Based on analysis of flow field of the rotary seal using sealing ring, mechanical models under the condition of full film friction and mixed film friction were established respectively. The influence of friction state...Based on analysis of flow field of the rotary seal using sealing ring, mechanical models under the condition of full film friction and mixed film friction were established respectively. The influence of friction state of the sealing ring on seal performance was also discussed. The relation between force characteristic and structural parameters of the sealing ring was analyzed. Analytical results indicate that friction state mainly depends on structural parameters of the sealing ring. The expression of calculating friction torque under the condition of mixed film friction was deduced. Experiment verification had been done. Experimental results agree with the deducing theoretical conclusions on the whole. It lays the foundation for design of new type of sealing ring used in composite transmission.展开更多
Incorporating rate and state friction laws, stability of linearly stable （i.e., with stiffness greater than the critical value） spring-slider systems subjected to triggering perturbations was analyzed under variable...Incorporating rate and state friction laws, stability of linearly stable （i.e., with stiffness greater than the critical value） spring-slider systems subjected to triggering perturbations was analyzed under variable normal stress condition, and comparison was made between our results and that of fixed normal stress cases revealed in previous studies. For systems associated with the slip law, the critical mag- nitude of rate steps for triggering unstable slips are found to have a similar pattern to the fixed normal stress case, and the critical velocity steps scale with a/（b - a） when k = kcr for both cases. The rate-step boundaries for the variable normal stress cases are revealed to be lower than the fixed normal stress case by 7 %-16 % for a relatively large ct = 0.56 with （b - a）/a ranging from 0.25 to 1, indicating easier triggering under the variable normal stress condition with rate steps. The difference between fixed and variable normal stress cases decreases when the α value is smaller. In the same slip- law-type systems, critical displacements to trigger instability are revealed to be little affected by the variable normal stress condition. When k 〉 kcr（V,）, a spring-slider system with the slowness law is much more stable than with the slip law,suggesting that the slowness law fits experimental data better when a single state variable is adopted. In stick-slip motions, the variable normal stress case has larger stress drops than the constant normal stress case. The variable normal stress has little effect on the range of slip velocity in systems associated with the slowness law, whereas systems associated with the slip law have a slowest slip velocity immensely smaller than the fixed normal stress case, by ~ 10 orders of magnitude.展开更多
Vehicle state and tire-road adhesion are of great use and importance to vehicle active safety control systems. However, it is always not easy to obtain the information with high accuracy and low expense. Recently, man...Vehicle state and tire-road adhesion are of great use and importance to vehicle active safety control systems. However, it is always not easy to obtain the information with high accuracy and low expense. Recently, many estimation methods have been put forward to solve such problems, in which Kalman filter becomes one of the most popular techniques. Nevertheless, the use of complicated model always leads to poor real-time estimation while the role of road friction coefficient is often ignored. For the purpose of enhancing the real time performance of the algorithm and pursuing precise estimation of vehicle states, a model-based estimator is proposed to conduct combined estimation of vehicle states and road friction coefficients. The estimator is designed based on a three-DOF vehicle model coupled with the Highway Safety Research Institute（HSRI） tire model; the dual extended Kalman filter （DEKF） technique is employed, which can be regarded as two extended Kalman filters operating and communicating simultaneously. Effectiveness of the estimation is firstly examined by comparing the outputs of the estimator with the responses of the vehicle model in CarSim under three typical road adhesion conditions（high-friction, low-friction, and joint-friction）. On this basis, driving simulator experiments are carried out to further investigate the practical application of the estimator. Numerical results from CarSim and driving simulator both demonstrate that the estimator designed is capable of estimating the vehicle states and road friction coefficient with reasonable accuracy. The DEKF-based estimator proposed provides the essential information for the vehicle active control system with low expense and decent precision, and offers the possibility of real car application in future.展开更多
This paper describes results of seam welding of relatively high temperature melting materials, AISI 304, C-Mn steels, Ni-based alloys, CP Cu, CP Ni, Ti6Al4V and relatively low temperature melting material, AA6061. It ...This paper describes results of seam welding of relatively high temperature melting materials, AISI 304, C-Mn steels, Ni-based alloys, CP Cu, CP Ni, Ti6Al4V and relatively low temperature melting material, AA6061. It describes the seam welding of multi-layered similar and dissimilar metallic sheets. The method described and involved advancing a rotating non-consumable rod(CP Mo or AISI 304) toward the upper sheet of a metallic stack clamped under pressure. As soon as the distal end of the rod touched the top portion of the upper metallic sheet, an axial force was applied. After an initial dwell time, the metallic stack moved horizontally relative to the stationery non-consumable rod by a desired length, thereby forming a metallurgical bond between the metallic sheets. Multi-track and multi-metal seam welds of high temperature metallic sheets, AISI 304, C-Mn steel,Nickel-based alloys, Cp Cu, Ti6Al4V and low temperature metallic sheets, AA6061 were obtained. Optical and scanning electron microscopy examination and 180 degree U-bend test indicated that defect free seam welds could be obtained with this method. Tensile- shear testing showed that the seam welds of AISI 304, C-Mn steel, Nickel-based alloy were stronger than the starting base metal counterparts while AA6061 was weaker due to softening. The metallurgical bonding at the interface between the metallic sheets was attributed to localized stick and slip at the interface, dynamic recrystallization and diffusion. The method developed can be used as a means of welding, cladding and additive manufacturing.展开更多
The two one-state-variable, rate- and state-dependent friction laws, i.e., the slip and slowness laws, are com- pared on the basis of dynamical behavior of a one-degree-of-freedom spring-slider model through numerical...The two one-state-variable, rate- and state-dependent friction laws, i.e., the slip and slowness laws, are com- pared on the basis of dynamical behavior of a one-degree-of-freedom spring-slider model through numerical simulations. Results show that two （normalized） model parameters, i.e., A （the normalized characteristic slip distance） and β-α （the difference in two normalized parameters of friction laws）, control the solutions. From given values of △, β, and α, for the slowness laws, the solution exists and the unique non-zero fixed point is stable when △〉（β-α）, yet not when △ 〈（β-α）. For the slip law, the solution exists for large ranges of model parameters and the number and stability of the non-zero fixed points change from one case to another. Results suggest that the slip law is more appropriate for controlling earthquake dynamics than the slowness law.展开更多
Direct calculations of unsteady-state Weymouth equations for gas volumetric flow rate occur more frequently in the design and operation analysis of natural gas systems. Most of the existing gas pipelines design proced...Direct calculations of unsteady-state Weymouth equations for gas volumetric flow rate occur more frequently in the design and operation analysis of natural gas systems. Most of the existing gas pipelines design procedures are based on a particular friction factor and steady-state flow analysis. This paper examined the behavior of different friction factors and the need to develop model analysis capable of calculating unsteady-state gas flow rate in horizontal and inclined pipes. The results show different variation in flow rate with Panhandle A and Panhandle B attaining stability in accurate time with initial unsteadiness at the instance of flow. Chen and Jain friction factors have opposition to flow with high flow rate: The prediction also reveals that Colebrook-White degenerated to Nikuradse friction factor at high Reynolds number. The horizontal and inclined flow equations are considerably enhanced on the usage of different friction factors with the aid of Matlab to handle these calculations.展开更多
Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping ...Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.展开更多
Performances of ultrasonic motor (USM) considerably depend on contact state between stator and rotor.Based on an electric contact method,the effects of thickness of single homogeneous friction material and gradient fr...Performances of ultrasonic motor (USM) considerably depend on contact state between stator and rotor.Based on an electric contact method,the effects of thickness of single homogeneous friction material and gradient friction material on contact state between stator and rotor were studied.The relative contact length was employed to describe the contact characteristics of stator and rotor.With the decrease of thickness of friction material,the contact characteristic of stator and rotor were analyzed and compared when single homogeneous friction material and gradient friction material were used.The experimental results showed that the effect of gradient friction material on contact characteristic is smaller than that of single homogeneous friction material when the thickness of friction material decreases.The result can provide experimental guidance for design and choosing of friction material for USM.展开更多
This paper investigates the frictional behavior of the infilled rock fracture under dynamic normal stress.A series of direct shear tests were conducted on saw-cut granite fractures infilled with quartz using a selfdev...This paper investigates the frictional behavior of the infilled rock fracture under dynamic normal stress.A series of direct shear tests were conducted on saw-cut granite fractures infilled with quartz using a selfdeveloped dynamic shear apparatus,and the effects of normal load oscillation amplitude,normal load oscillation period and sliding velocity were studied.The test results reveal that the shear response can be divided into three stages over a whole loading-unloading process,characterized by different time spans and stress variations.Generally,a smaller oscillation amplitude,a longer oscillation period and a fast shear velocity promote the stability of the friction system,which is also confirmed by the Coulomb failure criterion calculated based on the observed periodic apparent friction coefficient.The dynamic strengthening/weakening phenomenon is dependent on the oscillation amplitude and product of sliding velocity and oscillation period(vT).Also,the rate and state friction law incorporating the parameter a that characterizes the normal stress variation is employed to describe the dynamic friction coefficient but exhibits an incompetent performance when handling intensive variation in normal stress.Finally,the potential seismicity induced by oscillating normal stress based on the observed stress drop is analyzed.This work helps us understand the sliding process and stability evolution of natural faults,and its benefits for relative hazard mitigation.展开更多
Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness t...Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.展开更多
Enhancement of technology and techniques for drilling deep directed oil and gas bore hole is one of the most important problems of the current petroleum industry.Not infrequently, the drilling of these bore holes is a...Enhancement of technology and techniques for drilling deep directed oil and gas bore hole is one of the most important problems of the current petroleum industry.Not infrequently, the drilling of these bore holes is attended by occurrence of extraordinary situations associated with technical accidents. Among these is the Eulerian loss of stability of a drill string in the channel of a curvilinear bore hole. Methods of computer simulation should play a dominant role in prediction of these states. In this paper, a new statement of the problem of critical buckling of the drill strings in 3D curvilinear bore holes is proposed. It is based on combined use of the theory of curvilinear elastic rods, Eulerian theory of stability, theory of channel surfaces, and methods of classical mechanics of systems with nonlinear constraints. It is noted that the stated problem is singularly perturbed and its solutions have the shapes of localized harmonic wavelets. The calculation results showed that the friction effects lead to essential redistribution of internal axial forces, as well as changing the eigenmode shapes and sites of their localization. These features make the buckling phenomena less predictable and raise the role of computer simulation of these effects.展开更多
In this paper, we have calculated the spectrum of Lyapunov exponent of the strange attractor for a single degree of freedom in elastic system with a two-state variable friction law via the method advanced by Wolf. The...In this paper, we have calculated the spectrum of Lyapunov exponent of the strange attractor for a single degree of freedom in elastic system with a two-state variable friction law via the method advanced by Wolf. The system is expressed by the following dimensionless equation:where,and f are dimensionless state variable, logarithm slip velocity and frictional stress, respectively;β1,β2,ρ,and K are dimensionless system parameters.The state of this system is chaotic when dimensionless parameters are β1=1. 00, β2=0. 84, ρ=0. 048, =0. 198 85, K=0. 0685.The Lyapunov exponent spectrum of its strange attractor has been calculated as follows:λ1=0. 0179, λ2=0, λ3=-0. 1578The dimension of this strange attractor has also been calculated as DL=D0=2.11where DL and D0 denote Lyapunov dimension and Kolmogorov dimension respectively.展开更多
The attitude stability control of under actuated spacecraft that used two reaction wheels in the presence of dynamic friction disturbance is handled. A novel improved control approach with a combination of a singular ...The attitude stability control of under actuated spacecraft that used two reaction wheels in the presence of dynamic friction disturbance is handled. A novel improved control approach with a combination of a singular control law based on quaternion and extended state observer (ESO) is employed to establish a stabilization control so as to restrain the effect of friction. The corresponding simulation results demonstrate the highly stable accuracy and performance compensated dynamic friction. Furthermore if there is a non zero initial condition in under actuated axis the attitude stability can be enhanced with a magnetic torquer. Simulations for a nano spacecraft denote a potential application value in pointing accuracy using two reaction wheels and a magnetic torquer.展开更多
A steady-state, rigid-plastic rolling problem for temperature and strain-rate dependent materials with nonlocal friction is considered. A variational formulation is derived, coupling a nonlinear variational inequality...A steady-state, rigid-plastic rolling problem for temperature and strain-rate dependent materials with nonlocal friction is considered. A variational formulation is derived, coupling a nonlinear variational inequality for the velocity and a nonlinear vari- ational equation for the temperature. The existence and uniqueness results are obtained by a proposed fixed point method.展开更多
The present-day stress state of the Yingxiu-Beichuan fault after the Wenchuan earthquake was re-estimated using measured in-situ stress data obtained after the Wenchuan earthquake. The results reveal that the gradient...The present-day stress state of the Yingxiu-Beichuan fault after the Wenchuan earthquake was re-estimated using measured in-situ stress data obtained after the Wenchuan earthquake. The results reveal that the gradient coefficients of principal stresses versus depth decrease from south to north along the Yingxiu-Beichuan fault, revealing that the stress level decreases from south to north. The consistency between the present-day stress levels and surface ruptures generated during the earthquake indicates that the accumulated tectonic stress beneath the Yingxiu-Beichuan fault before the Wenchuan earthquake was relieved in form of surface ruptures. This resulted in the stress remaining high in the southern section of the Yingxiu-Beichuan fault but relatively low in the northern section. Abnormal high pore pressure conditions and an extremely low frictional coefficient play important role in the interpretation of the stress field adjustment and seismic events observed after the Wenchuan earthquake along this fault, according to the estimation results using the Coulomb frictional-failure theory incorporating frictional coefficients ranging from 0.4 to 1.0. To accurately estimate the seismological hazard of the Yingxiu-Beichuan fault by analyzing fault instability using the Coulomb frictional-failure theory, much attention should be focused on the pore pressure conditions and the evolution state of the frictional coefficient under the present-day stress state.展开更多
基金Sponsored by the Ministerial Level Foundation (404020806)
文摘Based on analysis of flow field of the rotary seal using sealing ring, mechanical models under the condition of full film friction and mixed film friction were established respectively. The influence of friction state of the sealing ring on seal performance was also discussed. The relation between force characteristic and structural parameters of the sealing ring was analyzed. Analytical results indicate that friction state mainly depends on structural parameters of the sealing ring. The expression of calculating friction torque under the condition of mixed film friction was deduced. Experiment verification had been done. Experimental results agree with the deducing theoretical conclusions on the whole. It lays the foundation for design of new type of sealing ring used in composite transmission.
基金supported by the National Natural Science Foundation of China under Grant Nos.40574080 and 41274186
文摘Incorporating rate and state friction laws, stability of linearly stable （i.e., with stiffness greater than the critical value） spring-slider systems subjected to triggering perturbations was analyzed under variable normal stress condition, and comparison was made between our results and that of fixed normal stress cases revealed in previous studies. For systems associated with the slip law, the critical mag- nitude of rate steps for triggering unstable slips are found to have a similar pattern to the fixed normal stress case, and the critical velocity steps scale with a/（b - a） when k = kcr for both cases. The rate-step boundaries for the variable normal stress cases are revealed to be lower than the fixed normal stress case by 7 %-16 % for a relatively large ct = 0.56 with （b - a）/a ranging from 0.25 to 1, indicating easier triggering under the variable normal stress condition with rate steps. The difference between fixed and variable normal stress cases decreases when the α value is smaller. In the same slip- law-type systems, critical displacements to trigger instability are revealed to be little affected by the variable normal stress condition. When k 〉 kcr（V,）, a spring-slider system with the slowness law is much more stable than with the slip law,suggesting that the slowness law fits experimental data better when a single state variable is adopted. In stick-slip motions, the variable normal stress case has larger stress drops than the constant normal stress case. The variable normal stress has little effect on the range of slip velocity in systems associated with the slowness law, whereas systems associated with the slip law have a slowest slip velocity immensely smaller than the fixed normal stress case, by ~ 10 orders of magnitude.
基金supported by National Natural Science Foundation of China(Grant Nos. 51075176, 51105165)
文摘Vehicle state and tire-road adhesion are of great use and importance to vehicle active safety control systems. However, it is always not easy to obtain the information with high accuracy and low expense. Recently, many estimation methods have been put forward to solve such problems, in which Kalman filter becomes one of the most popular techniques. Nevertheless, the use of complicated model always leads to poor real-time estimation while the role of road friction coefficient is often ignored. For the purpose of enhancing the real time performance of the algorithm and pursuing precise estimation of vehicle states, a model-based estimator is proposed to conduct combined estimation of vehicle states and road friction coefficients. The estimator is designed based on a three-DOF vehicle model coupled with the Highway Safety Research Institute（HSRI） tire model; the dual extended Kalman filter （DEKF） technique is employed, which can be regarded as two extended Kalman filters operating and communicating simultaneously. Effectiveness of the estimation is firstly examined by comparing the outputs of the estimator with the responses of the vehicle model in CarSim under three typical road adhesion conditions（high-friction, low-friction, and joint-friction）. On this basis, driving simulator experiments are carried out to further investigate the practical application of the estimator. Numerical results from CarSim and driving simulator both demonstrate that the estimator designed is capable of estimating the vehicle states and road friction coefficient with reasonable accuracy. The DEKF-based estimator proposed provides the essential information for the vehicle active control system with low expense and decent precision, and offers the possibility of real car application in future.
文摘This paper describes results of seam welding of relatively high temperature melting materials, AISI 304, C-Mn steels, Ni-based alloys, CP Cu, CP Ni, Ti6Al4V and relatively low temperature melting material, AA6061. It describes the seam welding of multi-layered similar and dissimilar metallic sheets. The method described and involved advancing a rotating non-consumable rod(CP Mo or AISI 304) toward the upper sheet of a metallic stack clamped under pressure. As soon as the distal end of the rod touched the top portion of the upper metallic sheet, an axial force was applied. After an initial dwell time, the metallic stack moved horizontally relative to the stationery non-consumable rod by a desired length, thereby forming a metallurgical bond between the metallic sheets. Multi-track and multi-metal seam welds of high temperature metallic sheets, AISI 304, C-Mn steel,Nickel-based alloys, Cp Cu, Ti6Al4V and low temperature metallic sheets, AA6061 were obtained. Optical and scanning electron microscopy examination and 180 degree U-bend test indicated that defect free seam welds could be obtained with this method. Tensile- shear testing showed that the seam welds of AISI 304, C-Mn steel, Nickel-based alloy were stronger than the starting base metal counterparts while AA6061 was weaker due to softening. The metallurgical bonding at the interface between the metallic sheets was attributed to localized stick and slip at the interface, dynamic recrystallization and diffusion. The method developed can be used as a means of welding, cladding and additive manufacturing.
基金supported by Academia Sinica (Taipei) and Science Council (Grant NSC96-2116-M-001-012-MY3).
文摘The two one-state-variable, rate- and state-dependent friction laws, i.e., the slip and slowness laws, are com- pared on the basis of dynamical behavior of a one-degree-of-freedom spring-slider model through numerical simulations. Results show that two （normalized） model parameters, i.e., A （the normalized characteristic slip distance） and β-α （the difference in two normalized parameters of friction laws）, control the solutions. From given values of △, β, and α, for the slowness laws, the solution exists and the unique non-zero fixed point is stable when △〉（β-α）, yet not when △ 〈（β-α）. For the slip law, the solution exists for large ranges of model parameters and the number and stability of the non-zero fixed points change from one case to another. Results suggest that the slip law is more appropriate for controlling earthquake dynamics than the slowness law.
文摘Direct calculations of unsteady-state Weymouth equations for gas volumetric flow rate occur more frequently in the design and operation analysis of natural gas systems. Most of the existing gas pipelines design procedures are based on a particular friction factor and steady-state flow analysis. This paper examined the behavior of different friction factors and the need to develop model analysis capable of calculating unsteady-state gas flow rate in horizontal and inclined pipes. The results show different variation in flow rate with Panhandle A and Panhandle B attaining stability in accurate time with initial unsteadiness at the instance of flow. Chen and Jain friction factors have opposition to flow with high flow rate: The prediction also reveals that Colebrook-White degenerated to Nikuradse friction factor at high Reynolds number. The horizontal and inclined flow equations are considerably enhanced on the usage of different friction factors with the aid of Matlab to handle these calculations.
基金the National Natural Science Foundation of China(No.10532050)the Na-tional Science Fund for Distinguished Young Scholars(No.10625211)the Science Development Foundation of Shandong University of Science and Techonogy(No.05g017)
文摘Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.
基金Sponsored by the National Natural Science Foundation of China(Grant No.50975057)the National Basic Research Program of China(Grant No.2007CB607602)
文摘Performances of ultrasonic motor (USM) considerably depend on contact state between stator and rotor.Based on an electric contact method,the effects of thickness of single homogeneous friction material and gradient friction material on contact state between stator and rotor were studied.The relative contact length was employed to describe the contact characteristics of stator and rotor.With the decrease of thickness of friction material,the contact characteristic of stator and rotor were analyzed and compared when single homogeneous friction material and gradient friction material were used.The experimental results showed that the effect of gradient friction material on contact characteristic is smaller than that of single homogeneous friction material when the thickness of friction material decreases.The result can provide experimental guidance for design and choosing of friction material for USM.
基金the National Natural Science Foundation of China(Nos.51904359,51978677 and 52111530089)the Guangdong Provincial Department of Science and Technology(No.2019ZT08G090)+2 种基金the Enhanced National Key Basic Research Program(No.2019-JCJQ-ZD-352-00-04)the Science and Technology Program for Sustainable Development of Shenzhen(No.KCXFZ202002011008532)the Open Research Fund of the State Key Laboratory of Coal Resources and Safe Mining,CUMT(No.SKLCRSM20KF002).
文摘This paper investigates the frictional behavior of the infilled rock fracture under dynamic normal stress.A series of direct shear tests were conducted on saw-cut granite fractures infilled with quartz using a selfdeveloped dynamic shear apparatus,and the effects of normal load oscillation amplitude,normal load oscillation period and sliding velocity were studied.The test results reveal that the shear response can be divided into three stages over a whole loading-unloading process,characterized by different time spans and stress variations.Generally,a smaller oscillation amplitude,a longer oscillation period and a fast shear velocity promote the stability of the friction system,which is also confirmed by the Coulomb failure criterion calculated based on the observed periodic apparent friction coefficient.The dynamic strengthening/weakening phenomenon is dependent on the oscillation amplitude and product of sliding velocity and oscillation period(vT).Also,the rate and state friction law incorporating the parameter a that characterizes the normal stress variation is employed to describe the dynamic friction coefficient but exhibits an incompetent performance when handling intensive variation in normal stress.Finally,the potential seismicity induced by oscillating normal stress based on the observed stress drop is analyzed.This work helps us understand the sliding process and stability evolution of natural faults,and its benefits for relative hazard mitigation.
基金National Science Fund for Distinguished Young Scholars (50825502)
文摘Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation. Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems. The tracking performance of the static loading is studied in this paper. Firstly, the nonlinear mathematical models of the hydraulic load simulator are derived, and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance. Considering the effect of the friction, a LuGre model based friction compensation is synthesized, in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded. The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter. Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy. The tracking performance is summarized by a derived theorem. Experimental results are also obtained to verify the high performance nature of the proposed control strategy.
文摘Enhancement of technology and techniques for drilling deep directed oil and gas bore hole is one of the most important problems of the current petroleum industry.Not infrequently, the drilling of these bore holes is attended by occurrence of extraordinary situations associated with technical accidents. Among these is the Eulerian loss of stability of a drill string in the channel of a curvilinear bore hole. Methods of computer simulation should play a dominant role in prediction of these states. In this paper, a new statement of the problem of critical buckling of the drill strings in 3D curvilinear bore holes is proposed. It is based on combined use of the theory of curvilinear elastic rods, Eulerian theory of stability, theory of channel surfaces, and methods of classical mechanics of systems with nonlinear constraints. It is noted that the stated problem is singularly perturbed and its solutions have the shapes of localized harmonic wavelets. The calculation results showed that the friction effects lead to essential redistribution of internal axial forces, as well as changing the eigenmode shapes and sites of their localization. These features make the buckling phenomena less predictable and raise the role of computer simulation of these effects.
文摘In this paper, we have calculated the spectrum of Lyapunov exponent of the strange attractor for a single degree of freedom in elastic system with a two-state variable friction law via the method advanced by Wolf. The system is expressed by the following dimensionless equation:where,and f are dimensionless state variable, logarithm slip velocity and frictional stress, respectively;β1,β2,ρ,and K are dimensionless system parameters.The state of this system is chaotic when dimensionless parameters are β1=1. 00, β2=0. 84, ρ=0. 048, =0. 198 85, K=0. 0685.The Lyapunov exponent spectrum of its strange attractor has been calculated as follows:λ1=0. 0179, λ2=0, λ3=-0. 1578The dimension of this strange attractor has also been calculated as DL=D0=2.11where DL and D0 denote Lyapunov dimension and Kolmogorov dimension respectively.
文摘The attitude stability control of under actuated spacecraft that used two reaction wheels in the presence of dynamic friction disturbance is handled. A novel improved control approach with a combination of a singular control law based on quaternion and extended state observer (ESO) is employed to establish a stabilization control so as to restrain the effect of friction. The corresponding simulation results demonstrate the highly stable accuracy and performance compensated dynamic friction. Furthermore if there is a non zero initial condition in under actuated axis the attitude stability can be enhanced with a magnetic torquer. Simulations for a nano spacecraft denote a potential application value in pointing accuracy using two reaction wheels and a magnetic torquer.
文摘A steady-state, rigid-plastic rolling problem for temperature and strain-rate dependent materials with nonlocal friction is considered. A variational formulation is derived, coupling a nonlinear variational inequality for the velocity and a nonlinear vari- ational equation for the temperature. The existence and uniqueness results are obtained by a proposed fixed point method.
基金supported by the China Geological Survey(No.12120114002401)Science and Technology Project(SinoP robe-06)+1 种基金Natural Science Foundation of China(No.41404080)the Central Public-Interest Scientific Institution Basal Research Fund(No.DZLXJK201404)
文摘The present-day stress state of the Yingxiu-Beichuan fault after the Wenchuan earthquake was re-estimated using measured in-situ stress data obtained after the Wenchuan earthquake. The results reveal that the gradient coefficients of principal stresses versus depth decrease from south to north along the Yingxiu-Beichuan fault, revealing that the stress level decreases from south to north. The consistency between the present-day stress levels and surface ruptures generated during the earthquake indicates that the accumulated tectonic stress beneath the Yingxiu-Beichuan fault before the Wenchuan earthquake was relieved in form of surface ruptures. This resulted in the stress remaining high in the southern section of the Yingxiu-Beichuan fault but relatively low in the northern section. Abnormal high pore pressure conditions and an extremely low frictional coefficient play important role in the interpretation of the stress field adjustment and seismic events observed after the Wenchuan earthquake along this fault, according to the estimation results using the Coulomb frictional-failure theory incorporating frictional coefficients ranging from 0.4 to 1.0. To accurately estimate the seismological hazard of the Yingxiu-Beichuan fault by analyzing fault instability using the Coulomb frictional-failure theory, much attention should be focused on the pore pressure conditions and the evolution state of the frictional coefficient under the present-day stress state.
