Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying th...Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying the requirement of macro/micro-structure. It is not only the key paths in improving performance, saving material and energy, and green manufacturing of components used in major equipments, but also the challenging subjects in frontiers of advanced plastic forming. To provide a novel horizon for the manufacturing in the critical components is significant. Focused on the high-performance large-scale components such as bearing rings, flanges, railway wheels, thick-walled pipes, etc, the conventional processes and their developing situations are summarized. The existing problems including multi-pass heating, wasting material and energy, high cost and high-emission are discussed, and the present study unable to meet the manufacturing in high-quality components is also pointed out. Thus, the new techniques related to casting-rolling compound precise forming of rings, compact manufacturing for duplex-metal composite rings, compact manufacturing for railway wheels, and casting-extruding continuous forming of thick-walled pipes are introduced in detail, respectively. The corresponding research contents, such as casting ring blank, hot ring rolling, near solid-state pressure forming, hot extruding, are elaborated. Some findings in through-thickness microstructure evolution and mechanical properties are also presented. The components produced by the new techniques are mainly characterized by fine and homogeneous grains. Moreover, the possible directions for fin＇ther development of those techniques are suggested. Finally, the key scientific problems are first proposed. All of these results and conclusions have reference value and guiding significance for the integrated control of shape and performance in advanced compact manufacturing.展开更多
Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivar...Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control （PRFC） approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like （PD-like） fuzzy controller applied on a selective compliant assembly robot arm （SCARA） driven by permanent magnet DC motors.展开更多
Presently,the service performance of new-generation high-tech equipment is directly affected by the manufacturing quality of complex thin-walled components.A high-efficiency and quality manufacturing of these complex ...Presently,the service performance of new-generation high-tech equipment is directly affected by the manufacturing quality of complex thin-walled components.A high-efficiency and quality manufacturing of these complex thin-walled components creates a bottleneck that needs to be solved urgently in machinery manufacturing.To address this problem,the collaborative manufacturing of structure shape and surface integrity has emerged as a new process that can shorten processing cycles,improve machining qualities,and reduce costs.This paper summarises the research status on the material removal mechanism,precision control of structure shape,machined surface integrity control and intelligent process control technology of complex thin-walled components.Numerous solutions and technical approaches are then put forward to solve the critical problems in the high-performance manufacturing of complex thin-wall components.The development status,challenge and tendency of collaborative manufacturing technologies in the high-efficiency and quality manufacturing of complex thin-wall components is also discussed.展开更多
The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs m...The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.展开更多
As unmanned underwater vehicles (UUVs) are increasingly designed to perform long-duration missions in highly complex and often extreme environments, traditional design methods face significant and growing challenges^(...As unmanned underwater vehicles (UUVs) are increasingly designed to perform long-duration missions in highly complex and often extreme environments, traditional design methods face significant and growing challenges^([1,2]).展开更多
To ensure safe flight of multiple fixed-wing unmanned aerial vehicles(UAVs)formation,considering trajectory planning and formation control together,a leader trajectory planning method based on the sparse A*algorithm i...To ensure safe flight of multiple fixed-wing unmanned aerial vehicles(UAVs)formation,considering trajectory planning and formation control together,a leader trajectory planning method based on the sparse A*algorithm is introduced.Firstly,a formation controller based on prescribed performance theory is designed to control the transient and steady formation configuration,as well as the formation forming time,which not only can form the designated formation configuration but also can guarantee collision avoidance and terrain avoidance theoretically.Next,considering the constraints caused by formation controller on trajectory planning such as the safe distance,turn angle and step length,as well as the constraint of formation shape,a leader trajectory planning method based on sparse A^(*)algorithm is proposed.Simulation results show that the UAV formation can arrive at the destination safely with a short trajectory no matter keeping the formation or encountering formation transformation.展开更多
Inspired by natural porous architectures,numerous attempts have been made to generate porous structures.Owing to the smooth surfaces,highly interconnected porous architectures,and mathematical controllable geometry fe...Inspired by natural porous architectures,numerous attempts have been made to generate porous structures.Owing to the smooth surfaces,highly interconnected porous architectures,and mathematical controllable geometry features,triply periodic minimal surface(TPMS)is emerging as an outstanding solution to constructing porous structures in recent years.However,many advantages of TPMS are not fully utilized in current research.Critical problems of the process from design,manufacturing to applications need further systematic and integrated discussions.In this work,a comprehensive overview of TPMS porous structures is provided.In order to generate the digital models of TPMS,the geometry design algorithms and performance control strategies are introduced according to diverse requirements.Based on that,precise additive manufacturing methods are summarized for fabricating physical TPMS products.Furthermore,actual multidisciplinary applications are presented to clarify the advantages and further potential of TPMS porous structures.Eventually,the existing problems and further research outlooks are discussed.展开更多
Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder r...Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder roll stabilization can be established. This paper analyzes energy consumption caused by overcoming the resistance and the yaw, which is added to the fin/rudder roll stabilization system as new performance index. In order to achieve the purpose of the roll reduction, ship course keeping and energy optimization, the self-tuning PID controller based on the multi-objective genetic algorithm （MOGA） method is used to optimize performance index. In addition, random weight coefficient is adopted to build a multi-objective genetic algorithm optimization model. The objective function is improved so that the objective function can be normalized to a constant level. Simulation results showed that the control method based on MOGA, compared with the traditional control method, not only improves the efficiency of roll stabilization and yaw control precision, but also optimizes the energy of the system. The proposed methodology can get a better performance at different sea states.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51675361,51575371)Key Program of National Natural Science Foundation of China(Grant No.51135007)Key Research Project of Shanxi Province(Grant No.03012015004)
文摘Research on compact manufacturing technology for shape and performance controllability of metallic components can reanze the simplification and high-reliability of manufacturing process on the premise of satisfying the requirement of macro/micro-structure. It is not only the key paths in improving performance, saving material and energy, and green manufacturing of components used in major equipments, but also the challenging subjects in frontiers of advanced plastic forming. To provide a novel horizon for the manufacturing in the critical components is significant. Focused on the high-performance large-scale components such as bearing rings, flanges, railway wheels, thick-walled pipes, etc, the conventional processes and their developing situations are summarized. The existing problems including multi-pass heating, wasting material and energy, high cost and high-emission are discussed, and the present study unable to meet the manufacturing in high-quality components is also pointed out. Thus, the new techniques related to casting-rolling compound precise forming of rings, compact manufacturing for duplex-metal composite rings, compact manufacturing for railway wheels, and casting-extruding continuous forming of thick-walled pipes are introduced in detail, respectively. The corresponding research contents, such as casting ring blank, hot ring rolling, near solid-state pressure forming, hot extruding, are elaborated. Some findings in through-thickness microstructure evolution and mechanical properties are also presented. The components produced by the new techniques are mainly characterized by fine and homogeneous grains. Moreover, the possible directions for fin＇ther development of those techniques are suggested. Finally, the key scientific problems are first proposed. All of these results and conclusions have reference value and guiding significance for the integrated control of shape and performance in advanced compact manufacturing.
文摘Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control （PRFC） approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like （PD-like） fuzzy controller applied on a selective compliant assembly robot arm （SCARA） driven by permanent magnet DC motors.
基金supported by the National Natural Science Foundation of China(Nos.51921003,92160301,52175415 and 52205475)the Science Center for Gas Turbine Project(No.P2022-A-IV-002-001)Natural Science Foundation of Jiangsu Province(No.BK20210295).
文摘Presently,the service performance of new-generation high-tech equipment is directly affected by the manufacturing quality of complex thin-walled components.A high-efficiency and quality manufacturing of these complex thin-walled components creates a bottleneck that needs to be solved urgently in machinery manufacturing.To address this problem,the collaborative manufacturing of structure shape and surface integrity has emerged as a new process that can shorten processing cycles,improve machining qualities,and reduce costs.This paper summarises the research status on the material removal mechanism,precision control of structure shape,machined surface integrity control and intelligent process control technology of complex thin-walled components.Numerous solutions and technical approaches are then put forward to solve the critical problems in the high-performance manufacturing of complex thin-wall components.The development status,challenge and tendency of collaborative manufacturing technologies in the high-efficiency and quality manufacturing of complex thin-wall components is also discussed.
文摘The design of mini-missiles(MMs)presents several novel challenges.The stringent mission requirement to reach a target with a certain precision imposes a high guidance precision.The miniaturization of the size of MMs makes the design of the guidance,navigation,and control(GNC)have a larger-thanbefore impact on the main-body design(shape,motor,and layout design)and its design objective,i.e.,flight performance.Pursuing a trade-off between flight performance and guidance precision,all the relevant interactions have to be accounted for in the design of the main body and the GNC system.Herein,a multi-objective and multidisciplinary design optimization(MDO)is proposed.Disciplines pertinent to motor,aerodynamics,layout,trajectory,flight dynamics,control,and guidance are included in the proposed MDO framework.The optimization problem seeks to maximize the range and minimize the guidance error.The problem is solved by using the nondominated sorting genetic algorithm II.An optimum design that balances a longer range with a smaller guidance error is obtained.Finally,lessons learned about the design of the MM and insights into the trade-off between flight performance and guidance precision are given by comparing the optimum design to a design provided by the traditional approach.
基金supported by the National Natural Science Foundation of China (Grant No.52405033)。
文摘As unmanned underwater vehicles (UUVs) are increasingly designed to perform long-duration missions in highly complex and often extreme environments, traditional design methods face significant and growing challenges^([1,2]).
基金supported by the National Natural Science Foundation of China(11502019).
文摘To ensure safe flight of multiple fixed-wing unmanned aerial vehicles(UAVs)formation,considering trajectory planning and formation control together,a leader trajectory planning method based on the sparse A*algorithm is introduced.Firstly,a formation controller based on prescribed performance theory is designed to control the transient and steady formation configuration,as well as the formation forming time,which not only can form the designated formation configuration but also can guarantee collision avoidance and terrain avoidance theoretically.Next,considering the constraints caused by formation controller on trajectory planning such as the safe distance,turn angle and step length,as well as the constraint of formation shape,a leader trajectory planning method based on sparse A^(*)algorithm is proposed.Simulation results show that the UAV formation can arrive at the destination safely with a short trajectory no matter keeping the formation or encountering formation transformation.
基金financially supported by National Key R&D Program of China(No.2020YFC1107103)Key Research and Development Program of Zhejiang Province(No.2021C01107)+1 种基金China Postdoctoral Science Foundation(No.2020M681846)Science Fund for Creative Research Groups of National Natural Science Foundation of China(No.51821093).
文摘Inspired by natural porous architectures,numerous attempts have been made to generate porous structures.Owing to the smooth surfaces,highly interconnected porous architectures,and mathematical controllable geometry features,triply periodic minimal surface(TPMS)is emerging as an outstanding solution to constructing porous structures in recent years.However,many advantages of TPMS are not fully utilized in current research.Critical problems of the process from design,manufacturing to applications need further systematic and integrated discussions.In this work,a comprehensive overview of TPMS porous structures is provided.In order to generate the digital models of TPMS,the geometry design algorithms and performance control strategies are introduced according to diverse requirements.Based on that,precise additive manufacturing methods are summarized for fabricating physical TPMS products.Furthermore,actual multidisciplinary applications are presented to clarify the advantages and further potential of TPMS porous structures.Eventually,the existing problems and further research outlooks are discussed.
基金Foundation item： Supported by the National Natural Science Foundation of China （Grant No. 61174047） and the Fundamental Research Funds for the Central Universities （HEUCF041406）.
文摘Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder roll stabilization can be established. This paper analyzes energy consumption caused by overcoming the resistance and the yaw, which is added to the fin/rudder roll stabilization system as new performance index. In order to achieve the purpose of the roll reduction, ship course keeping and energy optimization, the self-tuning PID controller based on the multi-objective genetic algorithm （MOGA） method is used to optimize performance index. In addition, random weight coefficient is adopted to build a multi-objective genetic algorithm optimization model. The objective function is improved so that the objective function can be normalized to a constant level. Simulation results showed that the control method based on MOGA, compared with the traditional control method, not only improves the efficiency of roll stabilization and yaw control precision, but also optimizes the energy of the system. The proposed methodology can get a better performance at different sea states.
