Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. T...Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.展开更多
To solve the numerical divergence problem of the direct time domain Green function method for the motion simulation of floating bodies with large flare, a time domain hybrid Rankine-Green boundary element method is pr...To solve the numerical divergence problem of the direct time domain Green function method for the motion simulation of floating bodies with large flare, a time domain hybrid Rankine-Green boundary element method is proposed. In this numerical method, the fluid domain is decomposed by an imaginary control surface, at which the continuous condition should be satisfied. Then the Rankine Green function is adopted in the inner domain. The transient free surface Green function is applied in the outer domain, which is used to find the relationship between the velocity potential and its normal derivative for the inner domain. Besides, the velocity potential at the mean free surface between body surface and control surface is directly solved by the integration scheme. The wave exciting force is computed through the convolution integration with wave elevation, by introducing the impulse response function. Additionally, the nonlinear Froude-Krylov force and hydrostatic force, which is computed under the instantaneous incident wave free surface, are taken into account by the direct pressure integration scheme. The corresponding numerical computer code is developed and first used to compute the hydrodynamic coefficients of the hemisphere, as well as the time history of a ship with large flare; good agreement is obtained with the analytical solutions as well as the available numerical results. Then the hydrodynamic properties of a FPSO are studied. The hydrodynamic coefficients agree well with the results computed by the frequency method; the influence of the time interval and the truncated time is investigated in detail.展开更多
基金National Hi-tech Research and Development Program of China(863 Program,No.2001AA42330).
文摘Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.
基金the financial support provided by the National Basic Research Program of China(No.2011CB3703)the National Natural Science Foundation of China(No.51079034)
文摘To solve the numerical divergence problem of the direct time domain Green function method for the motion simulation of floating bodies with large flare, a time domain hybrid Rankine-Green boundary element method is proposed. In this numerical method, the fluid domain is decomposed by an imaginary control surface, at which the continuous condition should be satisfied. Then the Rankine Green function is adopted in the inner domain. The transient free surface Green function is applied in the outer domain, which is used to find the relationship between the velocity potential and its normal derivative for the inner domain. Besides, the velocity potential at the mean free surface between body surface and control surface is directly solved by the integration scheme. The wave exciting force is computed through the convolution integration with wave elevation, by introducing the impulse response function. Additionally, the nonlinear Froude-Krylov force and hydrostatic force, which is computed under the instantaneous incident wave free surface, are taken into account by the direct pressure integration scheme. The corresponding numerical computer code is developed and first used to compute the hydrodynamic coefficients of the hemisphere, as well as the time history of a ship with large flare; good agreement is obtained with the analytical solutions as well as the available numerical results. Then the hydrodynamic properties of a FPSO are studied. The hydrodynamic coefficients agree well with the results computed by the frequency method; the influence of the time interval and the truncated time is investigated in detail.
