in this paper, an electromechanically coupled mathematic model of multi-roller driving system for belt conveyor is set up, and the computing equations for dynamic displacement and dynamic tension of the conveyor are a...in this paper, an electromechanically coupled mathematic model of multi-roller driving system for belt conveyor is set up, and the computing equations for dynamic displacement and dynamic tension of the conveyor are also formulated when the hoister is used for straining. Based on the belt conveyor of main inclined shaft in Chengzhuang coal mine, the driving torque, driving power and starting-speed characteristic of each electric motor are studied and measured when multi-roller variable-frequency drive (power distribution 2∶1) is used. The optimal control and the optimal starting-acceleration of the multi-roller variable-frequency drive are determined by a large number of industrial experiments and theoretical calculations.展开更多
The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential syn...The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement展开更多
The fatigue life of aeroengine turbine disc presents great dispersion due to the randomness of the basic variables,such as applied load,working temperature,geometrical dimensions and material properties.In order to am...The fatigue life of aeroengine turbine disc presents great dispersion due to the randomness of the basic variables,such as applied load,working temperature,geometrical dimensions and material properties.In order to ameliorate reliability analysis efficiency without loss of reliability,the distributed collaborative response surface method(DCRSM) was proposed,and its basic theories were established in this work.Considering the failure dependency among the failure modes,the distributed response surface was constructed to establish the relationship between the failure mode and the relevant random variables.Then,the failure modes were considered as the random variables of system response to obtain the distributed collaborative response surface model based on structure failure criterion.Finally,the given turbine disc structure was employed to illustrate the feasibility and validity of the presented method.Through the comparison of DCRSM,Monte Carlo method(MCM) and the traditional response surface method(RSM),the results show that the computational precision for DCRSM is more consistent with MCM than RSM,while DCRSM needs far less computing time than MCM and RSM under the same simulation conditions.Thus,DCRSM is demonstrated to be a feasible and valid approach for improving the computational efficiency of reliability analysis for aeroengine turbine disc fatigue life with multiple random variables,and has great potential value for the complicated mechanical structure with multi-component and multi-failure mode.展开更多
This study investigates the reduction in polarization measurement accuracy caused by varying in-cident angles in a liquid crystal variable retarder(LCVR).The phase delay characteristics of the LCVR were examined,with ...This study investigates the reduction in polarization measurement accuracy caused by varying in-cident angles in a liquid crystal variable retarder(LCVR).The phase delay characteristics of the LCVR were examined,with particular emphasis on the influence of different two-dimensional incident angles on phase delay behavior.Building upon the calibration of phase delay under normal incidence,a phase delay calibra-tion model was developed to account for variations in incident angle and driving voltage.A mathematical re-lationship was established between phase delay and the azimuth angle(α)and pitch angle(β).Experimental validation was conducted under three conditions:α=20°,β=0°;α=0°,β=20°;and an arbitrary angle whereα=5°,β=15°.The results demonstrated that the maximum average deviation between theoretical pre-dictions and experimental measurements did not exceed 0.059 rad.The proposed calibration method proved to be both accurate and practical.This approach offers robust support for LCVR parameter calibration and performance optimization in optical systems,particularly in polarization imaging applications.展开更多
By modeling direct transient heat conduction problems via finite element method (FEM) and precise integral algorithm, a new approach is presented to solve transient inverse heat conduction problems with multi-variable...By modeling direct transient heat conduction problems via finite element method (FEM) and precise integral algorithm, a new approach is presented to solve transient inverse heat conduction problems with multi-variables. Firstly, the spatial space and temporal domain are discretized by FEM and precise integral algorithm respectively. Then, the high accuracy semi-analytical solution of direct problem can be got. Finally, based on the solution, the computing model of inverse problem and expression of sensitivity analysis are established. Single variable and variables combined identifications including thermal parameters, boundary conditions and source-related terms etc. are given to validate the approach proposed in 1-D and 2-D cases. The effects of noise data and initial guess on the results are investigated. The numerical examples show the effectiveness of this approach.展开更多
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force con...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
Drylands are highly vulnerable to climate change and human activities.The drylands of China account for approximately 10.8%of global drylands,and China is the country most severely affected by aridity in Asia.Therefor...Drylands are highly vulnerable to climate change and human activities.The drylands of China account for approximately 10.8%of global drylands,and China is the country most severely affected by aridity in Asia.Therefore,studying the spatial variation characteristics in soil multifunctionality(SMF)and investigating the driving factors are critical for elucidating and managing the functions of dryland ecosystems in China.Based on the environmental factors(mean annual precipitation(MAP),mean annual temperature(MAT),solar radiation(Srad),soil acidity(pH),enhanced vegetation index(EVI),and cation exchange capacity(CEC))and aridity from the“dataset of soil properties for land surface modeling over China”,we used non-linear regression,ordinary least square(OLS)regression,structural equation model(SEM),and other analytical methods to investigate the relationships of SMF with environmental factors across different aridity levels in China.SMF in different dryland regions varied significantly and showed a patchy distribution,with SMF index values ranging from–1.21 to 2.42.Regions with SMF index values from–0.20 to 0.51 accounting for 63.0%of dryland area in China.OLS regression results revealed that environmental factors like MAP,MAT,Srad,pH,EVI,and CEC were significantly related to SMF(P<0.05).MAP and MAT were correlated to SMF at the whole aridity level(P<0.05).SEM results showed that the driving factors of SMF differed depending on the aridity level.Soil pH was the strongest driving factor of SMF when the aridity was less than 0.80(P<0.001).Both soil CEC and EVI had a positive effect on SMF when aridity was greater than 0.80(P<0.01),with soil CEC being the strongest driving factor.The importance ranking revealed that the relative importance contribution of soil pH to SMF was greatest when aridity was less than 0.80(66.9%).When aridity was set to greater than 0.80,the relative importance contributions of CEC and EVI to SMF increased(45.1%and 31.9%,respectively).Our findings indicated that SMF had high spatial heterogeneity in drylands of China.The aridity threshold controlled the impact of environmental factors on SMF.展开更多
This study proposes and experimentally validates an optimal integrated system to control the automotive continuously variable transmission(CVT)by Model Predictive Control(MPC)to achieve its expected transmission effic...This study proposes and experimentally validates an optimal integrated system to control the automotive continuously variable transmission(CVT)by Model Predictive Control(MPC)to achieve its expected transmission efficiency range.The control system framework consists of top and bottom layers.In the top layer,a driving intention recognition system is designed on the basis of fuzzy control strategy to determine the relationship between the driver intention and CVT target ratio at the corresponding time.In the bottom layer,a new slip state dynamic equation is obtained considering slip characteristics and its related constraints,and a clamping force bench is established.Innovatively,a joint controller based on model predictive control(MPC)is designed taking internal combustion engine torque and slip between the metal belt and pulley as optimization dual targets.A cycle is attained by solving the optimization target to achieve optimum engine torque and the input slip in real-time.Moreover,the new controller provides good robustness.Finally,performance is tested by actual CVT vehicles.Results show that compared with traditional control,the proposed control improves vehicle transmission efficiency by approximately 9.12%-9.35%with high accuracy.展开更多
Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years...Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.展开更多
This paper proposes a hybrid architecture based on Multi-disciplinary Design Optimization(MDO) with the Variable Complexity Modeling(VCM) method, to solve the problem of general design optimization for a stratosphere ...This paper proposes a hybrid architecture based on Multi-disciplinary Design Optimization(MDO) with the Variable Complexity Modeling(VCM) method, to solve the problem of general design optimization for a stratosphere airship. Firstly, MDO based on the Concurrent SubSpace Optimization(CSSO) strategy is improved for handling the subsystem coupling problem in stratosphere airship design which contains aerodynamics, structure, and energy. Secondly, the VCM method based on the surrogate model is presented for reducing the computational complexity in high-fidelity modeling without loss of accuracy. Moreover, the global-to-local optimization strategy is added to the architecture to enhance the process. Finally, the result gives a prominent stratosphere airship general solution that validates the feasibility and efficiency of the optimization architecture. Besides, a sensitivity analysis is conducted to outline the critical impact upon stratosphere airship design.展开更多
Based on the interval mathematics and possibility theory, the variables existing in hydraulic turbine blade are described. Considering the multi-failure mode in turbine blade, multi-variable model is established to me...Based on the interval mathematics and possibility theory, the variables existing in hydraulic turbine blade are described. Considering the multi-failure mode in turbine blade, multi-variable model is established to meet the actual situation. Thus, non-probabilistic reliability index is presented by comparing with the output range and the given range.展开更多
Author researches a lot of the mathematical models and the related conventional material constants in the traditional and the modem mechanics; to adopt two types of variables a and D, for the fatigue-damage-fracture b...Author researches a lot of the mathematical models and the related conventional material constants in the traditional and the modem mechanics; to adopt two types of variables a and D, for the fatigue-damage-fracture behaviors to elastic-plastic steels contained flaws, to put forward several calculation models, which are the driving force and the life prediction expressions at each stage and in whole process; for the key parameters .A1 and ,A2 in two stages, there are functional relation with other conventional material constants σF,m1 and M2,λ2, they are defined as the new calculable comprehensive material constants, and indicate their physical and geometrical meanings. In addition, for conversion methods between two types of variables, relevant calculating example is provided. Thereby, make a linking between the fracture mechanics and the damage mechanics, communicating their relationships. This works for saving man powers and funds on fatigue-damage-fracture testing that will be having practical significance.展开更多
The construction method of background value is improved in the original multi-variable grey model （MGM（1,m）） from its source of construction errors. The MGM（1,m） with optimized background value is used to elimin...The construction method of background value is improved in the original multi-variable grey model （MGM（1,m）） from its source of construction errors. The MGM（1,m） with optimized background value is used to eliminate the random fluctuations or errors of the observational data of all variables, and the combined prediction model together with the multiple linear regression is established in order to improve the simulation and prediction accuracy of the combined model. Finally, a combined model of the MGM（1,2） with optimized background value and the binary linear regression is constructed by an example. The results show that the model has good effects for simulation and prediction.展开更多
The shakedown analysis of structures under variable multi-loadings is considered, and the corresponding simple shakedown condition is presented in this paper. Distribution of fixed stresses field is given, and the sel...The shakedown analysis of structures under variable multi-loadings is considered, and the corresponding simple shakedown condition is presented in this paper. Distribution of fixed stresses field is given, and the self-equilibrium of fixed stresses field is analyzed. Elastic shakedown and plastic shakedown conditions are presented based on the fixed stresses field. The theorem is convenient to evaluate the shakedown limit of structures under cyclical variable multiloadings through solving positive scalar fields and fixed stresses field factors at a series of dangerous positions of the structure, and tedious computations are avoided. Finally the theorem is applied to a thick-walled cylindrical tube under variable pressure and temperature, and the rolling contact problem. The results are in good agreement with some computational results.展开更多
Adaptive sampling is an iterative process for the construction of a global approximation model. Most of engineering analysis tools computes multiple parameters in a single run. This research proposes a novel multi-res...Adaptive sampling is an iterative process for the construction of a global approximation model. Most of engineering analysis tools computes multiple parameters in a single run. This research proposes a novel multi-response adaptive sampling algorithm for simultaneous construction of multiple surrogate models in a time-efficient and accurate manner. The new algorithm uses the Jackknife cross-validation variance and a minimum distance metric to construct a sampling criterion function. A weighted sum of the function is used to consider the characteristics of multiple surrogate models. The proposed algorithm demonstrates good performance on total 22 numerical problems in comparison with three existing adaptive sampling algorithms. The numerical problems include several two-dimensional and six-dimensional functions which are combined into singleresponse and multi-response systems. Application of the proposed algorithm for construction of aerodynamic tables for 2 D airfoil is demonstrated. Scaling-based variable-fidelity modeling is implemented to enhance the accuracy of surrogate modeling. The algorithm succeeds in constructing a system of three highly nonlinear aerodynamic response surfaces within a reasonable amount of time while preserving high accuracy of approximation.展开更多
A variable inertial damper, whose viscous damping coefficient can be adjusted by changing the gap between inertia wheel and motor spindle, is designed in servomechanism of zero-drive hobbing machine and is directly at...A variable inertial damper, whose viscous damping coefficient can be adjusted by changing the gap between inertia wheel and motor spindle, is designed in servomechanism of zero-drive hobbing machine and is directly attached on the motor spindle. The mathematical model of servo system with inertial damper is built. By using theoretical analysis and system simulation, it is demonstrated that the variable inertial damper with optimal damping coefficient and moment of inertia should lead to no resonance point in wider frequency range of exciting force. Therefore, its application in zero-drive hobbing machine makes this system not only achieve higher system stiffness to overcome load torque fluctuation, but also gain better stability.展开更多
A novel flocking control approach is proposed for multi-agent systems by integrating the variables of velocities, motion directions, and positions of agents. A received signal strength indicator （RSSI） is applied as...A novel flocking control approach is proposed for multi-agent systems by integrating the variables of velocities, motion directions, and positions of agents. A received signal strength indicator （RSSI） is applied as a variable to estimate the inter-distance between agents. A key parameter that contains the local information of agents is defined, and a multi-variable controller is proposed based on the parameter. For the position control of agents, the RSSI is introduced to substitute the distance as a control variable in the systems. The advantages of RSSI include that the relative distance between every two agents can be adjusted through the communication quality under different environments, and it can shun the shortage of the limit of sensors. Simulation studies demonstrate the effectiveness of the proposed control approach.展开更多
The paper presents a reliability evaluation method based on fault tree analysis with set theory and minimal cut set as core algorithm, which can be used to evaluate the reliability for industrial grids with wide appli...The paper presents a reliability evaluation method based on fault tree analysis with set theory and minimal cut set as core algorithm, which can be used to evaluate the reliability for industrial grids with wide application of variable frequency drives. The working principle is introduced firstly, based on which the method development considering different system topology designs, backup solutions and redundancy mechanisms are analyzed in details. In the end the proposed method is applied to two cases to show the reliability performance of system with variable frequency drives. The proposed method is also suitable for analyzing the reliability performance of industrial grids with other types of power electronic converter technology.展开更多
Pythagorean fuzzy set(PFS) can provide more flexibility than intuitionistic fuzzy set(IFS) for handling uncertain information, and PFS has been increasingly used in multi-attribute decision making problems. This paper...Pythagorean fuzzy set(PFS) can provide more flexibility than intuitionistic fuzzy set(IFS) for handling uncertain information, and PFS has been increasingly used in multi-attribute decision making problems. This paper proposes a new multiattribute group decision making method based on Pythagorean uncertain linguistic variable Hamy mean(PULVHM) operator and VIKOR method. Firstly, we define operation rules and a new aggregation operator of Pythagorean uncertain linguistic variable(PULV) and explore some properties of the operator.Secondly, taking the decision makers' hesitation degree into account, a new score function is defined, and we further develop a new group decision making approach integrated with VIKOR method. Finally, an investment example is demonstrated to elaborate the validity of the proposed method. Sensibility analysis and comprehensive comparisons with another two methods are performed to show the stability and advantage of our method.展开更多
文摘in this paper, an electromechanically coupled mathematic model of multi-roller driving system for belt conveyor is set up, and the computing equations for dynamic displacement and dynamic tension of the conveyor are also formulated when the hoister is used for straining. Based on the belt conveyor of main inclined shaft in Chengzhuang coal mine, the driving torque, driving power and starting-speed characteristic of each electric motor are studied and measured when multi-roller variable-frequency drive (power distribution 2∶1) is used. The optimal control and the optimal starting-acceleration of the multi-roller variable-frequency drive are determined by a large number of industrial experiments and theoretical calculations.
基金Supported by National Key Technology R&D Program(No.2011BAG03B03)
文摘The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement
基金Project(51335003)supported by the National Natural Science Foundation of ChinaProject(20111102110011)supported by the Specialized Research Fund for the Doctoral Program of Higher Education of China
文摘The fatigue life of aeroengine turbine disc presents great dispersion due to the randomness of the basic variables,such as applied load,working temperature,geometrical dimensions and material properties.In order to ameliorate reliability analysis efficiency without loss of reliability,the distributed collaborative response surface method(DCRSM) was proposed,and its basic theories were established in this work.Considering the failure dependency among the failure modes,the distributed response surface was constructed to establish the relationship between the failure mode and the relevant random variables.Then,the failure modes were considered as the random variables of system response to obtain the distributed collaborative response surface model based on structure failure criterion.Finally,the given turbine disc structure was employed to illustrate the feasibility and validity of the presented method.Through the comparison of DCRSM,Monte Carlo method(MCM) and the traditional response surface method(RSM),the results show that the computational precision for DCRSM is more consistent with MCM than RSM,while DCRSM needs far less computing time than MCM and RSM under the same simulation conditions.Thus,DCRSM is demonstrated to be a feasible and valid approach for improving the computational efficiency of reliability analysis for aeroengine turbine disc fatigue life with multiple random variables,and has great potential value for the complicated mechanical structure with multi-component and multi-failure mode.
文摘This study investigates the reduction in polarization measurement accuracy caused by varying in-cident angles in a liquid crystal variable retarder(LCVR).The phase delay characteristics of the LCVR were examined,with particular emphasis on the influence of different two-dimensional incident angles on phase delay behavior.Building upon the calibration of phase delay under normal incidence,a phase delay calibra-tion model was developed to account for variations in incident angle and driving voltage.A mathematical re-lationship was established between phase delay and the azimuth angle(α)and pitch angle(β).Experimental validation was conducted under three conditions:α=20°,β=0°;α=0°,β=20°;and an arbitrary angle whereα=5°,β=15°.The results demonstrated that the maximum average deviation between theoretical pre-dictions and experimental measurements did not exceed 0.059 rad.The proposed calibration method proved to be both accurate and practical.This approach offers robust support for LCVR parameter calibration and performance optimization in optical systems,particularly in polarization imaging applications.
文摘By modeling direct transient heat conduction problems via finite element method (FEM) and precise integral algorithm, a new approach is presented to solve transient inverse heat conduction problems with multi-variables. Firstly, the spatial space and temporal domain are discretized by FEM and precise integral algorithm respectively. Then, the high accuracy semi-analytical solution of direct problem can be got. Finally, based on the solution, the computing model of inverse problem and expression of sensitivity analysis are established. Single variable and variables combined identifications including thermal parameters, boundary conditions and source-related terms etc. are given to validate the approach proposed in 1-D and 2-D cases. The effects of noise data and initial guess on the results are investigated. The numerical examples show the effectiveness of this approach.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
基金supported by the Xinjiang Outstanding Youth fund(2021D01E03)the National Natural Science Foundation of China(U2003214 and 41977099).
文摘Drylands are highly vulnerable to climate change and human activities.The drylands of China account for approximately 10.8%of global drylands,and China is the country most severely affected by aridity in Asia.Therefore,studying the spatial variation characteristics in soil multifunctionality(SMF)and investigating the driving factors are critical for elucidating and managing the functions of dryland ecosystems in China.Based on the environmental factors(mean annual precipitation(MAP),mean annual temperature(MAT),solar radiation(Srad),soil acidity(pH),enhanced vegetation index(EVI),and cation exchange capacity(CEC))and aridity from the“dataset of soil properties for land surface modeling over China”,we used non-linear regression,ordinary least square(OLS)regression,structural equation model(SEM),and other analytical methods to investigate the relationships of SMF with environmental factors across different aridity levels in China.SMF in different dryland regions varied significantly and showed a patchy distribution,with SMF index values ranging from–1.21 to 2.42.Regions with SMF index values from–0.20 to 0.51 accounting for 63.0%of dryland area in China.OLS regression results revealed that environmental factors like MAP,MAT,Srad,pH,EVI,and CEC were significantly related to SMF(P<0.05).MAP and MAT were correlated to SMF at the whole aridity level(P<0.05).SEM results showed that the driving factors of SMF differed depending on the aridity level.Soil pH was the strongest driving factor of SMF when the aridity was less than 0.80(P<0.001).Both soil CEC and EVI had a positive effect on SMF when aridity was greater than 0.80(P<0.01),with soil CEC being the strongest driving factor.The importance ranking revealed that the relative importance contribution of soil pH to SMF was greatest when aridity was less than 0.80(66.9%).When aridity was set to greater than 0.80,the relative importance contributions of CEC and EVI to SMF increased(45.1%and 31.9%,respectively).Our findings indicated that SMF had high spatial heterogeneity in drylands of China.The aridity threshold controlled the impact of environmental factors on SMF.
基金Supported by National Natural Science Foundation of China(Grant No.51905044)Postdoctoral Science Foundation of China(Grant No.2017M611316).
文摘This study proposes and experimentally validates an optimal integrated system to control the automotive continuously variable transmission(CVT)by Model Predictive Control(MPC)to achieve its expected transmission efficiency range.The control system framework consists of top and bottom layers.In the top layer,a driving intention recognition system is designed on the basis of fuzzy control strategy to determine the relationship between the driver intention and CVT target ratio at the corresponding time.In the bottom layer,a new slip state dynamic equation is obtained considering slip characteristics and its related constraints,and a clamping force bench is established.Innovatively,a joint controller based on model predictive control(MPC)is designed taking internal combustion engine torque and slip between the metal belt and pulley as optimization dual targets.A cycle is attained by solving the optimization target to achieve optimum engine torque and the input slip in real-time.Moreover,the new controller provides good robustness.Finally,performance is tested by actual CVT vehicles.Results show that compared with traditional control,the proposed control improves vehicle transmission efficiency by approximately 9.12%-9.35%with high accuracy.
基金Supported by National Natural Science Foundation of China(Grant Nos.51705066,51805128)Sichuan Science and Technology Program(Grant No.2019YFG0343)Fundamental Research Funds for the Central Universities of China(Grant Nos.ZYGX2019J041,ZYGX2016KYQD137).
文摘Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.
基金supported in part by the National Key R&D Program of China(No.2016YFB1200100)
文摘This paper proposes a hybrid architecture based on Multi-disciplinary Design Optimization(MDO) with the Variable Complexity Modeling(VCM) method, to solve the problem of general design optimization for a stratosphere airship. Firstly, MDO based on the Concurrent SubSpace Optimization(CSSO) strategy is improved for handling the subsystem coupling problem in stratosphere airship design which contains aerodynamics, structure, and energy. Secondly, the VCM method based on the surrogate model is presented for reducing the computational complexity in high-fidelity modeling without loss of accuracy. Moreover, the global-to-local optimization strategy is added to the architecture to enhance the process. Finally, the result gives a prominent stratosphere airship general solution that validates the feasibility and efficiency of the optimization architecture. Besides, a sensitivity analysis is conducted to outline the critical impact upon stratosphere airship design.
基金the Key Scientific Research Fund Project of Xihua University(No.Z1320406)the National Natural Science Foundation of China(No.51379179)
文摘Based on the interval mathematics and possibility theory, the variables existing in hydraulic turbine blade are described. Considering the multi-failure mode in turbine blade, multi-variable model is established to meet the actual situation. Thus, non-probabilistic reliability index is presented by comparing with the output range and the given range.
文摘Author researches a lot of the mathematical models and the related conventional material constants in the traditional and the modem mechanics; to adopt two types of variables a and D, for the fatigue-damage-fracture behaviors to elastic-plastic steels contained flaws, to put forward several calculation models, which are the driving force and the life prediction expressions at each stage and in whole process; for the key parameters .A1 and ,A2 in two stages, there are functional relation with other conventional material constants σF,m1 and M2,λ2, they are defined as the new calculable comprehensive material constants, and indicate their physical and geometrical meanings. In addition, for conversion methods between two types of variables, relevant calculating example is provided. Thereby, make a linking between the fracture mechanics and the damage mechanics, communicating their relationships. This works for saving man powers and funds on fatigue-damage-fracture testing that will be having practical significance.
基金supported by the National Natural Science Foundation of China(71071077)the Ministry of Education Key Project of National Educational Science Planning(DFA090215)+1 种基金China Postdoctoral Science Foundation(20100481137)Funding of Jiangsu Innovation Program for Graduate Education(CXZZ11-0226)
文摘The construction method of background value is improved in the original multi-variable grey model （MGM（1,m）） from its source of construction errors. The MGM（1,m） with optimized background value is used to eliminate the random fluctuations or errors of the observational data of all variables, and the combined prediction model together with the multiple linear regression is established in order to improve the simulation and prediction accuracy of the combined model. Finally, a combined model of the MGM（1,2） with optimized background value and the binary linear regression is constructed by an example. The results show that the model has good effects for simulation and prediction.
文摘The shakedown analysis of structures under variable multi-loadings is considered, and the corresponding simple shakedown condition is presented in this paper. Distribution of fixed stresses field is given, and the self-equilibrium of fixed stresses field is analyzed. Elastic shakedown and plastic shakedown conditions are presented based on the fixed stresses field. The theorem is convenient to evaluate the shakedown limit of structures under cyclical variable multiloadings through solving positive scalar fields and fixed stresses field factors at a series of dangerous positions of the structure, and tedious computations are avoided. Finally the theorem is applied to a thick-walled cylindrical tube under variable pressure and temperature, and the rolling contact problem. The results are in good agreement with some computational results.
基金supported by the Konkuk University Brain Pool 2018the National Research Foundation of Korea(NRF)[Grant NRF-2018R1D1A1B07046779]funded by the Korean government(MISP)
文摘Adaptive sampling is an iterative process for the construction of a global approximation model. Most of engineering analysis tools computes multiple parameters in a single run. This research proposes a novel multi-response adaptive sampling algorithm for simultaneous construction of multiple surrogate models in a time-efficient and accurate manner. The new algorithm uses the Jackknife cross-validation variance and a minimum distance metric to construct a sampling criterion function. A weighted sum of the function is used to consider the characteristics of multiple surrogate models. The proposed algorithm demonstrates good performance on total 22 numerical problems in comparison with three existing adaptive sampling algorithms. The numerical problems include several two-dimensional and six-dimensional functions which are combined into singleresponse and multi-response systems. Application of the proposed algorithm for construction of aerodynamic tables for 2 D airfoil is demonstrated. Scaling-based variable-fidelity modeling is implemented to enhance the accuracy of surrogate modeling. The algorithm succeeds in constructing a system of three highly nonlinear aerodynamic response surfaces within a reasonable amount of time while preserving high accuracy of approximation.
基金This project is supported by Colleges and Universities Doctor Subject Special Science Foundation of China(No.20020611004)National Natural Science Foundation of China(No.50575232).
文摘A variable inertial damper, whose viscous damping coefficient can be adjusted by changing the gap between inertia wheel and motor spindle, is designed in servomechanism of zero-drive hobbing machine and is directly attached on the motor spindle. The mathematical model of servo system with inertial damper is built. By using theoretical analysis and system simulation, it is demonstrated that the variable inertial damper with optimal damping coefficient and moment of inertia should lead to no resonance point in wider frequency range of exciting force. Therefore, its application in zero-drive hobbing machine makes this system not only achieve higher system stiffness to overcome load torque fluctuation, but also gain better stability.
基金supported by the National Basic Research Program of China (973Program) under Grant No. 2010CB731800the National Natural Science Foundation of China under Grant No. 60934003 and 61074065the Key Project for Natural Science Research of Hebei Education Departmentunder Grant No. ZD200908
文摘A novel flocking control approach is proposed for multi-agent systems by integrating the variables of velocities, motion directions, and positions of agents. A received signal strength indicator （RSSI） is applied as a variable to estimate the inter-distance between agents. A key parameter that contains the local information of agents is defined, and a multi-variable controller is proposed based on the parameter. For the position control of agents, the RSSI is introduced to substitute the distance as a control variable in the systems. The advantages of RSSI include that the relative distance between every two agents can be adjusted through the communication quality under different environments, and it can shun the shortage of the limit of sensors. Simulation studies demonstrate the effectiveness of the proposed control approach.
文摘The paper presents a reliability evaluation method based on fault tree analysis with set theory and minimal cut set as core algorithm, which can be used to evaluate the reliability for industrial grids with wide application of variable frequency drives. The working principle is introduced firstly, based on which the method development considering different system topology designs, backup solutions and redundancy mechanisms are analyzed in details. In the end the proposed method is applied to two cases to show the reliability performance of system with variable frequency drives. The proposed method is also suitable for analyzing the reliability performance of industrial grids with other types of power electronic converter technology.
基金supported by the National Natural Science Foundation of China(61402260,61473176)Taishan Scholar Project of Shandong Province(TSQN201812092)
文摘Pythagorean fuzzy set(PFS) can provide more flexibility than intuitionistic fuzzy set(IFS) for handling uncertain information, and PFS has been increasingly used in multi-attribute decision making problems. This paper proposes a new multiattribute group decision making method based on Pythagorean uncertain linguistic variable Hamy mean(PULVHM) operator and VIKOR method. Firstly, we define operation rules and a new aggregation operator of Pythagorean uncertain linguistic variable(PULV) and explore some properties of the operator.Secondly, taking the decision makers' hesitation degree into account, a new score function is defined, and we further develop a new group decision making approach integrated with VIKOR method. Finally, an investment example is demonstrated to elaborate the validity of the proposed method. Sensibility analysis and comprehensive comparisons with another two methods are performed to show the stability and advantage of our method.
