Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library...Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library' and Jourdain's variation principle and single direction recursive formulation method are used to establish the general coupling dynamical equations of flexible multibody system. Two typical examples show the coupling effect between coupling displacements and large overall motion on the dynamics of flexible multibody system consisting of beams.展开更多
The dual-rotor structure serves as the primary source of vibration in aero-engines. Understanding itsdynamical model and analyzing dynamic characteristics, such as critical speed and unbalanced response, arecrucial fo...The dual-rotor structure serves as the primary source of vibration in aero-engines. Understanding itsdynamical model and analyzing dynamic characteristics, such as critical speed and unbalanced response, arecrucial for rotor system dynamics. Previous work introduced a coaxial dual-rotor-support scheme for aeroengines,and a physical model featuring a high-speed flexible inner rotor with a substantial length-to-diameter ratiowas designed. Then a finite element (FE) dynamic model based on the Timoshenko beam elements and rigid bodykinematics of the dual-rotor system is modeled, with the Newmark method and Newton–Raphson method used forthe numerical calculation to study the dynamic characteristics of the system. Three different simulation models,including beam-based FE (1D) model, solid-based FE (3D) model, and transfer matrix model, were designed tostudy the characteristics of mode and the critical speed characteristic of the dual-rotor system. The unbalancedresponse of the dual-rotor system was analyzed to study the influence of mass unbalance on the rotor system. Theeffect of different disk unbalance phases and different speed ratios on the dynamic characteristics of the dual-rotorsystem was investigated in detail. The experimental result shows that the beam-based FE model is effective andsuitable for studying the dual-rotor system.展开更多
A novel control strategy for a continuous stirred tank reactor(CSTR)system,which has the typical characteristic of strongly pronounced nonlinearity,multiple operating points,and a wide operating range,is initiated fro...A novel control strategy for a continuous stirred tank reactor(CSTR)system,which has the typical characteristic of strongly pronounced nonlinearity,multiple operating points,and a wide operating range,is initiated from the point of hybrid systems.The proposed scheme makes full use of the modeling power of mixed logical dy- namical(MLD)systems to describe the highly nonlinear dynamics and multiple operating points in a unified framework as a hybrid system,and takes advantage of the good control quality of model predictive control(MPC) to design a controller.Thus,this approach avoids oscillation during switching between sub-systems,helps to relieve shaking in transition,and augments the stability robustness of the whole system,and finally achieves optimal(i.e. fast and smooth)transition between operating points.The simulation results demonstrate that the presented ap- proach has a satisfactory performance.展开更多
By analyzing the output voltage ripple of a buck-boost converter with large equivalent series resistance（ESR） of output capacitor, one valley voltage-mode controller for buck-boost converter is proposed. Considering...By analyzing the output voltage ripple of a buck-boost converter with large equivalent series resistance（ESR） of output capacitor, one valley voltage-mode controller for buck-boost converter is proposed. Considering the fact that the increasing and decreasing slopes of the inductor current are assumed to be constant during each switching cycle, an especial sampleddata model of valley voltage-mode controlled buck-boost converter is established. Based on this model, the dynamical effect of an output-capacitor time-constant on the valley voltage-mode controlled buck-boost converter is revealed and analyzed via the bifurcation diagrams, the movements of eigenvalues, the Lyapunov exponent spectra, the boundary equations,and the operating-state regions. It is found that with gradual reduction of output-capacitor time-constant, the buck-boost converter in continuous conduction mode（CCM） shows the evolutive dynamic behavior from period-1 to period-2, period-4, period-8, chaos, and invalid state. The stability boundary and the invalidated boundary are derived theoretically by stability analysis, where the stable state of valley voltage-mode controlled buck-boost converter can enter into an unstable state, and the converter can shift from the operation region to a forbidden region. These results verified by time-domain waveforms and phase portraits of both simulation and experiment indicate that the sampled-data model is correct and the time constant of the output capacitor is a critical factor for valley voltage-mode controlled buck-boost converter, which has a significant effect on the dynamics as well as control stability.展开更多
This paper is concerned with deriving a dynamic model of a moderately flexible needle inserted into soft tissue,where the model’s output is the needle deflection.The main advantages of the proposed dynamic modeling a...This paper is concerned with deriving a dynamic model of a moderately flexible needle inserted into soft tissue,where the model’s output is the needle deflection.The main advantages of the proposed dynamic modeling approach are that the presented model structure involves parameters that are all measurable or identifiable by simple exper-iments and that it considers the same inputs that are currently used in the clinical practice of manual needle insertion.Conventional manual needle insertion suffers from the fact that flexible needles bend during insertion and their trajectories often vary from those planned,resulting in positioning errors.Enhancement of needle insertion accuracy via robot-assisted needle steering has received significant attention in the past decade.A common assumption in previous research has been that the needle behavior during insertion can be adequately described by static models relating the needle’s forces and torques to its deflection.For closed-loop control purposes,however,a dynamic model of the flexible needle in soft tissue is desired.In this paper,we propose a Lagrangian-based dynamic model for the coupled needle/tissue system,and analyze the response of the dynamic system.Steerability(controllability)analysis is also performed,which is only possible with a dynamic model.The proposed dynamic model can serve as a cornerstone of future research into designing dynamics-based control strategies for closed-loop needle steering in soft tissue aimed at minimizing position error.展开更多
The Electro–Hydrostatic Actuator(EHA)is applied to drive the control surface in flightcontrol system of more electric aircraft.In EHA,the Oil-Immersed Motor Pump(OMP)serves asthe core as a power assembly.However,the ...The Electro–Hydrostatic Actuator(EHA)is applied to drive the control surface in flightcontrol system of more electric aircraft.In EHA,the Oil-Immersed Motor Pump(OMP)serves asthe core as a power assembly.However,the compact integration of the OMP presents challenges inefficiently dissipating internal heat,leading to a performance degradation of the EHA due to ele-vated temperatures.Therefore,accurately modeling and predicting the internal thermal dynamicsof the OMP hold considerable significance for monitoring the operational condition of the EHA.In view of this,a modeling method considering cumulative thermal coupling was hereby proposed.Based on the proposed method,the thermal models of the motor and the pump were established,taking into account heat accumulation and transfer.Taking the leakage oil as the heat couplingpoint between the motor and the pump,the dynamic thermal coupling model of the OMP wasdeveloped,with the thermal characteristics of the oil considered.Additionally,the comparativeexperiments were conducted to illustrate the efficiency of the proposed model.The experimentalresults demonstrate that the proposed dynamic thermal coupling model accurately captured thethermal behavior of OMP,outperforming the static thermal parameter model.Overall,thisadvancement is crucial for effectively monitoring the health of EHA and ensuring flight safety.展开更多
This paper presents a dynamic modeling method to test and examine the minimum mass of pressurized pore-gas for triggering landslides in stable gentle soil slopes.A stable gentle soil slope model is constructed with a ...This paper presents a dynamic modeling method to test and examine the minimum mass of pressurized pore-gas for triggering landslides in stable gentle soil slopes.A stable gentle soil slope model is constructed with a dry cement powder core,a saturated clay middle layer,and a dry sand upper layer.The test injects H_(2)O_(2)solution into the cement core to produce new pore-gas.The model test includes three identical H_(2)O_(2)injections.The small mass of generated oxygen gas(0.07%of slope soil mass and landslide body)from the first injection can build sufficient pore-gas pressure to cause soil upheaval and slide.Meanwhile,despite the first injection causing leak paths in the clay layer,the generated small mass of gas from the second and third injections can further trigger the landslide.A dynamic theoretical analysis of the slope failure is carried out and the required minimum pore-gas pressure for the landslide is calculated.The mass and pressure of generated gas in the model test are also estimated based on the calibration test for oxygen generation from H_(2)O_(2)solution in cement powder.The results indicate that the minimum mass of the generated gas for triggering the landslide is 2 ppm to 0.07%of the landslide body.Furthermore,the small mass of gas can provide sufficient pressure to cause soil upheaval and soil sliding in dynamic analysis.展开更多
As a common fault of the aero-engine,the blade-casing rubbing(BCR)has the potential to cause catastrophic accidents.In this paper,to investigate the dynamic responses and wear characteristics of the system,the laminat...As a common fault of the aero-engine,the blade-casing rubbing(BCR)has the potential to cause catastrophic accidents.In this paper,to investigate the dynamic responses and wear characteristics of the system,the laminated shell element is used to establish the finite element model(FEM)of a flexibly coated casing system.Using the shell element,the blade is modeled,and the surface stress of the blade is calculated.The stress-solving method of the blade is validated through comparisons with the measured time-domain waveform of the stress.Then,a dynamic model of a blade-flexibly coated casing system with rubbing is proposed,accounting for the time-varying mass and stiffness of the casing caused by coating wear.The effects of the proposed flexible casing model are compared with those of a rigid casing model,and the stress changes induced by rubbing are investigated.The results show that the natural characteristics of the coated casing decrease due to the coating wear.The flexibly coated casing model is found to be more suitable for studying casing vibration.Additionally,the stress changes caused by rubbing are slight,and the change in the stress maximum is approximately 5%under the influence of the abrasive coating.展开更多
In recent years,there has been a surge of interest in air-ground collaborative robotics technologies.Our research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic com...In recent years,there has been a surge of interest in air-ground collaborative robotics technologies.Our research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic combination and separation capabilities.During the combination process,contact effects between robots,as well as between robots and the environment,are unavoidable.Therefore,it is essential to conduct detailed and accurate modeling and analysis of the collision impact intensity and transmission pathways within the robotic system to ensure the successful execution of the combination procedure.This paper addresses the intricate surface geometries and multi-point contact challenges present in the contact regions of dual robots by making appropriate modifications to the traditional continuous contact force model and applying equivalent processing techniques.The validity of the developed model is confirmed through comparisons with results obtained from finite element analysis(FEA),which demonstrates its high fidelity.Additionally,the impact of this model on control performance is analyzed within the flight control system,thereby further ensuring the successful completion of the combination process.This research represents a pioneering application and validation of continuous contact theory in the dynamics of collisions within dual robot systems.展开更多
Currently,there are a limited number of dynamic models available for braided composite plates with large overall motions,despite the incorporation of three-dimensional(3D)braided composites into rotating blade compone...Currently,there are a limited number of dynamic models available for braided composite plates with large overall motions,despite the incorporation of three-dimensional(3D)braided composites into rotating blade components.In this paper,a dynamic model of 3D 4-directional braided composite thin plates considering braiding directions is established.Based on Kirchhoff's plate assumptions,the displacement variables of the plate are expressed.By incorporating the braiding directions into the constitutive equation of the braided composites,the dynamic model of the plate considering braiding directions is obtained.The effects of the speeds,braiding directions,and braided angles on the responses of the plate with fixed-axis rotation and translational motion,respectively,are investigated.This paper presents a dynamic theory for calculating the deformation of 3D braided composite structures undergoing both translational and rotational motions.It also provides a simulation method for investigating the dynamic behavior of non-isotropic material plates in various applications.展开更多
Total dynamics of an airship is modeled. The body of an airship is taken as a submerged rigid body with neutral buoyancy, i. e. , buoyancy with value equal to that of gravity, and the coupled dynamics between the body...Total dynamics of an airship is modeled. The body of an airship is taken as a submerged rigid body with neutral buoyancy, i. e. , buoyancy with value equal to that of gravity, and the coupled dynamics between the body with ballonets and ballast is considered. The total dynamics of the airship is firstly derived by Newton-Euler laws and Kirchhoff＇ s equations. Furthermore, by using Hamiltonian and Lagrangian semidirect product reduction theories, the dynamics is formulated as a Lie-Poisson system, or also an Euler-Poincare system. These two formulations can be exploited for the control design using energy-based methods for Hamiltonian or Lagrangian system.展开更多
The tangentially fired utility boiler furnace is divided into several sections. The dynamic mathematical models for each section are presented. In the combustion zone, three dimensional model is used, while for the up...The tangentially fired utility boiler furnace is divided into several sections. The dynamic mathematical models for each section are presented. In the combustion zone, three dimensional model is used, while for the upper sections, lumped parameter model is used instead. With the combination of different models, we can get detailed distributions of gas velocity, temperature, chemical species, heat flux, etc. in the furnace, but with less CPU time. The radiation through the interfaces of each section is cons...展开更多
A morphing aircraft can adapt its configuration to suit different types of tasks,which is also an important requirement of Unmanned Aerial Vehicles(UAV).The successful development of an unmanned morphing aircraft invo...A morphing aircraft can adapt its configuration to suit different types of tasks,which is also an important requirement of Unmanned Aerial Vehicles(UAV).The successful development of an unmanned morphing aircraft involves three steps that determine its ability and intelligent:configuration design,dynamic modeling and flight control.This study conducts a comprehensive survey of morphing aircraft.First,the methods to design the configuration of a morphing aircraft are presented and analyzed.Then,the nonlinear dynamic characteristics and aerodynamic interference caused by a morphing wing are described.Subsequently,the dynamic modeling and flight control methods for solving the flight control problems are summarized with respect to these features.Finally,the general as well as special challenges ahead of the development of intelligent morphing aircraft are discussed.The findings can provide a theoretical and technical reference for designing future morphing aircraft or morphing-wing UAVs.展开更多
PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can b...PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.展开更多
The nonlinear aircraft model with heavy cargo moving inside is derived by using the sep- aration body method, which can describe the influence of the moving cargo on the aircraft attitude and altitude accurately. Furt...The nonlinear aircraft model with heavy cargo moving inside is derived by using the sep- aration body method, which can describe the influence of the moving cargo on the aircraft attitude and altitude accurately. Furthermore, the nonlinear system is decoupled and linearized through the input^utput feedback linearization method. On this basis, an iterative quasi-sliding mode （SM） flight controller for speed and pitch angle control is proposed. At the first-level SM, a global dynamic switching function is introduced thus eliminating the reaching phase of the sliding motion. At the second-level SM, a nonlinear function with the property of ＂smaUer errors correspond to bigger gains and bigger errors correspond to saturated gains＂ is designed to form an integral sliding manifold, and the overcompensation of the integral term to big errors is weakened. Lyapunov- based analysis shows that the controller with strong robustness can reject both constant and time-varying model uncertainties. The performance of the proposed control strategy is verified in a maximum load airdrop mission.展开更多
There exists a lot of research on the nonlinear vibration of the pipeline system with different boundary conditions.To the best of our knowledge,little research on the actual constraint of the clamp has been performed...There exists a lot of research on the nonlinear vibration of the pipeline system with different boundary conditions.To the best of our knowledge,little research on the actual constraint of the clamp has been performed.In this paper,according to hysteresis loops of the clamp obtained from experimental test,the simplified bilinear stiffness and damping model is proposed.Then the Finite Element(FE)model of L-type pipeline system with clamps is established using Timoshenko beam theory in combination with aforementioned stiffness-damping model.Both hammering and shaker tests verify the FE model via the comparisons of natural frequencies and vibration responses.The results show that the maximum errors of natural frequencies and vibration responses are about 8.31%and 17.6%,respectively.The proposed model can simulate the dynamic characteristics of the L-type pipeline system with clamps well,which is helpful to provide some guidance for the early design stage of pipeline in aero-engine.展开更多
For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be ...For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.展开更多
In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the ...In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.展开更多
The analysis of the passive rotation feature of a micro Flapping Rotary Wing（FRW）applicable for Micro Air Vehicle（MAV） design is presented in this paper. The dynamics of the wing and its influence on aerodynamic p...The analysis of the passive rotation feature of a micro Flapping Rotary Wing（FRW）applicable for Micro Air Vehicle（MAV） design is presented in this paper. The dynamics of the wing and its influence on aerodynamic performance of FRW is studied at low Reynolds number（~10~3）.The FRW is modeled as a simplified system of three rigid bodies： a rotary base with two flapping wings. The multibody dynamic theory is employed to derive the motion equations for FRW. A quasi-steady aerodynamic model is utilized for the calculation of the aerodynamic forces and moments. The dynamic motion process and the effects of the kinematics of wings on the dynamic rotational equilibrium of FWR and the aerodynamic performances are studied. The results show that the passive rotation motion of the wings is a continuous dynamic process which converges into an equilibrium rotary velocity due to the interaction between aerodynamic thrust, drag force and wing inertia. This causes a unique dynamic time-lag phenomena of lift generation for FRW, unlike the normal flapping wing flight vehicle driven by its own motor to actively rotate its wings. The analysis also shows that in order to acquire a high positive lift generation with high power efficiency and small dynamic time-lag, a relative high mid-up stroke angle within 7–15° and low mid-down stroke angle within -40° to -35° are necessary. The results provide a quantified guidance for design option of FRW together with the optimal kinematics of motion according to flight performance requirement.展开更多
基金the National Natural Science Foundation of China(No.19832040)
文摘Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library' and Jourdain's variation principle and single direction recursive formulation method are used to establish the general coupling dynamical equations of flexible multibody system. Two typical examples show the coupling effect between coupling displacements and large overall motion on the dynamics of flexible multibody system consisting of beams.
文摘The dual-rotor structure serves as the primary source of vibration in aero-engines. Understanding itsdynamical model and analyzing dynamic characteristics, such as critical speed and unbalanced response, arecrucial for rotor system dynamics. Previous work introduced a coaxial dual-rotor-support scheme for aeroengines,and a physical model featuring a high-speed flexible inner rotor with a substantial length-to-diameter ratiowas designed. Then a finite element (FE) dynamic model based on the Timoshenko beam elements and rigid bodykinematics of the dual-rotor system is modeled, with the Newmark method and Newton–Raphson method used forthe numerical calculation to study the dynamic characteristics of the system. Three different simulation models,including beam-based FE (1D) model, solid-based FE (3D) model, and transfer matrix model, were designed tostudy the characteristics of mode and the critical speed characteristic of the dual-rotor system. The unbalancedresponse of the dual-rotor system was analyzed to study the influence of mass unbalance on the rotor system. Theeffect of different disk unbalance phases and different speed ratios on the dynamic characteristics of the dual-rotorsystem was investigated in detail. The experimental result shows that the beam-based FE model is effective andsuitable for studying the dual-rotor system.
基金Supported by the National Natural Science Foundation of China （No.60404018） and the State Key Development Program for Basic Research of China （No.2002CB312200）.
文摘A novel control strategy for a continuous stirred tank reactor(CSTR)system,which has the typical characteristic of strongly pronounced nonlinearity,multiple operating points,and a wide operating range,is initiated from the point of hybrid systems.The proposed scheme makes full use of the modeling power of mixed logical dy- namical(MLD)systems to describe the highly nonlinear dynamics and multiple operating points in a unified framework as a hybrid system,and takes advantage of the good control quality of model predictive control(MPC) to design a controller.Thus,this approach avoids oscillation during switching between sub-systems,helps to relieve shaking in transition,and augments the stability robustness of the whole system,and finally achieves optimal(i.e. fast and smooth)transition between operating points.The simulation results demonstrate that the presented ap- proach has a satisfactory performance.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61371033 and 51407054)the Foundation for the Author of National Excellent Doctoral Dissertation of China(Grant No.201442)the Fundamental Research Funds for the Central Universities of China(Grant No.2682016CX035)
文摘By analyzing the output voltage ripple of a buck-boost converter with large equivalent series resistance（ESR） of output capacitor, one valley voltage-mode controller for buck-boost converter is proposed. Considering the fact that the increasing and decreasing slopes of the inductor current are assumed to be constant during each switching cycle, an especial sampleddata model of valley voltage-mode controlled buck-boost converter is established. Based on this model, the dynamical effect of an output-capacitor time-constant on the valley voltage-mode controlled buck-boost converter is revealed and analyzed via the bifurcation diagrams, the movements of eigenvalues, the Lyapunov exponent spectra, the boundary equations,and the operating-state regions. It is found that with gradual reduction of output-capacitor time-constant, the buck-boost converter in continuous conduction mode（CCM） shows the evolutive dynamic behavior from period-1 to period-2, period-4, period-8, chaos, and invalid state. The stability boundary and the invalidated boundary are derived theoretically by stability analysis, where the stable state of valley voltage-mode controlled buck-boost converter can enter into an unstable state, and the converter can shift from the operation region to a forbidden region. These results verified by time-domain waveforms and phase portraits of both simulation and experiment indicate that the sampled-data model is correct and the time constant of the output capacitor is a critical factor for valley voltage-mode controlled buck-boost converter, which has a significant effect on the dynamics as well as control stability.
基金supported in part by the Natural Sciences and Engineering Research Council(NSERC)of Canada。
文摘This paper is concerned with deriving a dynamic model of a moderately flexible needle inserted into soft tissue,where the model’s output is the needle deflection.The main advantages of the proposed dynamic modeling approach are that the presented model structure involves parameters that are all measurable or identifiable by simple exper-iments and that it considers the same inputs that are currently used in the clinical practice of manual needle insertion.Conventional manual needle insertion suffers from the fact that flexible needles bend during insertion and their trajectories often vary from those planned,resulting in positioning errors.Enhancement of needle insertion accuracy via robot-assisted needle steering has received significant attention in the past decade.A common assumption in previous research has been that the needle behavior during insertion can be adequately described by static models relating the needle’s forces and torques to its deflection.For closed-loop control purposes,however,a dynamic model of the flexible needle in soft tissue is desired.In this paper,we propose a Lagrangian-based dynamic model for the coupled needle/tissue system,and analyze the response of the dynamic system.Steerability(controllability)analysis is also performed,which is only possible with a dynamic model.The proposed dynamic model can serve as a cornerstone of future research into designing dynamics-based control strategies for closed-loop needle steering in soft tissue aimed at minimizing position error.
基金supported by the National Key R&D Program of China(No.2021YFB2011300)the National Natural Science Foundation of China(Nos.52275044,U2233212)。
文摘The Electro–Hydrostatic Actuator(EHA)is applied to drive the control surface in flightcontrol system of more electric aircraft.In EHA,the Oil-Immersed Motor Pump(OMP)serves asthe core as a power assembly.However,the compact integration of the OMP presents challenges inefficiently dissipating internal heat,leading to a performance degradation of the EHA due to ele-vated temperatures.Therefore,accurately modeling and predicting the internal thermal dynamicsof the OMP hold considerable significance for monitoring the operational condition of the EHA.In view of this,a modeling method considering cumulative thermal coupling was hereby proposed.Based on the proposed method,the thermal models of the motor and the pump were established,taking into account heat accumulation and transfer.Taking the leakage oil as the heat couplingpoint between the motor and the pump,the dynamic thermal coupling model of the OMP wasdeveloped,with the thermal characteristics of the oil considered.Additionally,the comparativeexperiments were conducted to illustrate the efficiency of the proposed model.The experimentalresults demonstrate that the proposed dynamic thermal coupling model accurately captured thethermal behavior of OMP,outperforming the static thermal parameter model.Overall,thisadvancement is crucial for effectively monitoring the health of EHA and ensuring flight safety.
基金supported by grants from the Research Grant Council of the Hong Kong Special Administrative Region,China(Project No.HKU 17207518).
文摘This paper presents a dynamic modeling method to test and examine the minimum mass of pressurized pore-gas for triggering landslides in stable gentle soil slopes.A stable gentle soil slope model is constructed with a dry cement powder core,a saturated clay middle layer,and a dry sand upper layer.The test injects H_(2)O_(2)solution into the cement core to produce new pore-gas.The model test includes three identical H_(2)O_(2)injections.The small mass of generated oxygen gas(0.07%of slope soil mass and landslide body)from the first injection can build sufficient pore-gas pressure to cause soil upheaval and slide.Meanwhile,despite the first injection causing leak paths in the clay layer,the generated small mass of gas from the second and third injections can further trigger the landslide.A dynamic theoretical analysis of the slope failure is carried out and the required minimum pore-gas pressure for the landslide is calculated.The mass and pressure of generated gas in the model test are also estimated based on the calibration test for oxygen generation from H_(2)O_(2)solution in cement powder.The results indicate that the minimum mass of the generated gas for triggering the landslide is 2 ppm to 0.07%of the landslide body.Furthermore,the small mass of gas can provide sufficient pressure to cause soil upheaval and soil sliding in dynamic analysis.
基金Project supported by the National Science and Technology Major Project(No.J2022-IV-0005-0022)the Aero Science Foundation of China(No.20230015050001)the Shenyang Science and Technology Plan Project of China(No.24-202-6-01)。
文摘As a common fault of the aero-engine,the blade-casing rubbing(BCR)has the potential to cause catastrophic accidents.In this paper,to investigate the dynamic responses and wear characteristics of the system,the laminated shell element is used to establish the finite element model(FEM)of a flexibly coated casing system.Using the shell element,the blade is modeled,and the surface stress of the blade is calculated.The stress-solving method of the blade is validated through comparisons with the measured time-domain waveform of the stress.Then,a dynamic model of a blade-flexibly coated casing system with rubbing is proposed,accounting for the time-varying mass and stiffness of the casing caused by coating wear.The effects of the proposed flexible casing model are compared with those of a rigid casing model,and the stress changes induced by rubbing are investigated.The results show that the natural characteristics of the coated casing decrease due to the coating wear.The flexibly coated casing model is found to be more suitable for studying casing vibration.Additionally,the stress changes caused by rubbing are slight,and the change in the stress maximum is approximately 5%under the influence of the abrasive coating.
基金Supported by National Natural Science Foundation of China(Grant Nos.T2121003 and 91748201).
文摘In recent years,there has been a surge of interest in air-ground collaborative robotics technologies.Our research group designs a novel combination-separation air-ground robot(CSAGR),which exhibits rapid automatic combination and separation capabilities.During the combination process,contact effects between robots,as well as between robots and the environment,are unavoidable.Therefore,it is essential to conduct detailed and accurate modeling and analysis of the collision impact intensity and transmission pathways within the robotic system to ensure the successful execution of the combination procedure.This paper addresses the intricate surface geometries and multi-point contact challenges present in the contact regions of dual robots by making appropriate modifications to the traditional continuous contact force model and applying equivalent processing techniques.The validity of the developed model is confirmed through comparisons with results obtained from finite element analysis(FEA),which demonstrates its high fidelity.Additionally,the impact of this model on control performance is analyzed within the flight control system,thereby further ensuring the successful completion of the combination process.This research represents a pioneering application and validation of continuous contact theory in the dynamics of collisions within dual robot systems.
基金Project supported by the National Natural Science Foundation of China(Nos.12372071 and 12372070)the Aeronautical Science Fund of China(No.2022Z055052001)the Foundation of China Scholarship Council(No.202306830079)。
文摘Currently,there are a limited number of dynamic models available for braided composite plates with large overall motions,despite the incorporation of three-dimensional(3D)braided composites into rotating blade components.In this paper,a dynamic model of 3D 4-directional braided composite thin plates considering braiding directions is established.Based on Kirchhoff's plate assumptions,the displacement variables of the plate are expressed.By incorporating the braiding directions into the constitutive equation of the braided composites,the dynamic model of the plate considering braiding directions is obtained.The effects of the speeds,braiding directions,and braided angles on the responses of the plate with fixed-axis rotation and translational motion,respectively,are investigated.This paper presents a dynamic theory for calculating the deformation of 3D braided composite structures undergoing both translational and rotational motions.It also provides a simulation method for investigating the dynamic behavior of non-isotropic material plates in various applications.
文摘Total dynamics of an airship is modeled. The body of an airship is taken as a submerged rigid body with neutral buoyancy, i. e. , buoyancy with value equal to that of gravity, and the coupled dynamics between the body with ballonets and ballast is considered. The total dynamics of the airship is firstly derived by Newton-Euler laws and Kirchhoff＇ s equations. Furthermore, by using Hamiltonian and Lagrangian semidirect product reduction theories, the dynamics is formulated as a Lie-Poisson system, or also an Euler-Poincare system. These two formulations can be exploited for the control design using energy-based methods for Hamiltonian or Lagrangian system.
文摘The tangentially fired utility boiler furnace is divided into several sections. The dynamic mathematical models for each section are presented. In the combustion zone, three dimensional model is used, while for the upper sections, lumped parameter model is used instead. With the combination of different models, we can get detailed distributions of gas velocity, temperature, chemical species, heat flux, etc. in the furnace, but with less CPU time. The radiation through the interfaces of each section is cons...
基金supported by the National Key R&D Program of China(No.2018YFC0810102)the National Natural Science Foundation of China(Nos.91848203 and 91948202)+1 种基金the State Key Laboratory of Robotics(2020-Z02)Natural Science Foundation of Liao Ning Province of China(20180520014)。
文摘A morphing aircraft can adapt its configuration to suit different types of tasks,which is also an important requirement of Unmanned Aerial Vehicles(UAV).The successful development of an unmanned morphing aircraft involves three steps that determine its ability and intelligent:configuration design,dynamic modeling and flight control.This study conducts a comprehensive survey of morphing aircraft.First,the methods to design the configuration of a morphing aircraft are presented and analyzed.Then,the nonlinear dynamic characteristics and aerodynamic interference caused by a morphing wing are described.Subsequently,the dynamic modeling and flight control methods for solving the flight control problems are summarized with respect to these features.Finally,the general as well as special challenges ahead of the development of intelligent morphing aircraft are discussed.The findings can provide a theoretical and technical reference for designing future morphing aircraft or morphing-wing UAVs.
基金supported by the National Natural Science Foundation of China(Grant Nos. 50835006 and 51005161)the Science & Technology Support Planning Foundation of Tianjin(Grant No. 09ZCKFGX03000)the Natural Science Foundation of Tianjin(Grant No. 09JCZDJC23400)
文摘PETREL, a winged hybrid-driven underwater glider is a novel and practical marine survey platform which combines the features of legacy underwater glider and conventional AUV （autonomous underwater vehicle）. It can be treated as a multi-rigid-body system with a floating base and a particular hydrodynamic profile. In this paper, theorems on linear and angular momentum are used to establish the dynamic equations of motion of each rigid body and the effect of translational and rotational motion of internal masses on the attitude control are taken into consideration. In addition, due to the unique external shape with fixed wings and deflectable rudders and the dual-drive operation in thrust and glide modes, the approaches of building dynamic model of conventional AUV and hydrodynamic model of submarine are introduced, and the tailored dynamic equations of the hybrid glider are formulated. Moreover, the behaviors of motion in glide and thrust operation are analyzed based on the simulation and the feasibility of the dynamic model is validated by data from lake field trials.
基金co-supported by the National Natural Science Foundation of China (No. 60904038)the Aeronautical Science Foundation of China (Nos. 20141396012 and 20121396008)
文摘The nonlinear aircraft model with heavy cargo moving inside is derived by using the sep- aration body method, which can describe the influence of the moving cargo on the aircraft attitude and altitude accurately. Furthermore, the nonlinear system is decoupled and linearized through the input^utput feedback linearization method. On this basis, an iterative quasi-sliding mode （SM） flight controller for speed and pitch angle control is proposed. At the first-level SM, a global dynamic switching function is introduced thus eliminating the reaching phase of the sliding motion. At the second-level SM, a nonlinear function with the property of ＂smaUer errors correspond to bigger gains and bigger errors correspond to saturated gains＂ is designed to form an integral sliding manifold, and the overcompensation of the integral term to big errors is weakened. Lyapunov- based analysis shows that the controller with strong robustness can reject both constant and time-varying model uncertainties. The performance of the proposed control strategy is verified in a maximum load airdrop mission.
基金supported by National Natural Science Foundation of China(No.11772089)Fundamental Research Funds for the Central Universities(Nos.N170308028,N170306004 and N180708009)Program for the Innovative Talents of Higher Learning Institutions of Liaoning(LR2017035)。
文摘There exists a lot of research on the nonlinear vibration of the pipeline system with different boundary conditions.To the best of our knowledge,little research on the actual constraint of the clamp has been performed.In this paper,according to hysteresis loops of the clamp obtained from experimental test,the simplified bilinear stiffness and damping model is proposed.Then the Finite Element(FE)model of L-type pipeline system with clamps is established using Timoshenko beam theory in combination with aforementioned stiffness-damping model.Both hammering and shaker tests verify the FE model via the comparisons of natural frequencies and vibration responses.The results show that the maximum errors of natural frequencies and vibration responses are about 8.31%and 17.6%,respectively.The proposed model can simulate the dynamic characteristics of the L-type pipeline system with clamps well,which is helpful to provide some guidance for the early design stage of pipeline in aero-engine.
基金supported by the National Natural Science Foundation of China (Grant No.50835006)the Natural Science Foundation of Tianjin (Grant No.09JCZDJC23400)
文摘For consideration of both the eccentric rotatable rigid body and the translational rigid body, the dynamic model of the underwater glider is derived. Dynamical behaviors are also studied based on the model and can be used as the guidance to underwater gliders design. Gibbs function of the underwater glider system is derived first, and then the nonlinear dynamic model is obtained by use of Appell equations. The relationships between dynamic behaviors and design parameters are studied by solving the dynamic model. The spiral motion, swerving motion in three dimensions and the saw-tooth motion of the underwater glider in vertical plane are studied. Lake trials are carried out to validate the dynamic model.
文摘In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.
文摘The analysis of the passive rotation feature of a micro Flapping Rotary Wing（FRW）applicable for Micro Air Vehicle（MAV） design is presented in this paper. The dynamics of the wing and its influence on aerodynamic performance of FRW is studied at low Reynolds number（~10~3）.The FRW is modeled as a simplified system of three rigid bodies： a rotary base with two flapping wings. The multibody dynamic theory is employed to derive the motion equations for FRW. A quasi-steady aerodynamic model is utilized for the calculation of the aerodynamic forces and moments. The dynamic motion process and the effects of the kinematics of wings on the dynamic rotational equilibrium of FWR and the aerodynamic performances are studied. The results show that the passive rotation motion of the wings is a continuous dynamic process which converges into an equilibrium rotary velocity due to the interaction between aerodynamic thrust, drag force and wing inertia. This causes a unique dynamic time-lag phenomena of lift generation for FRW, unlike the normal flapping wing flight vehicle driven by its own motor to actively rotate its wings. The analysis also shows that in order to acquire a high positive lift generation with high power efficiency and small dynamic time-lag, a relative high mid-up stroke angle within 7–15° and low mid-down stroke angle within -40° to -35° are necessary. The results provide a quantified guidance for design option of FRW together with the optimal kinematics of motion according to flight performance requirement.
