When a coin is tossed to a gravity well,it will spiral instead of falling directly to the center.Inspired by this phenomenon,a gravity well-inspired double friction pendulum system(GW-DFPS)is developed to extend the l...When a coin is tossed to a gravity well,it will spiral instead of falling directly to the center.Inspired by this phenomenon,a gravity well-inspired double friction pendulum system(GW-DFPS)is developed to extend the length of sliding trajectories of bridge superstructures during pulse-like near-fault earthquakes.As a result,a greater amount of energy will be dissipated due to the frictional sliding of the isolators.The GW-DFPS consists of a spherical surface and an outer surface described by a 1/x or logarithmic function to build gravity well.Full-scale isolators were fabricated and their response was characterized considering various parameters such as the friction material of slider,surface roughness of sliding surfaces,and applied vertical loads.Additionally,a finite element model of the isolator was created using the experimental test data.Numerical simulations were performed on a case-study bridge structure isolated using both a conventional DFPS system and the proposed GW-DFPS systems.The experimental results reveal that the proposed isolators exhibit stable response under vertical loads varying from 200 kN to 1000 kN with a negative stiffness response when the isolator slides at the outer sliding surface.The numerical simulations of the selected bridge structure demonstrate that the GW-DFPS significantly extends the sliding trajectory lengths of the superstructure during half of the earthquake pulses,resulting in increased energy dissipation during this interval.The kinetic energies of the bridge isolated by GW-DFPS are consistently lower than those of the bridge isolated by the other two kinds of isolators,resulting lower shear forces on the bridge.展开更多
Accurate thrust assessment is crucial for characterizing the performance of micro-thrusters.This paper presents a comprehensive evaluation of the thrust generated by a needle-type indium field emission electric propul...Accurate thrust assessment is crucial for characterizing the performance of micro-thrusters.This paper presents a comprehensive evaluation of the thrust generated by a needle-type indium field emission electric propulsion(In-FEEP)micro-thruster using three methods based on a pendulum:direct thrust measurement,indirect plume momentum transfer and beam current diagnostics.The experimental setup utilized capacitive displacement sensors for force detection and a voice coil motor as a feedback actuator,achieving a resolution better than 0.1μN.Key performance factors such as ionization and plume divergence of ejected charged particles were also examined.The study reveals that the high applied voltage induces significant electrostatic interference,becoming the dominant source of error in direct thrust measurements.Beam current diagnostics and indirect plume momentum measurements were conducted simultaneously,showing strong agreement within a deviation of less than 0.2N across the operational thrust range.The results from all three methods are consistent within the error margins,verifying the reliability of the indirect measurement approach and the theoretical thrust model based on the electrical parameters of In-FEEP.展开更多
In this study,a dynamic model for an inverted pendulum system(IPS)attached to a car is created,and two different control methods are applied to control the system.The designed control algorithms aim to stabilize the p...In this study,a dynamic model for an inverted pendulum system(IPS)attached to a car is created,and two different control methods are applied to control the system.The designed control algorithms aim to stabilize the pendulum arms in the upright position and the car to reach the equilibrium position.Grey Wolf Optimization-based Linear Quadratic Regulator(GWO-LQR)and GWO-based Fuzzy LQR(FLQR)control algorithms are used in the control process.To improve the performance of the LQR and FLQR methods,the optimum values of the coefficients corresponding to the foot points of the membership functions are determined by the GWO algorithm.Both a graphic and a numerical analysis of the outcomes are provided.In the comparative analysis,it is observed that the GWO-based FLQR method reduces the settling time by 22.58% and the maximum peak value by 18.2% when evaluated in terms of the angular response of the pendulum arm.Furthermore,this approach outperformed comparable research in the literature with a settling time of 2.4 s.These findings demonstrate that the suggested GWO-based FLQR controlmethod outperforms existing literature in terms of the time required for the pendulum arm to reach equilibrium.展开更多
The shear pin of the friction pendulum bearing(FPB)can be made of 40Cr steel.In conceptual design,the optimal cut-off point of the shear pin is predetermined,guiding the design of bridges isolated by FPBs to maximize ...The shear pin of the friction pendulum bearing(FPB)can be made of 40Cr steel.In conceptual design,the optimal cut-off point of the shear pin is predetermined,guiding the design of bridges isolated by FPBs to maximize their isolation performance.Current researches on the shear pins are mainly based on linear elastic models,neglecting their plasticity,damage,and fracture mechanical properties.To accurately predict its cutoff behavior,the elastic-plastic degradationmodel of 40Cr steel is indeed calibrated.For this purpose,the Ramberg-Osgoodmodel,the Bao-Wierzbicki damage initiation criterion,and the linear damage evolution criterion were selected to develop the elastic-plastic degradation model of 40Cr.Subsequently,parameter calibration of this model was performed through uniaxial tensile tests on two sets of six smooth,round bars with different diameters.Following this,finite element simulations were conducted for the pure shear test of grade 10.9 high-strength bolts made of 40Cr steel,aiming to verify the elasticplastic degradation model.The results showed that the failure modes and force-displacement curves simulated by the finite element method were in good agreement with the test results.Moreover,the error between the primary characteristic parameters(initial stiffness,peak load,fracture displacement,and absorbed energy)obtained by finite element calculation and the test values was within 15%.These results demonstrated that the calibration elastic-plastic degradation model of 40Cr steel can predict the cutoff of the shear pin.展开更多
In the three-wire welding system, a welding process consists of the operations of four devices, namely three welding machines and one bogie. The operations need to be synchronized by a numerical coordinate controller ...In the three-wire welding system, a welding process consists of the operations of four devices, namely three welding machines and one bogie. The operations need to be synchronized by a numerical coordinate controller （ NCC ）. In this paper, we will discuss a tnsk-job-procedure cubic program structure. Under this structure, the devices are synchronized and isolated at the same time. This cubic program structure can also be used as a reference for other multi-device or multi-unit manufacturing processes.展开更多
This study reports the analytical solution for a generalized rotational pendulum system with gallows and periodic excited forces.The multiple scales method(MSM)is applied to solve the proposed problem.Several types of...This study reports the analytical solution for a generalized rotational pendulum system with gallows and periodic excited forces.The multiple scales method(MSM)is applied to solve the proposed problem.Several types of rotational pendulum oscillators are studied and talked about in detail.These include the forced damped rotating pendulum oscillator with gallows,the damped standard simple pendulum oscillator,and the damped rotating pendulum oscillator without gallows.The MSM first-order approximations for all the cases mentioned are derived in detail.The obtained results are illustrated with concrete numerical examples.The first-order MSM approximations are compared to the fourth-order Runge-Kutta(RK4)numerical approximations.Additionally,the maximum error is estimated for the first-order approximations obtained through the MSM,compared to the numerical approximations obtained by the RK4 method.Furthermore,we conducted a comparative analysis of the outcomes obtained by the used method(MSM)and He-MSM to ascertain their respective levels of precision.The proposed method can be applied to analyze many strong nonlinear oscillatory equations.展开更多
The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Des...The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.展开更多
Utilizing a Computer Algebra System (CAS), namely MathematicaR, the characteristics of a bifilar disk-shaped pendulum have been studied. By applying the Lagrangian methodology, the disk’s motion equation is formulate...Utilizing a Computer Algebra System (CAS), namely MathematicaR, the characteristics of a bifilar disk-shaped pendulum have been studied. By applying the Lagrangian methodology, the disk’s motion equation is formulated. This is conducive to an ODE, and its numeric solution co-insides with intuitive expectation. The period of the oscillations and tension in the strings are calculated and graphed.展开更多
This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLAD...This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.展开更多
1) The observation by Allais of the precession of pendulums from 1954 to 1960 highlighted regularities of astral origin an in-depth analysis of which showed that, apparently, no classical phenomenon can explain them. ...1) The observation by Allais of the precession of pendulums from 1954 to 1960 highlighted regularities of astral origin an in-depth analysis of which showed that, apparently, no classical phenomenon can explain them. These regularities were diurnal waves whose periods are characteristic of astral influence (the main ones being 24 h and 24 h 50 min), annual and semi-annual components, and a multi-annual component of approximately 6 years, an influence of Jupiter being a very good candidate to explain it. 2) Allais had experimentally established that all these astral influences were expressed globally on the pendulum by an action tending to call back its plane of oscillation towards a direction variable in time, and which ovalized its trajectory. In 2019 the observation of 2 pendulums in Horodnic (Romania), thanks to the use of an automatic alidade, made it possible to identify the main mechanism that, very probably, acted on the pendulum to achieve this result. This perturbation model, called “linear anisotropy”, is characterized by its “coefficient of anisotropy” η, and by the azimuth of its “direction of anisotropy”. The composition of 2 linear anisotropies is always a linear anisotropy. 3) In the search for the phenomena which could be at the origin of all what precedes, the fact that they must create an ovalization immediately eliminates some of them. 4) We have calculated the values of η corresponding to the 24 h and 24 h 50 min waves both for the observations in Horodnic and the Allais observations. The order of magnitude (some 10−7) is effectively the same in both cases. 5) Mathematically, the regularities discovered may result of a new force field but also, as Allais proposes, from the creation, under the astral influences, of a local anisotropy of the medium in which the pendulum oscillates. In the first case the length of the pendulum is involved, in the second one not. The data available do not make it possible to decide. 6) The joint exploitation, in mechanics and optics, of Allais observations and of observations by other experimenters provides additional information: a) Allais, and after him several other scientists, discovered also marked anomalies in the precession of pendulums during certain eclipses, and maybe certain other syzygies. For the few eclipses for which both something was observed and sufficient data were available (one of them being a lunar eclipse for which nothing had been published until now), it was always the above perturbation model which acted on the pendulum, but sometimes with quite exceptional magnitude. b) There are quite possible links with optics. During the observation campaign of August 1958, which had implemented both two pendulums and an optical device, all the 24 h 50 min waves were almost in phase. In the precession of the Allais pendulum, in Miller’s interferometric observations in Mont Wilson, and in Esclangon’s observations in Strasbourg, a same peculiarity is found: the extrema of the annual influence are at the equinoxes, not at the solstices.展开更多
基金financially supported by the National Natural Science Foundation of China(Grants 52178124,52478151).
文摘When a coin is tossed to a gravity well,it will spiral instead of falling directly to the center.Inspired by this phenomenon,a gravity well-inspired double friction pendulum system(GW-DFPS)is developed to extend the length of sliding trajectories of bridge superstructures during pulse-like near-fault earthquakes.As a result,a greater amount of energy will be dissipated due to the frictional sliding of the isolators.The GW-DFPS consists of a spherical surface and an outer surface described by a 1/x or logarithmic function to build gravity well.Full-scale isolators were fabricated and their response was characterized considering various parameters such as the friction material of slider,surface roughness of sliding surfaces,and applied vertical loads.Additionally,a finite element model of the isolator was created using the experimental test data.Numerical simulations were performed on a case-study bridge structure isolated using both a conventional DFPS system and the proposed GW-DFPS systems.The experimental results reveal that the proposed isolators exhibit stable response under vertical loads varying from 200 kN to 1000 kN with a negative stiffness response when the isolator slides at the outer sliding surface.The numerical simulations of the selected bridge structure demonstrate that the GW-DFPS significantly extends the sliding trajectory lengths of the superstructure during half of the earthquake pulses,resulting in increased energy dissipation during this interval.The kinetic energies of the bridge isolated by GW-DFPS are consistently lower than those of the bridge isolated by the other two kinds of isolators,resulting lower shear forces on the bridge.
基金Project supported by the National Key Research and Development Program of China(Grant No.2020YFC2201001)the Guangdong Major Project of Basic and Applied Basic Research(Grant No.2019B030302001)+1 种基金the National Natural Science Foundation of China(Grant Nos.12105373,12105374,and 11927812)the Science and Technology Research Project of Jiangxi Provincial Department of Education(Grant No.GJJ2402105).
文摘Accurate thrust assessment is crucial for characterizing the performance of micro-thrusters.This paper presents a comprehensive evaluation of the thrust generated by a needle-type indium field emission electric propulsion(In-FEEP)micro-thruster using three methods based on a pendulum:direct thrust measurement,indirect plume momentum transfer and beam current diagnostics.The experimental setup utilized capacitive displacement sensors for force detection and a voice coil motor as a feedback actuator,achieving a resolution better than 0.1μN.Key performance factors such as ionization and plume divergence of ejected charged particles were also examined.The study reveals that the high applied voltage induces significant electrostatic interference,becoming the dominant source of error in direct thrust measurements.Beam current diagnostics and indirect plume momentum measurements were conducted simultaneously,showing strong agreement within a deviation of less than 0.2N across the operational thrust range.The results from all three methods are consistent within the error margins,verifying the reliability of the indirect measurement approach and the theoretical thrust model based on the electrical parameters of In-FEEP.
文摘In this study,a dynamic model for an inverted pendulum system(IPS)attached to a car is created,and two different control methods are applied to control the system.The designed control algorithms aim to stabilize the pendulum arms in the upright position and the car to reach the equilibrium position.Grey Wolf Optimization-based Linear Quadratic Regulator(GWO-LQR)and GWO-based Fuzzy LQR(FLQR)control algorithms are used in the control process.To improve the performance of the LQR and FLQR methods,the optimum values of the coefficients corresponding to the foot points of the membership functions are determined by the GWO algorithm.Both a graphic and a numerical analysis of the outcomes are provided.In the comparative analysis,it is observed that the GWO-based FLQR method reduces the settling time by 22.58% and the maximum peak value by 18.2% when evaluated in terms of the angular response of the pendulum arm.Furthermore,this approach outperformed comparable research in the literature with a settling time of 2.4 s.These findings demonstrate that the suggested GWO-based FLQR controlmethod outperforms existing literature in terms of the time required for the pendulum arm to reach equilibrium.
基金The Research Start-up Fund for Talents Introduction of Huaiyin Institute of Technology(Grant No.Z301B23517).
文摘The shear pin of the friction pendulum bearing(FPB)can be made of 40Cr steel.In conceptual design,the optimal cut-off point of the shear pin is predetermined,guiding the design of bridges isolated by FPBs to maximize their isolation performance.Current researches on the shear pins are mainly based on linear elastic models,neglecting their plasticity,damage,and fracture mechanical properties.To accurately predict its cutoff behavior,the elastic-plastic degradationmodel of 40Cr steel is indeed calibrated.For this purpose,the Ramberg-Osgoodmodel,the Bao-Wierzbicki damage initiation criterion,and the linear damage evolution criterion were selected to develop the elastic-plastic degradation model of 40Cr.Subsequently,parameter calibration of this model was performed through uniaxial tensile tests on two sets of six smooth,round bars with different diameters.Following this,finite element simulations were conducted for the pure shear test of grade 10.9 high-strength bolts made of 40Cr steel,aiming to verify the elasticplastic degradation model.The results showed that the failure modes and force-displacement curves simulated by the finite element method were in good agreement with the test results.Moreover,the error between the primary characteristic parameters(initial stiffness,peak load,fracture displacement,and absorbed energy)obtained by finite element calculation and the test values was within 15%.These results demonstrated that the calibration elastic-plastic degradation model of 40Cr steel can predict the cutoff of the shear pin.
基金This work was supported by the Natural Science Fund of China,grant number 50375054.
文摘In the three-wire welding system, a welding process consists of the operations of four devices, namely three welding machines and one bogie. The operations need to be synchronized by a numerical coordinate controller （ NCC ）. In this paper, we will discuss a tnsk-job-procedure cubic program structure. Under this structure, the devices are synchronized and isolated at the same time. This cubic program structure can also be used as a reference for other multi-device or multi-unit manufacturing processes.
基金funded by the Deanship of Scientific Research,Princess Nourah bint Abdulrahman University,through the Program of Research Project Funding After Publication,grant No(44-PRFA-P-107).
文摘This study reports the analytical solution for a generalized rotational pendulum system with gallows and periodic excited forces.The multiple scales method(MSM)is applied to solve the proposed problem.Several types of rotational pendulum oscillators are studied and talked about in detail.These include the forced damped rotating pendulum oscillator with gallows,the damped standard simple pendulum oscillator,and the damped rotating pendulum oscillator without gallows.The MSM first-order approximations for all the cases mentioned are derived in detail.The obtained results are illustrated with concrete numerical examples.The first-order MSM approximations are compared to the fourth-order Runge-Kutta(RK4)numerical approximations.Additionally,the maximum error is estimated for the first-order approximations obtained through the MSM,compared to the numerical approximations obtained by the RK4 method.Furthermore,we conducted a comparative analysis of the outcomes obtained by the used method(MSM)and He-MSM to ascertain their respective levels of precision.The proposed method can be applied to analyze many strong nonlinear oscillatory equations.
基金supported in part by the Youth Foundation of China University of Petroleum-Beijing at Karamay(under Grant No.XQZX20230038)the Karamay Innovative Talents Program(under Grant No.20212022HJCXRC0005).
文摘The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.
文摘Utilizing a Computer Algebra System (CAS), namely MathematicaR, the characteristics of a bifilar disk-shaped pendulum have been studied. By applying the Lagrangian methodology, the disk’s motion equation is formulated. This is conducive to an ODE, and its numeric solution co-insides with intuitive expectation. The period of the oscillations and tension in the strings are calculated and graphed.
基金supported by the National Natural Science Foundation of China(61836001).
文摘This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.
文摘1) The observation by Allais of the precession of pendulums from 1954 to 1960 highlighted regularities of astral origin an in-depth analysis of which showed that, apparently, no classical phenomenon can explain them. These regularities were diurnal waves whose periods are characteristic of astral influence (the main ones being 24 h and 24 h 50 min), annual and semi-annual components, and a multi-annual component of approximately 6 years, an influence of Jupiter being a very good candidate to explain it. 2) Allais had experimentally established that all these astral influences were expressed globally on the pendulum by an action tending to call back its plane of oscillation towards a direction variable in time, and which ovalized its trajectory. In 2019 the observation of 2 pendulums in Horodnic (Romania), thanks to the use of an automatic alidade, made it possible to identify the main mechanism that, very probably, acted on the pendulum to achieve this result. This perturbation model, called “linear anisotropy”, is characterized by its “coefficient of anisotropy” η, and by the azimuth of its “direction of anisotropy”. The composition of 2 linear anisotropies is always a linear anisotropy. 3) In the search for the phenomena which could be at the origin of all what precedes, the fact that they must create an ovalization immediately eliminates some of them. 4) We have calculated the values of η corresponding to the 24 h and 24 h 50 min waves both for the observations in Horodnic and the Allais observations. The order of magnitude (some 10−7) is effectively the same in both cases. 5) Mathematically, the regularities discovered may result of a new force field but also, as Allais proposes, from the creation, under the astral influences, of a local anisotropy of the medium in which the pendulum oscillates. In the first case the length of the pendulum is involved, in the second one not. The data available do not make it possible to decide. 6) The joint exploitation, in mechanics and optics, of Allais observations and of observations by other experimenters provides additional information: a) Allais, and after him several other scientists, discovered also marked anomalies in the precession of pendulums during certain eclipses, and maybe certain other syzygies. For the few eclipses for which both something was observed and sufficient data were available (one of them being a lunar eclipse for which nothing had been published until now), it was always the above perturbation model which acted on the pendulum, but sometimes with quite exceptional magnitude. b) There are quite possible links with optics. During the observation campaign of August 1958, which had implemented both two pendulums and an optical device, all the 24 h 50 min waves were almost in phase. In the precession of the Allais pendulum, in Miller’s interferometric observations in Mont Wilson, and in Esclangon’s observations in Strasbourg, a same peculiarity is found: the extrema of the annual influence are at the equinoxes, not at the solstices.
