emphasis is placed on the virtual prototype technology （VPT） of axial piston pump. With this technology it is convenient and flexible to build a complicated 3D virtual based on real physical model. The actual kinematics pairs of the parts were added on the model. The fluid characters were calculated by hydraulic software. The shape of the parts, the flexible body of parts, etc were improved in this prototype. So the virtual prototype of piston pump can work in computer like a real piston pump, and the flow ripple, pressure pulsation, motion principle, stress of parts, etc can be investigated. The development of the VPT is introduced at the beginning, and the modeling process of the virtual prototype is explained. Then a special emphasis is laid on the relationship between the dynamics model and the hydraulic model, and the simulations on the flow ripple, pressure pulsation, motion principle, the stress and strain distribution of the middle shaft and piston are operated. Finally, the advantages and disadvantages of the VPT are discussed. The improved virtual prototype of piston pump more tally with the real situation and the VPT has a great potential in simulation on hydraulic components.展开更多
Virtual prototype is an important idea to resolve design problems of railway vehicle. A different development method, which is based on national product and autonomous development, and would like to reflect the specia...Virtual prototype is an important idea to resolve design problems of railway vehicle. A different development method, which is based on national product and autonomous development, and would like to reflect the specialty of railway vehicle development in China, is presented. According to the developing process of railway vehicle, the research contents and developing method are pointed out. The integration between CAD and performance analysis software on dynamics and strength is mainly considered. In CAD environment, the properties for dynamics computing are extracted directly from the model and exported with model. This method can avoid data losing caused by model rebuilding in CAE software, and increase the direct dependence of product CAD. Then the vehicle model with properties will be used for real-time dynamics and kinematics analysis and simulation. Therefore, the strength of the parts can be analyzed. The results of dynamics and strength analysis will be fed back to optimize the design model. All operations are dispatched by a control platform, and all data are managed according to the principle of PDM. Testing results show this method is correct.展开更多
Drive system is the key device of armored chassis. Its working state and reliability influence the maneuver performance of armored chassis directly. In order to simulate the failure process and evaluate the service re...Drive system is the key device of armored chassis. Its working state and reliability influence the maneuver performance of armored chassis directly. In order to simulate the failure process and evaluate the service reliability of drive system in training or battle missions,a new kind of dynamic simulation model and driving simulation platform of the complete drive system were established based on virtual prototype and finite element technology in this paper. Using the platform, the kinematics and dynamic characteristics of drive system were studied and analyzed in detail,the dynamic load spectrum of key components was obtained,the service life was predicted, and the service reliability evaluation results were provided. A simulation example of transmission gear was shown to illustrate the simulation and evaluation process. The result proves that the simulation method not only can be used to compute and evaluate the service reliability of complex mechanical mechanism, but also has high precision and reasonable computational cost. Therefore,simulation and reliability analysis based on virtual prototype of the armored chassis drive system will provide scientific reference for the formulation of armored chassis reasonable repair cycle.展开更多
Multi-disciplinary virtual prototypes of complex products are increasingly and widely used in modern advanced manufactur- ing. How to effectively address the problems of unified modeling, composition and reuse based o...Multi-disciplinary virtual prototypes of complex products are increasingly and widely used in modern advanced manufactur- ing. How to effectively address the problems of unified modeling, composition and reuse based on the multi-disciplinary heteroge- neous models has brought great challenges to the modeling and simulation （M＆S） science and technology. This paper presents a top-level modeling theory based on the meta modeling framework （M2F） of the COllaborative SIMulation （COSlM） theory of virtual prototyping to solve the problems. Firstly the fundamental prin- ciples of the top-level modeling theory are decribed to expound the premise, assumptions, basic conventions and special require- ments in the description of complex heterogeneous systems. Next the formalized definitions for each factor in top level modeling are proposed and the hierarchical nature of them is illustrated. After demonstrating that they are self-closing, this paper divides the top- level modeling into two views, static structural graph and dynamic behavioral graph. Finally, a case study is discussed to demon- strate the feasibility of the theory.展开更多
The dynamics characteristics of rarefaction wave gun( RAVEN) in launching are studied. Based on its characteristics of structure and interior ballistics, the launch dynamic model and virtual prototype of RAVEN are est...The dynamics characteristics of rarefaction wave gun( RAVEN) in launching are studied. Based on its characteristics of structure and interior ballistics, the launch dynamic model and virtual prototype of RAVEN are established. After simulating and solving by ADAMS software, through comparison RAVEN to conventional gun,influences of some structural parameters on firing stability are acquired. Optimization analysis of structural parameters of gun based on analysis of the firing stability is done. It puts forward the theoretic basis for improving firing stability and security.展开更多
The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and phy...The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and physical models. The virtual prototype has remarkable advantages in its application simulation processes. It is not only faster and more veracious, but also of better visualization of the simulation results.展开更多
A method based on the virtual prototype technology simulating the separation of a launch vehicle from its aircraft in the aircraft wake was proposed based on the internally carried air-launched launch vehicle program....A method based on the virtual prototype technology simulating the separation of a launch vehicle from its aircraft in the aircraft wake was proposed based on the internally carried air-launched launch vehicle program.In this method,the full-scale model of the aircraft,the vehicle and the parachute are constructed.Then,they are imported into the ADAMS software,constraint solutions and driving forces are then added for visual dynamic simulation.The unsteady aerodynamic forces of the vehicle in the aircraft wake are calculated by CFD and the moving grid technique.The forces generated by the parachute can be derived from the Kirchhoff motion equation.Through comparing and analyzing the simulation results under different launch conditions,it has been proven that this method simulates the separation of a launch vehicle from the aircraft in the aircraft wake accurately.It provides the foundation for the aggregate project of internally carried air-launch vehicles,and offers a new referenced method for multi-body dynamic simulation.展开更多
The three-axis servo system with the core of gyro stabilization is the foundation to realize its function, and a key technology of the seeker devolopment. In order to reduce the costs, improve the efficiency of resear...The three-axis servo system with the core of gyro stabilization is the foundation to realize its function, and a key technology of the seeker devolopment. In order to reduce the costs, improve the efficiency of research and devolopment, a new method that instead of physical prototype by virtual prototype was proposed. Adams and MATLAB/simulink are used to establish the mechanical dynamics model and controller model of the three-axis servo system. The simulation data which was processed and analyzed is compared with test data, to determine the control parameters of the virtual prototype and improve the accuracy of the model, and test the multiple condition simulation,which can provide a reference for practical production.The simulation results verify the feasibility of the models.展开更多
The safety of aircraft landing on wet runways is of great importance in runway risk man agement.In order to ensure landing safety on wet runways,real-time risk warning is required.This paper proposes a method to asses...The safety of aircraft landing on wet runways is of great importance in runway risk man agement.In order to ensure landing safety on wet runways,real-time risk warning is required.This paper proposes a method to assess aircraft landing risk in real-time based on finite element-virtual prototype-machine learning co-simulation.Firstly,a tire-water f ilm-runway finite element model was constructed,a virtual prototype model was built based on the Airbus A320 model,and the results of the tire-water film-runway local finite element dynamic analysis were transferred to the system simulation of the virtual proto type for co-simulation.Secondly,considering the influence of wet state parameters on the runway,a database of aircraft anti-skid failure risk was constructed,and three machine learning models were trained to predict aircraft landing risk.The results show that the Support Vector Machine(SVM)model has better generalization capability and should be used to predict the risk level of aircraft landing.The efficacy of the comprehensive taxiing model was validated using an empirical formula for determining the aircraft’s landing dis tance on a wet runway.When an aircraft lands on a runway with an average water film thickness of 8 mm,the braking time is approximately 1.6 times longer than on a dry run way,and the braking distance is roughly 5.3 times greater than on a dry runway.Finally,a risk assessment example was provided:the entire process from landing information input to risk level output for the aircraft model took only 80 ms,which could provide an efficient and real-time aircraft landing risk assessment.展开更多
As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles,the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexteri...As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles,the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity demands.The hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus tentacles.Compared with traditional robots,the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure.A hyper-redundant elephant’s trunk robot(HRETR)with an open structure is developed in this paper.The content includes mechanical structure design,kinematic analysis,virtual prototype simulation,control system design,and prototype building.This design is inspired by the flexible motion of an elephant’s trunk,which is expansible and is composed of six unit modules,namely,3UPS-PS parallel in series.First,the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic design.After that,the backbone mode method is used to establish the kinematic model of the robot.The simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is assigned.With the help of ANSYS,the static stiffness of each component and the whole robot is analyzed.On this basis,the materials of the weak parts of the mechanical structure and the hardware are selected reasonably.Next,the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design criteria.Finally,the prototype is built and its performance is tested.The proposed research provides a method for the design and development for the hyper-redundant bionic robot.展开更多
The mechanical model of vertical planetary mill is set up, whose dynamic and kinetic characteristics are described as well. Based on the analysis of system dynamics of vertical planetary mill, virtual prototyping tech...The mechanical model of vertical planetary mill is set up, whose dynamic and kinetic characteristics are described as well. Based on the analysis of system dynamics of vertical planetary mill, virtual prototyping technology is applied in the simulation of this mill. The development of virtual prototype of equipment, virtual test and optimization of virtual prototype are stated in detail. Some useful conclusions which have theoretical meaning for the manufacturing of vertical planetary mill have been obtained. Furthermore, it is pointed out that virtual prototyping technology shows great advantage and is bound to become a main method of developing product in the future.展开更多
Based on the characteristics of integrated virtual prototype technology, the mechanical system sub-model, the hydraulic system sub-model and the control system sub-model of a forging manipula- tor system have been bui...Based on the characteristics of integrated virtual prototype technology, the mechanical system sub-model, the hydraulic system sub-model and the control system sub-model of a forging manipula- tor system have been built using a variety of software, and a forging manipulator mtrltidisciplinary co- simulation model has been also built using a method of simulation models interface. Then the simu- lation and experiment are finished, and the result of the experiment is in good agreement with the re- sult of the simulation. It shows that the co-simulation model established can simulate accurately pa- rameter changes in real time during the moving of the forging manipulator such as displacement, ve- locity and pressure flow, which is of important significance for the optimized design of the forging manipulator system to establish the models.展开更多
This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery...This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.展开更多
The idea of millimeter-wave (MMW) radiometer virtual prototyping is discussed in this paper. Designing environment, designing method and the main modeling components of virtual MMW radiometer are researched. Important...The idea of millimeter-wave (MMW) radiometer virtual prototyping is discussed in this paper. Designing environment, designing method and the main modeling components of virtual MMW radiometer are researched. Important external parameters, which have significant influence to composing system, are used to components modeling, and then components are taken to buildup virtual MMW radiometer system. Moreover, the effect to output is contrasted whether there is a low-noise amplifier or not.展开更多
This study presented the specified steps of comprehensively analyzing the hydraulic-driven hammer system with the application of the Virtual Prototype Technology.By comparing the simulation results with experimental p...This study presented the specified steps of comprehensively analyzing the hydraulic-driven hammer system with the application of the Virtual Prototype Technology.By comparing the simulation results with experimental phenomena and data,the correctness of simulation analysis conclusion is verified.Meanwhile,by means of its perfect visualization,the internal work process which can not be seen before is simulated.The mechanism of some abnormal phenomena encountered during the experiment is explained.展开更多
According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pr...According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pro/E),) automatic dynamic analysis of mechanical systems(ADAMS) and advanced visual software(AVS). After 32 new modules were developed with C++ at AVS platform, the interface problems of the 3 types of software were solved effectively and a visual environment for ocean mining subsystem was constructed. Based on the similarity (theory) and similarity experiments, the validity and reliability of the virtual prototyping were verified. By using the (constructed) virtual prototyping, the relevant parameters, such as cutting depth, rotation speed of roller,marching speed of mining vehicle can be adjusted one by one. After repeatable virtual tests and analysis its corresponding dynamic characteristics, the structure parameter of mining vehicle and the parameter of mining process can be optimized fast and accurately. The experiment and simulation results show that, under the controlled mining parameters, 4 function expressions between the average force of single pick,average torque,average cutting power,energy consumption ratio and cutting depth are obtained. The maximum force of a single pick is less than (11090N) and the maximum torque of the roller is less than 3600N·m.展开更多
Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surg...Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the manipulator.The D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried out.The digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator design.Trajectory mapping and synchronization control between virtual model and the actual manipulator are realized based on digital twin technique.The virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by experiment.Experiment was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the manipulator.The results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0%in the average error of the fixed point of the manipulator and a reduction of 33.3%in the maximum error.展开更多
We first describe the fundamental concept of virtual prototyping（ VP ） technology and discuss the differences among VP, computer aided design, computer aided engineering and computer aided manufacture. Then we prese...We first describe the fundamental concept of virtual prototyping（ VP ） technology and discuss the differences among VP, computer aided design, computer aided engineering and computer aided manufacture. Then we present the application flow of virtual prototyping technology to the development of mechanical products. Based on ADAMS/VIEW, a new kind of special machine rotating cutter has been developed. The simulation results show that the rotating cutter meets the design requirements. It is concluded that virtual prototyping technology is quite valuable in designing and manufacturing mechanical product.展开更多
The contribution of functional virtual prototyping to vehicle chassis development is presented. The different topics that we took into consideration were reform analysis and improvement design during the vehicle chass...The contribution of functional virtual prototyping to vehicle chassis development is presented. The different topics that we took into consideration were reform analysis and improvement design during the vehicle chassis development. A frame of coordinates based on the digital-model was established, the main CAE analy- sis methods, multi-body system dynamics and finite element analysis were applied to the digital-model build by CAD/CAM software. The method was applied in the vehicle chassis reform analysis and improvement design, all the analysis and design projects were implemented in the uniform digital-model, and the development was carried through effectively.展开更多
基金Project(2023JBZY030)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(U1834208)supported by the National Natural Science Foundation of China。
文摘Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.
基金supported by National Key Technology R&D Program of the 11th Five-year Plan of China (Grant No. 2006BAF01B01, 2006BAF01B04)
文摘A particular emphasis is placed on the virtual prototype technology （VPT） of axial piston pump. With this technology it is convenient and flexible to build a complicated 3D virtual based on real physical model. The actual kinematics pairs of the parts were added on the model. The fluid characters were calculated by hydraulic software. The shape of the parts, the flexible body of parts, etc were improved in this prototype. So the virtual prototype of piston pump can work in computer like a real piston pump, and the flow ripple, pressure pulsation, motion principle, stress of parts, etc can be investigated. The development of the VPT is introduced at the beginning, and the modeling process of the virtual prototype is explained. Then a special emphasis is laid on the relationship between the dynamics model and the hydraulic model, and the simulations on the flow ripple, pressure pulsation, motion principle, the stress and strain distribution of the middle shaft and piston are operated. Finally, the advantages and disadvantages of the VPT are discussed. The improved virtual prototype of piston pump more tally with the real situation and the VPT has a great potential in simulation on hydraulic components.
基金supported by National Science Found for Distinguished Young Scholars of China (No.50525518).
文摘Virtual prototype is an important idea to resolve design problems of railway vehicle. A different development method, which is based on national product and autonomous development, and would like to reflect the specialty of railway vehicle development in China, is presented. According to the developing process of railway vehicle, the research contents and developing method are pointed out. The integration between CAD and performance analysis software on dynamics and strength is mainly considered. In CAD environment, the properties for dynamics computing are extracted directly from the model and exported with model. This method can avoid data losing caused by model rebuilding in CAE software, and increase the direct dependence of product CAD. Then the vehicle model with properties will be used for real-time dynamics and kinematics analysis and simulation. Therefore, the strength of the parts can be analyzed. The results of dynamics and strength analysis will be fed back to optimize the design model. All operations are dispatched by a control platform, and all data are managed according to the principle of PDM. Testing results show this method is correct.
文摘Drive system is the key device of armored chassis. Its working state and reliability influence the maneuver performance of armored chassis directly. In order to simulate the failure process and evaluate the service reliability of drive system in training or battle missions,a new kind of dynamic simulation model and driving simulation platform of the complete drive system were established based on virtual prototype and finite element technology in this paper. Using the platform, the kinematics and dynamic characteristics of drive system were studied and analyzed in detail,the dynamic load spectrum of key components was obtained,the service life was predicted, and the service reliability evaluation results were provided. A simulation example of transmission gear was shown to illustrate the simulation and evaluation process. The result proves that the simulation method not only can be used to compute and evaluate the service reliability of complex mechanical mechanism, but also has high precision and reasonable computational cost. Therefore,simulation and reliability analysis based on virtual prototype of the armored chassis drive system will provide scientific reference for the formulation of armored chassis reasonable repair cycle.
基金supported by the National High Technology Research and Development Program (863 Program) (2011AA040502).
文摘Multi-disciplinary virtual prototypes of complex products are increasingly and widely used in modern advanced manufactur- ing. How to effectively address the problems of unified modeling, composition and reuse based on the multi-disciplinary heteroge- neous models has brought great challenges to the modeling and simulation （M＆S） science and technology. This paper presents a top-level modeling theory based on the meta modeling framework （M2F） of the COllaborative SIMulation （COSlM） theory of virtual prototyping to solve the problems. Firstly the fundamental prin- ciples of the top-level modeling theory are decribed to expound the premise, assumptions, basic conventions and special require- ments in the description of complex heterogeneous systems. Next the formalized definitions for each factor in top level modeling are proposed and the hierarchical nature of them is illustrated. After demonstrating that they are self-closing, this paper divides the top- level modeling into two views, static structural graph and dynamic behavioral graph. Finally, a case study is discussed to demon- strate the feasibility of the theory.
文摘The dynamics characteristics of rarefaction wave gun( RAVEN) in launching are studied. Based on its characteristics of structure and interior ballistics, the launch dynamic model and virtual prototype of RAVEN are established. After simulating and solving by ADAMS software, through comparison RAVEN to conventional gun,influences of some structural parameters on firing stability are acquired. Optimization analysis of structural parameters of gun based on analysis of the firing stability is done. It puts forward the theoretic basis for improving firing stability and security.
文摘The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and physical models. The virtual prototype has remarkable advantages in its application simulation processes. It is not only faster and more veracious, but also of better visualization of the simulation results.
基金Supported by the National Natural Science Foundation Programme of China(No.61374145)
文摘A method based on the virtual prototype technology simulating the separation of a launch vehicle from its aircraft in the aircraft wake was proposed based on the internally carried air-launched launch vehicle program.In this method,the full-scale model of the aircraft,the vehicle and the parachute are constructed.Then,they are imported into the ADAMS software,constraint solutions and driving forces are then added for visual dynamic simulation.The unsteady aerodynamic forces of the vehicle in the aircraft wake are calculated by CFD and the moving grid technique.The forces generated by the parachute can be derived from the Kirchhoff motion equation.Through comparing and analyzing the simulation results under different launch conditions,it has been proven that this method simulates the separation of a launch vehicle from the aircraft in the aircraft wake accurately.It provides the foundation for the aggregate project of internally carried air-launch vehicles,and offers a new referenced method for multi-body dynamic simulation.
文摘The three-axis servo system with the core of gyro stabilization is the foundation to realize its function, and a key technology of the seeker devolopment. In order to reduce the costs, improve the efficiency of research and devolopment, a new method that instead of physical prototype by virtual prototype was proposed. Adams and MATLAB/simulink are used to establish the mechanical dynamics model and controller model of the three-axis servo system. The simulation data which was processed and analyzed is compared with test data, to determine the control parameters of the virtual prototype and improve the accuracy of the model, and test the multiple condition simulation,which can provide a reference for practical production.The simulation results verify the feasibility of the models.
基金The work described in this paper is supported by the National Natural Science Foundation of China(No.52278455)the Shuguang Program of Shanghai Education Development Foundation and Shanghai Municipal Education Commission(21SG24)+1 种基金the International Cooperation Project of Science and Technology Commission of Shanghai Municipality(No.22210710700)the Fundamental Research Funds for the Central Universities.
文摘The safety of aircraft landing on wet runways is of great importance in runway risk man agement.In order to ensure landing safety on wet runways,real-time risk warning is required.This paper proposes a method to assess aircraft landing risk in real-time based on finite element-virtual prototype-machine learning co-simulation.Firstly,a tire-water f ilm-runway finite element model was constructed,a virtual prototype model was built based on the Airbus A320 model,and the results of the tire-water film-runway local finite element dynamic analysis were transferred to the system simulation of the virtual proto type for co-simulation.Secondly,considering the influence of wet state parameters on the runway,a database of aircraft anti-skid failure risk was constructed,and three machine learning models were trained to predict aircraft landing risk.The results show that the Support Vector Machine(SVM)model has better generalization capability and should be used to predict the risk level of aircraft landing.The efficacy of the comprehensive taxiing model was validated using an empirical formula for determining the aircraft’s landing dis tance on a wet runway.When an aircraft lands on a runway with an average water film thickness of 8 mm,the braking time is approximately 1.6 times longer than on a dry run way,and the braking distance is roughly 5.3 times greater than on a dry runway.Finally,a risk assessment example was provided:the entire process from landing information input to risk level output for the aircraft model took only 80 ms,which could provide an efficient and real-time aircraft landing risk assessment.
基金Supported by National Natural Science Foundation of China(Grant No.51375288)Science and Technology Program of Guangdong Province of China(Grant No.2020ST004)+1 种基金Department of Education of Guangdong Province of China(Grant No.2017KZDXM036and Special Project for Science and Technology Innovation Team of Foshan City of China(Grant No.2018IT100052).
文摘As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles,the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity demands.The hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus tentacles.Compared with traditional robots,the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure.A hyper-redundant elephant’s trunk robot(HRETR)with an open structure is developed in this paper.The content includes mechanical structure design,kinematic analysis,virtual prototype simulation,control system design,and prototype building.This design is inspired by the flexible motion of an elephant’s trunk,which is expansible and is composed of six unit modules,namely,3UPS-PS parallel in series.First,the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic design.After that,the backbone mode method is used to establish the kinematic model of the robot.The simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is assigned.With the help of ANSYS,the static stiffness of each component and the whole robot is analyzed.On this basis,the materials of the weak parts of the mechanical structure and the hardware are selected reasonably.Next,the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design criteria.Finally,the prototype is built and its performance is tested.The proposed research provides a method for the design and development for the hyper-redundant bionic robot.
文摘The mechanical model of vertical planetary mill is set up, whose dynamic and kinetic characteristics are described as well. Based on the analysis of system dynamics of vertical planetary mill, virtual prototyping technology is applied in the simulation of this mill. The development of virtual prototype of equipment, virtual test and optimization of virtual prototype are stated in detail. Some useful conclusions which have theoretical meaning for the manufacturing of vertical planetary mill have been obtained. Furthermore, it is pointed out that virtual prototyping technology shows great advantage and is bound to become a main method of developing product in the future.
基金Supported by the National Natural Science Foundation of China(No.51575471)Collaborative Innovation Program Topics of Heavy Machinery of Yanshan University(2011 Program,No.ZX01-20140400-01)
文摘Based on the characteristics of integrated virtual prototype technology, the mechanical system sub-model, the hydraulic system sub-model and the control system sub-model of a forging manipula- tor system have been built using a variety of software, and a forging manipulator mtrltidisciplinary co- simulation model has been also built using a method of simulation models interface. Then the simu- lation and experiment are finished, and the result of the experiment is in good agreement with the re- sult of the simulation. It shows that the co-simulation model established can simulate accurately pa- rameter changes in real time during the moving of the forging manipulator such as displacement, ve- locity and pressure flow, which is of important significance for the optimized design of the forging manipulator system to establish the models.
文摘This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.
文摘The idea of millimeter-wave (MMW) radiometer virtual prototyping is discussed in this paper. Designing environment, designing method and the main modeling components of virtual MMW radiometer are researched. Important external parameters, which have significant influence to composing system, are used to components modeling, and then components are taken to buildup virtual MMW radiometer system. Moreover, the effect to output is contrasted whether there is a low-noise amplifier or not.
文摘This study presented the specified steps of comprehensively analyzing the hydraulic-driven hammer system with the application of the Virtual Prototype Technology.By comparing the simulation results with experimental phenomena and data,the correctness of simulation analysis conclusion is verified.Meanwhile,by means of its perfect visualization,the internal work process which can not be seen before is simulated.The mechanism of some abnormal phenomena encountered during the experiment is explained.
基金Project(50474052) supported by the National Natural Science Foundation of China
文摘According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pro/E),) automatic dynamic analysis of mechanical systems(ADAMS) and advanced visual software(AVS). After 32 new modules were developed with C++ at AVS platform, the interface problems of the 3 types of software were solved effectively and a visual environment for ocean mining subsystem was constructed. Based on the similarity (theory) and similarity experiments, the validity and reliability of the virtual prototyping were verified. By using the (constructed) virtual prototyping, the relevant parameters, such as cutting depth, rotation speed of roller,marching speed of mining vehicle can be adjusted one by one. After repeatable virtual tests and analysis its corresponding dynamic characteristics, the structure parameter of mining vehicle and the parameter of mining process can be optimized fast and accurately. The experiment and simulation results show that, under the controlled mining parameters, 4 function expressions between the average force of single pick,average torque,average cutting power,energy consumption ratio and cutting depth are obtained. The maximum force of a single pick is less than (11090N) and the maximum torque of the roller is less than 3600N·m.
基金Supported by National Natural Science Foundation of China(Grant No.51675400).
文摘Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the manipulator.The D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried out.The digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator design.Trajectory mapping and synchronization control between virtual model and the actual manipulator are realized based on digital twin technique.The virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by experiment.Experiment was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the manipulator.The results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0%in the average error of the fixed point of the manipulator and a reduction of 33.3%in the maximum error.
基金This paper is supported by Small to Middle-sized Enterprises Innovation Fund of the Ministry of Science and Technology under Contract No.05C26213400546High-Tech Industrialization Project for Universities of Jiangsu Province
文摘We first describe the fundamental concept of virtual prototyping（ VP ） technology and discuss the differences among VP, computer aided design, computer aided engineering and computer aided manufacture. Then we present the application flow of virtual prototyping technology to the development of mechanical products. Based on ADAMS/VIEW, a new kind of special machine rotating cutter has been developed. The simulation results show that the rotating cutter meets the design requirements. It is concluded that virtual prototyping technology is quite valuable in designing and manufacturing mechanical product.
文摘The contribution of functional virtual prototyping to vehicle chassis development is presented. The different topics that we took into consideration were reform analysis and improvement design during the vehicle chassis development. A frame of coordinates based on the digital-model was established, the main CAE analy- sis methods, multi-body system dynamics and finite element analysis were applied to the digital-model build by CAD/CAM software. The method was applied in the vehicle chassis reform analysis and improvement design, all the analysis and design projects were implemented in the uniform digital-model, and the development was carried through effectively.
