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
The Drag-Free and Attitude Control System(DFACS)is a critical platform for various space missions,including high precision satellite navigation,geoscience and gravity field measurement,and space scientific experiments...The Drag-Free and Attitude Control System(DFACS)is a critical platform for various space missions,including high precision satellite navigation,geoscience and gravity field measurement,and space scientific experiments.This paper presents a comprehensive review of over sixty years of research on the design and dynamics model of DFACS.Firstly,we examine the open literature on DFACS and its applications in Drag-Free missions,providing readers with necessary background information on the field.Secondly,we analyze the system configurations and main characteristics of different DFACSs,paying particular attention to the coupling mechanism between the system configuration and dynamics model.Thirdly,we summarize the dynamics modeling methods and main dynamics models of DFACS from multiple perspectives,including common fundamentals and specific applications.Lastly,we identify current challenges and technological difficulties in the system design and dynamics modeling of DFACS,while suggesting potential avenues for future research.This paper aims to provide readers with a comprehensive understanding of the state-of-the-art in DFACS research,as well as the future prospects and challenges in this field.展开更多
As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for...As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for people to spread and share information.Nevertheless,SIoT is characterized by high openness and autonomy,multiple kinds of information can spread rapidly,freely and cooperatively in SIoT,which makes it challenging to accurately reveal the characteristics of the information diffusion process and effectively control its diffusion.To this end,with the aim of exploring multi-information cooperative diffusion processes in SIoT,we first develop a dynamics model for multi-information cooperative diffusion based on the system dynamics theory in this paper.Subsequently,the characteristics and laws of the dynamical evolution process of multi-information cooperative diffusion are theoretically investigated,and the diffusion trend is predicted.On this basis,to further control the multi-information cooperative diffusion process efficiently,we propose two control strategies for information diffusion with control objectives,develop an optimal control system for the multi-information cooperative diffusion process,and propose the corresponding optimal control method.The optimal solution distribution of the control strategy satisfying the control system constraints and the control budget constraints is solved using the optimal control theory.Finally,extensive simulation experiments based on real dataset from Twitter validate the correctness and effectiveness of the proposed model,strategy and method.展开更多
A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well...A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.展开更多
In this work,molecular dynamics modeling was conducted to study hydrogen(H)-induced plastic deformation and cracking of polycrystalα-Fe.Under cyclic loading,the number of vacancies and the stress intensity increase w...In this work,molecular dynamics modeling was conducted to study hydrogen(H)-induced plastic deformation and cracking of polycrystalα-Fe.Under cyclic loading,the number of vacancies and the stress intensity increase with H atom concentration and the number of loading cycles.However,the effect of cyclic loading on cracking is not as significant as the increment of H concentration.As the H concentration increases,the dislocation generation and emission are enhanced in the{110}<111>slip system,but are inhibited in other slip systems.There is a critical H atom concentration,below which the plastic deformation ofα-Fe is facilitated by H atoms.When the critical H concentration is exceeded,the dislocation emission is inhibited by H atoms at grain boundaries,where the H atoms can pin dislocations,causing piling-up of the dislocations to generate a stress concentration.展开更多
Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonablenes...Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.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
The existence of clearance in the joints of mechanisms system is inevitable.The movements of the real mechanism are deflection from the ideal mechanism due to the clearances and the motion accuracy is decreased.The ef...The existence of clearance in the joints of mechanisms system is inevitable.The movements of the real mechanism are deflection from the ideal mechanism due to the clearances and the motion accuracy is decreased.The effects of the hinge clearance on the crank and rocker mechanism system are studied.The system dynamics equation with clearance is presented.The contact dynamics model is established using the nonlinear equivalent spring-damp model and the friction effect is considered by using Coulomb friction model.Then the models are incorporated into ADAMS,and based on the model,large numbers numeric simulations are made.The regularity of contact forces in clearance are studied in detail.And the effects of clearance size,clearance friction on the mechanism dynamics characteristic are analyzed.The simulation results can predict the effects of clearance on the mechanism dynamics characteristic preferably.展开更多
Combined with the tire dynamics theoretical model,a rapid test method to obtain tire lateral and longitudinal both steady-state and transient characteristics only based on the tire quasi-steady-state test results is p...Combined with the tire dynamics theoretical model,a rapid test method to obtain tire lateral and longitudinal both steady-state and transient characteristics only based on the tire quasi-steady-state test results is proposed.For steady state data extraction,the test time of the rapid test method is half that of the conventional test method.For transient tire characteristics the rapid test method omits the traditional tire test totally.At the mean time the accuracy of the two method is much closed.The rapid test method is explained theoretically and the test process is designed.The key parameters of tire are extracted and the comparison is made between rapid test and traditional test method.The result show that the identification accuracy based on the rapid test method is almost equal to the accuracy of the conventional one.Then,the heat generated during the rapid test method and that generated during the conventional test are calculated separately.The comparison shows that the heat generated during the rapid test is much smaller than the heat generated during the conventional test process.This benefits to the reduction of tire wear and the consistency of test results.Finally,it can be concluded that the fast test method can efficiently,accurately and energy-efficiently measure the steady-state and transient characteristics of the tire.展开更多
Metal organic chenlical vapor deposition （AIOCVD） growth systems arc one of the. main types of equipment used for growing single crystal materials, such as GaN. To obtain fihn epitaxial materials with uniform perfor...Metal organic chenlical vapor deposition （AIOCVD） growth systems arc one of the. main types of equipment used for growing single crystal materials, such as GaN. To obtain fihn epitaxial materials with uniform performanee, the flow field and ternperature field in a GaN-MOCVD reactor are investigated by modeling and simulating. To make the simulation results more consistent with the actual situation, the gases in the reactor are considered to be compressible, making it possible to investigate the distributions of gas density and pressure in the reactor. The computational fluid dynamics method is used to stud,v the effects of inlet gas flow velocity, pressure in the reactor, rotational speed of graphite susceptor, and gases used in the growth, which has great guiding~ significance for the growth of GaN fihn materials.展开更多
To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster an...To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.展开更多
In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from mo...In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.展开更多
In the transition mode of quad tilt wing-unmanned aerial vehicle(QTW-UAV),the system stability of UAV will change with the tilt angle changes,which will cause serious head drop down.Meanwhile,with the complex air flow...In the transition mode of quad tilt wing-unmanned aerial vehicle(QTW-UAV),the system stability of UAV will change with the tilt angle changes,which will cause serious head drop down.Meanwhile,with the complex air flow and other disturbances,the system is prone to side bias,frying,stall and other kinetic stability problems,hence the system stability analysis has become an urgent problem to be solved.To solve the stability problem,we need the quantitative criteria of system stability and effective tool of stability analysis,and can improve the stability of the motion control by optimizing the structural parameters of the aircraft.Therefore,based on the design of the mechanical structure,the quantitative relationship between the structure parameters of the aerial vehicle and kinetic stability of the system transition mode is established by the Lyapunov exponent method.In this paper,the dynamic modeling of the position and attitude angle is carried out and the stability of the system is analyzed by Lyapunov exponent,the results show that changing the mechanical structure of the system can improve the flight stability for the system transition mode and lay a theoretical foundation for the system stability analysis.Compared with the Lyapunov direct method,this method can be construct easily,has a simple calculation process and so on.We improve the flight stability by optimizing the structure and the experiment confirms that expanding area can enhance flight stability within limits.展开更多
The economic growth of China has led to increasing growth disparities between regions. Such disparities are uncontrolled and are severely negative symptoms in the process of economic development. On the basis of syste...The economic growth of China has led to increasing growth disparities between regions. Such disparities are uncontrolled and are severely negative symptoms in the process of economic development. On the basis of system dynamics(SD) modeling and the relationship between industrial relocation and regional economic growth, we construct a model of the interrelationship between the two aforementioned phenomena. The model is an effective and creative exploration for examining effects of industrial relocation on Chinese regional economic growth disparities. The SD model is employed in this study to build an inter-regional labor migration SD model, an inter-regional capital migration SD model, an intra-industry SD model, an intra-regional population SD model, and an intra-regional SD model which are based on realities in labor and capital flow from the view of industrial relocation. VENSIM software is utilized to perform a system simulation based on the data of the eastern, middle, and western regions from 2000 to 2010. Results show that industrial relocation gradually narrows the relative disparity in GDP among the three regions. Moreover, the absolute one is enlarged continuously. The absolute and relative disparities in per capita GDP among eastern, middle, and western regions generally exhibit decreasing trends.展开更多
The accumulation of He on a W surface during keV-He ion irradiation has been simulated using cluster dynamics modeling. This is based mainly on rate theory and improved by involving different types of objects, adoptin...The accumulation of He on a W surface during keV-He ion irradiation has been simulated using cluster dynamics modeling. This is based mainly on rate theory and improved by involving different types of objects, adopting up-to-date parameters and complex reaction processes, as well as considering the diffusion process along with depth. These new features make the simulated results compare very well with the experimental ones. The accumulation and diffusion processes are analyzed, and the depth and size dependence of the He concentrations contributed by different types of He clusters is also discussed. The exploration of the trapping and diffusion effects of the He atoms is helpful in understanding the evolution of the damages in the near-surface of plasma-facing materials under He ion irradiation.展开更多
In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due...In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability展开更多
We review the state of the art of dynamic modeling methods for helicopter simulators.Major dynamic models,including ARMCOP,GENHEL,FLYRT,BEMAP,F-B412 and UTIAS,are introduced.We address off-axis response problem by foc...We review the state of the art of dynamic modeling methods for helicopter simulators.Major dynamic models,including ARMCOP,GENHEL,FLYRT,BEMAP,F-B412 and UTIAS,are introduced.We address off-axis response problem by focusing on flexible blade model,Pitt-Peters dynamic inflow model,Peters-He finite state inflow model and free wake model which are integrated with the baseline model.With the advances in computing power,efficient free-vortex algorithms and parallel processing,free wake model can be used to simulate in real-time and significantly improves the effectiveness of solving off-axis response problem.展开更多
A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose...A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose is derived without using any theoretical model, so the confidence of the identified model is increased, and then the 6 degrees of freedom rigid body model is extended to 9 degrees of freedom high-order model. Bode sensitivity function is derived to increase the accuracy of frequency spectra calculation which influences the accuracy of model parameter identification. Then a frequency domain identification algorithm is established. Acceleration technique is developed furthermore to increase calculation efficiency, and the total identification time is reduced by more than 50% using this technique. A comprehensive two-step method is established for helicopter high-order flight dynamics model identification which increases the numerical stability of model identification compared with single step algorithm. Application of the developed method to identify the flight dynamics model of BO 105 helicopter based on flight test data is implemented. A comparative study between the high-order model and rigid body model is performed at last. The results show that the developed method can be used for helicopter high-order flight dynamics model identification with high accuracy as well as efficiency, and the advantage of identified high-order model is very obvious compared with low-order model.展开更多
Based on the dynamical characteristic parameters of the real vehicle, the modehng approach ancl procedure of dynamics of vehicles are expatiated. The layout of vehicle dynamics is proposed, and the sub-models of the d...Based on the dynamical characteristic parameters of the real vehicle, the modehng approach ancl procedure of dynamics of vehicles are expatiated. The layout of vehicle dynamics is proposed, and the sub-models of the diesel engine, drivetrain system and vehicle multi-body dynamics are introduced. Finally, the running characteristic data of the virtual and real vehicles are compared, which shows that the dynamics model is similar closely to the real vehicle system.展开更多
Accurate dynamics modeling is crucial for the safety and control offixed-wing aircraft under perturbation(e.g.icing/fault).In this work,we propose a physics-informed Neural Ordinary Differential Equation(PI-NODE)-base...Accurate dynamics modeling is crucial for the safety and control offixed-wing aircraft under perturbation(e.g.icing/fault).In this work,we propose a physics-informed Neural Ordinary Differential Equation(PI-NODE)-based scheme for aircraft dynamics modeling under icing/fault.First,icing accumulation and control surface faults are considered and injected into the nominal(clean)aircraft dynamics model.Second,the physics knowledge of aircraft dynamics modeling is divided into kinematics and kinetics.The former is universally applicable and borrows directly from the nominal aircraft.The latter kinetics knowledge,which hinges on external forces and moments,is inaccurate and challenging under icing/fault.To address this issue,we employ Neural ODE to compensate for the residual between the aircraft dynamics under icing/fault and the nominal(clean)condition,resulting in a naturally continuous-time modeling approach.In experiments,we benchmark the proposed PI-NODE against three baseline methods in a dedicated flight scenario.Comparative studies validate the higher accuracy and improve the generalization ability of the proposed PI-NODE for aircraft dynamics modeling under icing/fault.展开更多
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This research was supported by National Key R&D Program of China:Gravitational Wave Detection Project,China(Nos.2021YFC2202601,2021YFC2202603)National Natural Science Foundation of China(No.12172288).
文摘The Drag-Free and Attitude Control System(DFACS)is a critical platform for various space missions,including high precision satellite navigation,geoscience and gravity field measurement,and space scientific experiments.This paper presents a comprehensive review of over sixty years of research on the design and dynamics model of DFACS.Firstly,we examine the open literature on DFACS and its applications in Drag-Free missions,providing readers with necessary background information on the field.Secondly,we analyze the system configurations and main characteristics of different DFACSs,paying particular attention to the coupling mechanism between the system configuration and dynamics model.Thirdly,we summarize the dynamics modeling methods and main dynamics models of DFACS from multiple perspectives,including common fundamentals and specific applications.Lastly,we identify current challenges and technological difficulties in the system design and dynamics modeling of DFACS,while suggesting potential avenues for future research.This paper aims to provide readers with a comprehensive understanding of the state-of-the-art in DFACS research,as well as the future prospects and challenges in this field.
基金supported by the National Natural Science Foundation of China(Grant Nos.62102240,62071283)the China Postdoctoral Science Foundation(Grant No.2020M683421)the Key R&D Program of Shaanxi Province(Grant No.2020ZDLGY10-05).
文摘As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for people to spread and share information.Nevertheless,SIoT is characterized by high openness and autonomy,multiple kinds of information can spread rapidly,freely and cooperatively in SIoT,which makes it challenging to accurately reveal the characteristics of the information diffusion process and effectively control its diffusion.To this end,with the aim of exploring multi-information cooperative diffusion processes in SIoT,we first develop a dynamics model for multi-information cooperative diffusion based on the system dynamics theory in this paper.Subsequently,the characteristics and laws of the dynamical evolution process of multi-information cooperative diffusion are theoretically investigated,and the diffusion trend is predicted.On this basis,to further control the multi-information cooperative diffusion process efficiently,we propose two control strategies for information diffusion with control objectives,develop an optimal control system for the multi-information cooperative diffusion process,and propose the corresponding optimal control method.The optimal solution distribution of the control strategy satisfying the control system constraints and the control budget constraints is solved using the optimal control theory.Finally,extensive simulation experiments based on real dataset from Twitter validate the correctness and effectiveness of the proposed model,strategy and method.
基金Supported by Shanghai Municipal Science and Technology Program (Grant No.21511101701)National Key Research and Development Program of China (Grant No.2021YFC0122704)。
文摘A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.
基金supported by National Natural Science Foundation of China(Nos.52374072,No.52004323)CNPC Innovation Foundation(No.2022DQ02-0502)+1 种基金Natural Science Foundation of Shandong Province(Nos.ZR2020ME094,ZR2019BEE006 and ZR2019MEE108)the Senior Foreign Expert Project Fund(No.G2022152003L).
文摘In this work,molecular dynamics modeling was conducted to study hydrogen(H)-induced plastic deformation and cracking of polycrystalα-Fe.Under cyclic loading,the number of vacancies and the stress intensity increase with H atom concentration and the number of loading cycles.However,the effect of cyclic loading on cracking is not as significant as the increment of H concentration.As the H concentration increases,the dislocation generation and emission are enhanced in the{110}<111>slip system,but are inhibited in other slip systems.There is a critical H atom concentration,below which the plastic deformation ofα-Fe is facilitated by H atoms.When the critical H concentration is exceeded,the dislocation emission is inhibited by H atoms at grain boundaries,where the H atoms can pin dislocations,causing piling-up of the dislocations to generate a stress concentration.
文摘Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.
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Sponsored by Program for Changjiang Scholars and Innovative Research Team in University(Grant No.IRT0520)
文摘The existence of clearance in the joints of mechanisms system is inevitable.The movements of the real mechanism are deflection from the ideal mechanism due to the clearances and the motion accuracy is decreased.The effects of the hinge clearance on the crank and rocker mechanism system are studied.The system dynamics equation with clearance is presented.The contact dynamics model is established using the nonlinear equivalent spring-damp model and the friction effect is considered by using Coulomb friction model.Then the models are incorporated into ADAMS,and based on the model,large numbers numeric simulations are made.The regularity of contact forces in clearance are studied in detail.And the effects of clearance size,clearance friction on the mechanism dynamics characteristic are analyzed.The simulation results can predict the effects of clearance on the mechanism dynamics characteristic preferably.
基金Supported by National Natural Science Foundation of China(Grant No.51775224).
文摘Combined with the tire dynamics theoretical model,a rapid test method to obtain tire lateral and longitudinal both steady-state and transient characteristics only based on the tire quasi-steady-state test results is proposed.For steady state data extraction,the test time of the rapid test method is half that of the conventional test method.For transient tire characteristics the rapid test method omits the traditional tire test totally.At the mean time the accuracy of the two method is much closed.The rapid test method is explained theoretically and the test process is designed.The key parameters of tire are extracted and the comparison is made between rapid test and traditional test method.The result show that the identification accuracy based on the rapid test method is almost equal to the accuracy of the conventional one.Then,the heat generated during the rapid test method and that generated during the conventional test are calculated separately.The comparison shows that the heat generated during the rapid test is much smaller than the heat generated during the conventional test process.This benefits to the reduction of tire wear and the consistency of test results.Finally,it can be concluded that the fast test method can efficiently,accurately and energy-efficiently measure the steady-state and transient characteristics of the tire.
基金Supported by the National Key R&D Program of China under Grant No 2016YFB0400104
文摘Metal organic chenlical vapor deposition （AIOCVD） growth systems arc one of the. main types of equipment used for growing single crystal materials, such as GaN. To obtain fihn epitaxial materials with uniform performanee, the flow field and ternperature field in a GaN-MOCVD reactor are investigated by modeling and simulating. To make the simulation results more consistent with the actual situation, the gases in the reactor are considered to be compressible, making it possible to investigate the distributions of gas density and pressure in the reactor. The computational fluid dynamics method is used to stud,v the effects of inlet gas flow velocity, pressure in the reactor, rotational speed of graphite susceptor, and gases used in the growth, which has great guiding~ significance for the growth of GaN fihn materials.
基金Supported by the National Natural Science Foundation of China under Grant No.50909025
文摘To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
基金supported by National Basic Research and Development Program of China (973 Program, Grant No. 2006CB705402)
文摘In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm（HHA）, which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network（NN）-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function（RBF） NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.
基金This research is supported financially by Natural Science Foundation of China(Grant No.51575283,No.51405243).
文摘In the transition mode of quad tilt wing-unmanned aerial vehicle(QTW-UAV),the system stability of UAV will change with the tilt angle changes,which will cause serious head drop down.Meanwhile,with the complex air flow and other disturbances,the system is prone to side bias,frying,stall and other kinetic stability problems,hence the system stability analysis has become an urgent problem to be solved.To solve the stability problem,we need the quantitative criteria of system stability and effective tool of stability analysis,and can improve the stability of the motion control by optimizing the structural parameters of the aircraft.Therefore,based on the design of the mechanical structure,the quantitative relationship between the structure parameters of the aerial vehicle and kinetic stability of the system transition mode is established by the Lyapunov exponent method.In this paper,the dynamic modeling of the position and attitude angle is carried out and the stability of the system is analyzed by Lyapunov exponent,the results show that changing the mechanical structure of the system can improve the flight stability for the system transition mode and lay a theoretical foundation for the system stability analysis.Compared with the Lyapunov direct method,this method can be construct easily,has a simple calculation process and so on.We improve the flight stability by optimizing the structure and the experiment confirms that expanding area can enhance flight stability within limits.
基金Under the auspices of National Natural Science Foundation of China(No.41171099)National Key Basic Research Program of China(No.2012CB955802)National Social Science Foundation of China(No.10ZD&022)
文摘The economic growth of China has led to increasing growth disparities between regions. Such disparities are uncontrolled and are severely negative symptoms in the process of economic development. On the basis of system dynamics(SD) modeling and the relationship between industrial relocation and regional economic growth, we construct a model of the interrelationship between the two aforementioned phenomena. The model is an effective and creative exploration for examining effects of industrial relocation on Chinese regional economic growth disparities. The SD model is employed in this study to build an inter-regional labor migration SD model, an inter-regional capital migration SD model, an intra-industry SD model, an intra-regional population SD model, and an intra-regional SD model which are based on realities in labor and capital flow from the view of industrial relocation. VENSIM software is utilized to perform a system simulation based on the data of the eastern, middle, and western regions from 2000 to 2010. Results show that industrial relocation gradually narrows the relative disparity in GDP among the three regions. Moreover, the absolute one is enlarged continuously. The absolute and relative disparities in per capita GDP among eastern, middle, and western regions generally exhibit decreasing trends.
基金supported by the Special Funds for Major State Basic Research Project of China(973)(Nos.2007CB925004 and 2008CB717802)the Knowledge Innovation Program of the Chinese Academy of Sciences(No.KJCX2-YW-N35)+2 种基金National Natural Science Foundation of China(No.11005124)the China Postdoctoral Science Foundation Funded Project(No.20100470863)Director Grants of CASHIPS.Part of the calculations were performed in the Center for Computational Science of CASHIPS
文摘The accumulation of He on a W surface during keV-He ion irradiation has been simulated using cluster dynamics modeling. This is based mainly on rate theory and improved by involving different types of objects, adopting up-to-date parameters and complex reaction processes, as well as considering the diffusion process along with depth. These new features make the simulated results compare very well with the experimental ones. The accumulation and diffusion processes are analyzed, and the depth and size dependence of the He concentrations contributed by different types of He clusters is also discussed. The exploration of the trapping and diffusion effects of the He atoms is helpful in understanding the evolution of the damages in the near-surface of plasma-facing materials under He ion irradiation.
文摘In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability
基金supported by the Fundamental Research Funds for the Central Universitiesthe Research Innovation Program for College Graduates of Jiangsu Province(No.KYLX_0294)
文摘We review the state of the art of dynamic modeling methods for helicopter simulators.Major dynamic models,including ARMCOP,GENHEL,FLYRT,BEMAP,F-B412 and UTIAS,are introduced.We address off-axis response problem by focusing on flexible blade model,Pitt-Peters dynamic inflow model,Peters-He finite state inflow model and free wake model which are integrated with the baseline model.With the advances in computing power,efficient free-vortex algorithms and parallel processing,free wake model can be used to simulate in real-time and significantly improves the effectiveness of solving off-axis response problem.
基金the support of the Fund of Key Laboratory of Chinaa Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions of China
文摘A comprehensive method based on system identification theory for helicopter flight dynamics modeling with rotor degrees of freedom is developed. A fully parameterized rotor flapping equation for identification purpose is derived without using any theoretical model, so the confidence of the identified model is increased, and then the 6 degrees of freedom rigid body model is extended to 9 degrees of freedom high-order model. Bode sensitivity function is derived to increase the accuracy of frequency spectra calculation which influences the accuracy of model parameter identification. Then a frequency domain identification algorithm is established. Acceleration technique is developed furthermore to increase calculation efficiency, and the total identification time is reduced by more than 50% using this technique. A comprehensive two-step method is established for helicopter high-order flight dynamics model identification which increases the numerical stability of model identification compared with single step algorithm. Application of the developed method to identify the flight dynamics model of BO 105 helicopter based on flight test data is implemented. A comparative study between the high-order model and rigid body model is performed at last. The results show that the developed method can be used for helicopter high-order flight dynamics model identification with high accuracy as well as efficiency, and the advantage of identified high-order model is very obvious compared with low-order model.
基金Sponsored by the Ministerial Level Foundation (070312)
文摘Based on the dynamical characteristic parameters of the real vehicle, the modehng approach ancl procedure of dynamics of vehicles are expatiated. The layout of vehicle dynamics is proposed, and the sub-models of the diesel engine, drivetrain system and vehicle multi-body dynamics are introduced. Finally, the running characteristic data of the virtual and real vehicles are compared, which shows that the dynamics model is similar closely to the real vehicle system.
基金sponsored by the Shanghai Sailing Program under Grant No.20YF1402500the Shanghai Natural Science Fund under Grant No.22ZR1404500.
文摘Accurate dynamics modeling is crucial for the safety and control offixed-wing aircraft under perturbation(e.g.icing/fault).In this work,we propose a physics-informed Neural Ordinary Differential Equation(PI-NODE)-based scheme for aircraft dynamics modeling under icing/fault.First,icing accumulation and control surface faults are considered and injected into the nominal(clean)aircraft dynamics model.Second,the physics knowledge of aircraft dynamics modeling is divided into kinematics and kinetics.The former is universally applicable and borrows directly from the nominal aircraft.The latter kinetics knowledge,which hinges on external forces and moments,is inaccurate and challenging under icing/fault.To address this issue,we employ Neural ODE to compensate for the residual between the aircraft dynamics under icing/fault and the nominal(clean)condition,resulting in a naturally continuous-time modeling approach.In experiments,we benchmark the proposed PI-NODE against three baseline methods in a dedicated flight scenario.Comparative studies validate the higher accuracy and improve the generalization ability of the proposed PI-NODE for aircraft dynamics modeling under icing/fault.
